CN113769366A - Chess playing robot and implementation method thereof - Google Patents

Abstract

The invention relates to a chess playing robot and an implementation method thereof, which are composed of an object carrying platform component, a chessboard module, a mechanical arm component, a machine vision component and a control system, wherein the chessboard module, the mechanical arm component and the machine vision component are all positioned at the upper part of the object carrying platform component, the chessboard module is used for placing chess pieces to be grabbed and grabbed, the mechanical arm component is used for grabbing and placing the chess pieces at fixed points, the machine vision component is used for identifying the colors and the positions of the chess pieces, the control system is used for controlling the whole device, and on the man-machine chess playing teaching equipment, the deep learning method realizes that the mechanical arm is more intelligent and efficient to replace manual chess playing operation, can train the programming ability of students and is convenient for teaching demonstration, and has the characteristics of simple structure and convenient use and maintenance.

Description

Chess playing robot and implementation method thereof

Technical Field

The invention relates to the technical field of machine vision, in particular to a chess playing robot and an implementation method thereof.

Background

With the progress and development of science and technology, more and more colleges and scientific research institutions pay attention to research and study artificial intelligence equipment, robot teaching is used as a machine vision detection technology, and a robot technology is used as an important application of intelligent manufacturing production, is widely applied to teaching plans of colleges and universities, uses machine vision technology to replace manual work for identifying, positioning and the like of workpieces, can greatly deepen understanding of students on machine vision, adopts a playing and chess playing system, through deep learning, the chess playing device replaces manual playing, can save labor cost to a great extent, is a teaching device combining machine vision detection technology and robot technology, realized higher degree intellectuality in the operation, theory and practice combine together, both can let the student clear audio-visual observation study more in the teaching demonstration, can temper student's hands-on ability simultaneously again.

Disclosure of Invention

In order to realize the detection device, the invention provides the chess playing robot and the realization method thereof, the equipment can enable students to watch and study clearly and visually in teaching demonstration, exercise the practical ability of the students, and has the advantages of simple structure, small occupied space, convenience in adjustment, installation and maintenance and suitability for various teaching occasions.

The invention discloses a chess playing robot, which adopts the technical scheme that: a chess playing robot, comprising: a carrier platform assembly (100), a board module (200), a robot arm assembly (300), a machine vision assembly (400) and a control system;

the chessboard module (200), the mechanical arm assembly (300) and the machine vision assembly (400) are arranged above the loading platform assembly (100), the chessboard module (200) is arranged in the center of the front side, the mechanical arm assembly (300) is arranged in the middle, the machine vision assembly (400) is arranged in the center of the rear side, and the mechanical arm assembly (300) is arranged at the lower part of the machine vision assembly (400);

the carrying platform assembly (100) comprises a carrying platform (110) and a carrying platform box body (120), wherein the carrying platform (110) is arranged at the upper part of the carrying platform box body (120);

the chessboard module (200) comprises a chessboard component (210) and chess piece placing workpieces (220), wherein the chessboard component (210) and the chess piece placing workpieces (220) are arranged above the carrying platform component (100), and the chess piece placing workpieces (220) are positioned at two sides of the chessboard component (210) and are symmetrically distributed;

the mechanical arm assembly (300) comprises a mechanical arm (310) and a suction nozzle assembly (320), wherein the suction nozzle assembly (320) is arranged at the front end of the mechanical arm (310), the suction nozzle assembly (320) comprises a suction nozzle fixing plate (321) and a suction nozzle (322), the suction nozzle (322) is arranged on the suction nozzle fixing plate (321), and the suction nozzle fixing plate (321) is arranged at the front end of the mechanical arm (310);

the machine vision assembly (400) comprises a vertical column (410), a vision assembly mounting frame (420), an industrial camera (430) and a strip-shaped light source (440), wherein the vision assembly mounting frame (420) is mounted at the upper end of the vertical column (410), and the industrial camera (430) and the strip-shaped light source (440) are mounted on the vision assembly mounting frame (420);

the invention discloses a chess playing robot, which comprises the following components in part by weight: the control system comprises a computer, a visual image processing and analyzing system, a chess playing and playing system, a light source controller, a mechanical arm controller and a grabbing component control electronic valve, wherein the visual image processing and analyzing system and the chess playing and playing system are system software of the computer, the computer is connected with the light source controller, the mechanical arm controller and the grabbing component control electronic valve, the light source controller is connected with a light source, the mechanical arm controller is connected with a mechanical arm (310), and the grabbing component control electronic valve is connected with a suction nozzle;

the chess playing and playing system firstly obtains the position information of the falling chess pieces of the opposite side through the visual image processing and analyzing system, then carries out contrastive analysis on the position information of the falling chess pieces of the opposite side and a preset falling chess piece database, matches the best falling chess piece position scheme according to contrastive analysis results, optimizes the falling chess piece position scheme of the own side through training data, and achieves the effect of deep learning.

