A recognition system and recognition method based on the full posture of the magic cube

Abstract

The present invention relates to the field of Rubik's Cube communication, and in particular to a Rubik's Cube full-gesture recognition system and a recognition method thereof. The system comprises: an image acquisition module for acquiring images of different surfaces of the Rubik's Cube; a rotation detection module, which is arranged inside the Rubik's Cube and is used to determine the rotation position of the Rubik's Cube; a data processing module, which is communicatively connected to the image acquisition module and the rotation detection module respectively, and outputs a rendering matrix by converting a right-hand rotation matrix into a left-hand rotation matrix and multiplying the left-hand rotation matrix with a left-hand original matrix; and a central control module, which is used to adjust the image recognition granularity of the visual sensor to a corresponding granularity according to the difference between the rendering time of a single side and a preset second rendering time when the effectiveness of gesture recognition is determined to be lower than an allowable range according to the rendering time of a single side. The present invention achieves improved efficiency and accuracy in Rubik's Cube gesture recognition.

Description

Technical Field

[0001] The present invention relates to the field of magic cube communication technology, and in particular to a magic cube full posture recognition system and a recognition method thereof. Background Art

[0002] In the prior art, gesture recognition for the Rubik's Cube generally uses an accelerometer and a gyroscope, and there are problems with rendering accuracy and rendering efficiency due to communication efficiency.

[0003] Chinese Patent Publication No. CN105027134A discloses a Rubik's Cube and communication system, comprising a Rubik's Cube comprising a plurality of small blocks forming a rotatable surface, wherein a plurality of different markings are respectively marked on the surfaces of the small blocks. The system also includes an image capture device for capturing an image of the Rubik's Cube surface, and an image recognition module communicatively connected to the image capture device. The image recognition module is configured to determine the arrangement of markings contained in the captured image. The system also includes a database comprising a plurality of database entries, each indexed by a marking arrangement, and a database access module communicatively connected to the image recognition module and the database. The database access module is configured to access the database and retrieve the database entry corresponding to the marking arrangement index determined by the image recognition module. It can be seen that the Rubik's Cube and communication system suffers from problems such as the influence of the proper functioning of the acceleration sensor or rendering accuracy due to the proximity or distance between the auxiliary lighting and the Rubik's Cube, and the insufficient voltage stability reflected by the voltage fluctuation amplitude, which affects recognition efficiency and accuracy. Summary of the Invention

[0004] To this end, the present invention provides a Rubik's Cube full-posture recognition system and a recognition method thereof, so as to overcome the problems in the prior art in which the distance between the auxiliary lighting lamp and the Rubik's Cube is too close or too far, which affects the normal operation of the acceleration sensor or the rendering accuracy, and the insufficient voltage stability reflected by the voltage fluctuation amplitude affects the recognition efficiency and recognition accuracy.

[0005] To achieve the above-mentioned purpose, the present invention provides a recognition system based on the full posture of the Rubik's Cube, comprising: an image acquisition module for acquiring images of different surfaces of the Rubik's Cube, comprising a plurality of visual sensors for respectively acquiring images of different surfaces of the Rubik's Cube, an auxiliary lighting lamp arranged below the visual sensors for supplementary lighting of the Rubik's Cube, and a lifting assembly connected to the auxiliary lighting lamp for adjusting the vertical height of the auxiliary lighting lamp; a rotation detection module, which is arranged inside the Rubik's Cube, for determining the rotation position of the Rubik's Cube, comprising an acceleration sensor for calculating a plurality of floating-point values ​​by detecting rotational acceleration and a signal emitting element connected to the acceleration sensor for emitting a detection signal output by the acceleration sensor; a data processing module, which is respectively connected to the image acquisition module and the rotation detection module, and which converts a right-hand rotation matrix into a left-hand rotation matrix and multiplying the left-hand rotation matrix and the left-hand original matrix to output a rendering matrix; a central control module, which is respectively connected to the image acquisition module, the rotation detection module and the data processing module, and is used to adjust the image recognition granularity of the visual sensor to a corresponding granularity according to the difference between the rendering time of a single side and the preset second rendering time when the effectiveness of the posture recognition is determined to be lower than the allowable range according to the rendering time of a single side, or, according to the Rubik's Cube temperature detected by the infrared sensor arranged above the visual sensor, adjust the vertical height of the auxiliary lighting to a first corresponding height, and, according to the fluctuation amplitude of the voltage, adjust the filter cutoff frequency to a corresponding frequency, and, under the first condition, adjust the vertical height of the auxiliary lighting to a second corresponding height according to the number of chromaticity restoration average errors of several cycles; wherein, the first condition is that the central control module completes the initial adjustment of the auxiliary lighting.

[0006] Furthermore, the central control module determines whether the validity of gesture recognition is within an allowable range according to the rendering time of a single surface in three types of determination methods, wherein:

[0007] The first determination method is that the central control module determines that the validity of the gesture recognition is within an allowable range under a preset first rendering time condition;

[0008] The second determination method is that the central control module determines that the effectiveness of gesture recognition is lower than the allowable range under the preset second rendering time condition, preliminarily determines that the data acquisition rate of the acceleration sensor is lower than the allowable range, and performs a secondary determination on whether the data acquisition rate of the acceleration sensor is lower than the allowable range based on the temperature of the magic cube detected by the infrared sensor;

[0009] The third determination method is that the central control module determines that the effectiveness of gesture recognition is lower than the allowable range under the preset third rendering time condition, and adjusts the image recognition granularity to the corresponding granularity by calculating the difference between the rendering time of a single surface and the preset second rendering time;

[0010] Among them, the preset first rendering time condition is that the rendering time of a single side is less than or equal to the preset first rendering time; the preset second rendering time condition is that the rendering time of a single side is greater than the preset first rendering time and less than or equal to the preset second rendering time; the preset third rendering time condition is that the rendering time of a single side is greater than the preset second rendering time; the preset first rendering time is less than the preset second rendering time.

