CN111037581A - Electromagnetic dual-arm magic cube solving robot and control method thereof - Google Patents

Electromagnetic dual-arm magic cube solving robot and control method thereof Download PDF

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Publication number
CN111037581A
CN111037581A CN201911402703.6A CN201911402703A CN111037581A CN 111037581 A CN111037581 A CN 111037581A CN 201911402703 A CN201911402703 A CN 201911402703A CN 111037581 A CN111037581 A CN 111037581A
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electromagnetic
arm
electromagnet
magic cube
block information
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韩斌
徐晓豪
王浩
左峰峰
陈俊杰
张化鑫
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the field of magic cube robots, and particularly discloses an electromagnetic dual-arm magic cube solving robot and a control method thereof. The robot comprises a first electromagnetic arm unit, a second electromagnetic arm unit, an identification unit and a control unit, wherein the first electromagnetic arm unit and the second electromagnetic arm unit are identical in structure and are arranged in a bilateral symmetry mode, and each of the first electromagnetic arm unit and the second electromagnetic arm unit comprises a motor, a manipulator, an electromagnet fastening barrel, an electromagnet push rod and a spring and is used for completing rotation and grabbing actions; the recognition unit is arranged between the first electromagnetic arm unit and the second electromagnetic arm unit; the control unit is used for controlling the movement of the first electromagnetic arm unit and the second electromagnetic arm unit. The invention uses electromagnetic drive as a power source, and drives the manipulator to complete the grabbing action and the releasing action by the up-and-down movement of the movable iron core in the process of electrifying and powering off the electromagnet, thereby having the advantages of high response and small volume and being capable of avoiding the problem of unstable clamping force caused by the reduction of air pressure in the use process of the air cylinder arm.

Description

Electromagnetic dual-arm magic cube solving robot and control method thereof
Technical Field
The invention belongs to the field of magic cube robots, and particularly relates to an electromagnetic dual-arm magic cube solving robot and a control method thereof.
Background
The magic cube solving method is a widely spread intelligence-benefiting game, and a great deal of extensive and intensive research is carried out on the aspect of a human hand quick magic cube solving algorithm. In the aspect of magic cube solving robots, certain research is carried out at home and abroad, and magic cube robots with a large number of different structures and applying different control methods are published. The magic cube solving robot with double arms is a mechanical system which generally acquires, processes and identifies magic cube images on the basis of image analysis and computer vision, comprehensively analyzes and manages magic cube information and can automatically restore any disordered magic cube. At present, most of the existing double-arm magic cube solving robots are based on combination of pneumatic finger cylinders and motors.
The defect of the prior art is that the double-arm magic cube solving robot is large in necessary structure volume (a gas cylinder and other pressurizing devices) and not easy to move; from the aspect of performance, in the process of solving the magic cube, the reaction time is long, and the clamping power is unstable. The use of the cylinder fingers inevitably leads to a reduction process of air pressure in the use process, so that the clamping power can be continuously reduced, the stability is gradually reduced, and the clamping is unstable in the later step of the magic cube. CN201811547993.9 discloses a dual-arm magic cube solving robot and a method for using the same, which is shown in the first and second drawings that the dual-arm magic cube solving robot has a complex structure, a large number of supporting structures are provided to keep the overall mechanical stability during magic cube solving, and the pneumatic related structures mentioned in the text have the above-mentioned analytical disadvantages. And the finger structure of the electromagnetic power source is hardly applied to the field of the magic cube solving robot.
Meanwhile, the existing magic cube solving robot control method has the advantages and the defects. Like the magic cube solving robot previously released by the Massachusetts institute of technology, the magic cube solving robot has the advantages of simple structure, convenience in control and smooth and quick whole operation process. However, the mechanical structure that this kind of control method relies on must destroy magic cube robot's original structure, and the dismouting is troublesome when solving the magic cube. For the magic cube solving robot with the double-arm mechanical structure, the control method which can be inquired is complicated and long, the compatibility with the mechanical structure is poor, the magic cube solving time is long, and the efficiency is low. CN201710113251.4 discloses an intelligent robot for fast restoring magic cube and a control method thereof, which needs to use a human to operate the robot and the control system for many times when obtaining and confirming color block information, and also needs a user to confirm the correctness of the color block information, the process is complicated, and the above disadvantages are present in the control method.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides an electromagnetic double-arm magic cube solving robot and a control method thereof, wherein an electromagnetic arm of the robot uses electromagnetic drive as a power source, and a manipulator is driven to complete grabbing and releasing actions by up-and-down movement of a movable iron core in the process of powering on and powering off of an electromagnet.
