WO2023217207A1 - 悬浮棋以及控制棋子悬浮移动的方法 - Google Patents

悬浮棋以及控制棋子悬浮移动的方法 Download PDF

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Publication number
WO2023217207A1
WO2023217207A1 PCT/CN2023/093393 CN2023093393W WO2023217207A1 WO 2023217207 A1 WO2023217207 A1 WO 2023217207A1 CN 2023093393 W CN2023093393 W CN 2023093393W WO 2023217207 A1 WO2023217207 A1 WO 2023217207A1
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WO
WIPO (PCT)
Prior art keywords
chess piece
chess
driving base
moved
suspended
Prior art date
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PCT/CN2023/093393
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English (en)
French (fr)
Inventor
翁妍
喻甫祥
Original Assignee
翁妍
喻甫祥
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Application filed by 翁妍, 喻甫祥 filed Critical 翁妍
Publication of WO2023217207A1 publication Critical patent/WO2023217207A1/zh

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Classifications

    • 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
    • A63F3/00694—Magnetic board games
    • 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
    • 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
    • A63F3/00173—Characteristics of game boards, alone or in relation to supporting structures or playing piece
    • A63F3/00574—Connections between board and playing pieces
    • A63F2003/0063—Magnetic

Definitions

  • the present invention relates to the field of chess equipment, and more specifically, to a suspended chess piece in which chess pieces can be suspended relative to a chess board and a method for controlling the suspended movement of the chess pieces.
  • AI smart chessboards transforms the existing chessboards and chess pieces of various chess games such as chess and Chinese chess, and adds corresponding electronic intelligent devices, making traditional chess games intelligent.
  • the present invention proposes a suspended chess piece and a method for controlling the suspended movement of chess pieces, which can increase the speed of chess piece movement, save game time, and increase the viewing and fun of the game through the suspended chess piece technology. This improves the intelligence of the chessboard.
  • a suspended chess piece including:
  • a chess piece driving base located inside the chessboard, wherein, in response to chess movement instructions:
  • the chess piece drives the base to move to the corresponding position below the chess piece to be moved;
  • the chess piece driving base and the chess piece to be moved respectively generate mutually repelling magnetic forces, causing the chess piece to be moved to float relative to the chessboard;
  • the chess piece driving base drives the chess piece to be moved to the placement position
  • the chess piece driving base changes the generated magnetic force to cause the chess piece to be moved to fall.
  • the chess pieces include:
  • an electromagnetic coil configured to generate magnetic force when activated
  • a wireless communication unit configured to receive activation instructions
  • control unit configured to send control instructions to each component in the chess piece.
  • the chess pieces further include:
  • a wireless charging chip configured to use the electromagnetic coil to charge the battery unit when the chess piece is not activated.
  • the chess piece driving base includes:
  • an electromagnetic coil assembly configured to generate magnetic force when driven
  • a magnetic sensor configured to detect the magnetic field strength of the magnetic field generated by the electromagnetic coil inside the chess piece to be moved above the chess piece drive base
  • a control unit configured to send control instructions to each component in the chess piece driving base.
  • the electromagnetic coil group includes at least 4 electromagnetic coils, and the at least 4 electromagnetic coils are configured to generate magnetic force such that under the joint action of the magnetic force generated by the at least 4 electromagnetic coils , the chess piece to be moved can be suspended relative to the chess board and maintain a constant position relative to the chess piece driving base during the movement of the chess piece driving base.
  • the chess piece driving base further includes an electronic coil group driving circuit for controlling the electromagnetic coil group according to the PWM signal output by the control unit.
  • the driving of each electromagnetic coil is to adjust the suspension height of the chess piece to be moved.
  • the control unit in the chess piece driving base determines the chess piece to be moved by detecting the magnetic field strength of the magnetic field generated by the electromagnetic coil inside the chess piece to be moved by the magnetic sensor. distance from the relative position of the magnetic sensor, and dynamically adjust the magnetic force of each electromagnetic coil by adjusting the frequency and duty cycle of the PWM signal corresponding to each electromagnetic coil, so that the relationship between the chess piece to be moved and the chess piece driving base is The relative position remains unchanged dynamically.
