CN105171749A - Execution module, Rubik's cube reduction robot and using method for robot - Google Patents
Execution module, Rubik's cube reduction robot and using method for robot Download PDFInfo
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- CN105171749A CN105171749A CN201510408548.4A CN201510408548A CN105171749A CN 105171749 A CN105171749 A CN 105171749A CN 201510408548 A CN201510408548 A CN 201510408548A CN 105171749 A CN105171749 A CN 105171749A
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Abstract
The invention provides an execution module, a Rubik's cube reduction robot and a using method for the robot. The robot comprises an upper computer control module, a lower computer control module, the execution module and a power source module. The upper computer control module is used for obtaining initial state information of a Rubik's cube, generating Rubik's cube reduction control information according to the initial state information and sends the Rubik's cube reduction control information to the lower computer control module; the lower computer control module is used for controlling the execution module to carry out Rubik's cube reduction operation according to the Rubik's cube reduction control information; and the power source module is used for supplying power to any one or more of the upper computer control module, the lower computer control module and the execution module. According to the power source module, the mode that the execution module and the lower computer control module are electrified by one power source module is adopted, so that the use amount of cables is greatly reduced, a circuit is simplified, and meanwhile the whole robot becomes simple and attractive.
Description
Technical field
The present invention relates to robot, particularly, relate to a kind of Executive Module, magic square reduction robot and using method thereof.
Background technology
Magic square, as an educational toy, is subject to liking of many people deeply.In the last few years, be different from hand solution magic square in the past, occurred many robots utilizing computer or other microprocessors to carry out automatic reduction magic square, there were many differences in these robots in control system and frame for movement.
Publication number be CN103240747A patent discloses a kind of robot, it utilizes cylinder to control manipulator to clamp magic square, utilizes camera to obtain magic square information, utilizes computer as processor and controller.This scheme employs pneumatic element as executive component, and power consumption is too many, and complex structure, takes up room larger.
Publication number be CN102699917A patent discloses a kind of robot, it utilizes stepper motor and steering wheel as executive component, use toothed belt transmission as transmission mechanism, more complicated in frame for movement and control system.In addition because this robot adopts the scheme of 2 mechanical arm clamping reduction magic squares.The step of this scheme reduction required for magic square is much more compared with the scheme of 4 manipulators.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of Executive Module, magic square reduction robot and using method thereof.
The Executive Module provided according to an aspect of the present invention, comprises multiple manipulator, pedestal, multiple manipulator mounting platform and multiple steering wheel angle adjustment block;
One end of described manipulator mounting platform is on a base of described pedestal, and the other end connects described multiple steering wheel angle adjustment block;
Described manipulator connects described steering wheel angle adjustment block; The quantity one_to_one corresponding of the base of described pedestal, described manipulator mounting platform, described steering wheel angle adjustment block and described manipulator.
Preferably, described manipulator comprises clamping steering wheel, connecting rod connector, first connecting rod, second connecting rod, the first slide block, the second slide block, guide rail platform, rotates steering wheel and rotary connector;
Wherein, the front end of guide rail platform is provided with guide rail; First slide block and described second slide block to be arranged on described guide rail and along described slide; The clamping face of described first slide block is relative with the clamping face of described second slide block forms magic square grasping part;
One end of described first connecting rod connects described first slide block, and the other end connects one end of described connecting rod connector; One end of second connecting rod connects described second slide block, and the other end connects the other end of described connecting rod connector; Described steering wheel is arranged on the side of described guide rail platform, and the output shaft of described steering wheel connects described connecting rod connector through described guide rail platform, drives described connecting rod connector to rotate, and then drives the first slide block, the second slide block along described slide;
Described rotation steering wheel is arranged on the rear side of described guide rail platform, and the output shaft of described rotation steering wheel connects the rear end of described guide rail platform by rotary connector;
Described rotation steering wheel is fixed on steering wheel angle adjustment block.
Preferably, also cushion is comprised; The clamping face of described first slide block and described second slide block is provided with cushion.
Preferably, described pedestal is the tower structure of cuboid;
Four bases of described pedestal are connected in square; Four described manipulators are corresponding between two; The rotation steering wheel output shaft of two corresponding manipulators on an axis; Two axis vertical take-off that four described manipulators are formed, and parallel with the bottom surface of described pedestal.
