CN113427489A - Manipulator chess playing control planning method and device based on chess playing workbench - Google Patents
Manipulator chess playing control planning method and device based on chess playing workbench Download PDFInfo
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- CN113427489A CN113427489A CN202110906667.8A CN202110906667A CN113427489A CN 113427489 A CN113427489 A CN 113427489A CN 202110906667 A CN202110906667 A CN 202110906667A CN 113427489 A CN113427489 A CN 113427489A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F3/00—Board games; Raffle games
- A63F3/02—Chess; Similar board games
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a manipulator chess playing control planning method and a manipulator chess playing control planning device based on a chess playing workbench, wherein the method comprises the following steps: determining whether the playing step is executed for the manipulator currently based on a preset rule; if yes, obtaining a first chessboard image and a second chessboard image, wherein the first chessboard image is a chessboard image before the opposite side finishes playing chess, and the second chessboard image is a chessboard image after the opposite side finishes playing chess; obtaining the chess playing data of the opposite side based on the first chessboard image and the second chessboard image; matching current chess playing data of the manipulator based on the chess playing data of the opposite side and the second chessboard image; and planning the chess playing path of the manipulator based on the current chess playing data. In the embodiment of the invention, a plurality of chessboard types can be arranged on one chess playing workbench, and a user can select any chessboard and the manipulator on the chess playing workbench to play chess, so that the manipulator can accurately plan the chess playing path in the chess playing process, and the misoperation of the manipulator in chess playing is reduced.
Description
Technical Field
The invention relates to the technical field of manipulator control, in particular to a manipulator chess playing control planning method and device based on a chess playing workbench.
Background
With the development and progress of the technology and the popularization of the PC or the smart phone terminal, more man-machine chess playing programs are arranged on the PC or the smart phone terminal; the user can realize man-machine chess playing through a PC or a smart phone terminal; however, these are all simulated chess boards and pieces on a PC or a smartphone terminal, and there are no real chess boards and pieces, so that the user cannot experience the experience of real chess boards and pieces; meanwhile, chess playing robots exist at present, mechanical arms on some chess playing robots can identify and position corresponding chess pieces only on a customized chessboard, and the problems of inaccuracy exist in planning chess playing paths, so that good experience cannot be achieved when some existing chess playing robots are used for playing chess.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a manipulator chess playing control planning method and device based on a chess playing workbench, which can realize that a plurality of chess boards are arranged on one chess playing workbench, and a user can select any chess board and a manipulator on the chess playing workbench to play chess, so that the manipulator can accurately plan a chess playing path in the chess playing process, and the misoperation of the manipulator in chess playing is reduced.
In order to solve the technical problem, an embodiment of the present invention further provides a manipulator chess playing control planning method based on a chess playing workbench, including a chess playing workbench, at least one chessboard arranged on the chess playing workbench, a manipulator arranged in the middle of the chess playing workbench, and a camera device arranged on the manipulator; the method comprises the following steps:
determining whether the playing step is executed for the manipulator currently based on a preset rule;
if yes, obtaining a first chessboard image and a second chessboard image, wherein the first chessboard image is a chessboard image before the opposite side finishes playing chess, and the second chessboard image is a chessboard image after the opposite side finishes playing chess;
obtaining the chess playing data of the opposite side based on the first chessboard image and the second chessboard image;
matching current chess playing data of the manipulator based on the chess playing data of the opposite side and the second chessboard image;
and planning the chess playing path of the manipulator based on the current chess playing data.
Optionally, before determining whether the current playing step is executed for the manipulator based on the preset rule, the method further includes:
the chessboard image information is collected in real time based on camera equipment arranged on the manipulator, and the collected chessboard image information is transmitted to the chess playing workbench;
the chess playing workbench carries out framing processing on the received chessboard image information to form chessboard image information sequence frames.
Optionally, the obtaining the first chessboard image and the second chessboard image includes:
and comparing the information sequence frames based on the chessboard images according to a preset comparison rule, and obtaining a first chessboard image and a second chessboard image based on the comparison result.
Optionally, the comparing the frames based on the chessboard pattern information sequence according to a preset comparison rule includes:
removing the chessboard image information sequence frames shot by the manipulator when the manipulator moves in the chessboard image information sequence frames to obtain first chessboard image information sequence frames;
carrying out feature recognition on each frame of chessboard image information in the first chessboard image information sequence frame;
and comparing and identifying the identification characteristics of the chessboard image information of the current frame with the identification characteristics of the chessboard image information of the next frame.