  • the floating height is greater than the height of the chess piece, so that the chess piece to be moved can pass over other chess pieces during the movement of the chess piece driving base.
  • the chessboard includes a wireless charging coil for charging chess pieces placed on the chessboard.
  • a method for controlling suspended movement of chess pieces including:
  • control the chess piece located inside the chessboard to drive the base to move to the corresponding position below the chess piece to be moved;
  • the chess piece driving base is controlled to change the generated magnetic force so that the chess piece to be moved falls.
  • controlling the chess piece driving base to drive the chess piece to be moved to the placement position further includes:
  • the chess piece driving base is controlled to determine the relative position of the chess piece to be moved from the chess piece driving base through the detected magnetic field strength, and by adjusting the PWM signal corresponding to each electromagnetic coil in the chess piece driving base. To dynamically adjust the magnetic force of each electromagnetic coil in the chess piece driving base, so that the relative position between the chess piece to be moved and the chess piece driving base is dynamically maintained unchanged.
  • it further includes:
  • the chessboard is controlled to charge the chess pieces placed on the chessboard.
  • the chess pieces provided by the present invention can be suspended relative to the chessboard. Chess and the method of controlling the suspended movement of chess pieces can improve the practicality, viewing and fun of smart chessboards.
  • Figure 1 is a schematic diagram of a suspended chess piece according to an embodiment of the present invention.
  • Figure 2 is an example structural diagram of a chess piece according to an embodiment of the present invention.
  • Figure 3 is an example structural diagram of a chess piece driving base according to an embodiment of the present invention.
  • Figure 4 is an example architecture diagram of a suspended chess piece according to an embodiment of the present invention.
  • Figure 5 is an example architecture diagram of a suspended chess piece interaction system according to an embodiment of the present invention.
  • Figure 6 is a flow chart of a method for controlling the suspended movement of chess pieces according to an embodiment of the present invention.
  • connection should be understood in a broad sense.
  • it can be a fixed connection or a removable connection.
  • an embodiment means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.
  • FIG. 1 is a schematic diagram of a suspended chess piece 100 according to an embodiment of the present invention.
  • the suspended chess piece 100 includes a chess board 102 , a chess piece driving base 106 located inside the chess board 102 , and a plurality of chess pieces.
  • chess pieces 104a, 104b, and 104c are shown in FIG. 1, where chess piece 104b is shown as a chess piece to be moved and is therefore activated and suspended relative to the chess board 102, while chess pieces 104a and 104c are shown as not being moved. The activated piece therefore remains on the chessboard 102.
  • the suspended chess piece 100 may include more or fewer chess pieces.
  • the chess piece driving base 106 can respond to the chess playing instructions, move to the corresponding position below the chess piece 104b to be moved, and generate mutually repelling magnetic forces with the chess piece 104b to be moved, so that the chess piece 104b to be moved is relative to the chess board. 102 suspension. Then, the chess piece driving base 106 drives the chess piece 104b to be moved to the falling position, and the chess piece driving base 106 changes the generated magnetic force to cause the chess piece 104b to be moved to fall.
  • the chessboard 102 may also include a transmission rod (not shown in FIG. 1 ), the chess piece driving base 106 may be fixed on the transmission rod, and the chess piece driving base 106 is driven by the motor belt gear. Movement within the chessboard 102. In this way, the chess piece driving base 106 can move to the corresponding position below the chess piece 104b to be moved, and drive the chess piece 104b to be moved to the placement position.
  • FIG. 2 is an example structural diagram of a chess piece 200 according to an embodiment of the present invention.
  • the chess piece 200 may include a battery unit 202, an electromagnetic coil 204 and a PCB control board 206, and the PCB control board 206 may be configured with, for example, a wireless communication unit and a control unit (not shown in Figure 2).
  • the battery unit 202 may be located above the PCB control board 206 and the solenoid 204 may be located below the PCB control board 206 .
  • the battery unit 202 may be used to power various components in the chess piece 200.
  • the battery unit 202 may be a lithium battery; and the electromagnetic coil 204 may be configured to generate magnetic force when activated.