To achieve the above object, according to one aspect of the present invention, there is provided an electromagnetic two-arm magic cube solving robot including first and second electromagnetic arm units having the same structure and disposed bilaterally symmetrically, and a recognition unit and a control unit, wherein:
the first electromagnetic arm unit and the second electromagnetic arm unit respectively comprise a motor, a manipulator, an electromagnet fastening barrel, an electromagnet push rod and a spring, the motor is fixed on the base and used for driving the manipulator to rotate, the electromagnet fastening barrel is sleeved outside the electromagnet, the lower end of the electromagnet fastening barrel is connected with the motor, the upper end of the electromagnet fastening barrel is connected with the manipulator, so that the manipulator is fixed, the electromagnet push rod is fixed on a movable iron core of the electromagnet, meanwhile, two ends of the electromagnet push rod are respectively connected with the manipulator and used for driving the manipulator to complete grabbing action, the spring is arranged between the electromagnet and the electromagnet push rod, in the working process, when the electromagnet is electrified, the movable iron core drives the electromagnet push rod to move downwards, and the spring is compressed to simultaneously drive the manipulator to rotate inwards to complete grabbing action, when the electromagnet is powered off, the spring rebounds to drive the electromagnet push rod to move upwards, so that the manipulator rotates outwards to complete the releasing action;
the identification unit is arranged between the first electromagnetic arm unit and the second electromagnetic arm unit and is used for acquiring color block information of the magic cube;
the control unit is used for controlling the movement of the first electromagnetic arm unit and the second electromagnetic arm unit.
As a further preferred feature, the robot arm includes a first straight link, a second straight link, a first L-link, a second L-link, a first finger, and a second finger, wherein the first straight link and the second straight link are installed at an outer side, lower ends thereof are respectively connected to the electromagnet fastening barrel, the first L-link and the second L-link are installed at an inner side, and lower ends thereof are respectively connected to the electromagnet push rod and the electromagnet fastening barrel, the first finger is connected to upper ends of the first straight link and the first L-link, and the second finger is connected to upper ends of the second straight link and the second L-link.
As a further preferred, the clamping ends of the first finger and the second finger are provided with a wedge block and an anti-slip sheet layer, the wedge block is used for automatically adjusting to an optimal clamping angle when the magic cube is clamped, and the anti-slip sheet layer is used for increasing friction force.
Preferably, the identification unit comprises a left cantilever support, a right cantilever support, a cantilever and a camera, wherein the lower ends of the left cantilever support and the right cantilever support are respectively fixed on the base, the upper ends of the left cantilever support and the right cantilever support are connected with the cantilever, and the camera is respectively installed on the left cantilever support, the right cantilever support, the cantilever and the base and used for collecting color block information of the magic cube.
As a further preferred option, the identification unit further includes a lamp strip and a baffle, the lamp strip is fixed on the left cantilever support, the right cantilever support, the cantilever and the base respectively for providing illumination, and the baffle is disposed around the base for blocking external light.
Preferably, the control unit includes a power supply, a motor controller, and a single chip microcomputer, the power supply is configured to supply power to the motor, the motor controller, and the single chip microcomputer, the motor controller is configured to control the motor to rotate, and the single chip microcomputer is configured to transmit a potential signal to the motor controller and the electromagnet, so as to control the movement of the first electromagnetic arm unit and the second electromagnetic arm unit.
According to another aspect of the present invention, there is provided a method of controlling an electromagnetic two-arm magic cube solving robot, the method comprising the steps of:
s1, opening the lamp strip and the camera, adjusting the first electromagnetic arm and the second electromagnetic arm to initial positions at the same time, and then placing the magic cube to be restored at the clamping position of the manipulator;
s2, capturing color block information of the part, which is not clamped by the fingers of the operator, of the magic cube by using the camera;
s3, the electromagnets of the first electromagnetic arm and the second electromagnetic arm are electrified, so that the manipulator is driven to close;
s4, when the fingers of the operator leave the visual field of the camera, the camera is used for capturing the information of the rest color blocks in the magic cube;
s5 calculating the color block information captured in the steps S2 and S4;
s6 obtaining a mechanical twisting sequence of the first and second electromagnetic arms based on the result of the calculation;
s7, transmitting the mechanical twisting sequence obtained in the step S6 to the single chip microcomputer, and controlling the rotation of the motor 14 in the first electromagnetic arm and the second electromagnetic arm and the opening and closing of the manipulator by the single chip microcomputer, so that the magic cube to be restored is twisted;
s8, after the execution is finished, the current color block information of the magic cube is captured by the camera, whether the magic cube is recovered or not is judged, if not, the current color block information is substituted into the step S5, and if yes, the operation is finished.
