基于STM32的魔方机器人设计  

Design of Rubik’s Cube Robot Based on STM32

作　　者：徐豪康 赵越岭[1] 邹正杰 梁慧泽 XU Hao-kang;ZHAO Yue-ling;ZHOU Zheng-jie;LIANG Hui-ze(School of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁工业大学电气工程学院,辽宁锦州121001

出　　处：《辽宁工业大学学报（自然科学版）》2020年第2期80-83,共4页Journal of Liaoning University of Technology(Natural Science Edition)

基　　金：辽宁省科技厅自然基金指导计划(2019-ZD-0697);国家级及辽宁省大学生创新创业计划(201810154007);辽宁省大学生创新创业计划(201910154099);辽宁工业大学大学生创新创业计划(201801060)。

摘　　要：在充分考虑魔方机器人功能和性能的基础上,设计了以STM32为核心处理器的魔方机器人系统,其控制系统部分包括STM32最小系统、图像采集电路、步进电机驱动电路、人机接口电路等模块电路组成。魔方机器人控制系统通过OpenMV采集魔方色块图像信息,并利用CFOP算法获得解魔方步骤,进而控制步进电机复原魔方。经过测试,设计的魔方机器人具有结构简单、图像识别准确性高、复原快速、准确等优点。On the basis of fully considering the function and performance of Rubik’s Cube Robot,Rubik’s Cube Robot System with STM32 as its core processor is designed.The control system consists of STM32 minimum system,image acquisition circuit,stepper motor drive circuit and man-machine interface circuit.The image information of magic cube color block through OpenMV is collected with magic cube robot control systems.The step of solving magic cube is obtained by CFOP algorithm,and the step motor is controlled to recover magic cube.After testing,the Cube Robot has the advantages of simple structure,high accuracy of image recognition,fast and accurate recovery.

关 键 词：步进电机 机器视觉 CFOP算法 魔方机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]