CN105171749B - Execution module, magic square reduction robot and its application method - Google Patents
Execution module, magic square reduction robot and its application method Download PDFInfo
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- CN105171749B CN105171749B CN201510408548.4A CN201510408548A CN105171749B CN 105171749 B CN105171749 B CN 105171749B CN 201510408548 A CN201510408548 A CN 201510408548A CN 105171749 B CN105171749 B CN 105171749B
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Abstract
The present invention provides a kind of execution module, magic square reduction robot and its application methods, including upper computer control module, slave computer control module, execution module and power module；The upper computer control module is used to obtain the initial state information of magic square, generates magic square reduction control information according to the initial state information and magic square reduction control information is sent to the slave computer control module；The slave computer control module, which is used to restore control information according to the magic square, controls the execution module progress magic square restoring operation；Power supply of the power module for any module or multimode in the upper computer control module, the slave computer control module and the execution module.The mode that execution module and slave computer control module are powered by the same power module is used on power module of the present invention, this mode greatly reduces the usage quantity of cable, simplifies circuit, while making the present invention more simple and beautiful on the whole.
Description
Technical field
The present invention relates to robots, and in particular, to a kind of execution module, magic square reduction robot and its application method.
Background technology
Magic square is deep to be liked by many people as an educational toy.In recent years, different from past hand solution evil spirit
Side, occur it is many using computer or other microprocessors come the robot of automatic reduction magic square, these robots are being controlled
All there are many different in system and mechanical structure processed.
The patent of Publication No. CN103240747A discloses a kind of robot, is pressed from both sides come control machinery hand using cylinder
Magic square is held, magic square information is obtained using camera, using computer as processor and controller.This scheme has used gas
Dynamic element is as executive component, and energy consumption is too many, and complicated, occupied space is larger.
The patent of Publication No. CN102699917A discloses a kind of robot, using stepper motor and steering engine as holding
Units, using toothed belt transmission as transmission mechanism, mechanical structure with it is more complicated in control system.Additionally, due to the machine
Device people restores the scheme of magic square using 2 mechanical arm clampings.This scheme restores compared with 4 manipulators of the required step of magic square
Scheme want much more.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of execution module, magic square reduction robot and
Its application method.
The execution module provided according to an aspect of the present invention, including the installation of multiple manipulators, pedestal, multiple manipulators
Platform and multiple steering engine angle adjustment blocks；
On a bottom edge of the pedestal, the other end connects the multiple steering engine angle for one end of the manipulator mounting platform
Spend adjustment block；
The manipulator connects the steering engine angle adjustment block；The bottom edge of the pedestal, the manipulator mounting platform, institute
The quantity for stating steering engine angle adjustment block and the manipulator corresponds.
Preferably, the manipulator include clamp steering engine, connecting rod connector, first connecting rod, second connecting rod, the first sliding block,
Second sliding block, guide rail platform, rotate steering wheel and rotary connector；
Wherein, the front end of guide rail platform is provided with guide rail；First sliding block and second sliding block are arranged on the guide rail
And it is slided along the guide rail；The clamping face of the clamping face of first sliding block and second sliding block is opposite to form magic square clamping sky
Between；
One end of the first connecting rod connects first sliding block, and the other end connects one end of the connecting rod connector；The
One end of two connecting rods connects second sliding block, and the other end connects the other end of the connecting rod connector；The clamping steering engine is set
It sets in the side of the guide rail platform, the output shaft for clamping steering engine passes through the guide rail platform to connect the connecting rod connection
Part drives the connecting rod connector to rotate, and then the first sliding block, the second sliding block is driven to be slided along the guide rail；
The rear side in the guide rail platform is arranged in the rotate steering wheel, and the output shaft of the rotate steering wheel passes through rotatable connection
Part connects the rear end of the guide rail platform；
The rotate steering wheel is fixed in steering engine angle adjustment block.
Preferably, further include buffer layer；The clamping face of first sliding block and second sliding block is both provided with buffer layer.
Preferably, the pedestal is the tower structure of cuboid；
Four bottom edges of the pedestal are connected square；Four manipulators correspond to two-by-two；Corresponding two machines
The rotate steering wheel output shaft of tool hand is on an axis；Two axis vertical take-offs that four manipulators are formed, and with the base
The bottom surface of seat is parallel.
