CN102008816A - Electronic chessboard device and automatic chess moving method - Google Patents
Electronic chessboard device and automatic chess moving method Download PDFInfo
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Abstract
The invention discloses an electronic chessboard device and an automatic chess moving method. The electronic chessboard device comprises an electronic chessboard and a chess moving device, wherein the chess moving device is in communication connection with the electronic chessboard, the electronic chessboard is used for obtaining a chess moving command, and sending a corresponding chess moving control command to the chess moving device according to the chess moving command; and the chess moving device is used for receiving the chess moving control command sent by the electronic chessboard and completing the chess moving process according to the chess moving control command. When man-machine chess playing or network chess playing is carried out by adopting the electronic chessboard device and the automatic chess moving method designed by the invention, the chess moving device is replaced with an opposite party for moving the chess on the chessboard, the opposite party is not replaced with the local chess player for completing the chess moving, thus the real chess playing experience of a chess player can be greatly improved.
Description
Technical Field
The invention relates to the electronic technology, in particular to an electronic chessboard device and an automatic chess playing method.
Background
The popularization of personal computers and the internet provides more chess playing modes for chess enthusiasts, for example, chess playing software can be installed in the personal computers to play chess by people, or chess playing can be carried out by other chess players through the internet in a network mode, but both modes require the chess players to view the computer screens in the whole playing process, and the eyesight can be seriously influenced by watching the computer screens for a long time to cause myopia, particularly for teenagers and children.
Patent application CN101332357A designs an electronic go board, patent application 200810216691.3 designs an electronic go board, and patent application CN101380515A designs a method for interaction between an electronic go board and a computer system. When the designed electronic chessboard is connected with an external computer system and chess playing commands and data are exchanged by adopting the interaction method designed in the patent application CN101380515A, the electronic chessboard and the computer system form an electronic chessboard game playing system, the electronic chessboard game playing system can run under 5 game playing modes, and the detailed description of the game playing modes refers to the patent application CN 101380515A. By adopting the electronic chessboard playing system, players can play chess by man-machine and network, and because the two electronic chessboards use real chessboards and chesses and do not need to watch a computer screen in the playing process, the eyesight is protected and the real playing experience is obtained.
The electronic chessboard designed by patent application CN101332357A has a feature that a go position indicator lamp array is arranged on the electronic chessboard for indicating a go position (for go, the go position refers to a specific go position, and for chess, the go position refers to a specific go path, i.e. a source go position and a target go position), for example: under the man-machine chess-playing mode, the chess-playing position indicating lamps are used for indicating the chess-playing position of the computer system; in the chess manual demonstration mode, the chess moving position indicating lamps are used for indicating the chess moving position of each step of demonstration chess moving; under the network playing mode, the chess-moving position indicating lamps are used for indicating the chess-moving positions of players on the opposite end of the network. After the chess moving position indicator light indicates the chess moving position, a player needs to replace the other player to complete chess moving on the chessboard.
The main disadvantages of the electronic chessboard are: under the man-machine playing mode and the network playing mode, local players need to complete playing on the electronic chessboard instead of the other side according to the playing positions indicated by the playing position indicator lamps, namely, the local players help the other side to control the pieces on the chessboard, which causes the players to play with left and right hands, thereby reducing the experience of playing chess truly.
Disclosure of Invention
In order to solve the above problems in the prior art, the invention provides an electronic chessboard device and an automatic chess playing method, which are used for improving the real chess playing experience of players when playing chess by adopting the electronic chessboard.
In order to achieve the above object, the electronic chessboard device provided by the present invention comprises an electronic chessboard, and further comprises a chess moving device, wherein the chess moving device is in communication connection with the electronic chessboard; wherein,
the electronic chessboard is used for obtaining a chess playing command and sending a corresponding chess playing control instruction to the chess playing device according to the chess playing command;
and the chess moving device is used for receiving the chess moving control instruction sent by the electronic chessboard and finishing the chess moving process according to the chess moving control instruction.
The invention also provides an automatic chess playing method, which is applied to an electronic chessboard and a chess playing device in communication connection with the electronic chessboard, wherein the method comprises the following steps:
the electronic chessboard acquires a chess playing command and sends a corresponding chess playing control command to the chess playing device according to the chess playing command;
the chess moving device receives the chess moving control instruction sent by the electronic chessboard and completes the chess moving process according to the chess moving control instruction.
When the electronic chessboard device and the method designed by the invention are adopted to carry out man-machine chess playing or network chess playing, the chess playing device replaces the opposite side to complete chess playing on the chessboard, and the local players do not replace the opposite side to complete chess playing, thus greatly improving the real experience of the playing activities.
Drawings
Fig. 1 is a schematic structural diagram of an electronic chessboard device according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a logic structure of an electronic chessboard device according to an embodiment of the invention;
FIG. 3 is a schematic view of the installation of the electronic Chinese chess board and the mechanical arm according to the embodiment of the present invention;
FIG. 4 is a schematic view of an electronic chess board and a robot arm according to an embodiment of the present invention;
FIG. 5 is a schematic view of an electronic go board and a robot according to an embodiment of the present invention;
FIG. 6 is a flow chart illustrating the communication between the electronic chessboard and the robot according to the embodiment of the present invention;
FIG. 7 is a schematic view of an electronic chessboard playing system according to an embodiment of the present invention;
Detailed Description
The embodiment of the invention provides an electronic chessboard device capable of automatically moving chess, so that when playing is carried out by using the electronic chessboard, players only need to complete own chess moving and do not need to move on the electronic chessboard instead of the other players, and thus, the players can obtain more real chess playing experience.
