TITLE OF INVENTION
Master Pyramorphix Cube and Mirror Cube Solver
FIELD OF INVENTION
This invention is for automatically solving of Master Pyramorphix cube and Mirror
Cube by detection of random pattern using intelligent mobile phone, image
recognition technology and potentiometers.
Objects of the invention
1. An object of the present invention is to automatically solve the Master
Pyramorphix cube and Mirror cube
2. Another object of this invention is to solve different cubes of different shape
and size such as Rubiks cube, Hexagonal Dipyramid (Dimond round Column
Cube), Carni Cheak Face Cube 3x3x3, Apple Cube, Love Heart Cube, Wind
mill Cube, Axel Cube, 3x3x3 Lanlan Dodecahedron Cube.
3. Another object of the present invention is to generate solution by MATLAB
for biased or unbiased Master Pyramorphix cube and Mirror cube.
4. Another object of the present invention is to develop a robot capable of
learning from the past experience taking decisions on its own and make new
macros, conjugates and thus new solution with least number of steps to solve a
cube which can be used to generate solution to various kinds of complex
problems in a more efficient way. Thus it can be a leading way towards
Artificial Intelligence,which includes self-thinking and acting.
Background Of Invention
The present technology in the field of cube solving robots is confined only to the
solution of single type of cube mainly Rubiks Cube. Present cube solving robots have
low interaction with the environment, low intelligence and are intended to solve only
one type of cube.
This invention is for solving different types of cubes with different shapes and sizes
such as Master Pyramorphix cube, Mirror Cube, Rubiks Cube, Hexagonal Dipyramid
(Dimond round Column Cube), Cami Cheak Face Cube 3x3x3, Apple Cube, Love
Heart Cube, Wind mill Cube, Axel Cube, 3x3x3 Lanlan Dodecahedron Cube and
others.
This invention can be used in solving a problem based on intelhgence. This invention
is first of its kind to solve Master Pyramorphix Cube and Mirror Cube.
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SUMMARY
The present robots in the field of cube solving have the limitation of solving only
single type of cube mainly Rubiks Cube. There are a wide variety of cubes available
in market. Butmainly one type of cube is solved by the cube solving robots.
Master Pyramorphix cube and Mirror Cube are solved manually as well as by robots.
But thane is no robot ever developed which can solve Master Pyramorphix cube and
Mirror Cube.
This invention involves the automatic solution of Master Pyramorphix cube and
Mirror Cube. Color pattern of Master Pyramorphix cube are recognized by intelligent
mobile phone. The dimensions of cubies of Mirror Cube are recognized by the 8
Potentiometers arranged in a particular way. Cubies are the small individual blocks of
the cube which rotates.Then the solution is generated by MATLAB and the
corresponding commands are given to the stepper motors.
Basically the robot consists of three main parts
1) Input Unit
2) Processing Unit
3) Output Unit
1) Input Unit:- The input unit consists of the devices or the methods used to give
input to the program. For example:-Input unit may consists of color sensors for
sensing the colors of the cubes and then feed it to the MATLAB for further
processing. Or input unit may consists of a android mobile camera or os7600
(Arduino compatible) to take the photo of the surface of the cube and MATLAB
Image Processing techniques detects the color of the cube. DOr 8 Potentiometer
System which gives die calibrated height to voltage as input to MATLAB and
MATLAB processes that voltage signals and converts them into corresponding color
of the cube. The input can be given in the MATLAB manually also. The color input
of a cube can be given directly by seeing the colors on the faces of the cube and then
feeding the color inputs to the MATLAB.
2) Processing Unit :-This unit works on the input received from either the Arduino
components or from the SIMULINK and manipulating it according to need.
Thereafter MATLAB produces the solution to the given permutation of the
cube. • This unit is the brain of the robot. The unit generates the solution by the
different methods like Bottom-Up method, Peterus method etc. And this unit is
capable of producing new solutions, learn from previously solved cubes(generated
solutions) etc.
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3) Output Unit:- This unit converts virtually generated solution to the real world .
The structure of the Robot tends to move the faces of the given cube according to the
solution generated by MATLAB and we get different types of cube given in any
possible permutation completely solved.
Brief Description
FIG. 1 is a simple basic block diagram of the robot;
FIG. 2 is a diagram comprising the basic model of the Master Pyramorphix Cube and
Mirror Cube Solver robot;
FIG. 3 consists of the various components with their positions and connections with
each other.
FIG. 4 as a symmetrical structure of the robot having six stepper motors with the
attachment shaft mechanism.
FIG. 5 as a symmetrical structure of the robot having four stepper motors with the
mechanical claw arms mechanism.
FIG. 6 is a stepper motor with the attachment shaft mechanism, front view.
FIG. 7 is a stepper motor with the mechanical claw arms mechanism, isometric view.
FIG. 8 is a stepper motor with the mechanical claw arms mechanism, front view.