Preferably, the execution module further includes mounting plate；
The mounting plate connects the upper end of the pedestal；The mounting plate is made of transparent material, and shape is square；
Four angles of the mounting plate and middle part are equipped with a through-hole；
The mounting plate is by the upper end for connecting the pedestal by through-hole at four angles, the through-hole in the middle part of the mounting plate
Corresponding host computer camera upwards, corresponds to downwards the intersection point of four robot axes.
The magic square reduction robot provided according to another aspect of the present invention, including the execution module further include
Upper computer control module, slave computer control module and power module；
The upper computer control module is used to obtain the initial state information of magic square, is generated according to the initial state information
Magic square reduction control information is simultaneously sent to the slave computer control module by magic square reduction control information；
The slave computer control module, which is used to restore control information according to the magic square, controls the execution module progress evil spirit
Square restoring operation；
The power module is used for the upper computer control module, the slave computer control module and the execution module
In any module or appoint multimode power supply.
Preferably, the upper computer control module includes supervisory controller, host computer bluetooth module and described upper
Machine camera；
The host computer camera and the host computer bluetooth module are all connected with the supervisory controller；
The host computer camera is used to obtain the initial state information of magic square；
The supervisory controller is used to generate magic square reduction control information according to the initial state information；
The host computer bluetooth module, which is used to the magic square restoring control information, is sent to the slave computer control module.
Preferably, the slave computer control module includes slave computer bluetooth module, slave computer processor and slave computer rudder
Machine driver；
The bluetooth module and the slave computer steering engine driver are all connected with the slave computer processor；The slave computer rudder
Machine driver connects the execution module；
The slave computer bluetooth module is used to receive the magic square reduction control information that the host computer bluetooth module is sent；Institute
Slave computer processor is stated for restoring control information by being held described in slave computer steering engine driver control according to the magic square
The clamping steering engine and rotate steering wheel of row module.
The application method of the magic square reduction robot provided according to a further aspect of the invention, includes the following steps：
Step 1：Host computer bluetooth module and the pairing of slave computer bluetooth module are established into connection；
Step 2：The installation of magic square is carried out by manipulator and initial position corrects；
Step 3：The overturning of magic square is realized by manipulator, successively up by 6 of magic square, utilizes host computer camera
Acquire the initial state information of magic square, the i.e. colouring information in each face of magic square；
Step 4：Upper computer control module carries out color identification and storage, and is generated according to the colouring information in each face of magic square
The step of magic square reduction control information, i.e., magic square restores；
Step 5：Slave computer processor completes magic square reduction according to the step control machinery hand that the magic square restores.
Preferably, the color identification uses at the image of hsv color space and RGB color combination in step 4
Reason mode.
Compared with prior art, the present invention has following advantageous effect：
1, the present invention is integrated with high picture using Android smartphone as upper computer control module using Android smartphone
The advantage of plain camera, bluetooth communication module, high-performance processor, it is not necessary to it is again installation camera and processor vacating space,
It is fully integrated into this small space of Android smartphone, increases space availability ratio so that mechanical construction and control system is more
It is simple；
2, present invention employs Android systems as software platform, using Android system hommization interactive mode and
The advantage that code is increased income greatly reduces the difficulty of exploitation software.Using mobile phone as control platform so that the debugging of robot
Control process is more convenient；
3, present invention employs bluetooth communication patterns, and the quantity of wiring is reduced while ensureing high transmission speed, permit
Perhaps the remote control on certain distance；
4, present invention employs the patterns that reduction magic square is clamped in four manipulators simultaneously, allow magic square that whole turn over is not occurring
There can be 4 faces to rotate in the case of turning, greatly accelerate the reduction rate of magic square, also enhance magic square in reduction process
In stationarity；
5, present invention employs the pedestals of tower structure, have high stability and rigidity, while overall simple is beautiful；Machine
Tool hand mounting platform permission be finely adjusted on the bottom edge of pedestal, steering engine angle adjustment block also allows the fine tuning of angle, can and
The error that Shi Xiuzheng is installed；
6, execution module is used on power module of the present invention and slave computer control module is powered by the same power module
Mode, this mode greatly reduces the usage quantity of cable, simplifies circuit, while making the present invention more simple on the whole
Clean beauty；
7, the present invention is in the image procossing mode that color is identified by hsv color space and RGB color combines, from calculation
The influence of ambient lighting intensity is greatly reduced in method so that light source compensator is simplified in mechanical structure.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the 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 schematic diagram of manipulator in the present invention.