The invention discloses a chess playing robot, which comprises the following components in part by weight: the loading platform box body (120) comprises a placement completion button (121), a positive light source button (122), a backlight source button (123), a starting button (124), a reset button (125), an emergency stop button (126) and a handle (127), wherein the placement completion button (121) is arranged on the front side of the loading platform box body (120) and positioned on the left side of the positive light source button (122), the positive light source button (122) is arranged on the left side of the backlight source button (123), the backlight source button (123) is arranged on the left side of the starting button (124), the starting button (124) is arranged on the left side of the reset button (125), the reset button (125) is arranged on the left side of the emergency stop button (126), and the handle (127) is arranged on the left side and the right side of the loading platform box body (120).

The invention discloses a chess playing robot, which comprises the following components in part by weight: chessboard subassembly (210) contain chess board objective table (211), chess board objective table base (212), backlight (213), chess board objective table (211) install on chess board objective table base (212), chess board objective table base (212) have four, install the four corners position in backlight (213) both sides respectively.

The invention discloses a chess playing robot, which comprises the following components in part by weight: the visual component mounting frame (420) comprises a visual component fixing block (421), a front and rear adjusting rod (422), a lifting positioning bolt (423), a front and rear positioning bolt (424), a light source adjusting plate (425), a light source left and right adjusting bolt (426), a camera fixing plate (427) and a light source fixing plate (428), wherein the visual component fixing block (421) is sleeved at the top end of the upright post (410) through a middle round hole, the lifting positioning bolt (423) is installed at the rear side of the visual component fixing block (421), the front and rear positioning bolts (424) are installed at the left and right sides of the visual component fixing block (421), the front and rear adjusting rod (422) are provided with two parallel adjusting rods, the two adjusting rods firstly transversely penetrate through the two round holes at the two ends of the visual component fixing block (421), then transversely penetrate through the two round holes at the two sides of the light source adjusting plate (425) and are installed on the camera fixing plate (427), the light source left and right adjusting bolts (426) are arranged in the slideways at the two ends of the rear side of the light source adjusting plate (425), the light source fixing plate (428) is arranged at the two ends of the front side of the light source adjusting plate (425), and the light source left and right adjusting bolts (426) are arranged on the light source fixing plate (428).

The invention discloses a chess playing robot, which comprises the following components in part by weight: the chessboard object stage (211) is made of semitransparent acrylic materials.

The invention discloses a chess playing robot, which comprises the following components in part by weight: the upper surface and the lower surface of the chess piece workpiece are designed by adopting a plane structure.

The invention also discloses a chess playing robot implementation method, which adopts any one of the chess playing robots to execute the following steps:

step (1): manually placing a piece on the chessboard, and pressing a 'placement completion' button;

step (2): pressing a 'placement completion' button to trigger a visual system to take a picture of the current state of the chessboard;

and (3): the image processing software acquires coordinate position information of the pieces played manually;

and (4): transmitting the obtained current coordinate information of the chess pieces to chess playing and playing system software;

and (5): the chess playing software obtains an optimal chess playing scheme through analysis and calculation;

and (6): sending the coordinates of the optimal chess playing scheme to a mechanical arm controller;

and (7): the mechanical arm controller controls the mechanical arm to grab and place the chess pieces to finish playing chess.

The invention has the beneficial effects that:

the invention relates to a chess playing robot and an implementation method thereof, which consists of an object carrying platform component, a chessboard module, a mechanical arm component, a machine vision component and a control system, wherein the chessboard module, the mechanical arm component and the machine vision component are arranged above the object carrying platform component, the chessboard module is arranged in the center of the front side, the mechanical arm component is arranged in the middle, the machine vision component is arranged in the center of the rear side, the mechanical arm component is arranged at the lower part of the machine vision component, the chessboard module is used for placing chess pieces, the mechanical arm component is used for accurately grabbing and placing the chess pieces, the machine vision component replaces manpower to finish the identification of the colors and the positions of the chess pieces, the device has simple structure and high integration of the modules, the mechanical arm finally realizes the intellectualization of playing chess through deep learning, the equipment has small volume, occupies less space and is convenient to adjust, install and maintain, the teaching aid also has the advantages of enabling students to independently program and being suitable for various teaching and scientific research occasions.