  • the chess piece 200 also includes an outer shell 208 and a closed magnetic housing 210, where the closed magnetic housing 210 may be, for example, a ferrite closed magnetic housing or other closed magnetic housing.
  • the electromagnetic coil 204 may be surrounded by a closed magnetic housing 210
  • the housing 208 may surround various components in the chess piece 200 .
  • FIG. 3 is an example structural diagram of a chess piece driving base 300 according to an embodiment of the present invention.
  • the chess piece driving base 300 may include an electromagnetic coil group 302 , a magnetic sensor 304 and a PCB control board 306 .
  • the chess piece driving base 300 also includes a closed magnetic housing 308.
  • the magnetic sensor 304 is located within the electromagnetic coil assembly 302
  • the magnetic closed housing 308 surrounds the electromagnetic coil assembly 302 , and these components are mounted above the PCB control board 306 .
  • the electromagnetic coil assembly 302 may be configured to generate magnetic force when driven.
  • the magnetic sensor 304 may be configured to detect the magnetic field strength of the magnetic field generated by the electromagnetic coil inside the chess piece to be moved above the chess piece driving base 300 .
  • the PCB control board 306 may be configured to send control instructions to various components in the chess piece driving base 300 .
  • the electromagnetic coil group 302 may include at least 4 electromagnetic coils, and the at least 4 electromagnetic coils are configured to generate magnetic forces such that under the combined action of the magnetic forces generated by the at least 4 electromagnetic coils, the chess pieces to be moved can move relative to each other. It is suspended on the chessboard and maintains its position relative to the chess piece driving base 300 during the movement of the chess piece driving base 300 .
  • the battery coil group 302 has four coils, and accordingly, the electromagnetic sensor 304 is a four-channel electromagnetic sensor.
  • the battery coil group may also have n coils such as 5, 6, 7, etc. (where n>4), and the electromagnetic sensor 304 may be an n-channel electromagnetic sensor accordingly.
  • FIG. 4 is an example architecture diagram of a suspended chess piece 400 according to an embodiment of the present invention.
  • the suspended chess piece 400 may include a floating chess piece 402 , a chessboard panel 420 in the chessboard, and a chess piece driving base 442 .
  • the suspended chess piece 402 may include a lithium battery 404 (ie, a type of battery unit 202 shown in FIG. 2), an antenna 406, a floating chess piece control main board 408 (ie, the PCB control board 202 shown in FIG. 2), an electromagnetic coil 418, etc.
  • the suspended chess piece control mainboard 408 may include an MCU 410, a wireless communication chip 414, an electromagnetic coil driving circuit 416, etc.
  • the MCU 410 can be configured to send control instructions to each component in the suspended chess piece 402.
  • the wireless communication chip 414 can be configured to receive activation instructions.
  • the wireless communication chip 414 may include Bluetooth, SUB-1G, WIFI, 2.4G, etc., and the wireless communication chip 414 may receive instructions through the antenna 406, for example.
  • the wireless communication unit may receive activation instructions from the drive base.
  • the wireless communication unit may also receive activation instructions from a control panel other than the driving base (for example, a control panel located in or outside the chessboard), a mobile terminal (for example, a mobile phone, a tablet computer, etc.), etc.
  • the electromagnetic coil group driving circuit 416 can be used to control the driving of the electromagnetic coil 418 according to the PWM signal output by the MCU 410.
  • the suspended chess piece 402 may also include a wireless charging chip 412, and the electromagnetic coil 418 may be multiplexed into a wireless charging receiving coil, which may be switched for use, for example, through a load switch.
  • the wireless charging chip 412 may be configured to utilize the electromagnetic coil 418 to charge the lithium battery 404 when the floating chess pieces 402 are not activated (eg, chess pieces 104a and 104c in FIG. 1 ).
  • the chessboard panel 420 may include wireless charging coils 422 (eg, each chess square has a charging coil) for charging chess pieces placed on the chessboard panel 420 (eg, chess pieces 104a and 104c in FIG. 1 ). to charge.
  • the wireless charging coil 422 can also be equipped only under some chessboards (for example, common chessboards) of the chessboard panel 420 according to the needs of practical applications.