In figure：
1 is pedestal；
2 be steering engine angle adjustment block；
3 be manipulator mounting platform；
4 be clamping steering engine；
5 be guide rail platform；
6 be connecting rod connector；
7 be second connecting rod；
8 be magic square；
9 be rotary connector；
10 be rotate steering wheel；
11 be Android smartphone；
12 be Android smartphone mounting plate；
13 be the first sliding block；
14 be buffer layer.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the present embodiment, magic square provided by the invention restores robot, including the control of upper computer control module, slave computer
Module, execution module and power module；
The upper computer control module is used to obtain the initial state information of magic square, is generated according to the initial state information
Magic square reduction control information is simultaneously sent to the slave computer control module by magic square reduction control information；The slave computer control
Molding block, which is used to restore control information according to the magic square, controls the execution module progress magic square restoring operation；The power supply mould
Block is for any module in the upper computer control module, the slave computer control module and the execution module or appoints multimode
Power supply.In the present embodiment, the upper computer control module use Android smartphone, be equipped with android application programs,
Camera and bluetooth module；The power module includes power supply adaptor, and 220V voltages can be down to 5V voltages.
The upper computer control module includes supervisory controller, host computer bluetooth module and host computer camera；Institute
It states host computer camera and the host computer bluetooth module is all connected with the supervisory controller；The host computer camera is used for
Obtain the initial state information of magic square；The supervisory controller is used to generate magic square reduction control according to the initial state information
Information processed；The host computer bluetooth module, which is used to the magic square restoring control information, is sent to the slave computer control module.
The slave computer control module includes slave computer bluetooth module, slave computer processor and slave computer servo driving
Device；The bluetooth module and the slave computer steering engine driver are all connected with the slave computer processor；The slave computer steering engine drives
Dynamic device connects the execution module；The slave computer bluetooth module is used to receive the magic square of the host computer bluetooth module transmission also
Original control information；The slave computer processor, which is used to restore control information according to the magic square, passes through the slave computer servo driving
Device controls the execution module.
Execution module provided by the invention includes multiple manipulators, pedestal 1, multiple manipulator mounting platforms 3 and multiple
Steering engine angle adjustment block 2；One end of the manipulator mounting platform 3 is on a bottom edge of the pedestal 1, described in other end connection
Multiple steering engine angle adjustment blocks 2.Manipulator mounting platform 3 is equipped in the middle part of the present embodiment, the bottom edge of pedestal 1.The slave computer
Steering engine driver is electrically connected the manipulator；The steering engine angle adjustment block 2 connects the manipulator；The bottom of the pedestal 1
Side, the manipulator mounting platform 3, the steering engine angle adjustment block 2 and the manipulator quantity correspond.The base
Seat 1 is the tower structure of cuboid；Four bottom edges of the pedestal 1 are connected square；Four manipulators are right two-by-two
It answers；10 output shaft of rotate steering wheel of corresponding two manipulators is on an axis；Two of the four manipulators formation
Axis vertical take-off, and it is parallel with the bottom surface of the pedestal 1.The execution module further includes mounting plate；Described in the mounting plate connection
The upper end of pedestal 1；The mounting plate is made of transparent material, and shape is square；Four angles of the mounting plate and middle part
It is equipped with a through-hole；The mounting plate passes through the upper end that the pedestal 1 is connected by through-hole at four angles, the mounting plate middle part
Through-hole correspond to the host computer camera upwards, corresponding four manipulators form the intersection point of axis downwards.
The manipulator includes clamping steering engine 4, connecting rod connector 6, first connecting rod, second connecting rod 7, the first sliding block 13, the
Two sliding blocks, guide rail platform 5, rotate steering wheel 10 and rotary connector 9；Wherein, the front end of guide rail platform 5 is provided with guide rail；The
One sliding block 13 and second sliding block are arranged on the guide rail and are slided along the guide rail；The clamping face of first sliding block 13
It is opposite with the clamping face of second sliding block to form magic square grasping part；One end of the first connecting rod connects first sliding block
13, the other end connects one end of the connecting rod connector 6；One end of second connecting rod 7 connects second sliding block, other end connection
The other end of the connecting rod connector 6；The clamping steering engine 4 is arranged in the side of the guide rail platform 5, the clamping steering engine 4
Output shaft connect the connecting rod connector 6 across the guide rail platform 5, drive the connecting rod connector 6 to rotate, and then drive
First sliding block 13, the second sliding block are slided along the guide rail；；The rear side in the guide rail platform 5, institute is arranged in the rotate steering wheel 10
The output shaft for stating rotate steering wheel 10 connects the rear end of the guide rail platform 5 by rotary connector 9；The slave computer servo driving
Device is electrically connected the clamping steering engine 4 and the rotate steering wheel 10.The rotate steering wheel 10 is fixed on steering engine angle adjustment block 2
On；The mounting plate is specially Android smartphone mounting plate 12, and Android smartphone 11 is fixed on mounting plate.The present invention carries
The magic square of confession restores robot, further includes buffer layer 14；The clamping face of first sliding block 13 and second sliding block is respectively provided with
There is buffer layer 14.The buffer layer 14 is made of yielding padded coaming；The width of first sliding block 13 and the second sliding block omits
The length of side of each small square less than magic square, the intermediate mass for the non-middle layer of magic square to be clamped, the first sliding block 13 and second are slided
Fixation of the manipulator to magic square is realized in block cooperation.
The application method of magic square reduction provided by the invention robot, includes the following steps：
Step 1：Host computer bluetooth module and the pairing of slave computer bluetooth module link block are established into connection；
Step 2：The installation of magic square is carried out by manipulator and initial position corrects；
Step 3：The overturning of magic square is realized by manipulator, successively up by 6 of magic square, utilizes host computer camera
Acquire the initial state information of magic square, the i.e. colouring information in each face of magic square；
Step 4：Upper computer control module carries out color identification and storage, and is generated according to the colouring information in each face of magic square
The step of magic square reduction control information, i.e., magic square restores；
Step 5：Slave computer processor completes magic square reduction according to the step control machinery hand that the magic square restores.
Wherein, the image procossing that the color identification is combined using hsv color space and RGB color in step 4
Mode.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (1)
1. a kind of application method of magic square reduction robot, which is characterized in that the magic square restores robot, including executes mould
Block, upper computer control module, slave computer control module and power module；
The upper computer control module is used to obtain the initial state information of magic square, and magic square is generated according to the initial state information
Magic square reduction control information is simultaneously sent to the slave computer control module by reduction control information；
The slave computer control module, which is used to restore control information according to the magic square, controls the execution module progress magic square also
Origin operation；
The power module is used to appoint in the upper computer control module, the slave computer control module and the execution module
One module or the power supply for appointing multimode；
The upper computer control module includes supervisory controller, host computer bluetooth module and host computer camera；
The host computer camera and the host computer bluetooth module are all connected with the supervisory controller；
The host computer camera is used to obtain the initial state information of magic square；
The supervisory controller is used to generate magic square reduction control information according to the initial state information；
The host computer bluetooth module, which is used to the magic square restoring control information, is sent to the slave computer control module；
The slave computer control module includes slave computer bluetooth module, slave computer processor and slave computer steering engine driver；
The bluetooth module and the slave computer steering engine driver are all connected with the slave computer processor；The slave computer steering engine drives
Dynamic device connects the execution module；
The slave computer bluetooth module is used to receive the magic square reduction control information that the host computer bluetooth module is sent；Under described
Position machine processor is used to restore control information according to the magic square controls the execution mould by the slave computer steering engine driver
The clamping steering engine and rotate steering wheel of block；
Execution module includes multiple manipulators, pedestal, multiple manipulator mounting platforms and multiple steering engine angle adjustment blocks；
On a bottom edge of the pedestal, the other end connects the multiple steering engine angle tune for one end of the manipulator mounting platform
Monoblock；
The manipulator connects the steering engine angle adjustment block；The bottom edge of the pedestal, the manipulator mounting platform, the rudder
Machine angle adjustment block and the quantity of the manipulator correspond；
The manipulator includes clamping steering engine, connecting rod connector, first connecting rod, second connecting rod, the first sliding block, the second sliding block, leading
Rail platform, rotate steering wheel and rotary connector；
Wherein, the front end of guide rail platform is provided with guide rail；First sliding block and second sliding block are arranged on the guide rail and edge
The guide rail sliding；The clamping face of the clamping face of first sliding block and second sliding block is opposite to form magic square grasping part；
One end of the first connecting rod connects first sliding block, and the other end connects one end of the connecting rod connector；Second connects
One end of bar connects second sliding block, and the other end connects the other end of the connecting rod connector；The clamping steering engine setting exists
The side of the guide rail platform, the output shaft for clamping steering engine pass through the guide rail platform to connect the connecting rod connector, drive
The dynamic connecting rod connector rotation, and then the first sliding block, the second sliding block is driven to be slided along the guide rail；
The rear side in the guide rail platform is arranged in the rotate steering wheel, and the output shaft of the rotate steering wheel is connected by rotary connector
Connect the rear end of the guide rail platform；
The rotate steering wheel is fixed in steering engine angle adjustment block；
It further include buffer layer；The clamping face of first sliding block and second sliding block is both provided with buffer layer；
The pedestal is the tower structure of cuboid；
Four bottom edges of the pedestal are connected square；Four manipulators correspond to two-by-two；Corresponding two manipulators
Rotate steering wheel output shaft on an axis；Two axis vertical take-offs that four manipulators are formed, and with the pedestal
Bottom surface is parallel；
The execution module further includes mounting plate；
The mounting plate connects the upper end of the pedestal；The mounting plate is made of transparent material, and shape is square；It is described
Four angles of mounting plate and middle part are equipped with a through-hole；
For the mounting plate by the upper end for connecting the pedestal by through-hole at four angles, the through-hole in the middle part of the mounting plate is upward
The corresponding host computer camera, corresponds to downwards the intersection point of four robot axes；
Include the following steps：
Step 1：Host computer bluetooth module and the pairing of slave computer bluetooth module are established into connection；
Step 2：The installation of magic square is carried out by manipulator and initial position corrects；
Step 3：The overturning of magic square is realized by manipulator, successively up by 6 of magic square, is acquired using host computer camera
The colouring information in each face of the initial state information of magic square, i.e. magic square；
Step 4：Upper computer control module carries out color identification and storage, and generates magic square according to the colouring information in each face of magic square
The step of reduction control information, i.e., magic square restores；
Step 5：Slave computer processor completes magic square reduction according to the step control machinery hand that the magic square restores；
The image procossing mode that the color identification is combined using hsv color space and RGB color in step 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510408548.4A CN105171749B (en) | 2015-07-13 | 2015-07-13 | Execution module, magic square reduction robot and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510408548.4A CN105171749B (en) | 2015-07-13 | 2015-07-13 | Execution module, magic square reduction robot and its application method |
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| Publication Number | Publication Date |
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| CN105171749A CN105171749A (en) | 2015-12-23 |
| CN105171749B true CN105171749B (en) | 2018-08-03 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105719318B (en) * | 2016-01-26 | 2018-07-10 | 上海葡萄纬度科技有限公司 | Magic square color identification method based on HSV in a kind of Educational toy external member |
| CN108159682B (en) * | 2018-02-09 | 2024-01-09 | 南月（广州）机器人科技有限公司 | Magic cube and automatic restoration device thereof |
| CN108555917B (en) * | 2018-02-09 | 2021-05-14 | 河南科技大学 | Automatic magic cube solving device |
| CN108748151A (en) * | 2018-06-05 | 2018-11-06 | 安徽合动智能科技有限公司 | A kind of finger of both arms two structure magic cube-solving robot |
| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
| CN109176558B (en) * | 2018-10-23 | 2023-12-01 | 西华大学 | Magic cube reduction device and magic cube robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101287000B1 (en) * | 2009-01-11 | 2013-07-23 | 어플라이드 머티어리얼스, 인코포레이티드 | Systems, apparatus and methods for making an electrical connection to a robot and electrical end effector thereof |
| CN102699917A (en) * | 2012-06-08 | 2012-10-03 | 北京工业大学 | Magic cube-solving robot based on intelligent mobile phone |
| CN103240747B (en) * | 2013-04-18 | 2016-07-06 | 塔米智能科技（北京）有限公司 | A kind of intelligence solves magic square robot and employs the human-computer interaction system of this robot |
| CN103350419A (en) * | 2013-06-25 | 2013-10-16 | 塔米智能科技（北京）有限公司 | Intelligent magic cube solving robot capable of autonomously grabbing magic cube, as well as magic cube solving method of intelligent magic cube solving robot |
| CN103932828B (en) * | 2014-04-04 | 2015-12-09 | 东北大学 | A kind of multi-functional handicapped-resisting mechanical arm |
| CN204278004U (en) * | 2014-11-25 | 2015-04-22 | 沈阳理工大学 | A kind of magic square robot |
| CN104552308B (en) * | 2015-01-12 | 2017-04-05 | 北京工业大学 | A kind of magic cube-solving robot of tetragonal symmetry structure |
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