The implementation steps are as follows:

step 1: manually placing a piece on the chessboard, and pressing a 'placement completion' button;

step 2: pressing a 'placement completion' button to trigger a visual system to take a picture of the current state of the chessboard;

and step 3: the image processing software acquires the coordinate position of the newly-placed chessman;

and 4, step 4: transmitting the obtained current coordinate information of the chess pieces to chess playing and playing system software;

and 5: the chess playing software obtains an optimal chess playing scheme through analysis and calculation;

step 6: sending the coordinates of the optimal chess playing scheme to a mechanical arm controller;

and 7: the mechanical arm controller controls the mechanical arm to grab and place the chess pieces to finish playing chess.

The chess playing and playing software uses a deep learning method, data of two parties during playing chess are collected to serve as sample data, an optimal piece falling strategy is analyzed, calculated and output through a deep learning module of the chess playing and playing software, chess playing actions can be completed more intelligently and efficiently through a deep learning mechanical arm, and teaching efficiency is greatly improved.

The invention relates to a chess playing robot and an implementation method thereof.A carrying platform box body comprises a placement completion button, a positive light source button, a backlight source button, a starting button, a reset button, an emergency stop button and a handle.

The chessboard assembly comprises a chessboard object stage, a chessboard object stage base and a backlight source, wherein the chessboard object stage is arranged on the chessboard object stage base, four chessboard object stage bases are arranged and are respectively arranged at four corners of two sides of the backlight source, the backlight source is arranged on the front side above the object stage assembly, the area of the backlight source is slightly larger than the chessboard grid range of the chessboard object stage, when the backlight source irradiates from bottom to top, light can penetrate through the chessboard object stage, a camera can conveniently identify the chessboard range and the edge contour and color of a chess piece workpiece, and the chess piece workpiece can be conveniently grabbed and placed by a mechanical arm.

The invention relates to a chess playing robot and a realization method thereof, wherein a visual component mounting frame comprises a visual component fixing block, a front and rear adjusting rod, a lifting positioning bolt, a front and rear positioning bolt, a light source adjusting plate, a light source left and right adjusting bolt, a camera fixing plate and a light source fixing plate, the visual component fixing block is sleeved at the top end of an upright post through a middle round hole, the lifting positioning bolt is arranged at the rear side of the visual component fixing block, the front and rear positioning bolt is arranged at the left and right sides of the visual component fixing block, the front and rear adjusting rod is provided with two adjusting rods which are parallel to each other, the two adjusting rods firstly transversely penetrate through the two round holes at the two ends of the visual component fixing block and then transversely penetrate through the two round holes at the two sides of the light source adjusting plate and are arranged on the camera fixing plate, the light source left and right adjusting bolt is arranged in slideways at the two ends at the rear side of the light source adjusting plate, the light source fixing plate is arranged at the two ends at the front side of the light source adjusting plate, adjusting bolt installs on the light source fixed plate about the light source, lift positioning bolt be used for adjusting the elevating position of vision subassembly mount on the stand, front and back positioning bolt is used for adjusting front and back regulation pole for stand fore-and-aft position, adjusting bolt is used for adjusting the every single move angle of bar light source and controls the position about the light source, the bar light source is for the distance of industrial camera promptly, industrial camera and bar light source are fixed on same support to this kind of structure, guarantee that camera and light source are in uniform height when the adjustment all the time, through the adjustment about, fore-and-aft position, the bar light source is installed and is the optimum all the time at accurate position and field of view scope, guarantee suitable object distance through lift adjustment, the image precision that makes industrial camera gather is higher.

The chess playing robot and the implementation method thereof are characterized in that the chessboard objective table is made of semitransparent acrylic materials, and the acrylic materials are light in weight and convenient to disassemble, assemble and replace.

According to the chess playing robot and the implementation method thereof, the upper surface and the lower surface of the chess piece workpiece are designed in a plane structure, and compared with the chess pieces with radian on the common surfaces, the chess pieces are more firmly contacted with the suction nozzle in the grabbing and placing processes and are not easy to slide off.