FIG. 9 consists of eight potentiometers arrangement for Mirror Cube input, isometric
view.
FIG. 10 consists of parts of a potentiometer, isometric view.
COMPONENTS USED:-
1) 1 Aduino MEGA
2) 1 Aduino UNO
3) 6 drivers, which can be any of these
a) L298N
b) A4988
c) L298
d) L297
4) 6 stepper motors (1.8°, 1.5 Amps, 5kgcm)
5) 1 smart mobile phone for image recognition
6) 8 linear potentiometers (10 kohm, 50 mm slide, linear scale)
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DETAILED DESCRIPTION OF THE INVENTION
FIG. 4 and FIG. 5
This robot consistsof a firm, rigid, stable, and simple main body structure which can
hold upto six stepper motors, at six different positions for rotating the different faces
of the cube mounted in it The structure of robot has the advantage of setting up the
Stepper motors at six different positions with wide range of position shifting, leveling,
and centering to mount the cube in the appropriate place. The size of the cube to be
solved by the robot can vary in size and shape. The structure has the provision to
increase or decrease the distances between the stepper motors, the different sizes of
cube can be mounted in such that the parts of structure is such that the most of the
parts of structure is similar in size and shape to each other and there is simplicity in
the parts of structure. The various parts are designed such that it has maximum
possible number of similar parts so that there is less complexity, less difficulty in the
assembly and disassembly of the structure of the robot in very less time. The stepper
motors can be put and mounted in appropriate positions and can be aligned on the
correct position in veiy less time. The main body structure consists of straight flat bar
(5) and U-shaped flat bar (6). The stepper motors (4) is fixed in casing (3) attached
with L-shaped angle bar (2) rest on another L-shaped angle bar (1) which has a long
slot in it. The nut and bolt is used to fasten the L-shaped angle bar (2) with L-shaped
angle bar (1). The L-shaped angle bar (1) consists of a longer slot and L-shaped angle
bar (2) has a hole to put bolt through it and passes through the long slot given in Lshaped
angle bar (1). The bolt along with L-shaped angle bar (2) can move in the long
slot given in L-shaped angle bar (1) so that the stepper motor (4) can be adjusted
according to the requirements and then the bolt and nut is tightened. The stepper
motor can be adjusted back and forth on the L-shaped angle bar (1). The L-shaped
angle bar (1) is fastened to the flat bar (5) in the similar way as L-shaped angle bar (2)
is fastened with L-shaped angle bar (1). The flat bar (5) consists of a long slot and Lshaped
angle bar (1) has a hole. The bolt along with L-shaped angle bar (1) can move
in the long slot given in flat bar (5) so that L-shaped angle bar (1) can move up and
down in the slot provided along the direction of the flat bar (5) length. When the Lshaped
angle bar (1) is moved up and down along the direction of the flat bar (5)
length the stepper motor (4) also changes its position and moves up and down. With
arrangement die position of stepper motor (4) can be adjusted as per the requirements.
The stepper motor (4) can be moved up and down, back and forth, with reference to
the flat bar (5). Similarly, the other five stepper motors can also be fixed on the
appropriate positions.
FIG 6
The stepper motor (4) is firmly fixed and fastened with the casing (3) with the help of
four long screws. There are two types of arrangement used for driving the faces of the
cubes. The first arrangement used, rotates the face of the cube by attaching the power
shaft (7) with the face of the cube at center of the face of the cube with the help of die
attachment shaft (8). The power shaft (7) is firmly attached to the shaft of the stepper
motor (4) with the help of grub screws. The attachment shaft (8) of the square cross
sectional area has two teeth (9) extended outwards at its one end. The attachment
shaft (8) goes inside the power shaft (7) having a spring (10) at its one end inside the
power shaft (7) so that the attachment shaft (8) can move outwards own its own after
releasing it when pushed inside the power shaft. The attachment shaft (8) can be
pushed inside the power shaft (7) up to 10 millimeters in length. There is enough
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space created to remove the cubes very easily by detaching the attachment shaft (8)
by pushing the attachment shaft (8) towards the stepper motor (4).
FIG. 7
The second arrangement is a modified arrangement, which uses the mechanical claw
arms (13) to hold and grab the cube. The mechanical claw arms (13) have a modified
mechanism, which performs two actions in a sequence. When the power shaft (7)
rotates in anti-clockwise direction when viewed from the back of stepper motor (4)
(opposite to the power shaft (7)), then both the mechanical claws anns (13) start
closing. As a result, both the mechanical claw arms (13) closes until they grab the
cube, then the rack and pinion mechanism of both the mechanical claw arms (13) and
the power shaft (7) is interlocked which prevents further closing of the jaws (14). This
causes the locking teeth (12) to rotate with the power shaft (7). The mechanical claw
arms (13) rotate along with the mechanical claw body (11) until the power shaft (7) is
rotating in anti-clockwise direction when viewed from the back of the stepper motor
(4) (opposite to the direction of the power shaft (7) ). Now, when the power shaft
stops and rotates in the clockwise direction, the rack and pinion mechanism of both,
the mechanical claw arms (13) and the power shaft (7) unlocks and thus the
mechanical claw arms (13) start opening outwards and making the jaws (14) move
away from the cube. The mechanical claw body (11) does not rotate when the power
shaft (7) rotates in clockwise direction, because, now the mechanical claw arms (13)
are not interlocked with the power shaft (7) (no meshing of the teeth on the
mechanical claw arms and the teeth on power shaft (7)) and are free to move. Thus,
by rack and pinion mechanism used in mechanical claw arms (13) and the power shaft
(7), the mechanical claw arms (13) move apart, opening the jaws and freeing the
cube from the jaws (14).
