基于机器视觉的智能魔方机器人研究综述
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摘要
魔方机器人是一种能将任意打乱的魔方自动复原的机器人系统。作为智能机器人的一种,魔方机器人涉及机器人学、计算科学和机器视觉等多门学科。文中对当前魔方机器人的研究现状进行回顾和分析,将其划分为3个基本的功能模块,即魔方状态识别模块、复原步骤求解模块和复原动作执行模块,并从这3个方面对各种魔方机器人进行具体分析与综述;最后对魔方机器人的研究发展进行了展望。
Rubik's Cube Robot is a robot system which can automatically restore the Rubik's Cube. Rubik's Cube Robot,intelligent as it is, involves many subjects such as robotics, computational science and computer vision. This paper renders an overview of the current study on Rubik's Cube Robot, and based on this, Rubik's Cube Robot falls into three basic functional modules-status identification module, recovery solution module and recovery conduction module. Various Rubik's Cube Robots are analyzed and reviewed based on these modules, which provides the prospects for Rubik's Cube Robot.
Rubik's Cube Robot is a robot system which can automatically restore the Rubik's Cube. Rubik's Cube Robot,intelligent as it is, involves many subjects such as robotics, computational science and computer vision. This paper renders an overview of the current study on Rubik's Cube Robot, and based on this, Rubik's Cube Robot falls into three basic functional modules-status identification module, recovery solution module and recovery conduction module. Various Rubik's Cube Robots are analyzed and reviewed based on these modules, which provides the prospects for Rubik's Cube Robot.
引文
[1]张雪娇.智能魔方机器人的视觉感知与复原算法研究[D].沈阳:东北大学,2011.
[2]王中锋.魔方机器人展示系统研究与开发[D].沈阳:东北大学,2012.
[3]梁小龙.解魔方算法的研究和系统实现[D].沈阳:东北大学,2013.
[4]喻腾飞.魔方群的研究[D].合肥:中国科学技术大学,2014.
[5]郑瑜.魔方原理及其应用[D].杭州:浙江大学,2009.
[6]朱磊.群论在魔方中的应用[D].苏州:苏州大学,2008.
[7]Palmer J.Cracking the last mystery of the Rubik’s cube[J].New Scientist,2008,199(2668):40-43.
[8]Grunschlag Z.Algorithms in geometric group theory[D].California:University of California,1999.
[9]田田.解魔方四爪机械手结构设计与操作[J].机器人技术与应用,2014(5):38-39.
[10]田田.解魔方气动组会机械手功能结构设计与系统分析[D].济南:济南大学,2015.
[11]张宏平.魔方机器人手臂设计及运动学分析与动态特性研究[D].合肥:合肥工业大学,2016.
[12]董海洋.类人四轴解魔方机器人的设计[J].电子技术与软件工程,2013,1(8):62.
[13]刘远法.基于Arduino单片机的解魔方机器人-控制部分[J].电脑知识与技术,2016,12(7):171-173.
[14]纪海彬.基于AVR的解三阶魔方机器人研究[D].长春:长春理工大学,2012.
[15]Kacey Deamer,Staff Writer.New Record!Robot Solves Rubik’s Cube in Less Than a Second[EB/OL].(2016-11-11)[2017-09-11].https://www.livescience.com/56828-robot-sets-rubiks-cube-world-record.html.
[16]Ray Walters.Android-powered Lego Rubik’s Cube solver beats world record[EB/OL].(2011-10-22)[2017-09-11].https://www.geek.com/geek-cetera/android-powered-legorubiks-cube-solver-beats-world-record-1432881/.
[17]纪晶伟.基于嵌入式视频技术的颜色识别系统的实验研究[D].秦皇岛:燕山大学,2014.
[18]何智勇,贲可荣.基于OpenGL的魔方自动求解算法与实现[J].哈尔滨工业大学学报,2004,36(7):893-895.
[19]黄国祥.RGB颜色空间及其应用研究[D].长沙:中南大学,2002.
[20]Staniak M,Winiarski T,Zielinski C.Parallel visual-force control[C]//Intelligent Robots and Systems,2008.IROS 2008IEEE/RSJ International Conference on.IEEE,2008:937-942.