Drawings

FIG. 1 is a side view of a chess playing robot and a realization method thereof according to the present invention;

FIG. 2 is a schematic three-dimensional structure diagram of a chess playing robot and an implementation method thereof according to the present invention;

FIG. 3 is a schematic view of a visual component mounting rack of a chess playing robot and an implementation method thereof according to the present invention;

FIG. 4 is a flow chart of a control system of the chess playing robot and the implementation method thereof.

Description of the reference numerals

100-object platform component, 110-object platform, 120-object platform box, 121-placement completion button, 122-positive light source button, 123-backlight button, 124-start button, 125-reset button, 126-emergency stop button, 127-handle, 200-object platform component, 210-chessboard component, 211-chessboard object stage, 212-chessboard object stage base, 213-backlight, 220-chess piece placement workpiece, 300-mechanical arm component, 310-mechanical arm, 320-sucker component, 321-sucker fixing plate, 322-sucker, 400-machine vision component, 410-upright post, 420-vision component mounting rack, 421-vision component fixing block, 422-front and back adjusting rod, 423-lifting positioning bolt, 424-front and back positioning bolts, 425-light source adjusting plates, 426-light source left and right adjusting bolts, 427-camera fixing plates, 428-light source fixing plates, 430-industrial cameras and 440-strip light sources.

Detailed Description

The following description of the embodiments of the present invention refers to the accompanying drawings and examples:

it should be noted that the structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are illustrative only and are not intended to limit the scope of the invention, which is defined by the claims, and it should be understood that the invention is not limited thereto.

Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship therebetween may be regarded as the scope of the present invention without substantial changes in the technical contents.

As shown in fig. 1-4, which illustrate an embodiment of the present invention; the invention discloses a chess playing robot and an implementation method thereof, wherein the chess playing robot comprises the following steps: a loading platform assembly 100, a chessboard module 200, a robotic arm assembly 300, a machine vision assembly 400, a control system;

the chessboard module 200, the mechanical arm assembly 300 and the machine vision assembly 400 are arranged above the loading platform assembly 100, the chessboard module 200 is arranged in the center of the front side, the mechanical arm assembly 300 is arranged in the middle, the machine vision assembly 400 is arranged in the center of the rear side, and the mechanical arm assembly 300 is arranged at the lower part of the machine vision assembly 400;

the carrier platform assembly 100 comprises a carrier platform 110 and a carrier platform box 120, wherein the carrier platform 110 is arranged on the upper part of the carrier platform box 120;

the chessboard module 200 comprises a chessboard component 210 and chess piece placing workpieces 220, wherein the chessboard component 210 and the chess piece placing workpieces 220 are arranged above the carrying platform component 100, and the chess piece placing workpieces 220 are positioned at two sides of the chessboard component 210 and are symmetrically distributed;

the robot assembly 300 comprises a robot 310 and a suction nozzle assembly 320, wherein the suction nozzle assembly 320 is installed at the front end of the robot 310, the suction nozzle assembly 320 comprises a suction nozzle fixing plate 321 and a suction nozzle 322, the suction nozzle 322 is installed on the suction nozzle fixing plate 321, and the suction nozzle fixing plate 321 is installed at the front end of the robot 310;

the machine vision assembly 400 comprises a vertical column 410, a vision assembly mounting rack 420, an industrial camera 430 and a strip-shaped light source 440, wherein the vision assembly mounting rack 420 is mounted at the upper end of the vertical column 410, and the industrial camera 430 and the strip-shaped light source 440 are mounted on the vision assembly mounting rack 420;

the invention discloses a chess playing robot, which comprises the following preferred embodiments: the control system comprises a computer, a visual image processing and analyzing system, a chess playing and playing system, a light source controller, a mechanical arm controller and a grabbing component control electronic valve, wherein the visual image processing and analyzing system and the chess playing and playing system are system software of the computer, the computer is connected with the light source controller, the mechanical arm controller and the grabbing component control electronic valve, the light source controller is connected with a light source, the mechanical arm controller is connected with a mechanical arm (310), and the grabbing component control electronic valve is connected with a suction nozzle;

the chess playing and playing system firstly obtains the position information of the falling chess pieces of the opposite side through the visual image processing and analyzing system, then carries out contrastive analysis on the position information of the falling chess pieces of the opposite side and a preset falling chess piece database, matches the best falling chess piece position scheme according to contrastive analysis results, optimizes the falling chess piece position scheme of the own side through training data, and achieves the effect of deep learning.