As shown in fig. 1, the electronic chessboard device includes an electronic chessboard, and the electronic chessboard device further includes a chess moving device, and the chess moving device is in communication connection with the electronic chessboard; wherein,
the electronic chessboard is used for obtaining a chess playing command and sending a corresponding chess playing control instruction to the chess playing device according to the chess playing command;
and the chess moving device is used for receiving the chess moving control instruction sent by the electronic chessboard and finishing the chess moving process according to the chess moving control instruction.
The electronic chessboard is provided with a chess playing device outside, and the chess playing device replaces the other side to complete chess playing on the electronic chessboard in the chess playing process. The electronic chessboard is connected with the chess moving device through the communication interface, and the communication interface is used for providing data and commands for the chess moving device, and the chess moving device executes chess moving on the electronic chessboard. The chess playing device is connected with the electronic chessboard through a communication interface. The communication interface can adopt a direct connection interface in a wired mode, such as a serial interface, a parallel interface, a USB interface or other specific physical interfaces, and can also adopt a wireless connection interface, such as an infrared interface and a radio interface. When a direct connection interface in a wired mode is adopted, the chess playing device is connected with the electronic chessboard through a physical connecting line, such as a serial connecting line, a parallel connecting line or a USB connecting line, at the moment, a connecting socket is also arranged on the electronic chessboard, and the electronic chessboard and the chess playing device are both provided with corresponding interface circuits, such as an RS232 serial port circuit, a USB interface circuit or a parallel interface circuit, which belong to the prior mature technology, and the embodiment of the invention is not described in detail.
As shown in fig. 2, the electronic chessboard is mainly used for obtaining a go command, and sending a corresponding go control command to the go device according to the go command and the state of the current chessman on the electronic chessboard, and specifically includes:
the chess playing command acquisition unit is used for acquiring chess playing commands;
and the chess playing control instruction sending unit is used for sending a corresponding chess playing control instruction to the chess playing device according to the chess playing command under the condition that the chess playing command accords with the chess playing rule.
Optionally, the electronic chessboard further comprises a go checking unit for detecting whether the go command acquired by the go command acquiring unit meets the go rule.
Optionally, the electronic chessboard may further include an artificial intelligence unit, an indicator light state control, a key state detection, and other auxiliary functions. If the electronic chessboard does not comprise the artificial intelligence unit, the chess playing command of the playing side sent by the network side in communication connection with the electronic chessboard is received, or the chess playing command calculated by artificial intelligence by a local computer in communication connection with the electronic chessboard is received to obtain the chess playing command, and the like. If the electronic chessboard comprises an artificial intelligence unit, namely a high-performance CPU is arranged in the electronic chessboard, the chess playing position is directly calculated by executing artificial intelligence software, and a chess playing command is sent to the chess playing device. The functions of indicating lamp state control, key state detection and the like can be found in patent CN101332357A applied by the applicant.
The chess moving device is mainly used for receiving chess moving control instructions sent by the electronic chessboard and completing chess moving processes according to the chess moving control instructions, and specifically comprises the following steps:
the chess playing control instruction receiving unit is used for receiving chess playing control instructions sent by the electronic chessboard;
and the chess playing control unit is used for carrying out chess playing control according to the chess playing control instruction.
Optionally, the chess playing device may further include an inquiry unit configured to inquire, according to the received chess playing control instruction, a corresponding physical coordinate of the chess piece, specifically: and inquiring the physical coordinates of the specific chess piece according to the relative position of each chess position relative to the positioning origin of the chess playing device, which is calculated and stored in advance. The following embodiments describe in detail how to pre-calculate and store the relative position of each position with respect to the origin of the chess playing device.
Optionally, the chess playing device may further include a chess playing feedback unit, configured to send a chess playing completion feedback message to the electronic chessboard after the chess playing is completed.
After the go device finishes the go every time, it can send a go completion message to the electronic chessboard so that the electronic chessboard judges whether the control of the go device is faulty, for example, the electronic chessboard receives the go completion message sent by the go device, but the electronic chessboard detects the current state of the chessman and does not really finish the go, at this moment, it indicates that the control of the go device is faulty or deviated, and the electronic chessboard can generate alarm information, such as sending alarm sound, so that the hands can timely make treatment, such as resetting the mechanical arm or taking away the mechanical arm.
The chess playing device can have different physical forms, the mechanical arm is one of the forms, and the technical personnel in the field can be completely realized by adopting other chess playing devices which can receive chess playing control instructions and carry out chess playing control.
The physical structure of the mechanical arm, a form of the chess playing device, is described in detail below, and the mechanical arm with multiple degrees of freedom can complete various actions similar to the human arm, and is generally not provided with artificial intelligence and sensory systems, such as a visual system, an auditory system and a touch system, so that the mechanical arm is simple to implement, low in cost and suitable for commercial application. The mechanical arm has the main functions of completing chess playing on the electronic chessboard according to the command of the electronic chessboard, namely executing actions of putting in chess pieces, taking away the chess pieces, moving the chess pieces and the like. In order to make the product have better user experience, the mechanical arm can be designed to be similar to the appearance and the shape of a robot. In addition, the mechanical arm can also be replaced by a robot, and at the moment, the robot does not need to execute chess-playing calculation and artificial intelligence, and a visual system and a position detection system are not needed, namely the robot is a robot with simplified functions.