  • the floating base control main board 436 (ie, the PCB control board 306 in FIG. 3 ) in the chess piece driving base 422 may include an electromagnetic coil group driving circuit 430 and an MCU 432 (ie, a control unit).
  • the electromagnetic coil group driving circuit 430 can be used to control the driving of each electromagnetic coil 424 in the electromagnetic coil group according to the PWM signal output by the MCU 432 to adjust the suspension height of the chess piece to be moved.
  • the adjusted floating height may be greater than the height of the chess piece, so that the floating chess piece 402 can pass over other chess pieces during the movement of the chess piece driving base 442.
  • the chess piece driving base 442 drives the suspended chess piece 402 to move, other unactivated chess pieces will not be affected by the chess piece driving base 442, that is, they will not be suspended or moved. Therefore, the activated chess piece can be suspended above other chess pieces. movement above.
  • the MCU 432 can drive the magnetic sensor 426 through the magnetic sensor detection circuit 428 to detect the magnetic field strength of each electromagnetic coil 424 in the electromagnetic coil group, and the electromagnetic coil 418 inside the suspended chess piece 402 above the chess piece driving base 442 in different suspended positions.
  • the magnetic field strength at the height is used to determine the relative position of the floating chess piece 402 from the magnetic sensor 426, and the magnetic force of each electromagnetic coil 424 is dynamically adjusted by adjusting the frequency and duty cycle of the PWM signal corresponding to each electromagnetic coil 424, so that The relative position between the suspended chess piece 402 and the chess piece driving base 442 is dynamically maintained.
  • the chess piece driving base 442 can be moved below the chess piece to be moved, for example, through a motor transmission rod.
  • the chess piece to be moved ie, the suspended chess piece 402 shown in Figure 4
  • its wireless communication unit eg, the wireless communication chip 414 in Figure 4
  • the magnetic sensor 426 of the chess piece driving base 442 under the control of the driving base control main board 436, detects the magnetic force of the suspended chess piece 402 in a short period of time, thereby determining the relative position of the floating chess piece 402 from the chess piece driving base 442. Specifically, in conjunction with the chess piece driving base 300 in FIG.
  • the 4 electromagnetic coils 424 in the chess piece driving base 442 can be controlled, for example, through a PWM signal: when the PWM is high power, Normally, the driving currents of the four electromagnetic coils 424 are constant current values; when the PWM is at a low level, the driving currents of the four electromagnetic coils 424 are all zero.
  • the driving current of the electromagnetic coil 424 in the chess piece driving base for example, 300 in FIG. 3 and 442 in FIG. 4 4) is zero, there is only the magnetic field generated by the electromagnetic coil 418 in the suspended chess piece 402 in the space.
  • the 4-channel magnetic sensor 426 of the chess piece driving base 442 detects the magnetic field intensity of the magnetic field generated by the electromagnetic coil 418 in the floating chess piece 402, and transmits it to the MCU 432 through the ADC signal, and then determines the difference between the floating chess piece 402 and the magnetic field through the MCU program.
  • the relative position between the sensors 442, for example, uses the sum of the magnetic field strengths of the four channels to calculate the Z-axis distance relative to the magnetic sensor 426, and uses the difference in magnetic field strengths of the four channels to calculate the X, Y relative to the sensor 426. axis horizontal distance.
  • the chess piece driving base 442 thus determines the current position of the floating chess piece 402 and the position parameters of the magnetic sensor 426 on the X(t), Y(t), and Z(t) axes, as well as the position parameters in the three directions.
  • the magnetic intensity U(t) corresponding to each channel in the magnetic sensor 426 is calculated through the two parameters of PID proportion and differential. The calculation formula is as follows:
  • Ka, Kb, and Kc are proportional coefficients, and the coefficients corresponding to each electromagnetic coil can be obtained according to actual engineering debugging; Ta, Tb, and Tc are differential coefficients, and the corresponding coefficients for each electromagnetic coil can also be obtained according to actual engineering debugging. coefficient.
