基于机器视觉Open MV的魔方机器人研究  

Research on Rubik’s Cube Robot Based on Machine Vision“Open MV”

作　　者：王波 王霞琴 李腾举 周齐 马鑫山 WANG Bo;WANG Xia-qin;LI Teng-ju;ZHOU Qi;MA Xin-shan(Mechanical Engineering School,Lanzhou Petrochemical University of Vocational Technology,Lanzhou 730060,China)

机构地区：[1]兰州石化职业技术大学机械工程学院,甘肃兰州730060

出　　处：《兰州石化职业技术大学学报》2024年第1期28-31,共4页Journal of Lanzhou Petrochemical University of Vocational Technology

基　　金：2015年度甘肃政法学院校级教改项目(GZJG2015-B03)。

摘　　要：魔方机器人因其具有足够的趣味性与互动性,同时融合了机器视觉技术与传统的机器人控制技术,在此基础上改进了魔方图像的预处理方式,采用较大的滤波核进行滤波,使得魔方色块图像更易于机器识别与处理。运用LAB色彩空间进行计算分类,将欧氏距离算法应用于LAB坐标系进行聚类,大大提高了聚类的准确性,同时突破固定魔方颜色的限制,该算法使得魔方机器人可以准确快速地还原任意颜色的三阶魔方,具有一定意义。Because the Rubik’s cube robot is interesting and interactive enough,and integrates machine vision technology and traditional robot control technology,this paper improves the preprocessing method of Rubik’s Cube image on this basis,and uses a larger filter core for filtering,so that the Rubik's Cube color block image is easier for machine recognition and processing.In this paper,the LAB color space is used for calculation and classification,and the Euclidean distance algorithm is applied to the LAB coordinate system for clustering,which greatly improves the accuracy of clustering,and breaks through the limitation of fixed Rubik’s Cube colors,which makes the Rubik’s Cube robot accurately and quickly restore the third-order Rubik's Cube of any color,which is of great significance.

关 键 词：魔方机器人 机器视觉 图像滤波 聚类算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]