The arm generally comprises power, control system, actuating system, mechanical structure and piece grabbing device etc. wherein: the control system is a control circuit system of the mechanical arm, and generally comprises various sensors, a signal processing circuit, a central processing unit CPU, a storage unit RAM and the like, the control system collects various signals and commands through the sensors and an external interface, the CPU executes various control calculations and finally outputs the control commands to a driving system, and the driving system drives a mechanical structure to complete specified actions, such as moving a chess piece grabbing device at the tail end of the mechanical arm to a specified coordinate position; the driving system is generally composed of a plurality of miniature power devices, such as miniature motors and corresponding speed reducing mechanisms, which provide power and direction control for various actions of the mechanical arm; the mechanical structure is a structural part of the mechanical arm, and comprises a base, a stand column, an arm rod and the like, and also comprises an intermediate part for connecting the parts, such as a screw and a bolt; the pawn gripping device is a key part of the mechanical arm, and is used for performing the operations of gripping, placing, moving and the like of the pawns on the electronic chessboard, and therefore is usually installed at the tail end of the mechanical arm. For example, magnetic materials or iron sheets are embedded in the chessmen, a free vertical cylinder is installed at the tail end of the mechanical arm, an electromagnetic coil is arranged in the cylinder, after the cylinder at the tail end of the mechanical arm reaches the position of the appointed chessman, the electromagnetic coil is controlled to be electrified, the electromagnetic coil generates magnetic force to adsorb the chessman, then the chessman can be moved, after the chessman is moved to the position of the appointed chessman, the electromagnetic coil is controlled to be powered off, and the chessman is automatically placed at the position of the appointed chessman because the electromagnetic coil does not generate magnetic force any more, so that the chessman.
When the mechanical arm controls the chess piece gripping device to move, the coordinates of the starting position and the end position must be accurately calculated, even the moving track is required to be calculated, so that the control system of the mechanical arm can calculate the control command and data for controlling the driving system according to the coordinates of the starting position and the end position, such as the rotating direction and the number of turns of each motor.
The following describes the positioning and installation of the electronic chessboard and the chess playing device (taking the mechanical arm as an example).
Fig. 3 illustrates the installation positions of the electronic Chinese chess board and the mechanical arm, fig. 4 illustrates the installation positions of the electronic chess board and the mechanical arm, and fig. 5 illustrates the installation positions of the electronic I-go board and the mechanical arm. The mechanical arm may be installed on one side of the X-axis of the electronic chessboard, which is referred to as the B (bottom) side in the embodiment of the present invention, or may be installed on the other side, which is referred to as the T (top) side in the embodiment of the present invention, or may be installed on the other two sides, which is only described as the B side and the T side in the embodiment of the present invention.
The robot arm, which is to control the motion trajectory of the pawn gripping means, has to be provided with its own coordinate system, e.g. the "x-y" coordinate system in fig. 3, and the origin of this coordinate system, which is referred to as the positioning origin of the robot arm in this embodiment of the invention. The embodiment of the invention assumes that the positioning origin of the mechanical arm is positioned at the central point of the mechanical arm base, and in the actual product, the position of the positioning origin is related to the product design of the mechanical arm. As shown in fig. 3, 4 and 5, when the robot arm is installed, the positioning origin of the robot arm is required to be aligned with the axial symmetry line of the electronic chessboard. For implementing various line-chess calculations, the electronic chessboard is provided with a coordinate system, and the setting of the coordinate system is described in other patent applications CN101332357A and 200810216691.3 of the present applicant, which are virtual coordinate systems set for calculating line-chess positions on the electronic chessboard surface, and such coordinate systems are not drawn on the electronic chessboard surface. On the surface of the electronic chessboard, the width of each square formed by every adjacent 4 chess positions is the width of the chess grid; on the side B and the side T, the distance from the outermost chess position to the edge of the chessboard is the chessboard edge distance.
In order to align the installation position of the mechanical arm with the axial symmetry line of the electronic chessboard, positioning holes for installation need to be arranged on the electronic chessboard and the base of the mechanical arm, or positioning needs to be realized in other modes, for example, a simple and convenient installation and positioning method is to arrange magnetic materials at the fixed positions of the edge of the chessboard and the edge of the base of the mechanical arm, as shown in fig. 3, when the mechanical arm needs to be used, the magnetic materials are adsorbed together only by approaching the base of the mechanical arm to the edge of the chessboard at the central position of the B side or the T side of the electronic chessboard, so that the installation and the positioning are automatically completed, and when the mechanical arm is not used any more, the mechanical arm can be separated from the electronic chessboard only by pulling the mechanical.
As shown in fig. 6, the electronic chessboard and the robot arm must be connected in communication in addition to physical connection. After the electronic chessboard is powered on and started, the connection request message is periodically sent to the communication interface until the connection response message is received. And after receiving the connection request message each time, the mechanical arm immediately responds to a connection response message. Therefore, once the mechanical arm is connected to the electronic chessboard, the mechanical arm can receive the connection request message quickly, and after the connection response message is responded, the mechanical arm and the mechanical arm establish a communication connection relationship. Of course, other methods may be used to establish the communication link between the electronic board and the robot arm, for example, the robot arm periodically sends a connection request message and the electronic board responds to the connection response message.
