CN204263171U - A kind of quintet game Chinese-chess robot - Google Patents
A kind of quintet game Chinese-chess robot Download PDFInfo
- Publication number
- CN204263171U CN204263171U CN201420626736.5U CN201420626736U CN204263171U CN 204263171 U CN204263171 U CN 204263171U CN 201420626736 U CN201420626736 U CN 201420626736U CN 204263171 U CN204263171 U CN 204263171U
- Authority
- CN
- China
- Prior art keywords
- pin
- controller
- circuit
- master controller
- pin meet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of quintet game Chinese-chess robot, belong to robot application field, it is characterized in that mainly comprising camera circuit, external SRAM circuit, liquid crystal display circuit, LED indicating circuit, electromagnetic module circuit, helm control circuit, voice module circuit, power supply stabilization circuit, Bluetooth transmission circuit, main controller circuit, from controller circuitry; Robot, by camera collection, recording game position's image information, is transferred to master controller and carries out image procossing and identification, obtain the position of beginning of opponent.Give game theory analysis system by chessboard situation, carry out network analysis in conjunction with quintet game footwork, and obtain optimum responding to a call for recruits or candidates.Be transferred to executing agency by bluetooth module to perform.Executing agency forms by from controller, steering wheel and electromagnet module, respond fast after receiving order, control steering wheel and correctly find coordinate of beginning in two dimensional surface, and control electromagnet module and complete the operation of playing chess, thus realize man-machine game truly.
Description
Technical field
The utility model relates to a kind of quintet game Chinese-chess robot, belongs to robot application field.
Background technology
Quintet game is very fast in the much big or middle urban development of China, and especially Beijing, capital, had once repeatedly held the various matches of quintet game, and Chinese Central Television's sports channel also plays the lecture of quintet game for a long time.Some large enterprises and unit also once held the match of quintet game.Estimate that quintet game will become one of domestic most popular project after several years.
Quintet game can not only strengthen thinking ability, improves intelligence, and is rich in philosophic theory, contribute to cultivating the moral character and nourishing the nature.The obvious characteristic " short, flat, fast " of the existing Modern Leisure of quintet game, has again the higher learning " coital transmission of febrile disease reason " of classical philosophy; Its existing characteristic easy to learn, by the people is loved by all, has again abstruse skill and high-caliber international match; Its deep pool, chess culture source stream is long, has the mystery in east and the directly perceived of west; The concept of existing " field ", also has the connection of " point ".It is the interchange point of Chinese and Western culture, is the crystallization of philosophic theory at all times.Seldom carry out the research of quintet game Chinese-chess robot at present both at home and abroad, general is all write computer game software, this computer game software can allow fan carry out game when can not find and playing chess friend with computer, but this software itself lacks sight, do not have the true environment of playing chess, and the long-time computer that faces toward can allow people produce uninteresting sense, is therefore badly in need of a kind of interaction capabilities strong, practical, the appearance of the quintet game chess match entertainment robot of energy Reality simulation environment.
Utility model content
The technical problems to be solved in the utility model is just, for the technical problem that prior art exists, provides the quintet game Chinese-chess robot that a interactive capability is strong, cost performance is high, practical.
A kind of quintet game Chinese-chess robot that the utility model provides, comprising: main control unit, image collecting device, bottom plate apparatus; Described image collecting device comprises camera bracket, camera, liquid crystal display, SRAM, bluetooth host, master controller, LED light; Described bottom plate apparatus is provided with from control device, base plate, three-dimensional mobile platform, power supply; Described from control device control bluetooth from machine, from controller, voice module, electromagnet, steering wheel; Described base plate is provided with three-dimensional mobile platform and gets chess piece place, and described three-dimensional mobile platform is provided with chessboard device, and described chessboard device comprises chessboard and executing agency; The both sides of described chessboard are provided with the first cylindrical slideway (20), the second cylindrical slideway (21), described first cylindrical slideway (20) is affixed with the bearing on wooden unit with the second cylindrical slideway (21), article two, be provided with cuboid guide rail between cylindrical slideway, be provided with another guide rail of Z-direction between described cuboid guide rail, described executing agency is arranged on another guide rail.
Described main controller circuit connects with camera circuit, external SRAM circuit, liquid crystal display circuit, LED indicating circuit, bluetooth host transmission circuit;
Describedly to connect from machine transmission circuit, helm control circuit from controller circuitry with voice module circuit, electromagnetic module circuit, bluetooth; The input of described power supply stabilization circuit connects with battery, and output connects from machine transmission circuit power end, LED indicating circuit power end, voice module circuit power end with bluetooth host transmission circuit power end, bluetooth respectively;
Described three-dimensional mobile platform is arranged in the rectangular base plate of one piece of 70*70cm, and four angles of base plate use wooden unit padded respectively.