Optionally, the obtaining of the chess playing data of the opponent based on the first chessboard image and the second chessboard image includes:
respectively carrying out binarization processing on the first chessboard image and the second chessboard image to obtain a binarization first chessboard image feature and a binarization second chessboard image feature;
subtracting the binarization first chessboard image feature from the binarization second chessboard image feature to obtain the change binarization feature of the first chessboard image and the second chessboard image;
determining a square chess playing step based on the changing binarization characteristics of the first chessboard image and the second chessboard image;
identifying the chessmen in the first chessboard image and the second chessboard image to obtain chessman change data in the chessboard;
and obtaining the chess playing data of the opposite side based on the chess playing step of the opposite side and the chess piece change data in the chessboard.
Optionally, the subtracting the first chessboard image feature from the second chessboard image feature to obtain a changed binarization feature of the first chessboard image and the second chessboard image comprises:
subtracting the two-valued first chessboard image features and the two-valued second chessboard image features according to one-to-one correspondence to obtain a subtraction result;
and carrying out absolute transformation on the subtraction result to obtain the change binarization characteristics of the first chessboard image and the second chessboard image.
Optionally, the identifying the chess pieces in the first chessboard image and the second chessboard image to obtain the chess piece variation data in the chessboard includes:
carrying out color identification on the chess pieces in the first chessboard image and the second chessboard image, and identifying whether the chess pieces in the first chessboard image and the second chessboard image have character contents or not after the color identification;
if yes, identifying the character content information on the chessmen in the first chessboard image and the second chessboard image to obtain a character content identification result;
and obtaining the change data of the chessmen in the chessboard based on the color recognition result and the character content recognition result.
Optionally, matching current chess playing data of the manipulator based on the chess playing data of the opponent and the second chessboard image includes:
inputting the chess playing data of the opposite side and the second chessboard image into a chess playing algorithm database for matching, and matching current chess playing data of the manipulator; the current chess playing data comprises the positions of the chess pieces before being moved and the positions of the chess pieces after being moved.
Optionally, the planning a chess playing path of the manipulator based on the current chess playing data includes:
and planning the chess playing path of the manipulator according to the positions of the chess pieces in the current chess playing data before the chess pieces are moved and the positions of the chess pieces after the chess pieces are moved.
In addition, the embodiment of the invention also provides a manipulator chess playing control planning device based on the chess playing workbench, which comprises the chess playing workbench, at least one chessboard arranged on the chess playing workbench, a manipulator arranged in the middle of the chess playing workbench and camera equipment arranged on the manipulator; the device comprises:
a judging module: the chess playing method comprises the steps of determining whether a mechanical arm executes a chess playing step currently based on a preset rule;
a first obtaining module: when the mechanical arm executes the chess playing step, a first chessboard image and a second chessboard image are obtained, wherein the first chessboard image is a chessboard image before the opposite side completes chess playing, and the second chessboard image is a chessboard image after the opposite side completes chess playing;
a second obtaining module: the chess playing system is used for obtaining chess playing data of the opposite side based on the first chessboard image and the second chessboard image;
a matching module: the current chess playing data of the manipulator are matched based on the chess playing data of the opposite side and the second chessboard image;
a path planning module: and the manipulator is used for planning the chess playing path of the manipulator based on the current chess playing data.
In the embodiment of the invention, a plurality of chess boards can be arranged on one chess playing workbench, and a user can select any chess board and the manipulator on the chess playing workbench to play chess, so that the manipulator can accurately plan the chess playing path in the chess playing process, and the misoperation of the manipulator in the chess playing process is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a manipulator chess playing control planning method based on a chess playing workbench in the embodiment of the invention;
fig. 2 is a schematic structural composition diagram of a manipulator chess playing control planning device based on a chess playing workbench in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a manipulator chess playing control planning method based on a chess playing workbench according to an embodiment of the present invention.
