基于STM32的智能魔方还原机器人设计

Design of Intelligent Rubik’s Cube Restoration Robot Based on STM32

设计一种高速、高成功率、可交互的魔方还原机器人,该魔方还原机器人以STM32f103处理器为平台,通过机械系统、控制系统、通讯和图像识别系统以及执行机构实现魔方的还原功能。绘制了魔方还原过程的整体逻辑流程,根据控制系统要求设计了上下位机通讯接口与协议。优化了机械臂驱动电机的加减速运行曲线,在保证运行稳定性的前提下尽可能提高速度。通过颜色空间的坐标变换算法和自适应补光功能算法实现了视觉系统设计。通过最后软硬件安装运行调试,结果显示本魔方还原机器人明显优于其他结构和传统算法魔方还原机器人。

A high-speed,high success rate,interactive magic cube restoration robot was designed,the rubik′s cube restoration robot took STM32f103 processor as the platform,and the cube restoration function realized through mechanical system,control system,communication and image recognition system and actuator.The logic flow chart of the magic cube restoration process was drawn,and the communication interface and protocol between the upper and lower computers were designed according to the requirements of the control system.The acceleration and deceleration operation curve of the manipulator driving motor were optimized to improve the speed as much as possible on the premise of ensuring the operation stability.The vision system was realized through the coordinate transformation algorithm of color space and the adaptive light compensation function algorithm.Through the installation,operation and debugging of software and hardware,the results show that the cube restoration robot is obviously superior to other structures and traditional algorithms.