魔方机器人展示系统研究与开发
发布时间：2019-02-28 20:25
【摘要】：智能机器人技术随着机器人学、计算机科学、计算机视觉等学科的发展,应用范围和实用价值得到了更广泛的关注和提高,成为当今世界高科技领域备受关注的热点课题。近年来对于科普展品开发,更加重视科学性、趣味性、可参与性,随着智能机器人逐渐走进人类的日常生产和生活,解魔方机器人成为了科普研究的热点。但由于解魔方机器人融合了计算机视觉、蓝牙通讯、机器人技术、图像处理、虚拟现实交互、魔方算法等多学科知识,要实现一个快速、稳定的魔方机器人复原系统具有很大的难度。因此,开展魔方机器人复原展示系统的研究具有很强的现实意义和应用价值。 对本文系统进行功能需求以及、稳定性、实时性应用性能需求分析,研究并设计了解魔方机器人系统的体系机构。第一,为保证系统在不同光照条件下对魔方状态进行精确识别,研究了基于计算机视觉建立HSV样本颜色空间库的算法,降低了漏检率减少了误分割,提高了系统运行的实时性和稳定性。第二,研究了机器人解魔方的特点及性能,对CFOP、角先法、TM算法进行分析改进,通过实验对比,改进TM算法步骤少、平稳性好,适用于本文系统,提高了机器人解魔方的性能。第三,针对系统特点及性能需求,对LEGO魔方机器人进行系统体系结构的改进,并设计运动控制系统,有效的提高了机器人运行的效率。第四,为了提高魔方机器人系统的交互性能和科学展示性能,研究了虚拟现实交互技术并设计了适用于本文系统的三维虚拟魔方系统,增加了系统趣味性和知识性。第五,针对本文系统多平台结合运行的特点,在研究基于LEGO的蓝牙无线通讯和基于UDP的网络通讯等多种通信方式基础,将各个平台的子系统有机的结合为整体,提高系统的整体性能。 通过上述系统设计和关键技术的研究,本文实现了“机器人解魔方展示系统”。实验结果及在科技馆临时展览效果证明,本系统能够适应不同的工作环境并能稳定可靠的运行,本文提出的若干关键技术的解决方案较为有效,系统具有稳定性和智能性。
[Abstract]:With the development of robotics, computer science, computer vision and so on, intelligent robot technology has been paid more attention to and improved in application scope and practical value. It has become a hot topic in the field of high-tech in the world today. In recent years, more attention has been paid to science, interest and participation in the development of popular science exhibits. With the intelligent robot gradually entering the daily production and life of human beings, the robot of solving Rubik's Cube has become a hot spot in the research of science popularization. However, due to the fusion of computer vision, Bluetooth communication, robot technology, image processing, virtual reality interaction, Rubik's cube algorithm and other multi-disciplinary knowledge, it is necessary to achieve a rapid solution. The restoration system of the stable Rubik Cube robot is very difficult. Therefore, the research on the restoration and display system of Rubik Cube robot has strong practical significance and application value. The functional requirements, stability and real-time application performance requirements of the system are analyzed, and the system mechanism of understanding the Rubik Cube robot system is studied and designed. Firstly, in order to ensure that the system can accurately identify the state of Rubik's Cube under different illumination conditions, the algorithm of establishing color space database of HSV samples based on computer vision is studied, which reduces the false detection rate and reduces the false segmentation. The real-time performance and stability of the system are improved. Secondly, the characteristics and performance of the robot's solution to magic cube are studied, and the CFOP, method and the TM algorithm are analyzed and improved. Through the comparison of the experiments, the TM algorithm is improved with few steps and good stationarity, which is suitable for the system in this paper. It improves the performance of the robot to solve the Rubik Cube. Thirdly, according to the characteristics and performance requirements of the system, the system architecture of LEGO Rubik Cube robot is improved, and the motion control system is designed, which effectively improves the running efficiency of the robot. Fourth, in order to improve the interactive performance and scientific display performance of the Rubik Cube robot system, the virtual reality interaction technology is studied and a three-dimensional virtual Rubik cube system suitable for this system is designed, which increases the interest and knowledge of the system. Fifthly, in view of the characteristics of the multi-platform operation of this system, we study the Bluetooth wireless communication based on LEGO and the network communication based on UDP, and combine the subsystems of each platform as a whole. Improve the overall performance of the system. Through the above-mentioned system design and the research of the key technology, this paper has realized the "robot solution cube display system". The experimental results and the temporary exhibition results in the Science and Technology Museum show that the system can adapt to different working conditions and can run stably and reliably. The solutions of some key technologies proposed in this paper are more effective and the system has stability and intelligence.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP242
[Abstract]:With the development of robotics, computer science, computer vision and so on, intelligent robot technology has been paid more attention to and improved in application scope and practical value. It has become a hot topic in the field of high-tech in the world today. In recent years, more attention has been paid to science, interest and participation in the development of popular science exhibits. With the intelligent robot gradually entering the daily production and life of human beings, the robot of solving Rubik's Cube has become a hot spot in the research of science popularization. However, due to the fusion of computer vision, Bluetooth communication, robot technology, image processing, virtual reality interaction, Rubik's cube algorithm and other multi-disciplinary knowledge, it is necessary to achieve a rapid solution. The restoration system of the stable Rubik Cube robot is very difficult. Therefore, the research on the restoration and display system of Rubik Cube robot has strong practical significance and application value. The functional requirements, stability and real-time application performance requirements of the system are analyzed, and the system mechanism of understanding the Rubik Cube robot system is studied and designed. Firstly, in order to ensure that the system can accurately identify the state of Rubik's Cube under different illumination conditions, the algorithm of establishing color space database of HSV samples based on computer vision is studied, which reduces the false detection rate and reduces the false segmentation. The real-time performance and stability of the system are improved. Secondly, the characteristics and performance of the robot's solution to magic cube are studied, and the CFOP, method and the TM algorithm are analyzed and improved. Through the comparison of the experiments, the TM algorithm is improved with few steps and good stationarity, which is suitable for the system in this paper. It improves the performance of the robot to solve the Rubik Cube. Thirdly, according to the characteristics and performance requirements of the system, the system architecture of LEGO Rubik Cube robot is improved, and the motion control system is designed, which effectively improves the running efficiency of the robot. Fourth, in order to improve the interactive performance and scientific display performance of the Rubik Cube robot system, the virtual reality interaction technology is studied and a three-dimensional virtual Rubik cube system suitable for this system is designed, which increases the interest and knowledge of the system. Fifthly, in view of the characteristics of the multi-platform operation of this system, we study the Bluetooth wireless communication based on LEGO and the network communication based on UDP, and combine the subsystems of each platform as a whole. Improve the overall performance of the system. Through the above-mentioned system design and the research of the key technology, this paper has realized the "robot solution cube display system". The experimental results and the temporary exhibition results in the Science and Technology Museum show that the system can adapt to different working conditions and can run stably and reliably. The solutions of some key technologies proposed in this paper are more effective and the system has stability and intelligence.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP242
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6 杨t，
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