As shown in fig. 1, a manipulator chess-playing control planning method based on a chess-playing workbench comprises the chess-playing workbench, at least one chessboard arranged on the chess-playing workbench, a manipulator arranged in the middle of the chess-playing workbench and camera equipment arranged on the manipulator, wherein the chessboard can be a go board, a Chinese chess board, a gobang board and the like; the method comprises the following steps:
s11: determining whether the playing step is executed for the manipulator currently based on a preset rule;
in the specific implementation process of the invention, whether the mechanical arm executes the chess playing action within the preset time before and after the change of the chess pieces when the chess pieces exist in the chessboard is judged according to the chessboard image information acquired by the camera equipment arranged on the mechanical arm, if not, the current step of playing the chess is executed by the mechanical arm, otherwise, the opposite side is executed; it is necessary to continue in the same manner as described above to determine whether a play step is currently being performed for the manipulator.
In the specific implementation process of the invention, before determining whether the current chess playing step is executed for the manipulator based on the preset rule, the method further comprises the following steps: the chessboard image information is collected in real time based on camera equipment arranged on the manipulator, and the collected chessboard image information is transmitted to the chess playing workbench; the chess playing workbench carries out framing processing on the received chessboard image information to form chessboard image information sequence frames.
Specifically, chessboard image information is acquired in real time through the camera device arranged on the manipulator, the chessboard image information is acquired through a chessboard set by a user on a chess playing workbench and a chessboard for playing chess with the user, in the chess playing process, after the manipulator executes the chess playing step, the manipulator automatically returns to a specified position to acquire the real-time chessboard image information, and then the acquired chessboard image information is transmitted to the chess playing workbench; after the chess playing workbench receives the chessboard image information, framing processing is carried out on the chessboard image information, and therefore chessboard image sequence frames are formed.
S12: if yes, obtaining a first chessboard image and a second chessboard image, wherein the first chessboard image is a chessboard image before the opposite side finishes playing chess, and the second chessboard image is a chessboard image after the opposite side finishes playing chess;
in a specific implementation process of the present invention, the obtaining the first chessboard image and the second chessboard image includes: and comparing the information sequence frames based on the chessboard images according to a preset comparison rule, and obtaining a first chessboard image and a second chessboard image based on the comparison result.
Further, the comparing the chessboard-based image information sequence frames according to a preset comparison rule includes: removing the chessboard image information sequence frames shot by the manipulator when the manipulator moves in the chessboard image information sequence frames to obtain first chessboard image information sequence frames; carrying out feature recognition on each frame of chessboard image information in the first chessboard image information sequence frame; and comparing and identifying the identification characteristics of the chessboard image information of the current frame with the identification characteristics of the chessboard image information of the next frame.
Specifically, the information sequence frames of the chessboard images are compared according to a preset comparison rule, and then a first chessboard image and a second chessboard image are obtained according to a comparison result, wherein the first chessboard image is a chessboard image before the opposite side finishes playing chess, and the second chessboard image is a chessboard image after the opposite side finishes playing chess.
When the comparison is carried out according to a preset comparison rule, firstly, the part of the chessboard image information sequence frame shot by the manipulator in the moving process in the chessboard image information sequence frame needs to be removed to obtain a first chessboard image information sequence frame; then, sequentially performing feature recognition by using each frame of chessboard image information in the first chessboard image information sequence frame, wherein the feature recognition is performed by generally adopting a binarization mode to finally realize the feature recognition; then, the identification characteristics of the chessboard image information of the current frame and the identification characteristics of the chessboard image information of the next frame are compared and identified, whether the comparison identification results of the two frames of images are in the related result range is identified, if not, the two frames of chessboard image information can be determined to be used as a boundary, the front is the chessboard image before the completion of playing the chess by the opposite side, and the rear is the chessboard image after the completion of playing the chess by the opposite side; then the chessboard image information of the current frame or the chessboard image information of the previous frame can be selected as the first chessboard image; the chessboard pattern information of the next frame or the subsequent chessboard pattern information is the second chessboard pattern.
S13: obtaining the chess playing data of the opposite side based on the first chessboard image and the second chessboard image;
in a specific implementation process of the present invention, the obtaining of the chess playing data based on the first chessboard image and the second chessboard image comprises: respectively carrying out binarization processing on the first chessboard image and the second chessboard image to obtain a binarization first chessboard image feature and a binarization second chessboard image feature; subtracting the binarization first chessboard image feature from the binarization second chessboard image feature to obtain the change binarization feature of the first chessboard image and the second chessboard image; determining a square chess playing step based on the changing binarization characteristics of the first chessboard image and the second chessboard image; and identifying the chessmen in the first chessboard image and the second chessboard image to obtain chessman change data in the chessboard. And obtaining the chess playing data of the opposite side based on the chess playing step of the opposite side and the chess piece change data in the chessboard.