As a further preference, the step S5 includes the following sub-steps:
s51, determining RGB values of color blocks of six colors according to the color block information captured by the camera;
s52, converting the RGB values of the color blocks obtained in the step S51 into HSV values, then dividing the color blocks based on HSV experience thresholds of six colors of the color blocks to distinguish the six colors, judging whether the color block information obtained by calculation conflicts with actual color block information, if so, entering a step S53, and if not, entering a step S6;
s53, converting the RGB values of the color blocks obtained in the step S51 into HSV values, then dynamically dividing the color blocks by using HSV components of six colors, distinguishing the six colors, judging whether the color block information obtained by calculation conflicts with the actual color block information, if so, entering the step S54, and if not, entering the step S6;
s54, converting the RGB values of the color blocks obtained in the step S51 into LAB values, then carrying out three-dimensional K-means cluster analysis based on LAB space distribution of the six colors of the color blocks to distinguish the six colors, judging whether the calculated color block information conflicts with the actual color block information, if so, entering the step S55, and if not, entering the step S6;
s55, the RGB values of the color blocks obtained in the step S51 are mapped to a two-dimensional plane along vectors (1, 1, 1), then color clustering analysis is carried out based on two-dimensional K-means clustering, six colors are distinguished, whether color block information obtained through calculation conflicts with actual color block information or not is judged, if yes, the step S2 is returned, and if not, the step S6 is carried out.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the invention uses electromagnetic drive as a power source, and drives the manipulator to complete the grabbing action and the releasing action by the up-and-down movement of the movable iron core in the process of electrifying and powering off the electromagnet, thereby having the advantages of high response and small volume, being capable of avoiding the problem of unstable clamping force caused by the reduction of air pressure in the use process of the air cylinder arm, and simultaneously, the invention only needs external power supply, does not depend on other power source structures, and can be easily transferred to various places and other mechanical structures;
2. in addition, the structure of the manipulator, the recognition unit and the control unit is optimized, so that the stability and the effectiveness of the working process can be effectively improved;
3. meanwhile, the control method is improved, the color block information of the part which is not clamped by the fingers of an operator is immediately captured after the magic cube falls into the camera acquisition area, and the magic cube is automatically clamped when the magic cube is detected to reach the specified mechanical arm clamping position;
4. in the aspect of obtaining the visual solving algorithm of magic cube color block information, the invention utilizes the color information of HSV, LAB and RGB multicolor spaces and adopts various clustering and dynamic threshold value adjustment visual processing algorithms, thereby being capable of giving more robust and accurate results in a set time and having the advantages of simple control, high magic cube restoration success rate and high restoration speed.