In the invention, as shown in fig. 1-2, the chessboard module is used for placing chess piece workpieces, the mechanical arm component is used for accurately grabbing and placing the chess piece workpieces, and the machine vision component replaces manpower to complete the identification of the color and the position of the chess piece workpieces.

Preferably, as shown in fig. 1 to 2, the loading platform box 120 includes a placement completion button 121, a positive light source button 122, a backlight button 123, a start button 124, a reset button 125, an emergency stop button 126, and a handle 127, where the placement completion button 121 is located on the left side of the positive light source button 122 on the front side of the loading platform box 120, the positive light source button 122 is located on the left side of the backlight button 123, the backlight button 123 is located on the left side of the start button 124, the start button 124 is located on the left side of the reset button 125, the reset button 125 is located on the left side of the emergency stop button 126, the handle 127 is installed on the left and right sides of the loading platform box 120, and the handle 127 is installed on the left and right sides of the loading platform box for moving and carrying.

Preferably, as shown in fig. 1 to 2, the chessboard assembly 210 includes a chessboard object stage 211, a chessboard object stage base 212 and a backlight source 213, the chessboard object stage 211 is installed on the chessboard object stage base 212, four chessboard object stage bases 212 are respectively installed at four corners of two sides of the backlight source 213, the backlight source 213 is installed at the front side above the object stage assembly 100, the area of the backlight source is slightly larger than the chessboard grid range of the chessboard object stage 211, when the backlight source 213 lights upwards from the bottom, light can penetrate through the chessboard object stage 211, so that the camera can conveniently recognize the chessboard range and the edge contour and color of the chess piece, and the mechanical arm 310 can conveniently further grab and place the chess piece.

Preferably, as shown in fig. 3, the vision assembly mounting bracket 420 includes a vision assembly fixing block 421, a front-rear adjusting rod 422, a lifting positioning bolt 423, a front-rear positioning bolt 424, a light source adjusting plate 425, a light source left-right adjusting bolt 426, a camera fixing plate 427, and a light source fixing plate 428, the vision assembly fixing block 421 is sleeved on the top end of the upright 410 through a central circular hole, the lifting positioning bolt 423 is installed at the rear side of the vision assembly fixing block 421, the front-rear positioning bolt 424 is installed at the left and right sides of the vision assembly fixing block 421, the front-rear adjusting rod 422 has two parallel adjusting rods, the two adjusting rods firstly pass through the two circular holes at the two ends of the vision assembly fixing block 421 transversely, then pass through the two circular holes at the two sides of the light source adjusting plate 425 transversely, and are installed on the camera fixing plate 427, the light source left-right adjusting bolt 426 is installed in the slideways at the two ends of the rear side of the light source adjusting plate 425, the light source fixing plates 428 are installed at both ends of the front side of the light source adjusting plate 425, the light source left and right adjusting bolts 426 are installed at the light source fixing plates 428, the lifting positioning bolts 423 are used for adjusting the lifting position of the visual component mounting rack 420 on the upright 410, the front and rear positioning bolts 424 are used for adjusting the front and rear positions of the front and rear adjusting rods 422 relative to the upright 410, the light source left and right adjusting bolts 426 are used for adjusting the pitch angle and the left and right positions of the bar-shaped light source 440, i.e., the distance of the strip light source 440 relative to the industrial camera 430, this arrangement secures the industrial camera 430 and the strip light source 440 on the same bracket, ensures that the camera and light source are always at a uniform height when adjusted, by adjusting the left and right, front and back positions, the bar light source 440 is installed at an accurate position and the field of view is always in an optimal state, the proper object distance is ensured through lifting adjustment, so that the image acquired by the industrial camera 430 is higher in precision.

Preferably, as shown in fig. 1 to 2, the chessboard object stage 211 is made of a translucent acrylic material, which is light and convenient to disassemble, assemble and replace.

Preferably, as shown in fig. 1-2, the upper and lower surfaces of the chess piece workpiece are both flat surfaces, which facilitates the absorption and placement of the chess pieces by the suction nozzle 322.