[0011] Furthermore, the central control module determines three types of adjustment methods for the image recognition granularity according to the difference between the rendering time of a single surface and the preset second rendering time under the preset third rendering time condition, wherein:

[0012] The first type of adjustment method is that the central control module adjusts the graphic recognition granularity to a preset recognition granularity under a preset first rendering time difference condition;

[0013] The second adjustment method is that the central control module adjusts the image recognition granularity to the first granularity using a preset first granularity adjustment coefficient under a preset second rendering time difference condition;

[0014] The third adjustment method is that the central control module adjusts the image recognition granularity to the second granularity using a preset second granularity adjustment coefficient under a preset third rendering time difference condition;

[0015] Among them, the preset first rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is less than or equal to the preset first rendering time difference; the preset second rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is greater than the preset first rendering time difference and less than or equal to the preset second rendering time difference; the preset third rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is greater than the preset second rendering time difference; the preset first rendering time difference is less than the preset second rendering time difference, and the preset first granularity adjustment coefficient is less than the preset second granularity adjustment coefficient.

[0016] Furthermore, the central control module determines whether the data acquisition rate of the acceleration sensor is lower than the allowable range according to the temperature of the magic cube under the preset second rendering time condition in three types of determination methods, wherein:

[0017] The first acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is lower than the allowable range under a preset first temperature condition, and adjusts the vertical height of the auxiliary lighting to a first corresponding height by calculating the difference between the cube temperature and a preset second temperature;

[0018] The second type of acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is within an allowable range under a preset second temperature condition;

[0019] The third acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is within an allowable range under a preset third temperature condition, and adjusts the vertical height of the auxiliary lighting to a first corresponding height by calculating the difference between the cube temperature and a preset second temperature;

[0020] Among them, the preset first temperature condition is that the Rubik's Cube temperature is less than or equal to the preset first temperature; the preset second temperature condition is that the Rubik's Cube temperature is greater than the preset first temperature and less than or equal to the preset second temperature; the preset third temperature condition is that the Rubik's Cube temperature is greater than the preset second temperature; the preset first temperature is less than the preset second temperature.

[0021] Furthermore, the central control module determines three types of adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the magic cube temperature and the preset second temperature under the preset first temperature condition, wherein:

[0022] The first type of height adjustment method is that the central control module adjusts the vertical height to a preset vertical height under a preset first temperature difference condition;

[0023] The second type of height adjustment method is that the central control module adjusts the vertical height of the auxiliary lighting lamp to the first vertical height using a preset first height adjustment coefficient under a preset second temperature difference condition;

[0024] The third type of height adjustment method is that the central control module adjusts the vertical height of the auxiliary lighting lamp to a second vertical height using a preset second height adjustment coefficient under a preset third temperature difference condition;

[0025] Among them, the preset first temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is less than or equal to the preset first temperature difference; the preset second temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is greater than the preset first temperature difference and less than or equal to the preset second temperature difference; the preset third temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is greater than the preset second temperature difference; the preset first temperature difference is less than the preset second temperature difference, and the preset first height adjustment coefficient is less than the preset second height adjustment coefficient.

[0026] Furthermore, the central control module determines whether the voltage stability is lower than the allowable range according to the voltage fluctuation amplitude under the preset second temperature condition in two secondary determination methods.

[0027] The first type of secondary determination method is that the central control module secondary determines that the voltage stability is within the allowable range under the preset first fluctuation amplitude condition;

[0028] The second secondary determination method is that the central control module secondary determines that the voltage stability is lower than the allowable range under a preset second fluctuation amplitude condition, and adjusts the filter cutoff frequency to the corresponding frequency by calculating the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude;

[0029] The preset first fluctuation amplitude condition is that the voltage fluctuation amplitude is less than or equal to the preset fluctuation amplitude; the preset second fluctuation amplitude condition is that the voltage fluctuation amplitude is greater than the preset fluctuation amplitude.

[0030] Furthermore, the central control module determines two types of adjustment methods for the filter cutoff frequency according to the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude under the preset second fluctuation amplitude condition, wherein:

[0031] The first frequency adjustment method is that the central control module adjusts the filter cutoff frequency to a first frequency using a preset first frequency adjustment coefficient under a preset first fluctuation amplitude difference condition;

[0032] The second frequency adjustment method is that the central control module uses a preset second frequency adjustment coefficient to adjust the filter cutoff frequency to a second frequency under a preset second fluctuation amplitude difference condition;

[0033] Among them, the preset first fluctuation amplitude difference condition is that the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude is less than or equal to the preset fluctuation amplitude difference; the preset second fluctuation amplitude difference condition is that the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude is greater than the preset fluctuation amplitude difference; the preset first frequency adjustment coefficient is less than the preset second frequency adjustment coefficient.

[0034] Furthermore, the central control module determines whether the color rendering accuracy is within the allowable range according to the average chromaticity restoration error of several cycles under the first condition in two types of determination methods, wherein:

[0035] The first type of accuracy determination method is that the central control module determines that the color rendering accuracy is within an allowable range under a preset first quantity condition;

[0036] The second accuracy determination method is that the central control module determines that the color rendering accuracy is lower than the allowable range under a preset second quantity condition, and adjusts the vertical height of the auxiliary lighting lamp to a second corresponding height by calculating the difference between the chromaticity restoration average error quantity and the preset error quantity;

[0037] The preset first quantity condition is that the average chromaticity restoration error number is less than or equal to the preset error number; the preset second quantity condition is that the average chromaticity restoration error number is greater than the preset error number.

[0038] Furthermore, the central control module determines two types of secondary adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the chromaticity restoration average error number and the preset error number under the preset second number condition, wherein:

[0039] The first type of secondary height adjustment method is that the central control module uses a preset fourth secondary height adjustment coefficient to secondary adjust the vertical height of the auxiliary lighting lamp to a third vertical height under a preset first quantity difference condition;

[0040] The second type of secondary height adjustment method is that the central control module uses a preset third secondary height adjustment coefficient to secondary adjust the vertical height of the auxiliary lighting lamp to a fourth vertical height under a preset second quantity difference condition;

[0041] Among them, the preset first quantity difference condition is that the difference between the average number of chromaticity restoration errors and the preset number of errors is less than or equal to the preset error number difference; the preset second quantity difference condition is that the difference between the average number of chromaticity restoration errors and the preset number of errors is greater than the preset error number difference; the preset third height quadratic adjustment coefficient is less than the preset fourth height quadratic adjustment coefficient.