Described first cylindrical slideway 20, second cylindrical slideway 21 is respectively equipped with the first slide block 46, second slide block 47, the cuboid guide rail 22 of X-direction is installed between two slide blocks, head rod 45 is used respectively outside two slide blocks, second connecting rod 44 is connected to the first Timing Belt 24, on second Timing Belt 25, each Timing Belt is by two synchronous pulley first synchronous pulleys 12, second synchronous pulley 13, 3rd synchronous pulley 14, 4th synchronous pulley 15 and the first digital rudder controller 28, second digital rudder controller 29 drives can at Y direction synchronizing moving, be used for realizing longitudinal register,
Described cuboid guide rail 22 also there is the 3rd slide block 48,3rd slide block 48 connects the 3rd Timing Belt 26 of X-direction, 3rd Timing Belt 26, by the drive of two synchronous pulley the 5th synchronous pulleys 16, the 6th synchronous pulley 17 the 3rd digital rudder controller 30, realizes located lateral;
Another guide rail 23 of described executing agency also there is Four-slider 49, Four-slider 49 is installed electromagnet module 43, Four-slider 49 is connected to the 4th Timing Belt 27 equally, 4th Timing Belt 27 realizes moving up and down of electromagnet module 43 by the 4th digital rudder controller 31 and the 6th synchronous pulley 18, the 8th synchronous pulley (19), coordinates the energising of electromagnet module 43 and power-off to get the action of chess piece and lower chess piece.
Described chess piece place (42) of getting is arranged in bottom plate groove, the degree of depth is about 1.5cm, under robot after complete chess piece, electromagnet module 43 in executing agency to be moved 2cm along Z axis positive direction under the 4th digital rudder controller 31 drives, then the first digital rudder controller 28, second digital rudder controller 29, move along X-axis negative direction and Y-axis negative direction under the collaborative drive of the 3rd digital rudder controller 30, turn back to the place 42 of getting chess piece, x unit length of moving along Z axis negative direction under the 4th digital rudder controller 31 drives again arrives above chess piece, electromagnet module obtains electric, hold the inner chess piece containing ferrous material, driven by the 4th digital rudder controller 31 again and to move x unit length along Z axis positive direction, the movement of period of the day from 11 p.m. to 1 a.m electromagnet module (to play chess) completes the process of getting chess piece, when under the other side, son terminates, robot obtains the coordinate that oneself will play chess piece, then at the first digital rudder controller 28, second digital rudder controller 29, coordinate place is moved to along X-axis positive direction and Y-axis positive direction under the collaborative drive of the 3rd digital rudder controller 30, arrive above chessboard along the Z axis negative direction 2cm movement of period of the day from 11 p.m. to 1 a.m electromagnet module (to play chess) that moves under the 4th digital rudder controller 31 drives again, electromagnet module dead electricity, coordinate place accurately fallen by chess piece, drive at the 4th digital rudder controller 31 again and to move 2cm along Z axis positive direction, lower chess piece terminates, return and get chess piece place, go round and begin again until game over, after each lower chess piece terminates, the initial value that the numerical value of x adds 1, x is that 0 (both sides have 30 chess pieces altogether, each 15, desirable 15 the chess piece chess pieces of robot are that stacked together being placed on gets chess piece place), 1 unit length is that the thickness of a chess piece is about 0.4cm.
Described camera circuit is made up of OV7670-V3 camera module, wherein, 1 pin of camera module connects power supply, 2 pin and 12 pin ground connection, 3 pin meet the PB0 of master controller U5, 4 pin meet the PB1 of master controller U5, 5 pin meet the PF6 of master controller U5, 7 pin meet the PF7 of master controller U5, 9 pin meet the PF8 of master controller U5, 10 pin meet the PF9 of master controller U5, 11 pin meet the PF10 of master controller U5, 13 pin meet the PC0 of master controller U5, 14 pin meet the PC1 of master controller U5, 15 pin meet the PC2 of master controller U5, 16 pin meet the PC3 of master controller U5, 17 pin meet the PC4 of master controller U5, 18 pin meet the PC5 of master controller U5, 19 pin meet the PC6 of master controller U5, 20 pin meet the PC7 of master controller U5, 6 pin and 8 pin unsettled.
Described external SRAM circuit is by IS62WV51216BLL memory chip U1, resistance R1-R3, electric capacity C1-C2, and LED light composition, wherein, 11 pin and 33 pin of memory chip U1 connect power supply, 12 pin and 34 pin ground connection, 5 pin meet the PF0 of master controller U5, 4 pin meet the PF1 of master controller U5, 3 pin meet the PF2 of master controller U5, 2 pin meet the PF3 of master controller U5, 1 pin meets the PF4 of master controller U5, 44 pin meet the PF5 of master controller U5, 43 pin meet the PF12 of master controller U5, 42 pin meet the PF13 of master controller U5, 27 pin meet the PF14 of master controller U5, 26 pin meet the PF15 of master controller U5, 25 pin meet the PG0 of master controller U5, 24 pin meet the PG1 of master controller U5, 22 pin meet the PG2 of master controller U5, 21 pin meet the PG3 of master controller U5, 20 pin meet the PG4 of master controller U5, 19 pin meet the PG5 of master controller U5, 18 pin meet the PD11 of master controller U5, 23 pin meet the PD12 of master controller U5, 28 pin meet the PD13 of master controller U5, 7 pin meet the PD14 of master controller U5, 8 pin meet the PD15 of master controller U5, 9 pin meet the PD0 of master controller U5, 10 pin meet the PD1 of master controller U5, 13 pin meet the PE7 of master controller U5, 14 pin meet the PE8 of master controller U5, 15 pin meet the PE9 of master controller U5, 16 pin meet the PE10 of master controller U5, 29 pin meet the PE11 of master controller U5, 30 pin meet the PE12 of master controller U5, 31 pin meet the PE13 of master controller U5, 32 pin meet the PE14 of master controller U5, 35 pin meet the PE15 of master controller U5, 36 pin meet the PD8 of master controller U5, 37 pin meet the PD9 of master controller U5, 38 pin meet the PD10 of master controller U5, 41 pin meet the PD4 of master controller U5, 17 pin meet the PD5 of master controller U5, 39 pin meet the PE0 of master controller U5, 40 pin meet the PE1 of master controller U5, 6 pin of resistance R1 mono-termination U1, another termination power, 6 pin of the one termination U1 of resistance R2, the PG10 of another termination master controller U5, the one termination LED light of resistance R3, another termination power, the other end ground connection of indicator lamp LED, electric capacity C1, after the parallel connection of C2, one end power supply, other end ground connection.