Preferably, described Executive Module also comprises installing plate;
Described installing plate connects the upper end of described pedestal; Described installing plate adopts transparent material to make, and shape is in square; Four angles of described installing plate and middle part are equipped with a through hole;
Described installing plate is by the upper end being connected described pedestal by through hole at four angles, and the through hole in the middle part of described installing plate is corresponding described host computer camera upwards, downwards the intersection point of corresponding four robot axes.
The magic square reduction robot provided according to another aspect of the present invention, comprises described Executive Module, also comprises upper computer control module, slave computer control module and power module;
Described upper computer control module, for obtaining the initial state information of magic square, generates magic reduction control information according to described initial state information and described magic reduction control information is sent to described slave computer control module;
Described slave computer control module is used for controlling described Executive Module according to described magic reduction control information and carries out magic square restoring operation;
Described power module is used for the power supply of arbitrary module or a multimode in described upper computer control module, described slave computer control module and described Executive Module.
Preferably, described upper computer control module comprises supervisory controller, host computer bluetooth module and described host computer camera;
Described host computer camera is all connected described supervisory controller with described host computer bluetooth module;
Described host computer camera is for obtaining the initial state information of magic square;
Described supervisory controller is used for generating magic reduction control information according to described initial state information;
Described host computer bluetooth module is used for described magic reduction control information to be sent to described slave computer control module.
Preferably, described slave computer control module comprises slave computer bluetooth module, slave computer processor and slave computer steering engine driver;
Described bluetooth module is all connected described slave computer processor with described slave computer steering engine driver; Described slave computer steering engine driver connects described Executive Module;
The magic reduction control information that described slave computer bluetooth module sends for receiving described host computer bluetooth module; Described slave computer processor is used for the clamping steering wheel and the rotation steering wheel that are controlled described Executive Module according to described magic reduction control information by described slave computer steering engine driver.
There is provided according to a further aspect of the invention magic square reduction robot using method, comprise the steps:
Step 1: host computer bluetooth module and slave computer bluetooth module are matched and connects;
Step 2: carry out the installation of magic square by manipulator and initial position corrects;
Step 3: the upset being realized magic square by manipulator, is faced up 6 of magic square successively, utilizes the initial state information of host computer camera collection magic square, be i.e. the colouring information in each face of magic square;
Step 4: upper computer control module carries out colour recognition and storage, and generate magic reduction control information according to the colouring information in each face of magic square, i.e. the step of magic square reduction;
Step 5: slave computer processor controls manipulator according to the step that described magic square reduces and completes magic square reduction.
Preferably, described colour recognition adopts the image procossing mode of hsv color space and the combination of RGB color space in step 4.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention adopts Android smartphone as upper computer control module, Android smartphone is utilized to be integrated with the advantage of high-pixel camera head, bluetooth communication module, high-performance processor, need not again for installing camera and processor vacating space, all be integrated in this little space of Android smartphone, add space availability ratio, make mechanical construction and control system more simple;
2, present invention employs Android system as software platform, the advantage utilizing the interactive mode of Android system hommization and code to increase income, greatly reduce the difficulty developed software.Adopt mobile phone as parametric controller, make the debugging control process of robot more convenient;
3, present invention employs bluetooth communication pattern, while ensureing high transmission speed, decrease the quantity of wiring, allow the Long-distance Control on certain distance;
4, present invention employs the pattern that four manipulators clamp reduction magic square simultaneously, allowing magic square that 4 faces can be had when there is not integrated overturn to rotate, greatly accelerating the reduction rate of magic square, also enhancing the stationarity of magic square in reduction process;
5, present invention employs the pedestal of tower structure, have high stability and rigidity, overall simple is attractive in appearance simultaneously; Manipulator mounting platform allows to finely tune on the base of pedestal, and steering wheel angle adjustment block also allows the fine setting of angle, can revise the error installed in time;
6, power module of the present invention have employed the mode that Executive Module and slave computer control module are powered by same power module, this mode greatly reduces the usage quantity of cable, simplifies circuit, makes the present invention more succinctly attractive in appearance on the whole simultaneously;
7, the present invention passes through the image procossing mode of hsv color space and the combination of RGB color space at colour recognition, greatly reduces the impact of ambient lighting intensity, make to simplify light source compensator in frame for movement from algorithm.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is structural representation of the present invention;
Fig. 2 is control schematic diagram of the present invention;
Fig. 3 is the reduction flow chart of magic square reducing machine device people in the present invention;
Fig. 4 is the structural representation of manipulator in the present invention.