[0042] The present invention also provides a recognition method based on the Rubik's Cube full-gesture recognition system, comprising:

[0043] Step S1, using a visual sensor to acquire different surface images of the Rubik's Cube and sending the different surface image information to a data processing module, and using the acceleration sensor to detect the floating-point value of the acceleration during the rotation process to obtain a right-handed rotation matrix;

[0044] Step S2: When rendering the Rubik's Cube rotation process, if the central control module determines that the effectiveness of gesture recognition is below an allowable range based on the rendering time of a single side, the central control module adjusts the image recognition granularity of the visual sensor to a corresponding granularity based on the difference between the rendering time of the single side and a preset second rendering time, or adjusts the vertical height of the auxiliary lighting to a first corresponding height based on the Rubik's Cube temperature detected by an infrared sensor disposed above the visual sensor;

[0045] Step S3: When the voltage stability is lower than the allowable range, the central control module adjusts the filter cutoff frequency to a corresponding frequency according to the voltage fluctuation amplitude;

[0046] Step S4: When the central control module completes the initial adjustment of the auxiliary lighting, the central control module adjusts the vertical height of the auxiliary lighting to a second corresponding height according to the average chromaticity restoration error of several cycles.

[0047] Compared with the prior art, the beneficial effect of the present invention lies in that the recognition system of the present invention is provided with an image acquisition module, a rotation detection module, a data processing module and a central control module, and an auxiliary lighting lamp and a lifting component provided in the image acquisition module. When acquiring an image of the Rubik's Cube, the height of the auxiliary lighting lamp is adjusted by the lifting component to reduce the influence of the auxiliary lighting lamp and the Rubik's Cube being too close or too far away from the auxiliary lighting lamp on the normal operation of the acceleration sensor or on the rendering accuracy; by adjusting the image recognition granularity of the visual sensor to the corresponding granularity according to the difference between the rendering time of a single side and the preset second rendering time, the influence of inaccurate adjustment of the image recognition granularity on the acceleration sensor when the communication speed drops is reduced. The impact of inaccurate adjustment of the vertical height of the auxiliary lighting lamp on the sensor data acquisition rate is reduced by adjusting the vertical height of the auxiliary lighting lamp to the first corresponding height according to the Rubik's Cube temperature detected by the infrared sensor arranged above the visual sensor; the impact of inaccurate adjustment of the vertical height of the auxiliary lighting lamp on the filtering speed is reduced by adjusting the filter cutoff frequency to the corresponding frequency according to the voltage fluctuation amplitude; the vertical height of the auxiliary lighting lamp is adjusted to the second corresponding height according to the average error of chromaticity restoration of several cycles, which reduces the impact of inaccurate secondary adjustment of the vertical height of the auxiliary lighting lamp on the rendering error rate; the Rubik's Cube posture recognition efficiency and recognition accuracy are improved.

[0048] Furthermore, the system of the present invention reduces the impact of inaccurate judgment of gesture recognition effectiveness on the rate of image rendering and color restoration by setting a preset first rendering time and a preset second rendering time, and by using three types of judgment methods to determine whether the effectiveness of gesture recognition is within an allowable range based on the rendering time of a single side, thereby further achieving an improvement in the efficiency and accuracy of Rubik's Cube gesture recognition.

[0049] Furthermore, the system of the present invention sets a preset first rendering time difference, a preset second rendering time difference, a preset first granularity adjustment coefficient, and a preset second granularity adjustment coefficient, and determines three types of adjustment methods for the image recognition granularity according to the difference between the rendering time of a single side and the preset second rendering time, thereby reducing the impact of inaccurate adjustment of the image recognition granularity on the image rendering recovery efficiency, and further achieving an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0050] Furthermore, the system of the present invention reduces the impact of inaccurate judgment of the data acquisition rate of the acceleration sensor on recognition efficiency by setting a preset first temperature and a preset second temperature, and by using three types of judgment methods to determine whether the data acquisition rate of the acceleration sensor is lower than the allowable range according to the Rubik's Cube temperature, thereby further achieving an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0051] Furthermore, the system of the present invention sets a preset first temperature difference, a preset second temperature difference, a preset first height adjustment coefficient, and a preset second height adjustment coefficient, and determines three types of adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the Rubik's Cube temperature and the preset second temperature. This reduces the impact of inaccurate adjustment of the vertical height of the auxiliary lighting lamp on the working state of the Rubik's Cube's built-in acceleration sensor, and further achieves an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0052] Furthermore, the system of the present invention sets a preset first frequency adjustment coefficient and a preset second frequency adjustment coefficient, and determines two types of adjustment methods for the filter cutoff frequency according to the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude, thereby reducing the impact of inaccurate adjustment of the filter cutoff frequency on the filtering speed, and further achieving an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0053] Furthermore, the system of the present invention sets a preset third height secondary adjustment coefficient and a preset fourth height secondary adjustment coefficient, and determines two types of secondary adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the average chromaticity restoration error number and the preset error number, thereby reducing the impact of inaccurate adjustment of the vertical height of the auxiliary lighting lamp on the rendering error rate, and further achieving improved Rubik's Cube posture recognition efficiency and recognition accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a block diagram of the overall structure of the Rubik's Cube full-gesture recognition system according to an embodiment of the present invention;

[0055] Figure 2 This is a specific structural block diagram of a Rubik's Cube full-gesture recognition system according to an embodiment of the present invention;

[0056] Figure 3 This is an overall flow chart of the method for identifying the full posture of a Rubik's Cube according to an embodiment of the present invention;

[0057] Figure 4 This is a specific flow chart of step S1 of the method for recognizing the full posture of a Rubik's Cube according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0059] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0060] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0061] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown in the figures, they are respectively an overall structural block diagram, a specific structural block diagram, an overall flow chart of a method for identifying a Rubik's Cube in full posture, and a specific flow chart of step S1 of an embodiment of the present invention; a system for identifying a Rubik's Cube in full posture, comprising:

[0063] An image acquisition module, for acquiring images of different surfaces of the Rubik's Cube, comprising a plurality of visual sensors for respectively acquiring images of different surfaces of the Rubik's Cube, auxiliary lighting lamps disposed below the visual sensors for providing supplementary light to the Rubik's Cube, and a lifting assembly connected to the auxiliary lighting lamps for adjusting the vertical height of the auxiliary lighting lamps;

[0064] A rotation detection module, which is disposed inside the Rubik's Cube and is used to determine the rotation position of the Rubik's Cube, includes an acceleration sensor that detects rotational acceleration to calculate a plurality of floating-point values ​​and a signal transmitting element connected to the acceleration sensor to transmit a detection signal output by the acceleration sensor;

[0065] a data processing module, which is in communication with the image acquisition module and the rotation detection module, and outputs a rendering matrix by converting a right-handed rotation matrix into a left-handed rotation matrix and multiplying the left-handed rotation matrix with the left-handed original matrix;

[0066] A central control module, connected to the image acquisition module, the rotation detection module, and the data processing module, respectively, is configured to adjust the image recognition granularity of the visual sensor to a corresponding granularity based on the difference between the rendering time of a single side and a preset second rendering time when the effectiveness of gesture recognition is determined to be below an allowable range based on the rendering time of a single side, or to adjust the vertical height of the auxiliary lighting to a first corresponding height based on the temperature of the Rubik's Cube detected by an infrared sensor disposed above the visual sensor.