Described liquid crystal display circuit is by HY-TFT320 color screen module, resistance R4-R5 forms, wherein, 1 pin ground connection of Liquid Crystal Module, 2 pin connect power supply, 4 pin meet the PE4 of master controller U5, 5 pin meet the PE5 of master controller U5, 6 pin meet the PE6 of master controller U5, 7 pin meet the PA8 of master controller U5, 8 pin meet the PA9 of master controller U5, 9 pin meet the PA10 of master controller U5, 10 pin meet the PA11 of master controller U5, 11 pin meet the PA12 of master controller U5, 12 pin meet the PA13 of master controller U5, 13 pin meet the PA14 of master controller U5, 14 pin meet the PA15 of master controller U5, 15 pin meet the PE3 of master controller U5, 17 pin meet the PE2 of master controller U5, 21 pin meet the PA0 of master controller U5, 22 pin meet the PA1 of master controller U5, 23 pin meet the PA2 of master controller U5, 24 pin meet the PA3 of master controller U5, 25 pin meet the PA4 of master controller U5, 26 pin meet the PA5 of master controller U5, 27 pin meet the PA6 of master controller U5, 28 pin meet the PA7 of master controller U5, one termination power of resistance R4, other end ground connection, middle indirect resistance R5 one end, 19 pin of another termination Liquid Crystal Module of resistance R5.
Described LED indicating circuit is by resistance R6-R10, LED 2-LED6 forms, wherein, the PC8 of resistance R6 mono-termination master controller U5, the negative electrode of other end sending and receiving optical diode LED2, the anode of LED 2 connects power supply, the PC9 of resistance R7 mono-termination master controller U5, the negative electrode of other end sending and receiving optical diode LED3, the anode of LED 3 connects power supply, the PC10 of resistance R8 mono-termination master controller U5, the negative electrode of other end sending and receiving optical diode LED4, the anode of LED 4 connects power supply, resistance R9 mono-termination is from the PD0 of controller U6, the negative electrode of other end sending and receiving optical diode LED5, the anode of LED 5 connects power supply, resistance R10 mono-termination is from the PD1 of controller U6, the negative electrode of other end sending and receiving optical diode LED6, the anode of LED 6 connects power supply.
Described electromagnetic module electricity routing resistance R11-R13, LED 7, triode 9013, diode 1N40007, relay, electromagnet forms, wherein, the negative electrode of resistance R11 one end sending and receiving optical diode LED7, other end ground connection, the anode of LED 7 meets the PD3 from controller, the base stage b of resistance R12 mono-termination triode 9013, other end ground connection, the base stage b of resistance R13 mono-termination triode 9013, another termination is from the PD3 of controller U6, the emitter e ground connection of triode 9013, 2 pin of colelctor electrode c contact relay, 2 pin of the anode contact relay of diode 1N4007, 5 pin of negative electrode contact relay, 1 pin of relay connects 12V power supply, 3 pin normally opened contacts connect a pin of electromagnet module, 4 pin normally-closed contacts are unsettled, another pin ground connection of electromagnet.
Described helm control circuit is by resistance R14, and digital rudder controller 5516 and a slice 74HC126 chip form, wherein, signal end 3 pin of resistance R14 mono-termination steering wheel, another termination power, 1 pin of 74HC126 chip U3 meets the PE15 from controller U6, and 2 pins connect signal end 3 pin of steering wheel, 3 pins meet the PB11 from controller U6,4 pins meet the PE14 from controller U6, and 5 pins meet the PB10 from controller U6, and 6 pins connect signal end 3 pin of steering wheel, steering wheel volume 1 pin ground connection, 2 pin connect 7.4V power supply.Wherein steering wheel can cascade.
Described voice module electricity routing resistance R15-R22, electric capacity C5-C11, miaow head MK1, loudspeaker LS1, speech chip ISD4004 and Audio power amplifier chip LM386 forms, wherein, 28 pin of resistance R15 mono-termination speech chip U3, another termination power, 2 pin of resistance R16 mono-termination speech chip U3, another termination power, 1 pin of resistance R17 mono-termination speech chip U3, another termination power, 1 pin of speech chip U3 meets the PD4 from controller U6, 2 pin meet the PD5 from controller U6, 28 pin meet the PD6 from controller U6, 26 pin meet the PD7 from controller U6, 25 pin meet the PD8 from controller U6, 24 pin meet the PD9 from controller U6, 23 pin, 11 pin, 12 pin and 4 pin ground connection, 18 pin connect power supply, one end of the 27 pin connecting resistance R18 of speech chip U3, one end of other end connecting resistance R19 of resistance R18 and the anode of electric capacity C8, one end of the negative electrode connecting resistance R20 of electric capacity C8, one end of another termination miaow head of the other end parallel resistance R19 of resistance R20, 17 pin of speech chip U3 connect one end of electric capacity C7, one end of another termination miaow head of electric capacity C7, 16 pin of speech chip U3 connect one end of electric capacity C9, the other end of another termination miaow head of electric capacity C9, 13 pin of speech chip U3 connect one end of sliding resistance R21, the other end ground connection of sliding resistance R21, interlude connects 3 pin of chip U4, 2 pin of chip U4 and 4 pin ground connection, 6 pin connect one end of electric capacity C10, one end of another termination loudspeaker LS1 of electric capacity C10, the other end ground connection of loudspeaker LS1, 5 pin of chip U4 connect power supply, one end of 1 pin connecting resistance R22, the anode of another termination capacitor C11 of resistance R22, the negative electrode of electric capacity C11 connects 8 pin of chip U4.