  • U(t) is converted into the driving PWM frequency and duty cycle corresponding to the four electromagnetic coils 424, through the pins of the MCU 432 (such as , GPIO, etc.) to output a PWM signal to control the constant current drive circuit, thereby dynamically controlling the magnetic force of each electromagnetic coil 424 in the electromagnetic coil group, so that the suspended chess piece 402 and the chess piece driving base 442 are dynamically controlled at a certain relative position. .
  • the chess piece driving base 442 can dynamically and real-time control the relative movement of the suspended chess pieces 402 through signals fed back by its internal magnetic sensor 426 during movement. Specifically, the suspended chess piece 402 can follow the movement of the chess piece driving base 442 and remain at a relative height. When the suspended chess piece 402 moves to a designated position, the suspended chess piece 402 is controlled to disconnect its electromagnetic coil 418, and the suspended chess piece 402 falls down. The move ends.
  • the chess piece driving base 442 can also dynamically and real-time adjust the floating height of the suspended chess piece 402 according to actual needs, so that, for example, the suspended chess piece 402 can pass over a different number of stacked chess pieces on the chessboard. Or inactive pieces of different heights.
  • FIG. 5 is an example architecture diagram of a suspended chess piece interaction system 500 according to an embodiment of the present invention.
  • the suspended chess piece 504 may include a chess board control unit 510, a chess piece driving base 506, and a plurality of chess pieces (eg, 508a, 508b, 508c).
  • the chess piece driving base 506 can be wired to the chessboard control unit 510 (for example, the chessboard control motherboard) through a serial port, SPI, network cable, etc., thereby receiving data from the terminal 502 (for example, a mobile phone terminal, WLAN/WIFI, remote terminal, computer, etc.), such as chess instructions.
  • the terminal 502 for example, a mobile phone terminal, WLAN/WIFI, remote terminal, computer, etc.
  • the chess piece driving base 506 may further include a wireless communication unit (eg, Bluetooth) to receive instructions from the terminal 502 wirelessly. In response to the received instructions, the chess piece driving base 506 may perform as described above with reference to Figures 1, 3 and 4 various operations described.
  • a wireless communication unit eg, Bluetooth
  • the chess piece driving base 506 can also send an activation instruction to the chess piece after moving to the corresponding position below the chess piece to be moved, to activate the chess piece.
  • Chess pieces are pieces that need to move.
  • the chess piece may generate a magnetic force (eg, a magnetic force of the same polarity) that is repellent to the chess piece driving base 506 in response to the received activation command, thereby levitating relative to the chess board.
  • the activation command for the chess piece to be moved is not limited to the wireless signal command sent by the chess piece driving base 506.
  • the activation command can also be sent by a mobile phone, a motherboard or a control board other than the chess piece driving base 506, etc.
  • one of the two parties playing chess can play chess remotely online through a mobile terminal 502 (for example, an APP on a mobile phone, a tablet computer, etc.), and the chess piece driving base 506 can, after receiving the chess playing instructions wired or wirelessly, through Use the levitation technique as described above to move the corresponding pieces.
  • the other party playing chess can move the chess pieces in the following two ways: one is to be in front of the floating chess piece 504, holding the chess piece in hand for direct operation. After the operation is completed, the chess piece driving base 506 recognizes the chess piece information and uploads it wired or wirelessly.
  • Synchronize to the remote device another method is to play chess through a mobile terminal (for example, mobile phone, tablet computer, etc. APP).
  • the chess piece driving base 506 can, after receiving the chess playing instructions wired or wirelessly, through the above Use the above-mentioned levitation technology to move the corresponding chess pieces.
  • FIG. 6 is a flow chart of a method 600 for controlling the suspended movement of chess pieces according to one embodiment of the present invention.
  • the method 600 starts with step 602 , and may respond to a chess move instruction by controlling the chess piece driving base located inside the chess board to move to a corresponding position below the chess piece to be moved.
  • the suspended chess piece eg, the floating chess piece 100 in FIG. 1 , the floating chess piece circuit system 400 in FIG. 4 , and the floating chess piece 504 in FIG. 5
  • the chess piece driving base inside the chessboard 102 in 1) (for example, the chess piece driving base 106 in Figure 1, the chess piece driving base 300 in Figure 3, the chess piece driving base 442 in Figure 4, and the chess piece driving base 506 in Figure 5)
  • the chess piece driving base and the chess piece to be moved can be controlled to generate repulsive magnetic forces respectively, so that the chess piece to be moved is suspended relative to the chess board.
