| Science and technology are the primary productive forces and the cornerstone of the progress of human civilization.The advance of science and technology improves human society.In human history,the propagation and popularization of some great scientific ideas and technological achievements led human society into the new eras.The popularization of science and technology plays an important role in improving the people's scientific and technological quality,enhancing the public's ability to understand,master and utilize the modern science and technology,embedding the scientific ideas and concepts into the national spirit,and promoting the development of science and technology.The demonstration system of intelligent Rubik's Cube robot designed in this thesis is mainly used for scientific display.It adopts a human-computer interactive way to demonstrate related technical principles and display the powerful functions of the robots,and then show the methods of recovering the Rubik's Cube.The major technologies referred to in this thesis include image processing,Bluetooth communications technology,robot control technology and etc.The system of Rubik's cube robot is analyzed from functional requirements,while the non-functional requirements were analyzed,such as stability and real-time.The system was modular designed from the hardware and software aspects,and then feasible solutions was proposed for critical technology to achieve the desired design goals.In order to improve the accuracy of the system on the cube state recognition in different light condition,the method of establishing the pre sampling color space based on HSV color model was reseashed.This paper discusses the cube state recognition process,firstly discusses the third-order cube mathematical modeling,followed by Cube image acquisition,image pre-processing,the process of the establishment of color space library,color recognition and status of conversion,the initial state of the cube was identified.After studying and analyzing the algorithms of CFOP,Corner-First and TM for Solution to the Rubik's Cube by hands,the algorithms were transformed into computer-readable programming language.According to the characteristics and performance requirements of the robot system,the algorithms of CFOP,Corner-First and TM were improved,such as the 4 stages of CFOP algorithm were divided into 7 steps,remove the x,y,z rotation from Corner-First algorithm,add state conversion for the TM algorithm.By comparison and analysis of experimental data,TM algorithm is relatively suitable for this study,because of few steps and easy system transformation.In order to effectively improve the efficiency of the robot operation,the underlying control mechanisms and Bluetooth communication mechanism of the LEOG robot were fully studied.Focus on the improvement of the structure and the control system of the Rubik's cube robot based on LEGO platform,at the end of this paper,the detail process of the implementation of the Rubik's cube robot system was described.Based on the systems analysis and design and the research of the critical technologies,the Rubik's cube robot based on LEGO platform was implemented.Through the experimental test and long time interaction and show,this system has proved having a certain degree of adaptability to environment.The reliability and scalability of the system is the process of long-running was ensured by the solutions of some critical technologies. |
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