Drawings
Fig. 1 is a top view of an electromagnetic two-arm magic cube robot constructed in accordance with a preferred embodiment of the present invention;
fig. 2 is a left side view of an electromagnetic two-arm magic cube robot constructed in accordance with a preferred embodiment of the present invention;
fig. 3 is a front view of an electromagnetic two-arm magic cube robot constructed in accordance with a preferred embodiment of the present invention;
figure 4 is an isometric view of an electromagnetic two-arm magic cube robot constructed in accordance with a preferred embodiment of the present invention;
figure 5 is a state diagram of an electromagnetic two-arm magic cube solving robot gripping a magic cube, constructed in accordance with a preferred embodiment of the present invention;
fig. 6 is an axial schematic view of a gripping state of a first electromagnetic arm or a second electromagnetic arm in the electromagnetic two-arm magic cube robot constructed according to the preferred embodiment of the present invention;
fig. 7 is an axial schematic view of a released state of a first electromagnetic arm or a second electromagnetic arm in an electromagnetic two-arm magic cube robot constructed in accordance with a preferred embodiment of the present invention;
fig. 8 is an exploded view of the first or second electromagnetic arm of an electromagnetic two-arm magic cube robot constructed in accordance with a preferred embodiment of the present invention;
fig. 9 is a detailed view of the clamping state of the manipulator in the electromagnetic dual-arm magic cube robot constructed in accordance with the preferred embodiment of the present invention;
fig. 10 is a detailed view of the released state of the manipulator in the electromagnetic two-arm magic cube solving robot constructed in accordance with the preferred embodiment of the present invention;
fig. 11 is a control logic diagram of the electromagnetic dual-arm magic cube solving robot provided by the invention;
fig. 12 is a logic diagram of a visual algorithm of the electromagnetic dual-arm magic cube solving robot provided by the invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-a motor controller, 2-a first straight connecting rod, 3-a first L-shaped connecting rod, 4-an electromagnet, 5-a spring, 6-an electromagnet push rod, 7-a second L-shaped connecting rod, 8-a second straight connecting rod, 10-a second finger, 11-a first finger, 12-an electromagnet fastening barrel, 13-a flange plate coupler, 14-a motor, 15-a motor support, 16-a motor backseat, 17-a cantilever, 18-a left camera, 19-a left cantilever support, 20-a left light strip, 21-a lower light strip, 22-a lower camera, 23-a lower visual support, 24-a base, 25-a right light strip, 26-a right camera, 27-a right cantilever support, 28-a light adjusting button, 29-an upper light strip, 30-upper camera, 31-baffle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 5, an electromagnetic dual-arm magic cube robot according to an embodiment of the present invention includes a first electromagnetic arm unit and a second electromagnetic arm unit that have the same structure and are arranged in bilateral symmetry, and an identification unit and a control unit, wherein:
the first electromagnetic arm unit and the second electromagnetic arm unit respectively comprise a motor 14, a mechanical arm, an electromagnet fastening barrel 12, an electromagnet 4, an electromagnet push rod 6 and a spring 5, wherein the motor 14 is fixed on a base 24 through a motor support 15 and a motor rear seat 16 and is used for driving the mechanical arm to rotate, the electromagnet fastening barrel 12 is sleeved on the outer side of the electromagnet 4, the electromagnet 4 is a direct-push type electromagnet and comprises a core coil, a peripheral support, a fixed iron core and a movable iron core which are positioned in the center, the lower end of the electromagnet fastening barrel 12 is connected with the motor 14 through a flange plate coupling 13, the upper end of the electromagnet fastening barrel is connected with the mechanical arm so as to fix the mechanical arm, the electromagnet fastening barrel 12 is provided with a circumferential array of heat dissipation holes and four limiting holes, and when the heat dissipation holes do not influence and interfere the working of the limiting holes, on the premise of not reducing necessary structural strength and stability, the, the upper end of the electromagnet push rod 6 is protruded with a pair of triangular connecting blocks to meet the connection of other parts, the electromagnet push rod 6 is fixed on a movable iron core of the electromagnet 4, meanwhile, two ends of the electromagnet push rod 6 are respectively connected with a manipulator and used for driving the manipulator to complete a grabbing action, the spring 5 is arranged between the electromagnet 4 and the electromagnet push rod 6, in the working process, when the electromagnet 4 is powered on, the movable iron core drives the electromagnet push rod 6 to move downwards, the spring 5 is compressed to simultaneously drive the manipulator to rotate inwards to complete the grabbing action, when the electromagnet 4 is powered off, the spring 5 rebounds to drive the electromagnet push rod 6 to move upwards, so that the manipulator rotates outwards to complete a releasing action;
the identification unit is arranged between the first electromagnetic arm unit and the second electromagnetic arm unit and used for acquiring color block information of the magic cube;
the control unit is used for controlling the movement of the first electromagnetic arm unit and the second electromagnetic arm unit.