Further, the subtracting the binarized first chessboard image feature from the binarized second chessboard image feature to obtain a changed binarized feature of the first chessboard image and the second chessboard image includes: subtracting the two-valued first chessboard image features and the two-valued second chessboard image features according to one-to-one correspondence to obtain a subtraction result; and carrying out absolute transformation on the subtraction result to obtain the change binarization characteristics of the first chessboard image and the second chessboard image.
Further, the identifying the chess pieces in the first chessboard image and the second chessboard image to obtain the chess piece variation data in the chessboard includes: carrying out color identification on the chess pieces in the first chessboard image and the second chessboard image, and identifying whether the chess pieces in the first chessboard image and the second chessboard image have character contents or not after the color identification; if yes, identifying the character content information on the chessmen in the first chessboard image and the second chessboard image to obtain a character content identification result; and obtaining the change data of the chessmen in the chessboard based on the color recognition result and the character content recognition result.
Specifically, chess playing data of the opposite side is obtained by distinguishing a first chessboard image from a second chessboard image; before binarization, the first chessboard image and the second chessboard image need to be sized, and pixels are corresponding in corresponding size ranges; respectively carrying out binarization processing on the first chessboard image and the second chessboard image, specifically carrying out binarization processing in a global threshold value mode to obtain a binarization first chessboard image characteristic and a binarization second chessboard image characteristic; meanwhile, the first binary image characteristic and the second binary image characteristic are used for subtraction processing, the difference between the first chessboard image and the second chessboard image can be obtained through the subtraction processing, the position of the chessman on the other side can be obtained, and the positions of the chessmen eaten by the other side and the chessman off the other side can be obtained through comparison and the difference between the first chessboard image and the second chessboard image; if yes, each piece needs to be identified during chess playing, because the pieces are fewer and fewer in the chess playing process, color identification and character identification on the pieces are needed at the same time, and therefore the piece change data in the chessboard can be effectively obtained; then the chess playing data of the opposite side can be obtained according to the chess playing steps of the opposite side and the chess piece change data in the chessboard.
When the first two-stage chessboard image features and the second two-stage chessboard image features are subtracted in a one-to-one correspondence manner, a first two-stage chessboard image feature matrix is constructed by using the first two-stage chessboard image features, and a second two-stage chessboard image feature matrix is constructed by using the second two-stage chessboard image features; then, elements between the first two chessboard image feature matrixes are subtracted one by one correspondingly, and finally, a subtraction result is obtained; since after binarization the elements are 0 or 1, after subtraction there may be a possibility of-1, i.e. an absolute value transformation is required, so that the varying binarization characteristics of the first and second chessboard images may be obtained.
Meanwhile, the relevant color distinction of the chess pieces in the first chessboard image and the second chessboard image is needed, in different chess pieces, because of the pertinence of the two chess pieces, the two chess pieces need to be distinguished, generally, the two chess pieces are distinguished through the color distinction, if the chess pieces are go, the black chess pieces are distinguished through the black chess pieces, the chess pieces are distinguished through the red chess pieces and the black chess pieces, and other character marks of the chess pieces are basically consistent; therefore, the party distinction of the chess pieces needs to be carried out through colors; after the colors are distinguished, whether the pieces in the first chessboard image and the second chessboard image have the bit content or not needs to be identified, if the go does not have the character content, the chess has the character content, and the character content is basically consistent but has the color difference; if characters exist on the chessmen, character content information on the chessmen in the first chessboard image and the second chessboard image needs to be identified so as to obtain character content identification results, and then the change data of the chessmen in the chessboard needs to be obtained finally by combining color identification combination and character content identification results.
S14: matching current chess playing data of the manipulator based on the chess playing data of the opposite side and the second chessboard image;
in a specific implementation process of the present invention, the matching of the current chess playing data of the manipulator based on the chess playing data of the opponent and the second chessboard image comprises: inputting the chess playing data of the opposite side and the second chessboard image into a chess playing algorithm database for matching, and matching current chess playing data of the manipulator; the current chess playing data comprises the positions of the chess pieces before being moved and the positions of the chess pieces after being moved.