The following description is provided for how to pre-calculate and store the relative position of each position with respect to the positioning origin of the chess-playing device (taking a mechanical arm as an example).
The mechanical arm needs to finish playing on the electronic chessboard, and the relative position of each chess position relative to the positioning origin of the mechanical arm needs to be accurately calculated and the relative position information is stored. Namely, the coordinates of each chess position in an x-y coordinate system of the mechanical arm need to be calculated and stored, so that the mechanical arm can accurately control the moving stroke and the position of the chess piece grabbing device.
One possible method is that after the mechanical arm is installed and the communication connection with the electronic chessboard is completed, the electronic chessboard provides the mechanical arm with key data, and the mechanical arm calculates and stores the position coordinates of each chess position relative to the positioning origin in the memory. Note: the mounting bases may have different sizes for different mechanical arms and the positioning origins may be different, so that the position coordinates of each chess position on the electronic chessboard relative to the positioning origins are optimally calculated by the mechanical arms according to the sizes of the mechanical arms and the positions of the positioning origins.
The specific process is as follows: after the electronic chessboard is in communication connection with the mechanical arm, the electronic chessboard immediately sends a data indication message to the mechanical arm, and the message carries the following parameters:
| MsgType | 1 byte | The type of message. The parameter indicates the type of message carried by the message data, i.e., the "data indication". |
| Pos | 1 byte | And (4) mounting position. This parameter indicates whether the robot arm is mounted on side B or side T of the electronic board, e.g., 0 for side B and 1 for side T. The electronic chessboard can be provided with an automatic detection device, for example, a photosensitive element is arranged in the middle of the side B and the side T of the electronic chessboard, after the mechanical arm is installed, the mechanical arm can shield the photosensitive element, and before the electronic chessboard provides key data for the mechanical arm, the mechanical arm can be detected to be positioned on the side B or the side T through the photosensitive elements on the two sides. The mechanical arms are positioned on different sides of the electronic chessboard, and algorithms for calculating coordinates of chess positions are slightly different. |
| BoardType | 1 byte | A chessboard type. The parameter indicates whether the electronic board is a go board, a chinese chess board or a chess board, e.g. 1 for go, 2 for chessChinese chess, 3 denotes chess. |
| Lines | 1 byte | And (5) specification of a chessboard. The parameter indicates the specification size of the weiqi board, i.e. the number of specification lines (e.g. 19 rows, 19 columns), and is invalid for other types of electronic boards. |
| Grid | 2 bytes | The width of the chess grids. The parameter indicates the width of the square grid formed by adjacent 4 positions on the chessboard, and the unit is millimeter mm. |
| Margin | 2 bytes | The edge distance of the chessboard. The parameter indicates the distance in mm from the outermost playing position to the outer edge of the board. |
| BoardHeight | 2 bytes | The height of the chessboard. This parameter indicates the height of the board surface (or the thickness of the board), in mm. Note: usually, the bottom surface of the chessboard is in the same plane with the bottom surface of the robot base. |
| QiziHeight | 2 bytes | The height of the chessmen. The parameter indicates the distance from the upper surface to the lower surface of the pawn (or the thickness of the pawn), in mm. |
After the mechanical arm obtains the key data, according to the setting of the positioning origin, the coordinate of each chess position on the surface of the electronic chessboard relative to the positioning origin can be calculated, for example, in fig. 3, the distance from the positioning origin of the mechanical arm to the edge of the electronic chessboard is K, so after the mechanical arm receives the data indication message, the coordinate value of each chess position on the electronic chessboard relative to the positioning origin can be immediately calculated according to the following calculation formula and stored in the memory array:
[X][Y].x＝(X-4)×Grid
[X][Y].y＝(K+Margin)+Y×Grid
wherein X is more than or equal to 0 and less than or equal to 8, and X is more than or equal to 0 and less than or equal to 9. [3] [4]. x, which represents the abscissa value of the position having the position coordinate (3, 4) in the x-y coordinate system, [3] [4]. y, which represents the ordinate value of the position having the position coordinate (3, 4) in the x-y coordinate system, as shown in FIG. 3. If the robot arm is mounted on the T-side, another calculation is used and will not be described here.
After the mechanical arm completes the coordinate calculation, whether the coordinate of the chess position exceeds the stroke range of the mechanical arm or not is further judged, if the coordinate exceeds the stroke range, the mechanical arm cannot control the chess pieces exceeding the stroke range, and therefore the mechanical arm needs to perform sound and light prompt to remind a user of replacing a proper mechanical arm.
After receiving the chess moving instruction, the mechanical arm can inquire physical coordinates of the chess positions according to the chess moving positions indicated by the chess moving instruction, and then calculate control commands and data for controlling the driving system according to the physical coordinates, such as the rotating direction and the number of turns of each motor, so that a chess piece grabbing device arranged on the mechanical arm can be controlled to carry out operations of taking away the chess pieces, putting down the chess pieces and moving the chess pieces.
In the above embodiment, the mechanical arm obtains the key parameters and then calculates the position coordinates of each chess position relative to the positioning origin, and certainly, after the mechanical arm is installed and completes the communication connection with the electronic chessboard, the electronic chessboard can automatically calculate the position coordinates of each chess position relative to the positioning origin, in this case, the mechanical arm sends a data indication message to the electronic chessboard and provides corresponding key chess data, and the physical coordinates of the chess playing positions are directly carried in the chess playing control instruction sent by the electronic chessboard.
