A Rubik's Cube Robot Color Recognition System

Abstract

The present invention discloses a Rubik's Cube robot color recognition system, the system comprising: a magnetic sensor and a magnet, the magnetic sensor is arranged in a Rubik's Cube bearing platform, each face of each Rubik's Cube block is provided with a magnet with different magnetism, the magnet with different magnetism represents different Rubik's Cube block colors in the Rubik's Cube block, the magnetism of the magnet in the current Rubik's Cube block is detected by the magnetic sensor, the color of the current Rubik's Cube block is determined, and the Rubik's Cube is assembled using a mechanical arm. The present invention solves the problem that the existing Rubik's Cube color recognition is easily affected by environmental factors and prone to errors.

Description

Technical Field

[0001] The invention relates to the technical field of magic cube control, and in particular to a magic cube robot color recognition system. Background Art

[0002] The Rubik's Cube is a versatile intellectual toy, also known as the Rubik's Cube. It was invented by Professor Rubik of the Budapest School of Architecture in Hungary in 1974. Due to its infinite mysteries, it has a large number of fans. The Rubik's Cube has also been widely and deeply studied in the academic community, and the research results of the Rubik's Cube have also been applied in many ways. The Rubik's Cube robot acquires, processes and recognizes the Rubik's Cube image based on image analysis and computer vision, and conducts comprehensive analysis and management of the Rubik's Cube information, and automatically restores any scrambled Rubik's Cube. Some Rubik's Cube restoration robots have high requirements for the environment when identifying the color of the Rubik's Cube. Basically, it needs to be carried out under specific lighting conditions and has poor adaptability to the environment. There are many ways to classify colors, among which the RGB color space is the most basic and most commonly used color space.

[0003] However, from the perspective of color perception, the RGB color space is non-uniform, and the correlation between each color component is strong, so it is generally used in recognition models that divide targets into two categories. The HSV color space is another commonly used color space. It is based on human psychological perception characteristics and belongs to the polar coordinate space structure. Its advantage is that it can describe colors intuitively. However, due to the existence of singular points in the HSV color space, when the light changes and the value of a certain component in the light is slightly higher, many errors will occur in color classification. Therefore, it is not suitable for color classification and quantification. Recognition based on the color of the Rubik's Cube surface is easily affected by the environment and is more likely to have errors. Summary of the invention

[0004] To this end, the present invention provides a Rubik's Cube robot color recognition system to solve the problem that the existing Rubik's Cube color recognition is easily affected by environmental factors and prone to errors.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The invention discloses a Rubik's Cube robot color recognition system, the system comprising: a magnetic sensor and a magnet, the magnetic sensor is arranged in a Rubik's Cube bearing platform, each face of each Rubik's Cube block is arranged with a magnet with different magnetism, the magnet with different magnetism represents different Rubik's Cube block colors in the Rubik's Cube block, the magnetic sensor is used to detect the magnetism of the magnet in the current Rubik's Cube block, the color of the current Rubik's Cube block is judged, and the Rubik's Cube is assembled using a robotic arm.

[0007] Furthermore, the Rubik's Cube is provided with two magnetic steel installation positions Ax Bx, each of which corresponds to a face having nine Rubik's Cube blocks, specifically including: A1 B1; A2 B2; A3 B3; A4 B4; A5 B5; A6 B6; A7 B7; A8 B8; A9 B9.

[0008] Furthermore, when the Rubik's Cube is set to white, a magnet facing the S pole is placed at position Ax, and no magnet is installed at position Bx.

[0009] Furthermore, when the Rubik's Cube is set to yellow, a magnet facing the N pole is placed at position Ax, and no magnet is installed at position Bx.

[0010] Furthermore, when the Rubik's Cube is set to red, no magnet is installed at position Ax, and a magnet facing the S pole is placed at position Bx.

[0011] Furthermore, when the Rubik's Cube is set to orange, no magnet is installed at position Ax, and a magnet facing the N pole is placed at position Bx.

[0012] Furthermore, when the Rubik's Cube is set to green, a magnetic steel facing the N pole is placed at position Ax, and a magnetic steel facing the N pole is placed at position Bx.

[0013] Furthermore, when the Rubik's Cube is set to blue, no magnetic steel is installed at position Ax and no magnetic steel is installed at position Bx.

[0014] Furthermore, after the magnetic sensor senses the magnetism of the faces of different Rubik's Cube blocks, it determines the colors corresponding to all Rubik's Cube blocks, and records the colors of the Rubik's Cube blocks on each face through the central processing unit.

[0015] Furthermore, the central processing unit controls the robot arm to restore the Rubik's Cube according to a set program after calculating and processing the recognition result.

[0016] The present invention has the following advantages:

[0017] The invention discloses a color recognition system for a Rubik's Cube robot, which places magnetic steels with different magnetism on different faces of each Rubik's Cube block. The magnetic steels with different positions and different magnetism represent different colors. The magnetic poles of the current Rubik's Cube block can be judged by a magnetic sensor to match the color information accordingly, without being disturbed by the environment and light, with a small error, and greatly improving the accuracy of color recognition. This helps the Rubik's Cube robot to restore the Rubik's Cube more quickly and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0019] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0020] Figure 1 A schematic diagram of the arrangement of magnetic steels on the surface of a Rubik's Cube of a Rubik's Cube robot color recognition system provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the working of a Rubik's Cube robot color recognition system provided by an embodiment of the present invention;

[0022] In the figure: 1-magnet, 2-magnetic sensor. DETAILED DESCRIPTION

[0023] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example

[0025] The present embodiment discloses a Rubik's Cube robot color recognition system, the system comprising: a magnetic sensor 2 and a magnet 1, the magnetic sensor 2 being arranged in a Rubik's Cube supporting platform, a magnet 1 with different magnetic properties being arranged in each face of each Rubik's Cube block, the magnets 1 with different magnetic properties representing different Rubik's Cube block colors in the Rubik's Cube block, the magnetic sensor 2 detecting the magnetism of the magnet in the current Rubik's Cube block, judging the color of the current Rubik's Cube block, and using a robotic arm to complete the Rubik's Cube assembly.