Described power supply stabilization circuit is made up of battery, self-lock switch SW1, electric capacity C3, C4, LED 1, voltage stabilizing chip U2, wherein, power supply connects the input of C3 and 7805 through self-lock switch SW1, the VI pin of electric capacity one termination U3, the GND pin of another termination U3, the VO pin of electric capacity C4 mono-termination U3, the GND pin of another termination U3, the anode of LED 1 connects the VO pin of U3, minus earth.
Described Bluetooth transmission circuit is made up of bluetooth module, the VCC pin ground connection of bluetooth module, the GND ground connection of bluetooth module, the TXD pin of bluetooth module main frame connects the PA10 pin of master controller U5, RXD pin connects the PA9 pin of master controller U5, bluetooth module connects the PA10 pin from controller U6 from the TXD pin of machine, and RXD pin connects the PA9 pin from controller U6.
Described main controller circuit is STM32 Strong MCU U5 by single-chip microcomputer, crystal oscillator Y1-Y2, electric capacity C11-C15, resistance R23 forms, wherein, one end of electric capacity C13 one end and resistance R23 connects 25 pin of single-chip microcomputer U5, the other end ground connection of electric capacity C13, another termination power of resistance R23, one end of electric capacity C11 and one end of crystal oscillator Y1 connect 23 pin of single-chip microcomputer U5, one end of electric capacity C12 and the other end of crystal oscillator Y1 connect 24 pin of single-chip microcomputer U5, electric capacity C11, the other end ground connection of C12, one end of electric capacity C14 and one end of crystal oscillator Y2 connect 8 pin of single-chip microcomputer U5, one end of electric capacity C15 and the other end of crystal oscillator Y2 connect 9 pin of single-chip microcomputer U5, electric capacity C14, the other end ground connection of C15, the 30 pin ground connection of single-chip microcomputer U5, 33 pin meet VCC.
Described is STM32 Strong MCU U6 from controller circuitry by single-chip microcomputer, crystal oscillator Y3-Y4, electric capacity C16-C20, resistance R24 forms, wherein, one end of electric capacity C18 one end and resistance R24 connects 14 pin of single-chip microcomputer U6, the other end ground connection of electric capacity C18, another termination power of resistance R24, one end of electric capacity C16 and one end of crystal oscillator Y3 connect 12 pin of single-chip microcomputer U6, one end of electric capacity C17 and the other end of crystal oscillator Y3 connect 13 pin of single-chip microcomputer U6, electric capacity C16, the other end ground connection of C17, one end of electric capacity C19 and one end of crystal oscillator Y4 connect 8 pin of single-chip microcomputer U6, one end of electric capacity C20 and the other end of crystal oscillator Y4 connect 9 pin of single-chip microcomputer U6, electric capacity C19, the other end ground connection of C20, the 19 pin ground connection of single-chip microcomputer U6, 22 pin meet VCC.
The beneficial effects of the utility model are: the some shortcomings breaching traditional quintet game robot, hardware aspect adopts three-dimensional mobile platform, positioning precision of playing chess improves greatly, adopt Single-chip Controlling, distinguish PC in the past and control, portable convenient, mobility is strong, and installing voice module, have that stronger interactive capability, cost performance are high, good stability, is a kind of practical amusement robot.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present utility model.
Fig. 2 is side view of the present utility model.
Fig. 3 is top view of the present utility model.
(1, camera bracket, 2, base plate, 3, chessboard, 4, wooden unit, 5, wooden unit, 6, wooden unit, 7, wooden unit, 8, bearing, 9, bearing, 10, bearing, 11, bearing, 12, first synchronous pulley, 13, second synchronous pulley, 14, 3rd synchronous pulley, 15, 4th synchronous pulley, 16, 5th synchronous pulley, 17, 6th synchronous pulley, 18, 7th synchronous pulley, 19, 8th synchronous pulley, 20, first cylindrical slideway, 21, second cylindrical slideway, 22, cuboid guide rail, 23, another guide rail, 24, first Timing Belt, 25, second Timing Belt, 26, 3rd Timing Belt, 27, 4th Timing Belt, 28, first digital rudder controller, 29, second digital rudder controller, 30, 3rd digital rudder controller, 31, 4th digital rudder controller, 32, liquid crystal display, 33, SRAM, 34, bluetooth host, 35, master controller, 36, indicator lamp, 37, bluetooth from machine, 38, from controller, 39, voice module, 40, camera, 41, button, 42, get chess piece place, 43, electromagnet module, 44, second connecting rod, 45, head rod, 46, first slide block, 47, second slide block, 48, 3rd slide block, 49, Four-slider).