If the communication between the mechanical arm and the electronic chessboard is interrupted in the playing process, the electronic chessboard will provide the key data to the mechanical arm again as long as the communication connection is established again. Therefore, in the playing process, a user can access any mechanical arm capable of providing a chess playing function at any time, and the mechanical arm is in a working state immediately after being accessed.
One skilled in the art can think that the number of the mechanical arms can be one or more, in order to improve the chess playing efficiency of the mechanical arms, two or more mechanical arms can be arranged, and especially under the condition that 'eating pieces' (the chess pieces on the other side are eaten and need to be taken away), the mechanical arms can act simultaneously, so that the aim of improving the efficiency is achieved. The connection and positioning mode is similar to that of a mechanical arm, and the procedure is slightly different, so that the detailed description is omitted.
In addition, the embodiment of the invention provides an automatic chess playing method, which is applied to an electronic chessboard in communication connection with a chess playing device, and specifically comprises the following steps:
the electronic chessboard acquires a chess playing command and sends a corresponding chess playing control command to the chess playing device according to the chess playing command and the current chess piece state on the electronic chessboard;
the chess moving device receives the chess moving control instruction sent by the electronic chessboard and completes the chess moving process according to the chess moving control instruction.
One play process is the process of playing chess alternately by two players. The electronic chessboard can judge which player plays the chess currently according to the playing mode, the color of the current player playing chess and the color of the local player, for example, in the game of go, under the network playing mode, if the local player uses black chessman and the current player plays the chess with white chessman, the electronic chessboard can judge that the player at the opposite end of the network plays the chess currently, namely, the other player plays the chess. After the chess of the opposite side is played, the position information of the chess moving is transmitted to the electronic chessboard of the local chess player through the network, the electronic chessboard receives the chess moving information of the opposite side (for the go, the chess moving position and the eaten chess piece information are realized, and for the chess, the chess moving path is realized), namely after the chess moving command is realized, the electronic chessboard sends the chess moving control command to the chess moving device, and the command chess moving device replaces the opposite side to move the chess on the electronic chessboard.
The automatic chess playing method specifically comprises the following steps: the electronic chessboard acquires a chess playing command and detects whether the chess playing command meets a chess playing rule or not; if the rule is not met, error information is fed back, and the electronic chessboard continues to wait for receiving a next chess playing command at the moment and does not send a chess playing control command to the chess playing device; if the chess pieces are in accordance with the rules, further judging whether the chess pieces are eaten according to the chess playing command and the chess piece state on the current electronic chessboard; if yes, the chess piece moving information and the eaten chess piece information are indicated in the chess piece moving control instruction; if not, the chess playing information is indicated in the chess playing control instruction; and then according to the judgment and calculation results, sending a corresponding chess playing control instruction to the mechanical arm to instruct the chess playing device to play chess.
After receiving the chess moving control instruction, the chess moving device inquires the physical coordinates of the relevant chess positions according to the chess moving information and the stored coordinates of each chess position relative to the positioning origin, and carries out chess moving control according to the chess moving control instruction and the physical coordinates.
For example: for the go, one piece of the current go side is put in each go, and according to the go rule of the go, if the piece is eaten, all the eaten pieces need to be taken away from the surface of the chessboard, so the go control instruction can carry the following parameters:
| MsgType | 1 byte | The type of message. The parameter indicates the type of message carried by the message data, i.e., the "go command". |
| PosX | 1 byte | The abscissa of the chess position. The parameter indicates the abscissa of the pawn. |
| PosY | 1 byte | The vertical coordinate of the chess position. The parameter indicates the ordinate of the chess piece. |
| EatedNum | 1 byte | The number of the chess pieces to be eaten. The parameter indicates the number of the chess pieces eaten in the current chess game. When the chess piece is not eaten in the current chess playing, the value of the parameter is 0. |
| EatedInfo | Variable byte | And the information of the eaten chess pieces. The parameter indicates coordinate information of all the eaten chessmen, and the coordinate of each eaten chessman comprises a crossCoordinates and ordinates, e.g. the odd numbered bytes are recorded as abscissa and the even numbered bytes are recorded as ordinate. |
For the chess, a piece of the current chess-moving party is moved every time chess is moved, according to the chess-moving rule of the chess, if a piece is eaten, the eaten piece needs to be taken away from the electronic chessboard, and the eaten piece is always positioned at the target chess position after the chess-moving piece is moved, therefore, the chess-moving control instruction can carry the following parameters:
| MsgType | 1 byte | The type of message. The parameter indicates the type of message carried by the message data, |
| message parameters | Length of | Description of the invention |
| Message parameters | Length of | Description of the invention |
| Message parameters | Length of | Description of the invention |
| Namely a chess playing command. | ||
| PosX1 | 1 byte | The abscissa 1. The parameter indicates the abscissa of the source position of the playing piece. |
| PosY1 | 1 byte | The ordinate 1. The parameter indicates the ordinate of the source position of the playing piece. |
| PosX2 | 1 byte | The abscissa 2. The parameter indicates the abscissa of the target position of the playing piece. |
| PosY2 | 1 byte | The ordinate 2. The parameter indicates the ordinate of the target position of the playing piece. |
| EatedInd | 1 byte | And 5, indication of eating chess pieces. The parameter indicates whether a piece is eaten in the current line of chess, for example, 1 indicates that a piece is eaten in the current line of chessAnd 0 means no chess pieces are eaten. |
After the chess-playing device, such as a mechanical arm, receives a chess-playing control command, according to the chess position coordinates indicated by the message, such as chess positions (3, 4) in fig. 3, the coordinate value of each chess position relative to the positioning origin is found out from the stored coordinate corresponding relation stated in the step of pre-calculating and storing the relative position of each chess position relative to the positioning origin of the chess-playing device, and then the mechanical arm is controlled to execute chess-playing operation.