Preferably, as shown in fig. 4, the control system includes a computer, an industrial camera 430, a light source controller, a mechanical arm controller and a grasping assembly control electronic valve, the computer is connected with the industrial camera 430, the light source controller, the mechanical arm controller and the grasping assembly control electronic valve, the light source controller is connected with the light source, the mechanical arm controller is connected with the mechanical arm 410, the grasping assembly control electronic valve is connected with the suction nozzle 322, the control system controls the industrial camera 430 and the light source controller through the computer, firstly takes pictures and supplements lights to the chessboard module, sends the recognized information of coordinates, colors and the like to the computer, the computer sends signals to the mechanical arm controller through a series of calculation processes after receiving the information, the mechanical arm controller sends commands to the mechanical arm 310 after receiving the commands, and controls the mechanical arm 310 to do corresponding actions, the computer controls the grabbing component to control the electronic valve, the air cylinder moves to suck air when the valve is opened, the suction nozzle 322 acquires a workpiece, the air cylinder stops sucking air when the valve is closed, and the suction nozzle 322 loosens the workpiece, so that grabbing and placing of the suction nozzle 322 are achieved.

The invention also discloses a chess playing robot implementation method, which adopts any one of the chess playing robots to execute the following steps:

step 1: manually placing a piece on the chessboard, and pressing a 'placement completion' button;

step 2: pressing a 'placement completion' button to trigger a visual system to take a picture of the current state of the chessboard;

and step 3: the image processing software acquires coordinate position information of the pieces played manually;

and 4, step 4: transmitting the obtained current coordinate information of the chess pieces to chess playing and playing system software;

and 5: the chess playing software obtains an optimal chess playing scheme through analysis and calculation;

step 6: sending the coordinates of the optimal chess playing scheme to a mechanical arm controller;

and 7: the mechanical arm controller controls the mechanical arm to grab and place the chess pieces to finish playing chess.

In the invention, the steps 1 and 2: the manual work is placed a piece of piece on the chess board and is pressed down "and is placed and accomplish" button, and the button triggers machine vision subassembly 400 to the chess board light filling and take a picture, step 3: the machine vision component 400 extracts the falling position and the chess color information of the shot image in a vision image processing and analyzing system, and the step 4 is as follows: and (5) sending the extracted positions of the falling pieces and the color information of the pieces to a computer, and sending the information to a chess playing system by the computer, wherein the step: comparing the position information of the other falling position on the current chessboard with a preset own falling position database, matching the best falling position scheme according to the result obtained by comparison, and continuously optimizing the own falling position scheme by storing the recorded training data of each playing, thereby achieving the effect of deep learning, and the steps 6 and 7 are as follows: the mechanical arm 410 completes the placement of the chess pieces of the own chess through the flow, the mechanical arm can be controlled through manual programming by students, the teaching function is various, and the teaching content of teachers is enriched.

Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Many other changes and modifications can be made without departing from the spirit and scope of the invention. It is to be understood that the invention is not to be limited to the specific embodiments, but only by the scope of the appended claims.

Claims (8)

1. A chess playing robot, comprising: a carrier platform assembly (100), a board module (200), a robot arm assembly (300), a machine vision assembly (400) and a control system;

the chessboard module (200), the mechanical arm assembly (300) and the machine vision assembly (400) are arranged above the loading platform assembly (100), the chessboard module (200) is arranged in the center of the front side, the mechanical arm assembly (300) is arranged in the middle, the machine vision assembly (400) is arranged in the center of the rear side, and the mechanical arm assembly (300) is arranged at the lower part of the machine vision assembly (400);

the carrying platform assembly (100) comprises a carrying platform (110) and a carrying platform box body (120), wherein the carrying platform (110) is arranged at the upper part of the carrying platform box body (120);

the chessboard module (200) comprises a chessboard component (210) and chess piece placing workpieces (220), wherein the chessboard component (210) and the chess piece placing workpieces (220) are arranged above the carrying platform component (100), and the chess piece placing workpieces (220) are positioned at two sides of the chessboard component (210) and are symmetrically distributed;

the mechanical arm assembly (300) comprises a mechanical arm (310) and a suction nozzle assembly (320), wherein the suction nozzle assembly (320) is arranged at the front end of the mechanical arm (310), the suction nozzle assembly (320) comprises a suction nozzle fixing plate (321) and a suction nozzle (322), the suction nozzle (322) is arranged on the suction nozzle fixing plate (321), and the suction nozzle fixing plate (321) is arranged at the front end of the mechanical arm (310);

the machine vision assembly (400) comprises a vertical column (410), a vision assembly mounting frame (420), an industrial camera (430) and a strip-shaped light source (440), wherein the vision assembly mounting frame (420) is mounted at the upper end of the vertical column (410), and the industrial camera (430) and the strip-shaped light source (440) are mounted on the vision assembly mounting frame (420).