In figure:
1 is pedestal;
2 is steering wheel angle adjustment block;
3 is manipulator holder;
4 is clamping steering wheel;
5 is guide rail platform;
6 is connecting rod connector;
7 is second connecting rod;
8 is magic square;
9 is rotary connector;
10 for rotating steering wheel;
11 is Android smartphone;
12 is Android smartphone installing plate;
13 is the first slide block;
14 is cushion.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
In the present embodiment, magic square reduction robot provided by the invention, comprises upper computer control module, slave computer control module, Executive Module and power module;
Described upper computer control module, for obtaining the initial state information of magic square, generates magic reduction control information according to described initial state information and described magic reduction control information is sent to described slave computer control module; Described slave computer control module is used for controlling described Executive Module according to described magic reduction control information and carries out magic square restoring operation; Described power module is used for the power supply of arbitrary module or a multimode in described upper computer control module, described slave computer control module and described Executive Module.In the present embodiment, described upper computer control module adopts Android smartphone, is provided with android application program, camera and bluetooth module; Described power module comprises power supply adaptor, 220V voltage can be down to 5V voltage.
Described upper computer control module comprises supervisory controller, host computer bluetooth module and host computer camera; Described host computer camera is all connected described supervisory controller with described host computer bluetooth module; Described host computer camera is for obtaining the initial state information of magic square; Described supervisory controller is used for generating magic reduction control information according to described initial state information; Described host computer bluetooth module is used for described magic reduction control information to be sent to described slave computer control module.
Described slave computer control module comprises slave computer bluetooth module, slave computer processor and slave computer steering engine driver; Described bluetooth module is all connected described slave computer processor with described slave computer steering engine driver; Described slave computer steering engine driver connects described Executive Module; The magic reduction control information that described slave computer bluetooth module sends for receiving described host computer bluetooth module; Described slave computer processor is used for controlling described Executive Module according to described magic reduction control information by described slave computer steering engine driver.
Executive Module provided by the invention comprises multiple manipulator, pedestal 1, multiple manipulator mounting platform 3 and multiple steering wheel angle adjustment block 2; One end of described manipulator mounting platform 3 is on a base of described pedestal 1, and the other end connects described multiple steering wheel angle adjustment block 2.At the present embodiment, in the middle part of the base of pedestal 1, be provided with manipulator mounting platform 3.Described slave computer steering engine driver is electrically connected described manipulator; Described steering wheel angle adjustment block 2 connects described manipulator; The quantity one_to_one corresponding of the base of described pedestal 1, described manipulator mounting platform 3, described steering wheel angle adjustment block 2 and described manipulator.Described pedestal 1 is the tower structure of cuboid; Four bases of described pedestal 1 are connected in square; Four described manipulators are corresponding between two; Rotation steering wheel 10 output shaft of two corresponding manipulators on an axis; Two axis vertical take-off that four described manipulators are formed, and parallel with the bottom surface of described pedestal 1.Described Executive Module also comprises installing plate; Described installing plate connects the upper end of described pedestal 1; Described installing plate adopts transparent material to make, and shape is in square; Four angles of described installing plate and middle part are equipped with a through hole; Described installing plate is by the upper end being connected described pedestal 1 by through hole at four angles, and the through hole in the middle part of described installing plate is corresponding described host computer camera upwards, and corresponding four manipulators form the intersection point of axis downwards.