Fig. 4 is the camera circuit figure of utility model.
Fig. 5 is the external SRAM circuit diagram of utility model.
Fig. 6 is the liquid crystal display circuit figure of utility model.
Fig. 7 is the LED indicating circuit figure of utility model.
Fig. 8 is the electromagnetic module circuit diagram of utility model.
Fig. 9 is the helm control circuit figure of utility model.
Figure 10 is the voice module circuit diagram of utility model.
Figure 11 is the power supply stabilization circuit figure of utility model.
Figure 12 is the utility model Bluetooth transmission circuit diagram.
Figure 13 is the main controller circuit figure of utility model.
Figure 14 be utility model from controller circuitry figure.
Figure 15 is program flow diagram of the present utility model.
Detailed description of the invention
A kind of quintet game Chinese-chess robot is made up of the part such as chessboard and chess piece, image collecting device, main controller device, executing agency.Robot, by camera collection, recording game position's image information, is transferred to main controller device and carries out image procossing and identification, obtain the position of beginning of opponent.Then give game theory analysis system by chessboard situation, carry out network analysis in conjunction with quintet game footwork, and obtain optimum responding to a call for recruits or candidates.Then be transferred to executing agency by bluetooth module to perform.Executing agency forms by from controller, steering wheel and electromagnet module, respond fast after receiving order, control steering wheel and correctly find coordinate of beginning in two dimensional surface, and control electromagnet module and complete the operation of playing chess, thus realize man-machine game truly.
As shown in Figure 1-2, in the rectangular base plate of one piece of 70*70cm, four angles of base plate use the wooden unit that 4cm is thick padded respectively, wooden unit installs four bearings, bearing is used for fixing two of Y direction with parallel cylindrical slideway (20, 21), guide rail there is individual slide block (46 respectively, 47), the guide rail (22) of X-direction is installed between two slide blocks, two slide blocks (46, 47) connecting rod (44 is used in outside respectively, 45) two Timing Belts (24 are connected to, 25) on, each Timing Belt is by two synchronous pulleys (12, 13, 14, 15) and one digital rudder controller (28, 29) driving can at Y direction synchronizing moving, be used for realizing longitudinal register, at two slide blocks (46,47) cross slide way (22) also there is a slide block (48) between, slide block is provided with the guide rail (23) of Z-direction, slide block (48) also connects the Timing Belt (26) of X-direction simultaneously, Timing Belt is by two synchronous pulleys (16,17) drive of and one digital rudder controller (30), realizes located lateral, the guide rail (23) of Z-direction also there is a slide block (49), slide block is installed electromagnet module (43), slide block (49) is connected to a Timing Belt (27) equally, Timing Belt realizes moving up and down of electromagnet module by a digital rudder controller and two synchronous pulleys, coordinates the energising of electromagnet module and power-off to get the action of chess piece and lower chess piece.This executing agency's flexibility is strong, and chess piece is fast and accurate for positioning, and cost performance is high.
Have a groove (42 place) putting chess piece at base plate (thick about 2cm), the degree of depth is about 1.5cm, the bigger chessman diameter of diameter, ensures that electromagnet module can take out chess piece freely.The chess piece at chess piece place is neat stacked together, the about 0.4cm of thickness of every chess piece, desirable 15 chess pieces (both sides are totally 30 chess pieces), the about 6cm of gross thickness, exceed backplate surface and be about 4.5cm, exceed chessboard (thick about 2.5cm) surface about 2cm.
After under robot, son terminates, electromagnet module (43) to be moved 2cm along Z axis positive direction under digital rudder controller (31) drives, then at digital rudder controller (28, 29, 30) move along X-axis negative direction and Y-axis negative direction under collaborative drive, turn back to the place (42) of getting chess piece, x unit length of moving along Z axis negative direction under digital rudder controller (31) drives again arrives above chess piece, electromagnet module obtains electric, hold the inner chess piece containing ferrous material, driven by digital rudder controller (31) again and to move x the unit length movement of period of the day from 11 p.m. to 1 a.m electromagnet module (to play chess) along Z axis positive direction, complete the process of getting chess piece.When under the other side, son terminates, robot obtains the coordinate that oneself will play chess piece by AI algorithm, then at digital rudder controller (28, 29, 30) coordinate place is moved to along X-axis positive direction and Y-axis positive direction under collaborative drive, the 2cm that moves along Z axis negative direction under digital rudder controller (31) drives again arrives above chessboard, electromagnet module dead electricity, coordinate place accurately fallen by chess piece, drive at digital rudder controller (31) again and to move the 2cm movement of period of the day from 11 p.m. to 1 a.m electromagnet module (to play chess) along Z axis positive direction, lower chess piece terminates, return and get chess piece place, go round and begin again until game over.After each lower chess piece terminates, the initial value that the numerical value of x adds 1, x is that 0 (both sides have 30 chess pieces altogether, each 15, desirable 15 the chess piece chess pieces of robot are that stacked together being placed on gets chess piece place), 1 unit length is that the thickness of a chess piece is about 0.4cm.