2. The chess playing robot of claim 1, wherein: the control system comprises a computer, a visual image processing and analyzing system, a chess playing and playing system, a light source controller, a mechanical arm controller and a grabbing component control electronic valve, wherein the visual image processing and analyzing system and the chess playing and playing system are system software of the computer, the computer is connected with the light source controller, the mechanical arm controller and the grabbing component control electronic valve, the light source controller is connected with a light source, the mechanical arm controller is connected with a mechanical arm (310), and the grabbing component control electronic valve is connected with a suction nozzle;

the chess playing and playing system firstly obtains the position information of the falling chess pieces of the opposite side through the visual image processing and analyzing system, then carries out contrastive analysis on the position information of the falling chess pieces of the opposite side and a preset falling chess piece database, matches the best falling chess piece position scheme according to contrastive analysis results, optimizes the falling chess piece position scheme of the own side through training data, and achieves the effect of deep learning.

3. The chess playing robot according to claim 1, wherein the carrying platform box (120) comprises a placement completion button (121), a positive light source button (122), a backlight source button (123), a start button (124), a reset button (125), an emergency stop button (126) and a handle (127), the placement completion button (121) is arranged on the front side of the carrying platform box (120) and is positioned on the left side of the positive light source button (122), the positive light source button (122) is arranged on the left side of the backlight source button (123), the backlight source button (123) is arranged on the left side of the start button (124), the start button (124) is arranged on the left side of the reset button (125), the reset button (125) is arranged on the left side of the emergency stop button (126), and the handle (127) is arranged on the left side and the right side of the carrying platform box (120).

4. The chess playing robot of claim 1, wherein the chessboard assembly (210) comprises a chessboard object stage (211), a chessboard object stage base (212), and a backlight source (213), wherein the chessboard object stage (211) is installed on the chessboard object stage base (212), and the chessboard object stage bases (212) have four bases, which are respectively installed at four corners of two sides of the backlight source (213).

5. The chess playing robot according to claim 1, wherein said vision assembly mounting frame (420) comprises a vision assembly fixing block (421), a front and rear adjusting rod (422), a lifting positioning bolt (423), a front and rear positioning bolt (424), a light source adjusting plate (425), a light source left and right adjusting bolt (426), a camera fixing plate (427), and a light source fixing plate (428), said vision assembly fixing block (421) is sleeved on the top end of the upright post (410) through a central circular hole, said lifting positioning bolt (423) is installed on the rear side of the vision assembly fixing block (421), said front and rear positioning bolt (424) is installed on the left and right sides of the vision assembly fixing block (421), two of said front and rear adjusting rods (422) are parallel to each other, and firstly pass through two circular holes on the two ends of the vision assembly fixing block (421), and the light source left and right adjusting bolts (426) are arranged in slideways at the two ends of the rear side of the light source adjusting plate (425), the light source fixing plate (428) is arranged at the two ends of the front side of the light source adjusting plate (425), and the light source left and right adjusting bolts (426) are arranged on the light source fixing plate (428).

6. A chess playing robot as claimed in claim 1, wherein said board stage (211) is made of translucent acrylic.

7. The chess playing robot of claim 1, wherein the upper and lower surfaces of the chess piece workpiece are designed to be planar structures.

8. A method for implementing a chess playing robot, which adopts the chess playing robot as claimed in any one of claims 1-7 to execute the following steps:

step (1): manually placing a piece on the chessboard, and pressing a 'placement completion' button;

step (2): pressing a 'placement completion' button to trigger a visual system to take a picture of the current state of the chessboard;

and (3): the image processing software acquires coordinate position information of the pieces played manually;

and (4): transmitting the obtained current coordinate information of the chess pieces to chess playing and playing system software;

and (5): the chess playing software obtains an optimal chess playing scheme through analysis and calculation;

and (6): sending the coordinates of the optimal chess playing scheme to a mechanical arm controller;

and (7): the mechanical arm controller controls the mechanical arm to grab and place the chess pieces to finish playing chess.

Images