[0067] And, according to the voltage fluctuation amplitude, the filter cutoff frequency is adjusted to the corresponding frequency,

[0068] and, under the first condition, adjusting the vertical height of the auxiliary lighting lamp to a second corresponding height according to the average chromaticity restoration error of the plurality of cycles;

[0069] The first condition is that the central control module completes the initial adjustment of the auxiliary lighting.

[0070] The recognition system of the present invention is provided with an image acquisition module, a rotation detection module, a data processing module and a central control module, and an auxiliary lighting lamp and a lifting component are provided in the image acquisition module. When acquiring an image of the Rubik's Cube, the height of the auxiliary lighting lamp is adjusted by the lifting component to reduce the influence of the auxiliary lighting lamp and the Rubik's Cube being too close or too far away from the Rubik's Cube on the normal operation of the acceleration sensor or the influence on the rendering accuracy; by adjusting the image recognition granularity of the visual sensor to the corresponding granularity according to the difference between the rendering time of a single side and the preset second rendering time, the image rendering recovery efficiency due to inaccurate adjustment of the image recognition granularity is reduced when the communication speed of the acceleration sensor decreases. Influence; by adjusting the vertical height of the auxiliary lighting to a first corresponding height according to the Rubik's Cube temperature detected by the infrared sensor arranged above the visual sensor, the influence of the inaccurate adjustment of the vertical height of the auxiliary lighting on the sensor data acquisition rate is reduced; by adjusting the filter cutoff frequency to the corresponding frequency according to the voltage fluctuation amplitude, the influence of the inaccurate adjustment of the filter cutoff frequency on the filtering speed is reduced; by adjusting the vertical height of the auxiliary lighting to a second corresponding height according to the average error number of chromaticity restoration of several cycles, the influence of the inaccurate secondary adjustment of the vertical height of the auxiliary lighting on the rendering error rate is reduced; the improvement of the Rubik's Cube posture recognition efficiency and recognition accuracy is achieved.

[0071] Please continue reading Figure 1As shown, the central control module determines whether the validity of gesture recognition is within the allowable range in three ways according to the rendering time of a single surface, wherein:

[0072] The first determination method is that the central control module determines that the validity of the gesture recognition is within an allowable range under a preset first rendering time condition;

[0073] The second determination method is that the central control module determines that the effectiveness of gesture recognition is lower than the allowable range under the preset second rendering time condition, preliminarily determines that the data acquisition rate of the acceleration sensor is lower than the allowable range, and performs a secondary determination on whether the data acquisition rate of the acceleration sensor is lower than the allowable range based on the temperature of the magic cube detected by the infrared sensor;

[0074] The third determination method is that the central control module determines that the effectiveness of gesture recognition is lower than the allowable range under the preset third rendering time condition, and adjusts the image recognition granularity to the corresponding granularity by calculating the difference between the rendering time of a single surface and the preset second rendering time;

[0075] Among them, the preset first rendering time condition is that the rendering time of a single side is less than or equal to the preset first rendering time; the preset second rendering time condition is that the rendering time of a single side is greater than the preset first rendering time and less than or equal to the preset second rendering time; the preset third rendering time condition is that the rendering time of a single side is greater than the preset second rendering time; the preset first rendering time is less than the preset second rendering time.

[0076] Furthermore, the system of the present invention reduces the impact of inaccurate judgment of gesture recognition effectiveness on the rate of image rendering and color restoration by setting a preset first rendering time and a preset second rendering time, and by using three types of judgment methods to determine whether the effectiveness of gesture recognition is within an allowable range based on the rendering time of a single side, thereby further achieving an improvement in the efficiency and accuracy of Rubik's Cube gesture recognition.

[0077] Specifically, the rendering time of a single side is recorded as T, the preset first rendering time is recorded as T1, and the preset second rendering time is recorded as T2, where T1<T2, set T1=0.5s, T2=1.5s, and the difference between the rendering time of a single side and the preset second rendering time is recorded as △T, and set △T=T-T2.

[0078] Please continue reading Figure 1 and Figure 2 As shown, under the preset third rendering duration, the central control module determines three types of adjustment methods for the image recognition granularity according to the difference between the rendering duration of a single surface and the preset second rendering duration, wherein:

[0079] The first type of adjustment method is that the central control module adjusts the graphic recognition granularity to a preset recognition granularity under a preset first rendering time difference condition;

[0080] The second adjustment method is that the central control module adjusts the image recognition granularity to the first granularity using a preset first granularity adjustment coefficient under a preset second rendering time difference condition;

[0081] The third adjustment method is that the central control module adjusts the image recognition granularity to the second granularity using a preset second granularity adjustment coefficient under a preset third rendering time difference condition;

[0082] Among them, the preset first rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is less than or equal to the preset first rendering time difference; the preset second rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is greater than the preset first rendering time difference and less than or equal to the preset second rendering time difference; the preset third rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is greater than the preset second rendering time difference; the preset first rendering time difference is less than the preset second rendering time difference, and the preset first granularity adjustment coefficient is less than the preset second granularity adjustment coefficient.

[0083] Furthermore, the system of the present invention sets a preset first rendering time difference, a preset second rendering time difference, a preset first granularity adjustment coefficient, and a preset second granularity adjustment coefficient, and determines three types of adjustment methods for the image recognition granularity according to the difference between the rendering time of a single side and the preset second rendering time, thereby reducing the impact of inaccurate adjustment of the image recognition granularity on the image rendering recovery efficiency, and further achieving an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0084] Specifically, the preset recognition granularity is recorded as Q0, the preset first rendering time difference is recorded as △T1, the preset second rendering time difference is recorded as △T2, the preset first granularity adjustment coefficient is recorded as α1, the preset second granularity adjustment coefficient is recorded as α2, and the image recognition granularity is recorded as Q, where 1<α1<α2, △T1<△T2, set Q0=200ppi, △T1=0.4s, △T2=0.6s, α1=1.1, α2=1.5, and the adjusted image recognition granularity is recorded as Q', setting Q'=Q×(1+αi) / 2, where αi is the preset i-th granularity adjustment coefficient, and set i=1, 2.