Specifically, the current playing data of the manipulator is matched in a corresponding playing algorithm database according to the playing data of the opposite side and the second period picture image, the playing data of the opposite side and the second chessboard data are required to be input into the corresponding playing algorithm database to match the playing steps, and the current playing data of the manipulator can be matched, wherein the current playing data at least comprises the position before the chess piece is moved and the position after the chess piece is moved; the subsequent robot can conveniently plan the chess playing path according to the position of the chess piece before being moved and the position of the chess piece after being moved.
S15: and planning the chess playing path of the manipulator based on the current chess playing data.
In a specific implementation process of the present invention, the planning of the chess playing path of the manipulator based on the current chess playing data includes: and planning the chess playing path of the manipulator according to the positions of the chess pieces in the current chess playing data before the chess pieces are moved and the positions of the chess pieces after the chess pieces are moved.
Specifically, the chess playing path in the mechanical hand chess playing process is planned according to the positions of the chess pieces in the current chess playing data before the chess pieces are moved and the positions of the chess pieces after the chess pieces are moved.
In the embodiment of the invention, a plurality of chess boards can be arranged on one chess playing workbench, and a user can select any chess board and the manipulator on the chess playing workbench to play chess, so that the manipulator can accurately plan the chess playing path in the chess playing process, and the misoperation of the manipulator in the chess playing process is reduced.
Example two
Referring to fig. 2, fig. 2 is a schematic structural composition diagram of a manipulator chess playing control planning device based on a chess playing workbench according to an embodiment of the present invention.
As shown in fig. 2, a manipulator chess playing control planning device based on a chess playing workbench comprises the chess playing workbench, at least one chessboard arranged on the chess playing workbench, a manipulator arranged in the middle of the chess playing workbench and a camera device arranged on the manipulator; the device comprises:
the judging module 21: the chess playing method comprises the steps of determining whether a mechanical arm executes a chess playing step currently based on a preset rule;
in the specific implementation process of the invention, whether the mechanical arm executes the chess playing action within the preset time before and after the change of the chess pieces when the chess pieces exist in the chessboard is judged according to the chessboard image information acquired by the camera equipment arranged on the mechanical arm, if not, the current step of playing the chess is executed by the mechanical arm, otherwise, the opposite side is executed; it is necessary to continue in the same manner as described above to determine whether a play step is currently being performed for the manipulator.
In the specific implementation process of the invention, before determining whether the current chess playing step is executed for the manipulator based on the preset rule, the method further comprises the following steps: the chessboard image information is collected in real time based on camera equipment arranged on the manipulator, and the collected chessboard image information is transmitted to the chess playing workbench; the chess playing workbench carries out framing processing on the received chessboard image information to form chessboard image information sequence frames.
Specifically, chessboard image information is acquired in real time through the camera device arranged on the manipulator, the chessboard image information is acquired through a chessboard set by a user on a chess playing workbench and a chessboard for playing chess with the user, in the chess playing process, after the manipulator executes the chess playing step, the manipulator automatically returns to a specified position to acquire the real-time chessboard image information, and then the acquired chessboard image information is transmitted to the chess playing workbench; after the chess playing workbench receives the chessboard image information, framing processing is carried out on the chessboard image information, and therefore chessboard image sequence frames are formed.
The first obtaining module 22: when the mechanical arm executes the chess playing step, a first chessboard image and a second chessboard image are obtained, wherein the first chessboard image is a chessboard image before the opposite side completes chess playing, and the second chessboard image is a chessboard image after the opposite side completes chess playing;
in a specific implementation process of the present invention, the obtaining the first chessboard image and the second chessboard image includes: and comparing the information sequence frames based on the chessboard images according to a preset comparison rule, and obtaining a first chessboard image and a second chessboard image based on the comparison result.
Further, the comparing the chessboard-based image information sequence frames according to a preset comparison rule includes: removing the chessboard image information sequence frames shot by the manipulator when the manipulator moves in the chessboard image information sequence frames to obtain first chessboard image information sequence frames; carrying out feature recognition on each frame of chessboard image information in the first chessboard image information sequence frame; and comparing and identifying the identification characteristics of the chessboard image information of the current frame with the identification characteristics of the chessboard image information of the next frame.
Specifically, the information sequence frames of the chessboard images are compared according to a preset comparison rule, and then a first chessboard image and a second chessboard image are obtained according to a comparison result, wherein the first chessboard image is a chessboard image before the opposite side finishes playing chess, and the second chessboard image is a chessboard image after the opposite side finishes playing chess.