For the weiqi, the mechanical arm takes out a piece from the chess box at a fixed position and puts the piece into the appointed playing position, if the weiqi is eaten for playing, the mechanical arm takes all the eaten pieces from the chessboard and puts the pieces into the chess box at the fixed position;
as for how the mechanical arm controls the chess piece gripping device to complete the chess playing operation according to the physical coordinates of the chess positions, the mechanical arm belongs to the prior art in the control field and is not repeated herein.
If the mechanical arm fails in the playing process, for example, the chess playing cannot be finished or the chess playing is wrong, the player can immediately interrupt the connection between the electronic chessboard and the mechanical arm, for example, the communication connecting wire between the mechanical arm and the electronic chessboard is pulled out, and then the player replaces the other player to finish the chess playing. Therefore, in the embodiment of the invention, when the mechanical arm fails, the playing activity cannot be continued.
The above method will be described in detail with an electronic board playing system as a specific example, and as shown in fig. 7, the playing system is composed of a computer system, an electronic board and mechanical arms.
When playing the human-computer chess, the player usually executes the red chess pieces first, and executes the black chess pieces later by the computer system, but the player can also use the black chess pieces, for example, before starting the human-computer chess, the player can select the black chess pieces for himself through the keys on the electronic chessboard or the human-computer interface provided by the computer system, and at the moment, the computer system executes the chess first.
1. Installation and starting chess playing system
The chess player is connected with the computer system, the electronic chessboard and the mechanical arm according to the graph 7, and then the equipment is started by electrifying. The computer system and the electronic chessboard, the electronic chessboard and the mechanical arm automatically establish communication connection. After the electronic chessboard is in communication connection with the mechanical arm, data indication information is sent to the mechanical arm immediately, and key data are provided for the mechanical arm. The mechanical arm calculates the physical coordinates of each chess position on the electronic chessboard relative to the positioning origin of the mechanical arm according to the key data and the design parameters of the mechanical arm, and stores the calculated coordinate result in a two-latitude array so as to inquire the physical coordinates of the appointed chess position during the control of the subsequent chess playing.
2. Starting man-machine chess
The chess players set the playing mode to a man-machine playing mode through keys on the electronic chessboard or a man-machine interface provided by a computer system, and set the level of artificial intelligence. Usually, a 'play start' button is arranged on the electronic chessboard, and when the button is pressed, the human-computer play activity is started.
3. Chess player moving process
After the chess playing activity is started, the computer system judges that the current chess is played by the black side first, so that a state updating message is sent to the electronic chessboard, the current chess playing side is indicated to be the red side in the message, and after the electronic chessboard receives the state updating message, the state indicating lamps on the electronic chessboard are lightened to indicate the chess players to play.
The player moves his own chessman on the electronic chessboard to complete the move, for example, the red 'cannon' at the positions (1, 2) is moved to the positions (1, 4). The electronic chessboard automatically detects that the players have finished playing, calculates the moving path of the playing pieces including the coordinates of the source positions and the coordinates of the target positions, such as (1, 2), (1, 4), and then sends playing indication information to the computer system, wherein the information indicates the playing information of the players. In the computer system, the chess-moving checking unit judges that the chess-moving of the chess player meets the rules according to the chess-moving information, further judges that no chess piece is eaten in the chess-moving, and finally, the computer system refreshes the state information of the internally stored chess pieces, sends the state of the chess pieces to the electronic chessboard, and switches to the state of moving the chess by the other party, namely the state of moving the chess by the computer system. And after receiving the chess piece state, the electronic chessboard records the chess piece state for the next detection of chess playing.
4. Computerized chess playing process
When the computer system moves chess, the computer system firstly sends a state updating message to the electronic chessboard to indicate that the current chess moving party is a black party, and after the electronic chessboard receives the state updating message, the state indicating lamp on the electronic chessboard is lightened to indicate that the computer system moves chess currently.
After sending the status update message, the computer system will execute the artificial intelligence unit to calculate the optimal playing position, for example, as shown in fig. 3, the calculated optimal playing position is a black "horse" moving from position (3, 4) to position (5, 5). Similarly, the go checking unit judges that the go calculated by the artificial intelligence unit meets the rule, and further judges that the chess pieces in the go are eaten, for example, the red 'cannon' is eaten. The computer system sends a chess playing control instruction to the electronic chessboard, the chess playing path of the computer system is (3, 4) to (5, 5) indicated in the message, and the current chess pieces are eaten.
After the electronic chessboard receives the chess moving control instruction, the electronic chessboard sends the chess moving control instruction to the mechanical arm because the computer system moves chess currently, the information also indicates that the chess moving path is (3, 4) to (5, 5), and the current chess pieces are eaten. After the electronic chessboard sends a chess playing control instruction to the mechanical arm, the state change of the chess pieces on the electronic chessboard is detected in real time to judge whether the mechanical arm finishes playing chess. And after receiving the chess playing control instruction, the mechanical arm searches physical coordinates corresponding to the chess positions (3, 4) and (5, 5) in the two-dimensional array according to the chess position coordinates carried in the message.