[0026] There are two magnetic steel 1 installation positions Ax Bx in the Rubik's Cube, and each face corresponds to nine faces of the Rubik's Cube, specifically including: A1 B1; A2 B2; A3 B3; A4 B4; A5 B5; A6 B6; A7 B7; A8 B8; A9 B9.

[0027] When the Rubik's Cube is set to white, a magnet 1 facing toward the S pole is placed at position Ax, and no magnet 1 is installed at position Bx; when the Rubik's Cube is set to yellow, a magnet 1 facing toward the N pole is placed at position Ax, and no magnet 1 is installed at position Bx; when the Rubik's Cube is set to red, no magnet 1 is installed at position Ax, and a magnet 1 facing toward the S pole is placed at position Bx; when the Rubik's Cube is set to orange, no magnet 1 is installed at position Ax, and a magnet 1 facing toward the N pole is placed at position Bx; when the Rubik's Cube is set to green, a magnet 1 facing toward the N pole is placed at position Ax, and a magnet 1 facing toward the N pole is placed at position Bx; when the Rubik's Cube is set to blue, no magnet 1 is installed at position Ax, and no magnet 1 is installed at position Bx.

[0028] After the magnetic sensor 2 senses the magnetism of the faces of different Rubik's Cube blocks, it determines the colors corresponding to all Rubik's Cube blocks, and records the colors of the Rubik's Cube blocks on each face through the central processor. In this embodiment, for example, position A1 is magnetic pole N, position B1 is magnetic pole N, then the face is green;

[0029] Position A2 is magnetic pole N, and position B2 has no magnetic field, so the surface is yellow;

[0030] Position A3 is the magnetic pole S, and position B3 has no magnetic field, so the surface is white;

[0031] There is no magnetic field at position A4, and the magnetic pole S is at position B4, so the surface is red;

[0032] There is no magnetic field at position A5, and the magnetic pole at position B5 is N, so the surface is orange;

[0033] There is no magnetic field at position A6 and no magnetic field at position B6, so the surface is blue;

[0034] Position A7 is magnetic pole N, and position B7 has no magnetic field, so the surface is yellow;

[0035] If position A8 is magnetic pole N and position B8 is magnetic pole N, then the surface is green;

[0036] There is no magnetic field at position A9, and position B9 is magnetic pole N, so the surface is orange.

[0037] After placing the Rubik's Cube on the platform, the robot's mechanical arm flips the Rubik's Cube so that the six faces are in contact with the magnetic sensor 2 in the platform, and the color of each Rubik's Cube block is sensed and distinguished. The central processor gives a program to restore the Rubik's Cube based on the color of each Rubik's Cube block, and sends it to the robot control system to control the mechanical arm to twist the Rubik's Cube for restoration. It will not be affected by the environment and light, and the error is small, which greatly improves the accuracy of color recognition. It helps the Rubik's Cube robot to restore the Rubik's Cube more quickly and accurately.

[0038] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A Rubik's Cube Robot Color Recognition System, characterized in that: The system comprises: a magnetic sensor and a magnetic steel, wherein the magnetic sensor is arranged in a Rubik's Cube supporting platform, and each face of each Rubik's Cube block is provided with a magnetic steel with different magnetic properties, and the magnetic steel with different magnetic properties represents different Rubik's Cube block colors in the Rubik's Cube block. The magnetic sensor is used to detect the magnetism of the magnet in the current Rubik's Cube block, and the color of the current Rubik's Cube block is determined, and the Rubik's Cube is assembled using a robotic arm; The Rubik's Cube is provided with two magnetic steel installation positions Ax Bx, each of which corresponds to a face having nine Rubik's Cube blocks, specifically including: A1 B1; A2 B2; A3 B3; A4 B4; A5 B5; A6 B6; A7 B7; A8 B8; A9 B9; When the magic cube is set to white, a magnet facing the S pole is placed at position Ax, and no magnet is installed at position Bx; When the Rubik's Cube is set to yellow, a magnet facing the N pole is placed at position Ax, and no magnet is installed at position Bx; When the magic cube is set to red, no magnet is installed at position Ax, and a magnet facing the S pole is placed at position Bx; When the magic cube is set to orange, no magnet is installed at position Ax, and a magnet facing the N pole is placed at position Bx; When the magic cube is set to green, a magnetic steel facing the N pole is placed at position Ax, and a magnetic steel facing the N pole is placed at position Bx; When the magic cube is set to blue, no magnet is installed at position Ax and no magnet is installed at position Bx; After the magnetic sensor senses the magnetism of the faces of different Rubik's Cube blocks, it determines the colors corresponding to all Rubik's Cube blocks, and records the colors of the Rubik's Cube blocks on each face through the central processing unit; The central processing unit performs calculations based on the recognition results and then controls the robot arm to restore the Rubik's Cube according to a set program.

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