Fig. 4 is camera module circuit diagram of the present utility model, and in figure, sensor is based on OV7670-V3 camera module, and this module volume is little, highly sensitive, all functions that provide monolithic VGA camera and image processor.It applies exclusive sensor technology, by reducing or eliminating optics or electronic defects as fixed pattern noise, hangover, floating loose etc., improving picture quality, obtaining colored quintet game image stable clearly.With RGB565 formatted output quintet game image information in the design.
Fig. 5 is the external SRAM circuit diagram of utility model, in figure, circuit is based on IS62WV51216BLL memory chip, and this chip is the CMOS static memory chip of a slice 16 bit wide 512K (512*16, i.e. 1M byte) capacity, ternary output, full static state operation.The access speed of its 45ns/55ns is that the storage of image information and reading provide guarantee.
Fig. 6 is the liquid crystal display circuit figure of utility model, and in figure, circuit is based on SSD1289,3.2 cun of liquid crystal displays, the resolution ratio of 240X320 (RGB), and color depth is 16.The image of camera shooting can be shown clearly.
Fig. 7 is the LED indicating circuit figure of utility model, and LED lights all in figure adopts low level to light, for the protection of I/O port.When robot runs time, there is the erroneous condition such as signal wiring, LED2 with regard to flash for prompting, when robot wins the game time, LED3 lights prompting, and when people wins the game time, LED4 lights prompting, when both sides' draw in chess, then LED3 and LED4 lights expression draw in chess.The bright expression of LED5 should go out chess by robot, and the bright expression of LED6 should go out chess by people.
Fig. 8 is the electromagnetic module circuit diagram of utility model, and in figure when being high level from the PD3 of controller, then light emitting diode is lighted, and the base stage b of NPN triode 9013 is high level, conducting.Relay works, and normally-closed contact closes, electromagnet module work, draws chess piece.When being low level from the PD3 of controller, then light emitting diode extinguishes, and electromagnet module does not work.
Fig. 9 is the helm control circuit figure of utility model, in figure, the transmission Enable Pin 5 and 1 of 74HC126 chip is that high level is effective, when sending signal from controller to steering wheel, PE14 is high level, and PE15 is low level, data are sent to signal end 3 pin of steering wheel by PB10, when steering wheel is given from controller return data, PE14 is low level, and PE15 is high level, data are sent by the signal end of steering wheel, then accept data by the PB10 from controller.
Figure 10 is the voice module circuit diagram of utility model, by controlling the CS of speech chip, MOSI, SCLK in figure, XCLK, the pins such as INT, RAC, can realize sound collection by miaow head MK1, also voice signal can be exported by 13 pin, voice signal, by the amplification of audio-frequency power amplifier LM386, is then exported by loudspeaker, by the wave volume regulating the resistance of sliding resistance R21 can change loudspeaker.
Figure 11 is the power supply stabilization circuit figure of utility model, and in figure, power supply uses the high-capacity lithium battery of 7.4V 5000mAh, and while directly powering for steering wheel, the AMS1117 that uses in parallel carries out voltage stabilizing, makes output 3.3V power supply be supplied to single-chip microcomputer and other device work.The input of AMS1117 uses 10uF electric capacity C3 to carry out power filter, and output uses electric capacity C4 to eliminate output ripple, ensures that the normal work of components and parts is not by power supply disturbance.
Figure 12 is Bluetooth transmission circuit diagram of the present utility model, and in figure, wireless telecommunications are based on hc-06 bluetooth transparent transmission module, and this module contains signal and strengthens antenna, and data stabilization is transmitted, and penetrability is strong.
Figure 13 is main controller circuit figure of the present utility model, and in figure, single-chip microcomputer is STM32 enhancement mode series, is the chip of ARM Cortex-M3 kernel of Embedded Application of a high-performance, low-power consumption, low cost.Clock frequency reaches 72MHz, and processing speed is fast, powerful, and instruction is enriched, and is connected, realizes the control of whole system with other each circuit.
Figure 14 is of the present utility model from controller circuitry figure, and in figure, single-chip microcomputer is STM32 enhancement mode series, is the chip of ARM Cortex-M3 kernel of Embedded Application of a high-performance, low-power consumption, low cost.Clock frequency reaches 72MHz, and processing speed is fast, powerful, and instruction is enriched, and is connected, realizes the control of whole system with other each circuit.
Although the utility model with preferred embodiment openly as above; but it is also not used to limit the utility model; any person skilled in the art; not departing from spirit and scope of the present utility model; all can do various changes and modification, what therefore protection domain of the present utility model should define with claims is as the criterion.
Claims (9)
1. a quintet game Chinese-chess robot, is characterized in that: comprise main control unit, image collecting device, bottom plate apparatus; Described image collecting device comprises camera bracket, camera, liquid crystal display, SRAM, bluetooth host, master controller, LED light; Described bottom plate apparatus is provided with from control device, base plate, three-dimensional mobile platform, power supply; Described from control device control bluetooth from machine, from controller, voice module, electromagnet, steering wheel; Described base plate is provided with three-dimensional mobile platform and gets chess piece place, and described three-dimensional mobile platform is provided with chessboard device, and described chessboard device comprises chessboard and executing agency; The both sides of described chessboard are provided with the first cylindrical slideway (20), the second cylindrical slideway (21), described first cylindrical slideway (20) is affixed with the bearing on wooden unit with the second cylindrical slideway (21), article two, be provided with cuboid guide rail between cylindrical slideway, be provided with another guide rail of Z-direction between described cuboid guide rail, described executing agency is arranged on another guide rail.