Because the current chessmen are eaten, the mechanical arm controls the chessman grabbing device to move to the chess positions (5, 5), the red cannon at the position is sucked up, then the chessman grabbing device moves to the chess box at the fixed position, and the chessman of the red cannon is put down to the chess box. Then, the mechanical arm controls the chess piece grabbing device to move to the chess positions (3 and 4) again, sucks the black horse at the chess positions, moves to the positions of the chess positions (5 and 5), and puts down the black chess pieces. The mechanical arm then moves the pawn gripping device to the initial position in order to prepare for the next move.
At the moment, the electronic chessboard immediately detects that the state of the chessmen on the electronic chessboard has changed, and the mechanical arm replaces the computer system to finish playing the chess on the electronic chessboard, so that the electronic chessboard sends a chess playing completion message to the computer system to indicate that the playing of the computer system is finished. The computer system refreshes the chess piece state information stored inside, sends the chess piece state to the electronic chessboard, and then switches to the state of moving by the other party, namely the state of moving by the player. And after receiving the chess piece state, the electronic chessboard records the chess piece state for the next detection of chess playing.
And (4) the subsequent processing is to continuously repeat the processes of the steps 3 and 4 until the playing activity is finished. Whether the playing activity is finished or not is generally judged by the computer system according to a special judgment algorithm, and how to realize the algorithm is beyond the scope of the embodiment of the invention.
In this embodiment, moving black "horse" to eat red "cannon" in step 4 is an imaginary chess-playing step, and the situation that "horse" to eat cannon "usually does not occur in the second chess-playing step when playing a game actually unless playing a game.
Therefore, after the embodiment of the invention is adopted, the mechanical arm can replace a computer system to finish chess playing on the electronic chessboard without helping the computer system to play chess on the electronic chessboard by a player, so that the player can obtain better and real chess playing experience.
For network chess playing, the chess playing control process is similar to that of man-machine chess playing, and the difference is only that: when playing chess by man, the opponent of the chess player is the computer system, so that the chess playing of the opponent is calculated by the computer system through executing artificial intelligence; when playing games on the network, the opponent of the player is the player at the opposite end of the network, so the chess played by the opponent is played after the player of the opposite side thinks. When playing chess on the network, the opposite side chess players complete own chess playing, and then the computer system sends chess playing information to the computer system used by the local chess players through the internet. How chess playing information is transmitted on the internet generally adopts IP technology and belongs to the prior art, so that the description is not provided here.
Optionally: after the mechanical arm finishes playing the chess every time, the mechanical arm can send a chess playing completion message to the electronic chessboard so that the electronic chessboard can judge whether the control of the mechanical arm fails, for example, the electronic chessboard receives the chess playing completion message sent by the mechanical arm, but the electronic chessboard detects the state of the chess pieces and does not really finish playing the chess, at this moment, the control of the mechanical arm fails or deviates, and the electronic chessboard can generate alarm information, such as sending alarm sound.
The above-described embodiment describes the processing procedure of human-machine play based on the connection method shown in fig. 7. The computer system, the electronic chessboard and the mechanical arm are connected in a connecting mode, namely: the computer system is connected with the electronic chessboard and the mechanical arm. In this connection mode, the mechanical arm is no longer connected with the electronic chessboard, so the control command of the mechanical arm comes from the computer system. For the connection mode, after the communication connection is established between the electronic chessboard and the computer system, the key parameters of the electronic chessboard need to be reported, after the communication connection is established between the mechanical arm and the computer system, the key parameters of the mechanical arm also need to be reported, and the computer system calculates and stores the coordinates of each chess position on the surface of the electronic chessboard relative to the positioning origin of the mechanical arm according to the key parameters. The playing process for this connection is similar to the above embodiments and will not be described in detail.
When the electronic chessboard device designed by the embodiment of the invention is adopted to carry out man-machine chess playing or network chess playing, the chess playing device replaces the opposite side to complete chess playing on the chessboard, and the local players do not replace the opposite side to complete chess playing, so that the real experience of the playing activities can be greatly improved, and the feeling of playing chess with left hand and right hand is avoided. The chess-moving device is used as an external auxiliary device of the electronic chessboard, and a user can use or stop using the chess-moving device at any time according to the needs of the user without influencing the normal playing of chess-playing activities, so that the chess-moving device is more flexible and convenient to use.
Claims (15)
1. An electronic chessboard device comprises an electronic chessboard, and is characterized by further comprising a chess moving device, wherein the chess moving device is in communication connection with the electronic chessboard; wherein,
the electronic chessboard is used for obtaining a chess playing command and sending a corresponding chess playing control instruction to the chess playing device according to the chess playing command;
and the chess moving device is used for receiving the chess moving control instruction sent by the electronic chessboard and finishing the chess moving process according to the chess moving control instruction.
2. The electronic chessboard device of claim 1, wherein the electronic chessboard specifically comprises:
the chess playing command acquisition unit is used for acquiring chess playing commands;
the chess-moving control instruction sending unit is used for sending a corresponding chess-moving control instruction to the chess-moving device according to the chess-moving instruction under the condition that the chess-moving instruction accords with a chess-moving rule;
the chess moving device specifically comprises:
the chess playing control instruction receiving unit is used for receiving chess playing control instructions sent by the electronic chessboard;
and the chess playing control unit is used for carrying out chess playing control according to the chess playing control instruction.