When the comparison is carried out according to a preset comparison rule, firstly, the part of the chessboard image information sequence frame shot by the manipulator in the moving process in the chessboard image information sequence frame needs to be removed to obtain a first chessboard image information sequence frame; then, sequentially performing feature recognition by using each frame of chessboard image information in the first chessboard image information sequence frame, wherein the feature recognition is performed by generally adopting a binarization mode to finally realize the feature recognition; then, the identification characteristics of the chessboard image information of the current frame and the identification characteristics of the chessboard image information of the next frame are compared and identified, whether the comparison identification results of the two frames of images are in the related result range is identified, if not, the two frames of chessboard image information can be determined to be used as a boundary, the front is the chessboard image before the completion of playing the chess by the opposite side, and the rear is the chessboard image after the completion of playing the chess by the opposite side; then the chessboard image information of the current frame or the chessboard image information of the previous frame can be selected as the first chessboard image; the chessboard pattern information of the next frame or the subsequent chessboard pattern information is the second chessboard pattern.
The second obtaining module 23: the chess playing system is used for obtaining chess playing data of the opposite side based on the first chessboard image and the second chessboard image;
in a specific implementation process of the present invention, the obtaining of the chess playing data based on the first chessboard image and the second chessboard image comprises: respectively carrying out binarization processing on the first chessboard image and the second chessboard image to obtain a binarization first chessboard image feature and a binarization second chessboard image feature; subtracting the binarization first chessboard image feature from the binarization second chessboard image feature to obtain the change binarization feature of the first chessboard image and the second chessboard image; determining a square chess playing step based on the changing binarization characteristics of the first chessboard image and the second chessboard image; and identifying the chessmen in the first chessboard image and the second chessboard image to obtain chessman change data in the chessboard. And obtaining the chess playing data of the opposite side based on the chess playing step of the opposite side and the chess piece change data in the chessboard.
Further, the subtracting the binarized first chessboard image feature from the binarized second chessboard image feature to obtain a changed binarized feature of the first chessboard image and the second chessboard image includes: subtracting the two-valued first chessboard image features and the two-valued second chessboard image features according to one-to-one correspondence to obtain a subtraction result; and carrying out absolute transformation on the subtraction result to obtain the change binarization characteristics of the first chessboard image and the second chessboard image.
Further, the identifying the chess pieces in the first chessboard image and the second chessboard image to obtain the chess piece variation data in the chessboard includes: carrying out color identification on the chess pieces in the first chessboard image and the second chessboard image, and identifying whether the chess pieces in the first chessboard image and the second chessboard image have character contents or not after the color identification; if yes, identifying the character content information on the chessmen in the first chessboard image and the second chessboard image to obtain a character content identification result; and obtaining the change data of the chessmen in the chessboard based on the color recognition result and the character content recognition result.
Specifically, chess playing data of the opposite side is obtained by distinguishing a first chessboard image from a second chessboard image; before binarization, the first chessboard image and the second chessboard image need to be sized, and pixels are corresponding in corresponding size ranges; respectively carrying out binarization processing on the first chessboard image and the second chessboard image, specifically carrying out binarization processing in a global threshold value mode to obtain a binarization first chessboard image characteristic and a binarization second chessboard image characteristic; meanwhile, the first binary image characteristic and the second binary image characteristic are used for subtraction processing, the difference between the first chessboard image and the second chessboard image can be obtained through the subtraction processing, the position of the chessman on the other side can be obtained, and the positions of the chessmen eaten by the other side and the chessman off the other side can be obtained through comparison and the difference between the first chessboard image and the second chessboard image; if yes, each piece needs to be identified during chess playing, because the pieces are fewer and fewer in the chess playing process, color identification and character identification on the pieces are needed at the same time, and therefore the piece change data in the chessboard can be effectively obtained; then the chess playing data of the opposite side can be obtained according to the chess playing steps of the opposite side and the chess piece change data in the chessboard.
When the first two-stage chessboard image features and the second two-stage chessboard image features are subtracted in a one-to-one correspondence manner, a first two-stage chessboard image feature matrix is constructed by using the first two-stage chessboard image features, and a second two-stage chessboard image feature matrix is constructed by using the second two-stage chessboard image features; then, elements between the first two chessboard image feature matrixes are subtracted one by one correspondingly, and finally, a subtraction result is obtained; since after binarization the elements are 0 or 1, after subtraction there may be a possibility of-1, i.e. an absolute value transformation is required, so that the varying binarization characteristics of the first and second chessboard images may be obtained.