Described manipulator comprises clamping steering wheel 4, connecting rod connector 6, first connecting rod, second connecting rod 7, first slide block 13, second slide block, guide rail platform 5, rotates steering wheel 10 and rotary connector 9; Wherein, the front end of guide rail platform 5 is provided with guide rail; First slide block 13 and described second slide block to be arranged on described guide rail and along described slide; The clamping face of described first slide block 13 is relative with the clamping face of described second slide block forms magic square grasping part; One end of described first connecting rod connects described first slide block 13, and the other end connects one end of described connecting rod connector 6; One end of second connecting rod 7 connects described second slide block, and the other end connects the other end of described connecting rod connector 6; Described steering wheel 4 is arranged on the side of described guide rail platform 5, and the output shaft of described steering wheel 4 connects described connecting rod connector 6 through described guide rail platform 5, drives described connecting rod connector 6 to rotate, and then drives the first slide block 13, second slide block along described slide; ; Described rotation steering wheel 10 is arranged on the rear side of described guide rail platform 5, and the output shaft of described rotation steering wheel 10 connects the rear end of described guide rail platform 5 by rotary connector 9; Described slave computer steering engine driver is electrically connected described clamping steering wheel 4 and described rotation steering wheel 10.Described rotation steering wheel 10 is fixed on steering wheel angle adjustment block 2; Described installing plate is specially Android smartphone installing plate 12, installing plate is fixed with Android smartphone 11.Magic square reduction robot provided by the invention, also comprises cushion 14; The clamping face of described first slide block 13 and described second slide block is provided with cushion 14.Described cushion 14 adopts yielding padded coaming to make; The width of the first slide block 13 and the second slide block is slightly less than the length of side of each little square of magic square, and for clamping the intermediate mass in the non-intermediate layer of magic square, the first slide block 13 and the cooperation of the second slide block realize manipulator fixing magic square.
The using method of magic square reduction robot provided by the invention, comprises the steps:
Step 1: host computer bluetooth module and slave computer bluetooth module link block are matched and connects;
Step 2: carry out the installation of magic square by manipulator and initial position corrects;
Step 3: the upset being realized magic square by manipulator, is faced up 6 of magic square successively, utilizes the initial state information of host computer camera collection magic square, be i.e. the colouring information in each face of magic square;
Step 4: upper computer control module carries out colour recognition and storage, and generate magic reduction control information according to the colouring information in each face of magic square, i.e. the step of magic square reduction;
Step 5: slave computer processor controls manipulator according to the step that described magic square reduces and completes magic square reduction.
Wherein, described colour recognition adopts the image procossing mode of hsv color space and the combination of RGB color space in step 4.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. an Executive Module, is characterized in that, comprises multiple manipulator, pedestal (1), multiple manipulator mounting platform (3) and multiple steering wheel angle adjustment block (2);
One end of described manipulator mounting platform (3) is on a base of described pedestal (1), and the other end connects described multiple steering wheel angle adjustment block (2);
Described manipulator connects described steering wheel angle adjustment block (2); The quantity one_to_one corresponding of the base of described pedestal (1), described manipulator mounting platform (3), described steering wheel angle adjustment block (2) and described manipulator.
2. magic square reduction robot according to claim 1, it is characterized in that, described manipulator comprises clamping steering wheel (4), connecting rod connector (6), first connecting rod, second connecting rod (7), the first slide block (13), the second slide block, guide rail platform (5), rotates steering wheel (10) and rotary connector (9);
Wherein, the front end of guide rail platform (5) is provided with guide rail; First slide block (13) and described second slide block to be arranged on described guide rail and along described slide; The clamping face of described first slide block (13) is relative with the clamping face of described second slide block forms magic square grasping part;
One end of described first connecting rod connects described first slide block (13), and the other end connects one end of described connecting rod connector (6); One end of second connecting rod (7) connects described second slide block, and the other end connects the other end of described connecting rod connector (6); Described steering wheel (4) is arranged on the side of described guide rail platform (5), the output shaft of described steering wheel (4) connects described connecting rod connector (6) through described guide rail platform (5), drive described connecting rod connector (6) to rotate, and then drive the first slide block (13), the second slide block along described slide;
Described rotation steering wheel (10) is arranged on the rear side of described guide rail platform (5), and the output shaft of described rotation steering wheel (10) connects the rear end of described guide rail platform (5) by rotary connector (9);
Described rotation steering wheel (10) is fixed on steering wheel angle adjustment block (2).