3. The electronic chessboard device of claim 2, wherein the electronic chessboard further comprises:
and the chess playing checking unit is used for detecting whether the chess playing command meets the chess playing rules and detecting whether the chess playing command has a 'eating' behavior.
4. The electronic chessboard device of claim 2, wherein the electronic chessboard further comprises:
and the artificial intelligence unit is used for calculating the chess playing position and sending a corresponding chess playing command to the chess playing command acquisition unit.
5. The electronic chessboard device of claim 2, wherein the row chess device further comprises:
the inquiry unit is used for inquiring the corresponding physical coordinates of the chessmen according to the received chess playing control instruction;
and the chess playing control unit is used for carrying out chess playing control according to the chess playing control instruction and the physical coordinate.
6. The electronic chessboard device of claim 2, wherein the row chess device further comprises:
the chess playing feedback unit is used for sending a chess playing completion feedback message to the electronic chessboard after the chess playing is completed;
and after receiving the chess playing completion feedback message, the electronic chessboard confirms whether the chess playing process is really completed or not according to the state of the chess pieces on the current chessboard.
7. The electronic chessboard device of claim 1 or 2, wherein the electronic chessboard obtaining a go command is specifically:
acquiring a chess playing command sent by a network side in communication connection with the electronic chessboard; or
Acquiring a chess playing command which is calculated by a local computer in communication connection with the electronic chessboard through artificial intelligence; or
And acquiring a chess playing command calculated by the electronic chessboard through artificial intelligence.
8. The electronic chessboard device of any of claims 1-6, wherein the chess device is one or more robotic arms.
9. An automatic chess playing method is applied to an electronic chessboard and a chess playing device which is in communication connection with the electronic chessboard, wherein the method comprises the following steps:
the electronic chessboard acquires a chess playing command and sends a corresponding chess playing control command to the chess playing device according to the chess playing command;
the chess moving device receives the chess moving control instruction sent by the electronic chessboard and completes the chess moving process according to the chess moving control instruction.
10. The automatic chess playing method according to claim 9, characterized in that said method specifically comprises:
the electronic chessboard acquires a chess playing command and detects whether the chess playing command meets a chess playing rule or not;
under the condition that the chess moving command accords with chess moving rules, sending a corresponding chess moving control command to the chess moving device according to the chess moving command;
the chess moving device receives a chess moving control instruction sent by the electronic chessboard; and carrying out chess playing control according to the chess playing control instruction.
11. The automatic chess playing method according to claim 9, characterized in that, the step of obtaining the chess playing command on the electronic chessboard is specifically:
acquiring a chess playing command sent by a network side in communication connection with the electronic chessboard; or
Acquiring a chess playing command which is calculated by a local computer in communication connection with the electronic chessboard through artificial intelligence; or
The electronic chessboard obtains the chess playing command by self-calculating the chess playing position.
12. The automatic chess playing method of claim 9, further comprising:
after the electronic chessboard is in communication connection with the chess moving device, the electronic chessboard immediately sends a data indication message to the chess moving device, wherein the data indication message carries key parameters;
and the chess playing device receives the data indication message and obtains key parameters, and calculates and stores the coordinates of each chess position on the surface of the electronic chessboard relative to the positioning origin according to the setting of the positioning origin and the key parameters.
13. The automatic chess playing method according to claim 12, wherein said chess playing device receives a chess playing control command and performs chess playing control specifically comprising the steps of:
and the chess playing device inquires corresponding chess piece physical coordinates according to the received chess playing control instruction and the stored coordinates of each chess position relative to the positioning origin, and performs chess playing control according to the chess playing control instruction and the physical coordinates.
14. The automatic chess playing method according to claim 12, characterized in that said method specifically comprises:
the electronic chessboard acquires a chess playing command and detects whether the chess playing command meets a chess playing rule or not; if the rule is not met, feeding back error information; if the chess pieces are in accordance with the rules, further judging whether the chess pieces are eaten according to the chess playing command and the chess piece state on the current electronic chessboard; if yes, the chess playing control instruction indicates the chess playing information and the eaten chess piece information; if not, the chess playing information is indicated in the chess playing control instruction;
after receiving the chess moving control instruction, the chess moving device inquires the physical coordinates of the relevant chess positions according to the chess moving information and the stored coordinates of each chess position relative to the positioning origin, and carries out chess moving control according to the chess moving control instruction and the physical coordinates.
15. The automatic chess playing method of claim 9, further comprising: after the chess playing device finishes playing chess, sending a chess playing completion feedback message to the electronic chessboard;
and after receiving the chess playing completion feedback message, the electronic chessboard confirms whether the chess playing process is really completed or not according to the state of the chess pieces on the current chessboard.
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| CN2009101898868A CN102008816A (en) | 2009-09-07 | 2009-09-07 | Electronic chessboard device and automatic chess moving method |
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| CN104069636A (en) * | 2013-03-31 | 2014-10-01 | 郏惠忠 | Artificial-intelligence-based chess device |
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Address after: 518028 A904, two garden, four the Great Wall Road, Baihua Road, Shenzhen, Guangdong, Futian District Province, China 5 Applicant after: Zhou Sihong Address before: 5, 518028 A809, No. four, No. 8, Baihua Road, Shenzhen, Guangdong, Futian District Applicant before: Zhou Sihong |
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Application publication date: 20110413 |