Meanwhile, the relevant color distinction of the chess pieces in the first chessboard image and the second chessboard image is needed, in different chess pieces, because of the pertinence of the two chess pieces, the two chess pieces need to be distinguished, generally, the two chess pieces are distinguished through the color distinction, if the chess pieces are go, the black chess pieces are distinguished through the black chess pieces, the chess pieces are distinguished through the red chess pieces and the black chess pieces, and other character marks of the chess pieces are basically consistent; therefore, the party distinction of the chess pieces needs to be carried out through colors; after the colors are distinguished, whether the pieces in the first chessboard image and the second chessboard image have the bit content or not needs to be identified, if the go does not have the character content, the chess has the character content, and the character content is basically consistent but has the color difference; if characters exist on the chessmen, character content information on the chessmen in the first chessboard image and the second chessboard image needs to be identified so as to obtain character content identification results, and then the change data of the chessmen in the chessboard needs to be obtained finally by combining color identification combination and character content identification results.
The matching module 24: the current chess playing data of the manipulator are matched based on the chess playing data of the opposite side and the second chessboard image;
in a specific implementation process of the present invention, the matching of the current chess playing data of the manipulator based on the chess playing data of the opponent and the second chessboard image comprises: inputting the chess playing data of the opposite side and the second chessboard image into a chess playing algorithm database for matching, and matching current chess playing data of the manipulator; the current chess playing data comprises the positions of the chess pieces before being moved and the positions of the chess pieces after being moved.
Specifically, the current playing data of the manipulator is matched in a corresponding playing algorithm database according to the playing data of the opposite side and the second period picture image, the playing data of the opposite side and the second chessboard data are required to be input into the corresponding playing algorithm database to match the playing steps, and the current playing data of the manipulator can be matched, wherein the current playing data at least comprises the position before the chess piece is moved and the position after the chess piece is moved; the subsequent robot can conveniently plan the chess playing path according to the position of the chess piece before being moved and the position of the chess piece after being moved.
The path planning module 25: and the manipulator is used for planning the chess playing path of the manipulator based on the current chess playing data.
In a specific implementation process of the present invention, the planning of the chess playing path of the manipulator based on the current chess playing data includes: and planning the chess playing path of the manipulator according to the positions of the chess pieces in the current chess playing data before the chess pieces are moved and the positions of the chess pieces after the chess pieces are moved.
Specifically, the chess playing path in the mechanical hand chess playing process is planned according to the positions of the chess pieces in the current chess playing data before the chess pieces are moved and the positions of the chess pieces after the chess pieces are moved.
In the embodiment of the invention, a plurality of chess boards can be arranged on one chess playing workbench, and a user can select any chess board and the manipulator on the chess playing workbench to play chess, so that the manipulator can accurately plan the chess playing path in the chess playing process, and the misoperation of the manipulator in the chess playing process is reduced.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
In addition, the above detailed description is given to the manipulator chess playing control planning method and device based on the chess playing workbench according to the embodiments of the present invention, and a specific example should be adopted herein to explain the principle and the implementation manner of the present invention, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A manipulator chess playing control planning method based on a chess playing workbench is characterized by comprising the chess playing workbench, at least one chessboard arranged on the chess playing workbench, a manipulator arranged in the middle of the chess playing workbench and camera equipment arranged on the manipulator; the method comprises the following steps:
determining whether the playing step is executed for the manipulator currently based on a preset rule;
if yes, obtaining a first chessboard image and a second chessboard image, wherein the first chessboard image is a chessboard image before the opposite side finishes playing chess, and the second chessboard image is a chessboard image after the opposite side finishes playing chess;
obtaining the chess playing data of the opposite side based on the first chessboard image and the second chessboard image;
matching current chess playing data of the manipulator based on the chess playing data of the opposite side and the second chessboard image;
and planning the chess playing path of the manipulator based on the current chess playing data.
2. The manipulator chess playing control planning method of claim 1, wherein before determining whether a current chess playing procedure is performed for a manipulator based on preset rules, further comprising:
the chessboard image information is collected in real time based on camera equipment arranged on the manipulator, and the collected chessboard image information is transmitted to the chess playing workbench;
the chess playing workbench carries out framing processing on the received chessboard image information to form chessboard image information sequence frames.