The screw (16) is used to remove locking teeth (12) out of the casing (3) of the
stepper motor (4). When the screw (16) is rotated clockwise it moves inward to the
center of power shaft (7), thus applying the force on die ejecting ring (15), which then
gets pressed. Thus, the ejecting ring (15) presses the locking teeth (12) inward to the
center of the power shaft (7) and then the locking teeth (12) can be removed out from
the casing (3) of the stepper motor (4). Two screws and two ejecting rings are
provided to ease the locking and unlocking of the teeth (12) with the casing (3) of
stepper motor (4).
FIG. 9 and FIG. 10
For getting the input of mirror cube, the eight shde potentiometers are used. The input
unit for mirror cube comprises of eight slide potentiometer sensors (linear scale) fixed
on the base plate(18).The potentiometers are attached with the Arduino UNO. When
the slider of the potentiometer slides, then the variation in resistance is recognized by
the Arduino UNO and the signals are send to the Matlab. The potentiometer is fixed
on the L-shaped angel bar(17) with the two screws. The body(19) of potentiometer
has a linear guide way in which the slider(20) moves up and down. The slider(20) is
attached firmly with a block(21). The block(21) is further attached to a long
cylindrical metal rod(22). The cylindrical metal rod(22) has a spring(23), which is
between the block(21) and the base plate(18). When the block(21) is pressed then the
slider(20) of potentiometer moves downward, the spring(23) is compressed which
stores the energy and when the block is set free, then the slider(20) comes to its initial
position at the topmost position. When the block(21) is pressed then the slider(20) is
also pressed and moves down. As a result the long metal rod(22) moves downward
passing through the holes in the base plate. The spring(23) stores the energy when the
block(21) is pressed which help the block(21) and the slider(20) to restore their initial
position automatically. The cubies of the mirror cube are of different dimension.
When the mirror cube is pressed over the arrangement of eight potentiometer sensors,
then the height of each cubie is recorded in Matlab corresponding to the distance
moved by the slider(20).The slider(20) is pressed by the height of the cubies and the
depth up to it is pressed gives the potential difference(voltage drop). The obtained
potential difference is calibrated with the height of the cubies and the height input is
given to MATLAB. Hence, the input is taken for the mirror cube.

CLAIMS
1. We claim that the Master Pyramorphix Cube and Mirror Cube Solver
comprising of L-shaped bar (1), L-shaped bar (2), casing (3], stepper
motor (4), straight flat bar (5), U-shaped flat bar (6), power shaft (7),
attachment shaft (8), teeth (9), spring (10), mechanical claw body(ll),
locking teeth(12), mechanical claw arms(13), jaws(14), ejecting
ring(l5), screw(16), L-shaped angle bar(17), base plate(18), body(19),
slider(20), block(21), cylindrical metal rod(22),spring(23), Arduino
MEGA, Arduino UNO, stepper motor drivers, slide potentiometer is an
automatic cube solving robot which is able to solve many cubes of
different shapes and sizes.
2. We claim that the mechanical claw which can hold and grab the cube
and can rotate the faces of the cube comprises of mechanical claw
body (11), locking teeth (12), mechanical claw arms (13), jaws (14),
ejecting ring (15) and screw (16). Mechanical claw arms (13) and the
mechanical claw body can be dissembled from the power shaft (7) and
the stepper motor casing (3).
3. We claim that the Master Pyramorphix Cube and Mirror Cube Solver
comprises of eight slide potentiometer sensors (linear scale) fixed on the
base plate (18) for taking the input for Mirror Cube and thus, calibrating
the dimensions (heights) of the cubies of the Mirror Cube. The
potentiometers are attached with the Arduino UNO.
4. We claim that the Master Pyramorphix Cube and Mirror Cube Solver
comprises of the L-shaped angle bar (1), L-shaped angle bar (2),
straight flat bar (5), U-shaped flat bar (6), and the structure has the
provision due to which stepper motors can be placed and positioned
according to the requirements. Stepper motors can be easily leveled,
centered, and aligned according to the shape and size of the cube to be
mounted in the robot The structure is such that the cube can be easily
mounted and un-mounted in the robot