  • the chess piece driving base can be controlled to drive the chess piece to be moved to the placement position.
  • the chess piece driving base is controlled to detect the magnetic field intensity of the magnetic field generated by the chess piece to be moved above the chess piece driving base. Then, control the chess piece driving base to judge by the detected magnetic field strength.
  • the relative position of the chess piece to be moved from the chess piece drive base, and the magnetic force of each electromagnetic coil in the chess piece drive base is dynamically adjusted by adjusting the PWM signal corresponding to each electromagnetic coil in the chess piece drive base, so that the chess piece to be moved and the chess piece are The relative position between the driving bases is dynamically maintained.
  • the chess piece driving base can be controlled to change the generated magnetic force to cause the chess piece to be moved to fall.
  • method 600 may further include controlling a chessboard (eg, chessboard 102 in FIG. 1 ) to charge chess pieces (eg, chess pieces 104a and 104c in FIG. 1 ) placed on the chessboard.
  • a chessboard eg, chessboard 102 in FIG. 1
  • chess pieces eg, chess pieces 104a and 104c in FIG. 1
  • the above describes the suspended chess game in which the chess pieces of the present invention can be suspended relative to the chessboard and the method for controlling the suspended movement of the chess pieces.
  • the present invention at least has the following advantages: through the intelligent suspended chess piece technology, the previous contact is changed.
  • the chess piece movement method of the present invention allows the chess pieces to move point-to-point in a straight line and no longer needs to go around, which greatly improves the speed of chess playing, increases the viewing and fun of chess playing, and avoids friction between the chess pieces and the chess board. noise and board scratches caused by long-term friction.

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Abstract