3. The robotic chess playing control planning method of claim 1, wherein said obtaining a first board image and a second board image comprises:
and comparing the information sequence frames based on the chessboard images according to a preset comparison rule, and obtaining a first chessboard image and a second chessboard image based on the comparison result.
4. The manipulator chess playing control planning method of claim 3, wherein said chessboard image information sequence-based frames are compared according to a preset comparison rule, comprising:
removing the chessboard image information sequence frames shot by the manipulator when the manipulator moves in the chessboard image information sequence frames to obtain first chessboard image information sequence frames;
carrying out feature recognition on each frame of chessboard image information in the first chessboard image information sequence frame;
and comparing and identifying the identification characteristics of the chessboard image information of the current frame with the identification characteristics of the chessboard image information of the next frame.
5. The manipulator chess playing control planning method of claim 1, wherein said obtaining of opponent chess playing data based on said first board image and said second board image comprises:
respectively carrying out binarization processing on the first chessboard image and the second chessboard image to obtain a binarization first chessboard image feature and a binarization second chessboard image feature;
subtracting the binarization first chessboard image feature from the binarization second chessboard image feature to obtain the change binarization feature of the first chessboard image and the second chessboard image;
determining a square chess playing step based on the changing binarization characteristics of the first chessboard image and the second chessboard image;
identifying the chessmen in the first chessboard image and the second chessboard image to obtain chessman change data in the chessboard;
and obtaining the chess playing data of the opposite side based on the chess playing step of the opposite side and the chess piece change data in the chessboard.
6. The mechanical hand chess playing control planning method according to claim 5, wherein said obtaining the changed binarization characteristics of the first chessboard image and the second chessboard image by subtracting the binarization first chessboard image characteristics and the binarization second chessboard image characteristics comprises:
subtracting the two-valued first chessboard image features and the two-valued second chessboard image features according to one-to-one correspondence to obtain a subtraction result;
and carrying out absolute transformation on the subtraction result to obtain the change binarization characteristics of the first chessboard image and the second chessboard image.
7. The method of claim 5, wherein said identifying the playing pieces in said first board image and said second board image to obtain piece variation data in a board comprises:
carrying out color identification on the chess pieces in the first chessboard image and the second chessboard image, and identifying whether the chess pieces in the first chessboard image and the second chessboard image have character contents or not after the color identification;
if yes, identifying the character content information on the chessmen in the first chessboard image and the second chessboard image to obtain a character content identification result;
and obtaining the change data of the chessmen in the chessboard based on the color recognition result and the character content recognition result.
8. The manipulator chess playing control planning method of claim 1, wherein said matching out the current chess playing data of the manipulator based on said opponent chess playing data and said second chessboard image comprises:
inputting the chess playing data of the opposite side and the second chessboard image into a chess playing algorithm database for matching, and matching current chess playing data of the manipulator; the current chess playing data comprises the positions of the chess pieces before being moved and the positions of the chess pieces after being moved.
9. The manipulator chess playing control planning method of claim 1, wherein said planning a chess playing path of said manipulator based on said current chess playing data comprises:
and planning the chess playing path of the manipulator according to the positions of the chess pieces in the current chess playing data before the chess pieces are moved and the positions of the chess pieces after the chess pieces are moved.
10. A manipulator chess playing control planning device based on a chess playing workbench is characterized by comprising the chess playing workbench, at least one chessboard arranged on the chess playing workbench, a manipulator arranged in the middle of the chess playing workbench and camera equipment arranged on the manipulator; the device comprises:
a judging module: the chess playing method comprises the steps of determining whether a mechanical arm executes a chess playing step currently based on a preset rule;
a first obtaining module: when the mechanical arm executes the chess playing step, a first chessboard image and a second chessboard image are obtained, wherein the first chessboard image is a chessboard image before the opposite side completes chess playing, and the second chessboard image is a chessboard image after the opposite side completes chess playing;
a second obtaining module: the chess playing system is used for obtaining chess playing data of the opposite side based on the first chessboard image and the second chessboard image;
a matching module: the current chess playing data of the manipulator are matched based on the chess playing data of the opposite side and the second chessboard image;
a path planning module: and the manipulator is used for planning the chess playing path of the manipulator based on the current chess playing data.
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Application publication date: 20210924 |