3. magic square reduction robot according to claim 2, is characterized in that, also comprise cushion; The clamping face of described first slide block (13) and described second slide block is provided with cushion.
4. magic square reduction robot according to claim 1, is characterized in that, the tower structure that described pedestal (1) is cuboid;
Four bases of described pedestal (1) are connected in square; Four described manipulators are corresponding between two; Rotation steering wheel (10) output shaft of two corresponding manipulators on an axis; Two axis vertical take-off that four described manipulators are formed, and parallel with the bottom surface of described pedestal (1).
5. magic square reduction robot according to claim 4, it is characterized in that, described Executive Module also comprises installing plate;
Described installing plate connects the upper end of described pedestal (1); Described installing plate adopts transparent material to make, and shape is in square; Four angles of described installing plate and middle part are equipped with a through hole;
Described installing plate is by the upper end being connected described pedestal (1) by through hole at four angles, and the through hole in the middle part of described installing plate is corresponding described host computer camera upwards, downwards the intersection point of corresponding four robot axes.
6. a magic square reduction robot, is characterized in that, comprise the Executive Module described in any one of claim 1 to 5, also comprise upper computer control module, slave computer control module and power module;
Described upper computer control module, for obtaining the initial state information of magic square, generates magic reduction control information according to described initial state information and described magic reduction control information is sent to described slave computer control module;
Described slave computer control module is used for controlling described Executive Module according to described magic reduction control information and carries out magic square restoring operation;
Described power module is used for the power supply of arbitrary module or a multimode in described upper computer control module, described slave computer control module and described Executive Module.
7. magic square reduction robot according to claim 6, it is characterized in that, described upper computer control module comprises supervisory controller, host computer bluetooth module and described host computer camera;
Described host computer camera is all connected described supervisory controller with described host computer bluetooth module;
Described host computer camera is for obtaining the initial state information of magic square;
Described supervisory controller is used for generating magic reduction control information according to described initial state information;
Described host computer bluetooth module is used for described magic reduction control information to be sent to described slave computer control module.
8. magic square reduction robot according to claim 7, it is characterized in that, described slave computer control module comprises slave computer bluetooth module, slave computer processor and slave computer steering engine driver;
Described bluetooth module is all connected described slave computer processor with described slave computer steering engine driver; Described slave computer steering engine driver connects described Executive Module;
The magic reduction control information that described slave computer bluetooth module sends for receiving described host computer bluetooth module; Described slave computer processor is used for the clamping steering wheel (4) and rotation steering wheel (10) that are controlled described Executive Module according to described magic reduction control information by described slave computer steering engine driver.
9. a using method for the magic square reduction robot described in any one of claim 6 to 8, is characterized in that, comprise the steps:
Step 1: host computer bluetooth module and slave computer bluetooth module are matched and connects;
Step 2: carry out the installation of magic square by manipulator and initial position corrects;
Step 3: the upset being realized magic square by manipulator, is faced up 6 of magic square successively, utilizes the initial state information of host computer camera collection magic square, be i.e. the colouring information in each face of magic square;
Step 4: upper computer control module carries out colour recognition and storage, and generate magic reduction control information according to the colouring information in each face of magic square, i.e. the step of magic square reduction;
Step 5: slave computer processor controls manipulator according to the step that described magic square reduces and completes magic square reduction.
10. the using method of magic square reduction robot according to claim 9, it is characterized in that, described colour recognition adopts the image procossing mode that hsv color space and RGB color space combine in step 4.
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|---|---|---|---|
| CN201510408548.4A CN105171749B (en) | 2015-07-13 | 2015-07-13 | Execution module, magic square reduction robot and its application method |
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| CN201510408548.4A CN105171749B (en) | 2015-07-13 | 2015-07-13 | Execution module, magic square reduction robot and its application method |
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| CN105171749B CN105171749B (en) | 2018-08-03 |
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| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
| CN109176558A (en) * | 2018-10-23 | 2019-01-11 | 西华大学 | Magic cube restoring device and magic cube robot |
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|---|---|
| CN105171749B (en) | 2018-08-03 |
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