2. a kind of quintet game Chinese-chess robot according to claim 1, is characterised in that, described main controller circuit connects with camera circuit, external SRAM circuit, liquid crystal display circuit, LED indicating circuit, bluetooth host transmission circuit.
3. a kind of quintet game Chinese-chess robot according to claim 1, is characterised in that, describedly connects from machine transmission circuit, helm control circuit from controller circuitry with voice module circuit, electromagnetic module circuit, bluetooth; The input of described power supply stabilization circuit connects with battery, and output connects from machine transmission circuit power end, LED indicating circuit power end, voice module circuit power end with bluetooth host transmission circuit power end, bluetooth respectively.
4. a kind of quintet game Chinese-chess robot according to claim 1, is characterised in that, described three-dimensional mobile platform is arranged in the rectangular base plate of one piece of 70*70cm, and four angles of base plate use wooden unit padded respectively.
5. a kind of quintet game Chinese-chess robot according to claim 1, be characterised in that, described first cylindrical slideway (20), second cylindrical slideway (21) is respectively equipped with the first slide block (46), second slide block (47), the cuboid guide rail (22) of X-direction is installed between two slide blocks, head rod (45) is used respectively outside two slide blocks, second connecting rod (44) is connected to the first Timing Belt (24), on second Timing Belt (25), each Timing Belt is by two synchronous pulley first synchronous pulleys (12), second synchronous pulley (13), 3rd synchronous pulley (14), 4th synchronous pulley (15) and the first digital rudder controller (28), second digital rudder controller (29) drives can at Y direction synchronizing moving, be used for realizing longitudinal register.
6. a kind of quintet game Chinese-chess robot according to claim 1, be characterised in that, described cuboid guide rail (22) also there is the 3rd slide block (48), 3rd slide block (48) connects the 3rd Timing Belt (26) of X-direction, 3rd Timing Belt (26), by the drive of two synchronous pulleys the 5th synchronous pulley (16), the 6th synchronous pulley (17) the 3rd digital rudder controller (30), realizes located lateral.
7. a kind of quintet game Chinese-chess robot according to claim 1, be characterised in that, another guide rail (23) of described executing agency also there is Four-slider (49), Four-slider (49) is installed electromagnet module (43), Four-slider (49) is connected to the 4th Timing Belt (27) equally, 4th Timing Belt (27) is by the 4th digital rudder controller (31) and the 7th synchronous pulley (18), 8th synchronous pulley (19) realizes moving up and down of electromagnet module (43), the energising of electromagnet module (43) and power-off is coordinated to get the action of chess piece and lower chess piece.
8. a kind of quintet game Chinese-chess robot according to claim 1, be characterised in that, described camera circuit is made up of OV7670-V3 camera module, wherein, 1 pin of camera module connects power supply, 2 pin and 12 pin ground connection, 3 pin meet the PB0 of master controller U5, 4 pin meet the PB1 of master controller U5, 5 pin meet the PF6 of master controller U5, 7 pin meet the PF7 of master controller U5, 9 pin meet the PF8 of master controller U5, 10 pin meet the PF9 of master controller U5, 11 pin meet the PF10 of master controller U5, 13 pin meet the PC0 of master controller U5, 14 pin meet the PC1 of master controller U5, 15 pin meet the PC2 of master controller U5, 16 pin meet the PC3 of master controller U5, 17 pin meet the PC4 of master controller U5, 18 pin meet the PC5 of master controller U5, 19 pin meet the PC6 of master controller U5, 20 pin meet the PC7 of master controller U5, 6 pin and 8 pin unsettled.
9. a kind of quintet game Chinese-chess robot according to claim 1, be characterised in that, described voice module electricity routing resistance R15-R22, electric capacity C5-C11, miaow head MK1, loudspeaker LS1, speech chip ISD4004 and Audio power amplifier chip LM386 forms, wherein, 28 pin of resistance R15 mono-termination speech chip U3, another termination power, 2 pin of resistance R16 mono-termination speech chip U3, another termination power, 1 pin of resistance R17 mono-termination speech chip U3, another termination power, 1 pin of speech chip U3 meets the PD4 from controller U6, 2 pin meet the PD5 from controller U6, 28 pin meet the PD6 from controller U6, 26 pin meet the PD7 from controller U6, 25 pin meet the PD8 from controller U6, 24 pin meet the PD9 from controller U6, 23 pin, 11 pin, 12 pin and 4 pin ground connection, 18 pin connect power supply, one end of the 27 pin connecting resistance R18 of speech chip U3, one end of other end connecting resistance R19 of resistance R18 and the anode of electric capacity C8, one end of the negative electrode connecting resistance R20 of electric capacity C8, one end of another termination miaow head of the other end parallel resistance R19 of resistance R20, 17 pin of speech chip U3 connect one end of electric capacity C7, one end of another termination miaow head of electric capacity C7, 16 pin of speech chip U3 connect one end of electric capacity C9, the other end of another termination miaow head of electric capacity C9, 13 pin of speech chip U3 connect one end of sliding resistance R21, the other end ground connection of