[0085] Specifically, the image recognition granularity is the recognition resolution of the image.

[0086] Please continue reading Figure 1 and Figure 3As shown, the central control module determines whether the data acquisition rate of the acceleration sensor is lower than the allowable range according to the temperature of the magic cube under the preset second rendering time condition in three types of determination methods, wherein:

[0087] The first acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is lower than the allowable range under a preset first temperature condition, and adjusts the vertical height of the auxiliary lighting to a first corresponding height by calculating the difference between the cube temperature and a preset second temperature;

[0088] The second type of acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is within an allowable range under a preset second temperature condition;

[0089] The third acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is within an allowable range under a preset third temperature condition, and adjusts the vertical height of the auxiliary lighting to a first corresponding height by calculating the difference between the cube temperature and a preset second temperature;

[0090] Among them, the preset first temperature condition is that the Rubik's Cube temperature is less than or equal to the preset first temperature; the preset second temperature condition is that the Rubik's Cube temperature is greater than the preset first temperature and less than or equal to the preset second temperature; the preset third temperature condition is that the Rubik's Cube temperature is greater than the preset second temperature; the preset first temperature is less than the preset second temperature.

[0091] Furthermore, the system of the present invention reduces the impact of inaccurate judgment of the data acquisition rate of the acceleration sensor on recognition efficiency by setting a preset first temperature and a preset second temperature, and by using three types of judgment methods to determine whether the data acquisition rate of the acceleration sensor is lower than the allowable range according to the Rubik's Cube temperature, thereby further achieving an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0092] Specifically, the magic cube temperature is recorded as S, the preset first temperature is recorded as S1, the preset second temperature is recorded as S2, S1 is set to 18°C, S2 is set to 24°C, the difference between the magic cube temperature and the preset second temperature is recorded as △S, and △S is set to S-S2.

[0093] Please continue reading Figure 1 and Figure 2 As shown, the central control module determines three types of adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the magic cube temperature and the preset second temperature under the preset first temperature condition, wherein,

[0094] The first type of height adjustment method is that the central control module adjusts the vertical height to a preset vertical height under a preset first temperature difference condition;

[0095] The second type of height adjustment method is that the central control module adjusts the vertical height of the auxiliary lighting lamp to the first vertical height using a preset first height adjustment coefficient under a preset second temperature difference condition;

[0096] The third type of height adjustment method is that the central control module adjusts the vertical height of the auxiliary lighting lamp to a second vertical height using a preset second height adjustment coefficient under a preset third temperature difference condition;

[0097] Among them, the preset first temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is less than or equal to the preset first temperature difference; the preset second temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is greater than the preset first temperature difference and less than or equal to the preset second temperature difference; the preset third temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is greater than the preset second temperature difference; the preset first temperature difference is less than the preset second temperature difference, and the preset first height adjustment coefficient is less than the preset second height adjustment coefficient.

[0098] Furthermore, the system of the present invention sets a preset first temperature difference, a preset second temperature difference, a preset first height adjustment coefficient, and a preset second height adjustment coefficient, and determines three types of adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the Rubik's Cube temperature and the preset second temperature. This reduces the impact of inaccurate adjustment of the vertical height of the auxiliary lighting lamp on the working state of the Rubik's Cube's built-in acceleration sensor, and further achieves an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0099] Specifically, the preset vertical height is recorded as H0, the preset first temperature difference is recorded as △S1, the preset second temperature difference is recorded as △S2, the preset first height adjustment coefficient is recorded as β1, the preset second height adjustment coefficient is recorded as β2, and the vertical height of the auxiliary lighting is recorded as H, wherein 1<β1<β2, △S1<△S2, set H0=2m, β1=1.12, β2=1.35, △S1=2℃, △S2=4℃, the adjusted vertical height of the auxiliary lighting is recorded as H', set H'=H×βj, wherein βj is the preset jth height adjustment coefficient, and set j=1,2.

[0100] Please continue reading Figure 1 As shown, the central control module determines whether the voltage stability is lower than the allowable range according to the voltage fluctuation amplitude under the preset second temperature condition in two secondary determination methods, wherein.

[0101] The first type of secondary determination method is that the central control module secondary determines that the voltage stability is within the allowable range under the preset first fluctuation amplitude condition;

[0102] The second secondary determination method is that the central control module secondary determines that the voltage stability is lower than the allowable range under a preset second fluctuation amplitude condition, and adjusts the filter cutoff frequency to the corresponding frequency by calculating the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude;

[0103] The preset first fluctuation amplitude condition is that the voltage fluctuation amplitude is less than or equal to the preset fluctuation amplitude; the preset second fluctuation amplitude condition is that the voltage fluctuation amplitude is greater than the preset fluctuation amplitude.

[0104] Specifically, the voltage fluctuation amplitude is recorded as U, the preset fluctuation amplitude is recorded as U0, and U0 is set to 0.8V. The difference between the voltage fluctuation amplitude and the preset fluctuation amplitude is recorded as ΔU, and ΔU is set to U-U0.

[0105] Please continue reading Figure 1 and Figure 2 As shown, the central control module determines two types of adjustment methods for the filter cutoff frequency according to the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude under the preset second fluctuation amplitude condition, wherein,

[0106] The first frequency adjustment method is that the central control module adjusts the filter cutoff frequency to a first frequency using a preset first frequency adjustment coefficient under a preset first fluctuation amplitude difference condition;

[0107] The second frequency adjustment method is that the central control module uses a preset second frequency adjustment coefficient to adjust the filter cutoff frequency to a second frequency under a preset second fluctuation amplitude difference condition;

[0108] Among them, the preset first fluctuation amplitude difference condition is that the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude is less than or equal to the preset fluctuation amplitude difference; the preset second fluctuation amplitude difference condition is that the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude is greater than the preset fluctuation amplitude difference; the preset first frequency adjustment coefficient is less than the preset second frequency adjustment coefficient.

[0109] Furthermore, the system of the present invention sets a preset first frequency adjustment coefficient and a preset second frequency adjustment coefficient, and determines two types of adjustment methods for the filter cutoff frequency according to the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude, thereby reducing the impact of inaccurate adjustment of the filter cutoff frequency on the filtering speed, and further achieving an improvement in the Rubik's Cube posture recognition efficiency and recognition accuracy.

[0110] Specifically, the filter cutoff frequency is recorded as C, the preset fluctuation amplitude difference is recorded as △U0, the preset first frequency adjustment coefficient is recorded as γ1, and the preset second frequency adjustment coefficient is recorded as γ2, where 1<γ1<γ2, △U0=0.2V, γ1=1.14, γ2=1.28 are set, and the adjusted filter cutoff frequency is recorded as C', and C'=C×(1+2γg) / 3 is set, where γg is the preset g-th frequency adjustment coefficient, and g is set as 1, 2.

[0111] Please continue reading Figure 1 As shown, under the first condition, the central control module determines whether the color rendering accuracy is within the allowable range according to the number of average chromaticity restoration errors of several cycles in two types of determination methods, wherein:

[0112] The first type of accuracy determination method is that the central control module determines that the color rendering accuracy is within an allowable range under a preset first quantity condition;

[0113] The second accuracy determination method is that the central control module determines that the color rendering accuracy is lower than the allowable range under a preset second quantity condition, and adjusts the vertical height of the auxiliary lighting lamp to a second corresponding height by calculating the difference between the chromaticity restoration average error quantity and the preset error quantity;

[0114] The preset first quantity condition is that the average chromaticity restoration error number is less than or equal to the preset error number; the preset second quantity condition is that the average chromaticity restoration error number is greater than the preset error number.

[0115] Specifically, the average chromaticity restoration error number is recorded as E, the preset error number is recorded as E0, and E0 is set to 3. The difference between the average chromaticity restoration error number and the preset error number is recorded as ΔE, and ΔE is set to −E0.

[0116] Specifically, the calculation formula for the average chromaticity restoration error is:

[0117]

[0118] Among them, E is the average error of chromaticity restoration, e p is the number of unit block surfaces of the Rubik's Cube unit block whose colors are rendered incorrectly during the chroma restoration process of the pth cycle, n is the total number of detection cycles, and n is a natural number greater than or equal to 1.

[0119] Please continue reading Figure 1 As shown, the central control module determines two types of secondary adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the chromaticity restoration average error number and the preset error number under the preset second number condition, wherein,

[0120] The first type of secondary height adjustment method is that the central control module uses a preset fourth secondary height adjustment coefficient to secondary adjust the vertical height of the auxiliary lighting lamp to a third vertical height under a preset first quantity difference condition;

[0121] The second type of secondary height adjustment method is that the central control module uses a preset third secondary height adjustment coefficient to secondary adjust the vertical height of the auxiliary lighting lamp to a fourth vertical height under a preset second quantity difference condition;

[0122] Among them, the preset first quantity difference condition is that the difference between the average number of chromaticity restoration errors and the preset number of errors is less than or equal to the preset error number difference; the preset second quantity difference condition is that the difference between the average number of chromaticity restoration errors and the preset number of errors is greater than the preset error number difference; the preset third height quadratic adjustment coefficient is less than the preset fourth height quadratic adjustment coefficient.

[0123] Furthermore, the system of the present invention sets a preset third height secondary adjustment coefficient and a preset fourth height secondary adjustment coefficient, and determines two types of secondary adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the average chromaticity restoration error number and the preset error number, thereby reducing the impact of inaccurate adjustment of the vertical height of the auxiliary lighting lamp on the rendering error rate, and further achieving improved Rubik's Cube posture recognition efficiency and recognition accuracy.

[0124] Specifically, the preset error quantity difference is recorded as △E0, and △E0 is set to 2. The preset third height secondary adjustment coefficient is recorded as β3, and the preset fourth height secondary adjustment coefficient is recorded as β4, wherein 0<β3<β4<1, and β3=0.85, β4=0.94 are set. The vertical height of the auxiliary lighting lamp after secondary adjustment is recorded as H", and H”=H'×βb is set, wherein βb is the preset b-th height secondary adjustment coefficient, and b is set to 3, 4.

[0125] Please continue reading Figure 3 and Figure 4 As shown, the present invention provides a recognition method based on a Rubik's Cube full-gesture recognition system, comprising:

[0126] Step S1, using a visual sensor to acquire different surface images of the Rubik's Cube and sending the different surface image information to a data processing module, and using the acceleration sensor to detect the floating-point value of the acceleration during the rotation process to obtain a right-handed rotation matrix;

[0127] Step S2: When rendering the Rubik's Cube rotation process, if the central control module determines that the effectiveness of gesture recognition is below an allowable range based on the rendering time of a single side, the central control module adjusts the image recognition granularity of the visual sensor to a corresponding granularity based on the difference between the rendering time of the single side and a preset second rendering time, or adjusts the vertical height of the auxiliary lighting to a first corresponding height based on the Rubik's Cube temperature detected by an infrared sensor disposed above the visual sensor;

[0128] Step S3: When the voltage stability is lower than the allowable range, the central control module adjusts the filter cutoff frequency to a corresponding frequency according to the voltage fluctuation amplitude;

[0129] Step S4: When the central control module completes the initial adjustment of the auxiliary lighting, the central control module adjusts the vertical height of the auxiliary lighting to a second corresponding height according to the average chromaticity restoration error of several cycles.

[0130] Specifically, step S1 includes:

[0131] Step S11, using a visual sensor to acquire images of different surfaces of the Rubik's Cube and sending the image information of the different surfaces to a data processing module;

[0132] Step S12: Using an acceleration sensor to detect acceleration to output a 9-point floating point value, and initializing the 9-point floating point value as a right-handed coordinate system rotation matrix R;

[0133] Step S13: Obtain the matrix S used to transform the coordinate system based on the correspondence between the three axes of the hardware right-handed coordinate system and the Unity left-handed coordinate system. Multiply the three matrices in sequence according to the coordinate system transformation formula SRS to obtain the left-handed coordinate system rotation matrix R';

[0134] Step S14 , obtaining a quaternion according to the left-hand coordinate system rotation matrix R′, and assigning the quaternion to the matrix of the Unity model to output a rendering effect of the Rubik's Cube.

[0135] Example 1

[0136] The central control module described in Example 1 of the present invention determines three types of adjustment methods for the image recognition granularity according to the difference between the rendering time of a single side and the preset second rendering time under the preset third rendering time condition. The preset recognition granularity is recorded as Q0, the preset first rendering time difference is recorded as △T1, the preset second rendering time difference is recorded as △T2, the preset first granularity adjustment coefficient is recorded as α1, the preset second granularity adjustment coefficient is recorded as α2, and the image recognition granularity is recorded as Q, wherein 1<α1<α2, △T1<△T2, set Q0=200ppi, △T1=0.4s, △T2=0.6s, α1=1.1, α2=1.5, the adjusted image recognition granularity is recorded as Q', set Q'=Q×(1+αi) / 2, wherein αi is the preset i-th granularity adjustment coefficient, and set i=1, 2.

[0137] In this embodiment 1, ΔT=0.5s, Q=200ppi, the central control module determines that ΔT1<ΔT≤ΔT2 and uses the preset first granularity adjustment coefficient α1 to adjust the image recognition granularity to the first granularity. The first granularity is calculated to obtain Q'=200ppi×(1+1.1) / 2=210ppi.

[0138] The system of the present invention sets a preset first rendering time difference, a preset second rendering time difference, a preset first granularity adjustment coefficient, and a preset second granularity adjustment coefficient. By adjusting the image recognition granularity to a corresponding value according to the difference between the rendering time of a single side and the preset second rendering time, the impact on the image rendering recovery efficiency is reduced, and the Rubik's Cube posture recognition efficiency and recognition accuracy are improved.

[0139] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0140] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A Rubik's Cube full-gesture recognition system, characterized in that: include: An image acquisition module, for acquiring images of different surfaces of the Rubik's Cube, comprising a plurality of visual sensors for respectively acquiring images of different surfaces of the Rubik's Cube, auxiliary lighting lamps disposed below the visual sensors for providing supplementary light to the Rubik's Cube, and a lifting assembly connected to the auxiliary lighting lamps for adjusting the vertical height of the auxiliary lighting lamps; A rotation detection module, which is disposed inside the Rubik's Cube and is used to determine the rotation position of the Rubik's Cube, includes an acceleration sensor that detects rotational acceleration to calculate a plurality of floating-point values ​​and a signal transmitting element connected to the acceleration sensor to transmit a detection signal output by the acceleration sensor; a data processing module, which is in communication with the image acquisition module and the rotation detection module, and outputs a rendering matrix by converting a right-handed rotation matrix into a left-handed rotation matrix and multiplying the left-handed rotation matrix with the left-handed original matrix; A central control module, connected to the image acquisition module, the rotation detection module, and the data processing module, respectively, is configured to adjust the image recognition granularity of the visual sensor to a corresponding granularity based on the difference between the rendering time of a single side and a preset second rendering time when the effectiveness of gesture recognition is determined to be below an allowable range based on the rendering time of a single side, or to adjust the vertical height of the auxiliary lighting to a first corresponding height based on the temperature of the Rubik's Cube detected by an infrared sensor disposed above the visual sensor. And, according to the voltage fluctuation amplitude, the filter cutoff frequency is adjusted to the corresponding frequency, and, under the first condition, adjusting the vertical height of the auxiliary lighting lamp to a second corresponding height according to the average chromaticity restoration error of the plurality of cycles; The first condition is that the central control module completes the initial adjustment of the auxiliary lighting.

2. The Rubik's Cube full-gesture recognition system according to claim 1, characterized in that: The central control module determines whether the validity of gesture recognition is within the allowable range according to the rendering time of a single surface in three types of determination methods, wherein: The first determination method is that the central control module determines that the validity of the gesture recognition is within an allowable range under a preset first rendering time condition; The second determination method is that the central control module determines that the effectiveness of gesture recognition is lower than the allowable range under the preset second rendering time condition, preliminarily determines that the data acquisition rate of the acceleration sensor is lower than the allowable range, and performs a secondary determination on whether the data acquisition rate of the acceleration sensor is lower than the allowable range based on the temperature of the magic cube detected by the infrared sensor; The third determination method is that the central control module determines that the effectiveness of gesture recognition is lower than the allowable range under the preset third rendering time condition, and adjusts the image recognition granularity to the corresponding granularity by calculating the difference between the rendering time of a single surface and the preset second rendering time; The preset first rendering time condition is that the rendering time of a single side is less than or equal to the preset first rendering time; the preset second rendering time condition is that the rendering time of a single side is greater than the preset first rendering time and less than or equal to the preset second rendering time. Rendering time; the preset third rendering time condition is that the rendering time of a single side is longer than the preset second rendering time; the preset first rendering time is shorter than the preset second rendering time.

3. The Rubik's Cube full-gesture recognition system according to claim 2, characterized in that: The central control module determines three types of adjustment methods for the image recognition granularity according to the difference between the rendering time of a single side and the preset second rendering time under the preset third rendering time condition, wherein: The first adjustment method is that the central control module adjusts the image recognition granularity to a preset recognition granularity under a preset first rendering time difference condition; The second adjustment method is that the central control module adjusts the image recognition granularity to the first granularity using a preset first granularity adjustment coefficient under a preset second rendering time difference condition; The third adjustment method is that the central control module adjusts the image recognition granularity to the second granularity using a preset second granularity adjustment coefficient under a preset third rendering time difference condition; Among them, the preset first rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is less than or equal to the preset first rendering time difference; the preset second rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is greater than the preset first rendering time difference and less than or equal to the preset second rendering time difference; the preset third rendering time difference condition is that the difference between the rendering time of a single side and the preset second rendering time is greater than the preset second rendering time difference; the preset first rendering time difference is less than the preset second rendering time difference, and the preset first granularity adjustment coefficient is less than the preset second granularity adjustment coefficient.

4. The Rubik's Cube full-gesture recognition system according to claim 3, characterized in that: The central control module determines whether the data acquisition rate of the acceleration sensor is lower than the allowable range according to the temperature of the magic cube under the preset second rendering time condition in three types of determination methods, wherein: The first acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is lower than the allowable range under a preset first temperature condition, and adjusts the vertical height of the auxiliary lighting to a first corresponding height by calculating the difference between the cube temperature and a preset second temperature; The second type of acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is within an allowable range under a preset second temperature condition; The third acquisition rate determination method is that the central control module determines that the data acquisition rate of the acceleration sensor is within an allowable range under a preset third temperature condition, and adjusts the vertical height of the auxiliary lighting to a first corresponding height by calculating the difference between the cube temperature and a preset second temperature; Among them, the preset first temperature condition is that the Rubik's Cube temperature is less than or equal to the preset first temperature; the preset second temperature condition is that the Rubik's Cube temperature is greater than the preset first temperature and less than or equal to the preset second temperature; the preset third temperature condition is that the Rubik's Cube temperature is greater than the preset second temperature; the preset first temperature is less than the preset second temperature.

5. The Rubik's Cube full-gesture recognition system according to claim 4, characterized in that: The central control module determines three types of adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the magic cube temperature and the preset second temperature under the preset first temperature condition, wherein: The first type of height adjustment method is that the central control module adjusts the vertical height to a preset vertical height under a preset first temperature difference condition; The second type of height adjustment method is that the central control module adjusts the vertical height of the auxiliary lighting lamp to the first vertical height using a preset first height adjustment coefficient under a preset second temperature difference condition; The third type of height adjustment method is that the central control module adjusts the vertical height of the auxiliary lighting lamp to a second vertical height using a preset second height adjustment coefficient under a preset third temperature difference condition; Among them, the preset first temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is less than or equal to the preset first temperature difference; the preset second temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is greater than the preset first temperature difference and less than or equal to the preset second temperature difference; the preset third temperature difference condition is that the difference between the Magic Cube temperature and the preset second temperature is greater than the preset second temperature difference; the preset first temperature difference is less than the preset second temperature difference, and the preset first height adjustment coefficient is less than the preset second height adjustment coefficient.

6. The Rubik's Cube full-gesture recognition system according to claim 5, characterized in that: The central control module determines whether the voltage stability is lower than the allowable range according to the voltage fluctuation amplitude under the preset second temperature condition in two secondary determination methods, wherein: The first type of secondary determination method is that the central control module secondary determines that the voltage stability is within the allowable range under the preset first fluctuation amplitude condition; The second secondary determination method is that the central control module secondary determines that the voltage stability is lower than the allowable range under a preset second fluctuation amplitude condition, and adjusts the filter cutoff frequency to the corresponding frequency by calculating the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude; The preset first fluctuation amplitude condition is that the voltage fluctuation amplitude is less than or equal to the preset fluctuation amplitude; the preset second fluctuation amplitude condition is that the voltage fluctuation amplitude is greater than the preset fluctuation amplitude.

7. The Rubik's Cube full-gesture recognition system according to claim 6, characterized in that: The central control module determines two types of adjustment methods for the filter cutoff frequency according to the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude under the preset second fluctuation amplitude condition, wherein: The first frequency adjustment method is that the central control module adjusts the filter cutoff frequency to a first frequency using a preset first frequency adjustment coefficient under a preset first fluctuation amplitude difference condition; The second frequency adjustment method is that the central control module uses a preset second frequency adjustment coefficient to adjust the filter cutoff frequency to a second frequency under a preset second fluctuation amplitude difference condition; Among them, the preset first fluctuation amplitude difference condition is that the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude is less than or equal to the preset fluctuation amplitude difference; the preset second fluctuation amplitude difference condition is that the difference between the voltage fluctuation amplitude and the preset fluctuation amplitude is greater than the preset fluctuation amplitude difference; the preset first frequency adjustment coefficient is less than the preset second frequency adjustment coefficient.

8. The Rubik's Cube full-gesture recognition system according to claim 7, characterized in that: The central control module determines whether the color rendering accuracy is within the allowable range according to the average chromaticity restoration error of several cycles under the first condition in two types of determination methods, wherein: The first type of accuracy determination method is that the central control module determines that the color rendering accuracy is within an allowable range under a preset first quantity condition; The second accuracy determination method is that the central control module determines that the color rendering accuracy is lower than the allowable range under a preset second quantity condition, and adjusts the vertical height of the auxiliary lighting lamp to a second corresponding height by calculating the difference between the chromaticity restoration average error quantity and the preset error quantity; The preset first quantity condition is that the average chromaticity restoration error number is less than or equal to the preset error number; the preset second quantity condition is that the average chromaticity restoration error number is greater than the preset error number.

9. The Rubik's Cube full-gesture recognition system according to claim 8, characterized in that: The central control module determines two types of secondary adjustment methods for the vertical height of the auxiliary lighting lamp according to the difference between the chromaticity restoration average error number and the preset error number under the preset second number condition, wherein: The first type of secondary height adjustment method is that the central control module uses a preset fourth secondary height adjustment coefficient to secondary adjust the vertical height of the auxiliary lighting lamp to a third vertical height under a preset first quantity difference condition; The second type of secondary height adjustment method is that the central control module uses a preset third secondary height adjustment coefficient to secondary adjust the vertical height of the auxiliary lighting lamp to a fourth vertical height under a preset second quantity difference condition; Among them, the preset first quantity difference condition is that the difference between the average number of chromaticity restoration errors and the preset number of errors is less than or equal to the preset error number difference; the preset second quantity difference condition is that the difference between the average number of chromaticity restoration errors and the preset number of errors is greater than the preset error number difference; the preset third height quadratic adjustment coefficient is less than the preset fourth height quadratic adjustment coefficient.

10. A recognition method using the Rubik's Cube full-gesture recognition system according to any one of claims 1 to 9, characterized in that: include: Step S1, using a visual sensor to acquire different surface images of the Rubik's Cube and sending the different surface image information to a data processing module, and using the acceleration sensor to detect the floating-point value of the acceleration during the rotation process to obtain a right-handed rotation matrix; Step S2: When rendering the Rubik's Cube rotation process, if the central control module determines that the effectiveness of gesture recognition is below an allowable range based on the rendering time of a single side, the central control module adjusts the image recognition granularity of the visual sensor to a corresponding granularity based on the difference between the rendering time of the single side and a preset second rendering time, or adjusts the vertical height of the auxiliary lighting to a first corresponding height based on the Rubik's Cube temperature detected by an infrared sensor disposed above the visual sensor; Step S3: When the voltage stability is lower than the allowable range, the central control module adjusts the filter cutoff frequency to a corresponding frequency according to the voltage fluctuation amplitude; Step S4: When the central control module completes the initial adjustment of the auxiliary lighting, the central control module adjusts the vertical height of the auxiliary lighting to a second corresponding height according to the average chromaticity restoration error of several cycles.

Images