摘要
针对双手臂智能机器人复原魔方这一难题,设计了一套快速解魔方系统。该系统由图像采集、图像处理和机械臂控制三部分组成。首先,利用android手机中的Droid Cam软件采集魔方图像并将该图像信息传送至PC端;然后,通过Lab VIEW软件提供的库函数对图像进行分析和识别,并将结果发送给STM32处理器;最后,通过层先法得到复原魔方的步骤并控制2个机械臂复原魔方。实验结果表明,本系统可智能恢复任意打乱的魔方,并且执行过程控制较为简单,性能稳定可靠。
Aiming at the problem of Rubik＇ s cube recovered by dual-arm robot, this paper designed a system of novel fast solving Rubik ＇ s cube. The system consists of image acquisition, image processing and mechanical arm control. First of all, DroidCam which is an android mobile phone software is used to acquire Rubik＇ s cube image, then the image information is transmitted to PC. Secondly, the library function provided by LabVIEW software is utilized to analyze and recognize the image, then the result is sent to the STM32 processor. Finally, we can obtain the steps of recovering Rubik＇ s cube by layer first method and control the two mechanical arms to operate the scheme step by step. Experimental results prove that this system can be smart to recover any disordered Rubik＇ s cube, the process is relatively simple and the performance of this system is stable and reliable.
出处
《实验室研究与探索》
CAS
北大核心
2017年第4期29-32,共4页
Research and Exploration In Laboratory
基金
浙江省大学生新苗计划(2016R407024)
杭州电子科技大学校级大学生创新创业项目(XJ201411)
关键词
复原魔方
图像识别
层先法
magic cube recovery
image identification
layer first method