sliding resistance R21, interlude connects 3 pin of chip U4, 2 pin of chip U4 and 4 pin ground connection, 6 pin connect one end of electric capacity C10, one end of another termination loudspeaker LS1 of electric capacity C10, the other end ground connection of loudspeaker LS1, 5 pin of chip U4 connect power supply, one end of 1 pin connecting resistance R22, the anode of another termination capacitor C11 of resistance R22, the negative electrode of electric capacity C11 connects 8 pin of chip U4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420626736.5U CN204263171U (en) | 2014-10-27 | 2014-10-27 | A kind of quintet game Chinese-chess robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420626736.5U CN204263171U (en) | 2014-10-27 | 2014-10-27 | A kind of quintet game Chinese-chess robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204263171U true CN204263171U (en) | 2015-04-15 |
Family
ID=52798068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420626736.5U Expired - Fee Related CN204263171U (en) | 2014-10-27 | 2014-10-27 | A kind of quintet game Chinese-chess robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204263171U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082144A (en) * | 2015-08-05 | 2015-11-25 | 马平 | Chess playing robot |
| CN106313019A (en) * | 2015-07-30 | 2017-01-11 | 江苏华明科教设备有限公司 | Chinese chess playing robot and work method thereof |
| CN107080937A (en) * | 2017-06-12 | 2017-08-22 | 三亚学院 | The chess piece of intelligent chess playing robot position, recognition methods of color on chessboard |
| CN107160399A (en) * | 2017-06-23 | 2017-09-15 | 安徽师范大学 | A kind of interactive anthropomorphic robot of controlled in wireless steering wheel |
| CN109173234A (en) * | 2018-09-15 | 2019-01-11 | 刘井敏 | intelligent chessboard |
| CN109421052A (en) * | 2017-08-24 | 2019-03-05 | 河海大学 | A kind of quintet game Chinese-chess robot based on artificial intelligence |
| CN109551497A (en) * | 2019-01-14 | 2019-04-02 | 上海第二工业大学 | A kind of robot plays chess game system and its control method |
| CN111002042A (en) * | 2019-12-06 | 2020-04-14 | 上海交通大学 | Desktop-level small CNC machine tool |
-
2014
- 2014-10-27 CN CN201420626736.5U patent/CN204263171U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313019A (en) * | 2015-07-30 | 2017-01-11 | 江苏华明科教设备有限公司 | Chinese chess playing robot and work method thereof |
| CN105082144A (en) * | 2015-08-05 | 2015-11-25 | 马平 | Chess playing robot |
| CN105082144B (en) * | 2015-08-05 | 2017-01-04 | 马平 | Chess playing robot |
| CN107080937A (en) * | 2017-06-12 | 2017-08-22 | 三亚学院 | The chess piece of intelligent chess playing robot position, recognition methods of color on chessboard |
| CN107080937B (en) * | 2017-06-12 | 2020-09-01 | 三亚学院 | Method for identifying positions and colors of chessmen of intelligent chess playing robot on chessboard |
| CN107160399A (en) * | 2017-06-23 | 2017-09-15 | 安徽师范大学 | A kind of interactive anthropomorphic robot of controlled in wireless steering wheel |
| CN109421052A (en) * | 2017-08-24 | 2019-03-05 | 河海大学 | A kind of quintet game Chinese-chess robot based on artificial intelligence |
| CN109173234A (en) * | 2018-09-15 | 2019-01-11 | 刘井敏 | intelligent chessboard |
| CN109551497A (en) * | 2019-01-14 | 2019-04-02 | 上海第二工业大学 | A kind of robot plays chess game system and its control method |
| CN111002042A (en) * | 2019-12-06 | 2020-04-14 | 上海交通大学 | Desktop-level small CNC machine tool |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204263171U (en) | A kind of quintet game Chinese-chess robot | |
| CN206558016U (en) | A kind of multimedia interaction national defence classroom | |
| CN205428431U (en) | Multi -functional education propaganda display device | |
| CN103176733A (en) | Electronic interactive aquarium system | |
| CN109616179A (en) | Autism spectrum disorder mixed reality rehabilitation training system and method | |
| Chng | New ways of accessing information spaces using 3D multitouch tables | |
| Xu | Application of human–computer interaction virtual reality technology to the design of ice and snow landscapes | |
| CN202306913U (en) | Apparatus for controlling multiple states of magnetic liquid | |
| CN107240041A (en) | The wisdom of traditional old countries propagates mode of tourism under new media environment | |
| CN206400885U (en) | A kind of mathematical thinking training aid | |
| CN203480705U (en) | Learning machine capable of being controlled by gesture or motion | |
| CN204093028U (en) | Toy type learning machine | |
| CN207281494U (en) | Intelligence development robot | |
| CN201993918U (en) | Electronic teaching board | |
| CN203566698U (en) | Building block type intelligent robot with micro-control unit capable of being inserted, replaced and erased | |
| CN202172712U (en) | Fish tank | |
| CN205360594U (en) | Intelligence stuffed toy | |
| CN206179263U (en) | A teaching equipment for sight japanese teaching | |
| Yi | Reform of sports health supermarket based on ar technology | |
| CN210110142U (en) | System schematic diagram light panel | |
| Eloul et al. | Motion Tracking of a Fish as a Novel Way to Control Electronic Music Performance | |
| CN210535025U (en) | Teaching is with simulation explanation device | |
| Ene-Orji et al. | El Anatsui and the Postmodern Controversy | |
| CN203480706U (en) | Children cognition toy | |
| CN107492323A (en) | It is a kind of to strengthen interactive platform billboard |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20181027 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |