基于二阶段双向搜索的解魔方机器人系统

近几年来,解魔方的机器人层出不穷,就目前的解魔方机器人,都存在不稳定、成本高、体积庞大等缺陷,本文对此研发一种新型的符合大众的解魔方机器人。魔方机器人的设计运用到的知识比较广,包含机械设计、系统控制、视觉检测、算法等。能将任意打乱的三阶魔方以最短的时间还原,整体设计结构由摄像头、二指机械臂等组成;摄像头获取图像传输给上位机处理,由STM32F103C8T6最小系统控制机械臂手指的转动。在满足低成本的情况下,实现比人计算更快,更精准地还原魔方。

Solving Cube Robot System Based on Two-stage Bidirectional Search

In recent years, the robots of the Rubiks cube have emerged in an endless stream. The current Rubiks cube robots have defects such as instability, high cost and large size. For this, a new type of Rubiks cube robot is developed. Rubiks cube design uses a wide range of knowledge, including mechanical design, system control, visual inspection, algorithms and so on. In order to make it completely intelligent, the third-order cube is arbitrarily restored in the shortest time. The overall design structure consists of a camera and a two-finger robot. The camera captures the image and transmits it to the host computer. The STM32F103C8T6 minimum system controls the rotation of the robot arm fingers. In the case of low cost, the Rubiks cube is restored faster and more accurately than human calculations.