Further, as shown in fig. 6 to 8, the robot hand includes a first straight connecting rod 2, a second straight connecting rod 8, a first L-shaped connecting rod 3, a second L-shaped connecting rod 7, a first finger 11 and a second finger 10, wherein the first straight connecting rod 2 and the second straight connecting rod 8 are installed at the outside, the lower ends thereof are respectively connected with an electromagnet fastening barrel 12, the first L-shaped connecting rod 3 and the second L-shaped connecting rod 7 are installed at the inside, and the lower ends thereof are respectively connected with an electromagnet push rod 6 and the electromagnet fastening barrel 12, the first finger 11 is connected with the upper ends of the first straight connecting rod 2 and the first L-shaped connecting rod 3, the second finger 10 is connected with the upper ends of the second straight connecting rod 8 and the second L-shaped connecting rod 7, and the gripping ends of the first finger 11 and the second finger 10 are provided with a wedge block and an anti-slip sheet layer, the wedge block is used for automatically adjusting to an optimal gripping angle when gripping the magic cube, the possibility of shaking and even sliding is reduced, and the anti-slip sheet layer is made of materials such as a silica gel sheet and the like and is used for increasing the friction force;
when the electromagnet is powered on, the electromagnet push rod 6 moves downwards and drives the first straight connecting rod 2, the second straight connecting rod 8, the first L-shaped connecting rod 3 and the second L-shaped connecting rod 7 to form a parallel push rod to rotate inwards, and the first finger 11 and the second finger 10 are driven to press inwards to complete the grabbing action, as shown in fig. 9; when the electromagnet is powered off, the downward pulling force disappears, the spring 5 rebounds, the electromagnet push rod 6 moves upwards to drive the movable iron core which is fixedly connected to the electromagnet push rod to move upwards, and simultaneously, the first straight connecting rod 2, the second straight connecting rod 8, the first L-shaped connecting rod 3 and the second L-shaped connecting rod 7 are driven to form a parallel push rod to rotate inwards to drive the first finger 11 and the second finger 10 to move outwards, so that the releasing action is realized, as shown in fig. 10;
according to the requirement of clamping force, the required current can be calculated, the force applied to the clamping object when the first finger 11 and the second finger 10 reach the clamping position is changed by changing the current of the core coil of the electromagnet 4, and the braking impact force when the clamping object is clamped can be changed by changing the sizes of the first straight connecting rod 2, the second straight connecting rod 8, the first L-shaped connecting rod 3 and the second L-shaped connecting rod 7 and the stroke of the movable iron core of the electromagnet 4.
Further, the identification unit comprises a left cantilever support 19, a right cantilever support 27, a cantilever 17, a camera, a lamp strip and a baffle, wherein the lower ends of the left cantilever support 19 and the right cantilever support 27 are respectively fixed on the base 24, the upper end of the camera is connected with the cantilever 17, a left camera 18, a right camera 26, an upper camera 30 and a lower camera 22 in the camera are respectively arranged on a left cantilever bracket 19, a right cantilever bracket 27, the cantilever 17 and a lower visual bracket 23 of the base 24, used for collecting the color lump information of the magic cube, a left lamp strip 20, a right lamp strip 25, an upper lamp strip 29 and a lower lamp strip 21 in the lamp strips are respectively fixed on a left cantilever support 19, a right cantilever support 27, a cantilever 17 and a lower visual support 23 of a base 24, used for providing illumination, and the intensity of the illumination can be adjusted by the light adjusting button 28, and the baffle 31 is arranged around the base 24 and used for blocking the external light.
Further, the control unit comprises a power supply 9, a motor controller 1 and a single chip microcomputer, wherein the power supply 9 is used for supplying power to the motor 14, the motor controller 1 and the single chip microcomputer, the motor controller 1 is used for controlling the motor 14 to rotate, and the single chip microcomputer is used for transmitting potential signals to the motor controller 1 and the electromagnet 4 so as to control the movement of the first electromagnetic arm unit and the second electromagnetic arm unit.
As shown in fig. 11, according to another aspect of the present invention, there is provided a method for controlling an electromagnetic two-arm magic cube solving robot, the method including the steps of:
s1, turning on the lamp strip and the camera, adjusting the first electromagnetic arm and the second electromagnetic arm to initial positions, and then placing the magic cube to be restored at a clamping position of the manipulator;
s2, capturing color block information of the part, which is not clamped by the fingers of the operator, of the magic cube by using the camera;
s3, the electromagnets of the first electromagnetic arm and the second electromagnetic arm are electrified, so that the manipulator is driven to close;
s4, when the fingers of the operator leave the visual field of the camera, the camera is used for capturing the information of the rest color blocks in the magic cube;
s5 calculating the color block information captured in steps S2 and S4;
s6 obtaining a mechanical wiggling sequence of the first and second electromagnetic arms based on the result of the calculation;
s7, transmitting the mechanical twisting sequence obtained in the step S6 to a single chip microcomputer, and controlling the rotation of the motor 14 in the first electromagnetic arm and the second electromagnetic arm and the opening and closing of the manipulator by the single chip microcomputer so as to twist the magic cube to be restored;
and S8, after the execution is finished, capturing the current color block information of the magic cube by using the camera, judging whether the magic cube is recovered, if not, substituting the current color block information into the step S5, and if so, finishing.