[21]Kim J S,Son Y T,Cho H S.A robust method for vision based seam tracking in robotic arc welding[C]//Processing of the10th IEEE International Symposium on Intelligent Control,Monterey,California,2005:363-368.
[22]Jyoti Jhawar.Orange sorting by applying pattern recognition on colour image[J].Procedia Computer Science,2016,78:691-697.
[23]El-Sourani N,Hauke S,Borschbach M.An evolutionary approach for solving the Rubik’s cube incorporating exact methods[M].Applications of Evolutionary Computation.Springer Berlin Heidelberg,2010:80-89.
[24]芦俊,池宏勋,席文明,等.双臂机器人的协作工作空间数值计算方法[J].中国机械工程,2001,12(5):125-127.
[25]李小唐.六自由度串联机械手位置逆解若干问题的研究[D].北京:北京邮电大学,2006.
[2]王中锋.魔方机器人展示系统研究与开发[D].沈阳:东北大学,2012.
[3]梁小龙.解魔方算法的研究和系统实现[D].沈阳:东北大学,2013.
[4]喻腾飞.魔方群的研究[D].合肥:中国科学技术大学,2014.
[5]郑瑜.魔方原理及其应用[D].杭州:浙江大学,2009.
[6]朱磊.群论在魔方中的应用[D].苏州:苏州大学,2008.
[7]Palmer J.Cracking the last mystery of the Rubik’s cube[J].New Scientist,2008,199(2668):40-43.
[8]Grunschlag Z.Algorithms in geometric group theory[D].California:University of California,1999.
[9]田田.解魔方四爪机械手结构设计与操作[J].机器人技术与应用,2014(5):38-39.
[10]田田.解魔方气动组会机械手功能结构设计与系统分析[D].济南:济南大学,2015.
[11]张宏平.魔方机器人手臂设计及运动学分析与动态特性研究[D].合肥:合肥工业大学,2016.
[12]董海洋.类人四轴解魔方机器人的设计[J].电子技术与软件工程,2013,1(8):62.
[13]刘远法.基于Arduino单片机的解魔方机器人-控制部分[J].电脑知识与技术,2016,12(7):171-173.
[14]纪海彬.基于AVR的解三阶魔方机器人研究[D].长春:长春理工大学,2012.
[15]Kacey Deamer,Staff Writer.New Record!Robot Solves Rubik’s Cube in Less Than a Second[EB/OL].(2016-11-11)[2017-09-11].https://www.livescience.com/56828-robot-sets-rubiks-cube-world-record.html.
[16]Ray Walters.Android-powered Lego Rubik’s Cube solver beats world record[EB/OL].(2011-10-22)[2017-09-11].https://www.geek.com/geek-cetera/android-powered-legorubiks-cube-solver-beats-world-record-1432881/.
[17]纪晶伟.基于嵌入式视频技术的颜色识别系统的实验研究[D].秦皇岛:燕山大学,2014.
[18]何智勇,贲可荣.基于OpenGL的魔方自动求解算法与实现[J].哈尔滨工业大学学报,2004,36(7):893-895.
[19]黄国祥.RGB颜色空间及其应用研究[D].长沙:中南大学,2002.
[20]Staniak M,Winiarski T,Zielinski C.Parallel visual-force control[C]//Intelligent Robots and Systems,2008.IROS 2008IEEE/RSJ International Conference on.IEEE,2008:937-942.
[21]Kim J S,Son Y T,Cho H S.A robust method for vision based seam tracking in robotic arc welding[C]//Processing of the10th IEEE International Symposium on Intelligent Control,Monterey,California,2005:363-368.
[22]Jyoti Jhawar.Orange sorting by applying pattern recognition on colour image[J].Procedia Computer Science,2016,78:691-697.
[23]El-Sourani N,Hauke S,Borschbach M.An evolutionary approach for solving the Rubik’s cube incorporating exact methods[M].Applications of Evolutionary Computation.Springer Berlin Heidelberg,2010:80-89.
[24]芦俊,池宏勋,席文明,等.双臂机器人的协作工作空间数值计算方法[J].中国机械工程,2001,12(5):125-127.
[25]李小唐.六自由度串联机械手位置逆解若干问题的研究[D].北京:北京邮电大学,2006.
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