Further, as shown in fig. 12, step S5 includes the following sub-steps:
s51 determining RGB values of color blocks of six colors according to the color block information captured by the camera;
s52, converting the RGB values of the color blocks obtained in the step S51 into HSV values, then dividing the color blocks based on HSV experience thresholds of six colors of the color blocks to distinguish the six colors, judging whether the color block information obtained by calculation conflicts with the actual color block information, if so, entering a step S53, and if not, entering a step S6;
s53, converting the RGB values of the color blocks obtained in the step S51 into HSV values, then dynamically dividing the color blocks by using HSV components of six colors, distinguishing the six colors, judging whether the color block information obtained by calculation conflicts with the actual color block information, if so, entering the step S54, and if not, entering the step S6;
s54, converting the RGB values of the color blocks obtained in the step S51 into LAB values, then carrying out three-dimensional K-means cluster analysis based on LAB space distribution of the six colors of the color blocks to distinguish the six colors, judging whether the calculated color block information conflicts with the actual color block information, if so, entering the step S55, and if not, entering the step S6;
s55, the RGB values of the color blocks obtained in the step S51 are mapped to a two-dimensional plane along vectors (1, 1, 1), then color clustering analysis is carried out based on two-dimensional K-means clustering, six colors are distinguished, whether color block information obtained through calculation conflicts with actual color block information or not is judged, if yes, the step S2 is returned, and if not, the step S6 is carried out.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.

Claims (8)

1. The utility model provides a magic cube robot is separated to electromagnetism both arms which characterized in that, this robot include the first electromagnetic arm unit and the second electromagnetic arm unit that the structure is the same and bilateral symmetry sets up to and recognition cell and the control unit, wherein:
the first electromagnetic arm unit and the second electromagnetic arm unit respectively comprise a motor (14), a mechanical arm, an electromagnet fastening barrel (12), an electromagnet (4), an electromagnet push rod (6) and a spring (5), the motor (14) is fixed on a base (24) and used for driving the mechanical arm to rotate, the electromagnet fastening barrel (12) is sleeved on the outer side of the electromagnet (4), the lower end of the electromagnet fastening barrel (12) is connected with the motor (14), the upper end of the electromagnet fastening barrel is connected with the mechanical arm so as to fix the mechanical arm, the electromagnet push rod (6) is fixed on a movable iron core of the electromagnet (4), meanwhile, two ends of the electromagnet push rod (6) are respectively connected with the mechanical arm and used for driving the mechanical arm to complete grabbing action, and the spring (5) is arranged between the electromagnet (4) and the electromagnet push rod (6), in the working process, when the electromagnet (4) is powered on, the movable iron core drives the electromagnet push rod (6) to move downwards, the spring (5) is compressed and simultaneously drives the manipulator to rotate inwards to complete the grabbing action, and when the electromagnet (4) is powered off, the spring (5) rebounds to drive the electromagnet push rod (6) to move upwards, so that the manipulator rotates outwards to complete the releasing action;
the identification unit is arranged between the first electromagnetic arm unit and the second electromagnetic arm unit and is used for acquiring color block information of the magic cube;
the control unit is used for controlling the movement of the first electromagnetic arm unit and the second electromagnetic arm unit.
2. An electromagnetic dual-arm magic cube robot according to claim 1, wherein the manipulator comprises a first straight connecting rod (2), a second straight connecting rod (8), a first L-shaped connecting rod (3), a second L-shaped connecting rod (7), a first finger (11) and a second finger (10), wherein the first straight connecting rod (2) and the second straight connecting rod (8) are arranged on the outer side, the lower ends of the two L-shaped connecting rods are respectively connected with the electromagnet fastening barrel (12), the first L-shaped connecting rod (3) and the second L-shaped connecting rod (7) are arranged at the inner side, and the lower end of the electromagnet is respectively connected with the electromagnet push rod (6) and the electromagnet fastening barrel (12), the first finger (11) is connected with the upper ends of the first straight connecting rod (2) and the first L-shaped connecting rod (3), the second finger (10) is connected with the upper ends of the second straight connecting rod (8) and the second L-shaped connecting rod (7).
3. The electromagnetic dual-arm magic cube robot of claim 2, wherein the gripping ends of the first finger (11) and the second finger (10) are provided with a wedge-shaped block for automatically adjusting to an optimal gripping angle when gripping the magic cube, and an anti-slip sheet layer for increasing friction.
4. The electromagnetic dual-arm magic cube solving robot of claim 1, wherein the recognition unit comprises a left cantilever support (19), a right cantilever support (27), a cantilever (17) and a camera, wherein the lower ends of the left cantilever support (19) and the right cantilever support (27) are respectively fixed on the base (24), the upper ends of the left cantilever support (19) and the right cantilever support (27) are connected with the cantilever (17), and the camera is respectively installed on the left cantilever support (19), the right cantilever support (27), the cantilever (17) and the base (24) and is used for collecting color block information of the magic cube.
5. The electromagnetic dual-arm magic cube robot of claim 4, wherein the identification unit further comprises a light strip and a baffle, the light strip is respectively fixed on the left cantilever support (19), the right cantilever support (27), the cantilever (17) and the base (24) for providing illumination, and the baffle is arranged around the base (24) for blocking external light.
6. An electromagnetic dual-arm magic cube robot according to any one of claims 1-5, wherein the control unit comprises a power supply (9), a motor controller (1) and a single chip microcomputer, the power supply (9) is used for supplying power to the motor (14), the motor controller (1) and the single chip microcomputer, the motor controller (1) is used for controlling the motor (14) to rotate, and the single chip microcomputer is used for transmitting potential signals to the motor controller (1) and the electromagnet (4) so as to control the movement of the first electromagnetic arm unit and the second electromagnetic arm unit.
7. A control method of an electromagnetic dual-arm magic cube robot as claimed in any one of claims 1 to 6, characterized by comprising the steps of:
s1, opening the lamp strip and the camera, adjusting the first electromagnetic arm and the second electromagnetic arm to initial positions at the same time, and then placing the magic cube to be restored at the clamping position of the manipulator;
s2, capturing color block information of the part, which is not clamped by the fingers of the operator, of the magic cube by using the camera;
s3, the electromagnets of the first electromagnetic arm and the second electromagnetic arm are electrified, so that the manipulator is driven to close;
s4, when the fingers of the operator leave the visual field of the camera, the camera is used for capturing the information of the rest color blocks in the magic cube;
s5 calculating the color block information captured in the steps S2 and S4;
s6 obtaining a mechanical twisting sequence of the first and second electromagnetic arms based on the result of the calculation;
s7, transmitting the mechanical twisting sequence obtained in the step S6 to the single chip microcomputer, and controlling the rotation of the motor 14 in the first electromagnetic arm and the second electromagnetic arm and the opening and closing of the manipulator by the single chip microcomputer, so that the magic cube to be restored is twisted;
s8, after the execution is finished, the current color block information of the magic cube is captured by the camera, whether the magic cube is recovered or not is judged, if not, the current color block information is substituted into the step S5, and if yes, the operation is finished.
8. A method for controlling an electromagnetic dual-arm magic cube robot as claimed in claim 7, wherein said step S5 includes the sub-steps of:
s51, determining RGB values of color blocks of six colors according to the color block information captured by the camera;
s52, converting the RGB values of the color blocks obtained in the step S51 into HSV values, then dividing the color blocks based on HSV experience thresholds of six colors of the color blocks to distinguish the six colors, judging whether the color block information obtained by calculation conflicts with actual color block information, if so, entering a step S53, and if not, entering a step S6;
s53, converting the RGB values of the color blocks obtained in the step S51 into HSV values, then dynamically dividing the color blocks by using HSV components of six colors, distinguishing the six colors, judging whether the color block information obtained by calculation conflicts with the actual color block information, if so, entering the step S54, and if not, entering the step S6;
s54, converting the RGB values of the color blocks obtained in the step S51 into LAB values, then carrying out three-dimensional K-means cluster analysis based on LAB space distribution of the six colors of the color blocks to distinguish the six colors, judging whether the calculated color block information conflicts with the actual color block information, if so, entering the step S55, and if not, entering the step S6;
s55, the RGB values of the color blocks obtained in the step S51 are mapped to a two-dimensional plane along vectors (1, 1, 1), then color clustering analysis is carried out based on two-dimensional K-means clustering, six colors are distinguished, whether color block information obtained through calculation conflicts with actual color block information or not is judged, if yes, the step S2 is returned, and if not, the step S6 is carried out.
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Application publication date: 20200421