一种悬浮棋（100）以及控制棋子悬浮移动的方法，其中悬浮棋（100），包括：棋盘（102）；多个棋子（104a、104b、104c）；以及位于所述棋盘（102）内部的棋子驱动底座（106），其中，响应于行棋指令：所述棋子驱动底座（106）移动到待移动棋子（104b）下方的对应位置；所述棋子驱动底座（106）与所述待移动棋子（104b）分别生成相斥的磁力，使所述待移动棋子（104b）相对于所述棋盘（102）悬浮；所述棋子驱动底座（106）带动所述待移动棋子（104b）移动到落子位置；以及所述棋子驱动底座（106）改变所生成的磁力以使所述待移动棋子（104b）落下。

Description

悬浮棋以及控制棋子悬浮移动的方法 技术领域
本发明涉及棋具领域，更具体地，涉及一种棋子可以相对棋盘悬浮的悬浮棋以及控制棋子悬浮移动的方法。
背景技术
随着互联网时代科技的发展，AI智能的普及，越来越多的智能终端设备的出现，市场上也不断涌现出AI智能棋盘。AI智能棋盘通过对现有的国际象棋、中国象棋等各种棋类游戏的棋盘与棋子进行改造，并增加相应的电子智能设备，使得传统的棋类游戏变得智能化。
目前的智能棋盘产品大部分属于语音提示或者显示提示类产品，棋子的走动还是需要人工根据提示走动，体现不了真正的互动性，为了满足棋盘真正人性化以及趣味性，设计智能走动的棋子很有必要。目前已经拥有磁吸走动的棋子，类似磁吸硬币贴着桌面移动原理，此类技术具有一定的新颖性，但无法越过其它棋子，只能饶过其它固定棋子，拉长了棋子走动的路径，同时棋子长时间都摩擦走动会刮花棋盘。此外，另一种现有的棋子移动方式是采用棋盘旁的机械臂或棋盘上方的机械结构对棋子进行搬运，该种方法导致棋盘美观度较差，体积较大且存在机械伤人的风险。
发明内容
提供本发明内容以便以简化形式介绍将在以下具体实施方式中进一步的描述一些概念。本发明内容并非旨在标识所要求保护的主题的关键特征或必要特征，也不旨在用于帮助确定所要求保护的主题的范围。
为解决上述问题，本发明提出了一种悬浮棋以及控制棋子悬浮移动的方法，其可以通过悬浮棋子技术，提高棋子运动的速度，节省对局时间，并且增加对局的观赏性和趣味性，从而提升了棋盘的智能化。
根据本发明的一个方面，提供了一种悬浮棋，包括：
棋盘；
多个棋子；以及
位于所述棋盘内部的棋子驱动底座，其中，响应于行棋指令：
所述棋子驱动底座移动到待移动棋子下方的对应位置；
所述棋子驱动底座与所述待移动棋子分别生成相斥的磁力，使所述待移动棋子相对于所述棋盘悬浮；
所述棋子驱动底座带动所述待移动棋子移动到落子位置；以及
所述棋子驱动底座改变所生成的磁力以使所述待移动棋子落下。
根据本发明的一个实施例，所述棋子包括：
电池单元，用于为所述棋子中的各组件供电；
电磁线圈，所述电磁线圈被配置成在被激活时产生磁力；
无线通信单元，所述无线通信单元被配置成接收激活指令；以及
控制单元，所述控制单元被配置成向所述棋子中的各组件发送控制指令。
根据本发明的进一步实施例，所述棋子进一步包括：
无线充电芯片，所述无线充电芯片被配置成在棋子未被激活时利用所述电磁线圈为所述电池单元进行充电。
根据本发明的另一实施例，所述棋子驱动底座包括：
电磁线圈组，所述电磁线圈组被配置成在被驱动时产生磁力；
磁传感器，所述磁传感器被配置成检测所述棋子驱动底座上方的所述待移动棋子内部的电磁线圈所产生的磁场的磁场强度；以及
控制单元，所述控制单元被配置成向所述棋子驱动底座中的各组件发送控制指令。
根据本发明的进一步实施例，所述电磁线圈组包括至少4个电磁线圈，并且所述至少4个电磁线圈被配置成生成磁力以使得在所述至少4个电磁线圈产生的磁力的共同作用下，所述待移动棋子能够相对于所述棋盘悬浮、并在所述棋子驱动底座的移动过程中相对于所述棋子驱动底座保持位置不变。
根据本发明的进一步实施例，所述棋子驱动底座进一步包括电子线圈组驱动电路，用于根据所述控制单元输出的PWM信号来控制所述电磁线圈组中的 各电磁线圈的驱动，以调整所述待移动棋子的悬浮高度。
根据本发明的进一步实施例，所述棋子驱动底座中的所述控制单元通过所述磁传感器检测到的所述待移动棋子内部的电磁线圈所产生的磁场的磁场强度来判断所述待移动棋子距离所述磁传感器的相对位置，并且通过调整对应于每一个电磁线圈的PWM信号的频率和占空比来动态调整各电磁线圈的磁力，以使得所述待移动棋子和所述棋子驱动底座之间动态地保持相对位置不变。
根据本发明的进一步实施例，所述悬浮高度大于所述棋子的高度，使得所述待移动棋子能够在随所述棋子驱动底座的移动过程中越过其它棋子。
根据本发明的另一实施例，所述棋盘包括无线充电线圈，用于对放置在所述棋盘上的棋子进行充电。
根据本发明的另一方面，提供了一种控制棋子悬浮移动的方法，包括：
响应于行棋指令，控制位于棋盘内部的棋子驱动底座移动到待移动棋子下方的对应位置；
控制所述棋子驱动底座与所述待移动棋子分别生成相斥的磁力，使所述待移动棋子相对于所述棋盘悬浮；
控制所述棋子驱动底座带动所述待移动棋子移动到落子位置；以及
控制所述棋子驱动底座改变所生成的磁力以使所述待移动棋子落下。
根据本发明的一个实施例，控制所述棋子驱动底座带动所述待移动棋子移动到落子位置进一步包括：
控制所述棋子驱动底座检测所述棋子驱动底座上方的所述待移动棋子所产生的磁场的磁场强度；以及
控制所述棋子驱动底座通过检测到的所述磁场强度来判断所述待移动棋子距离所述棋子驱动底座的相对位置，并且通过调整对应于所述棋子驱动底座内的每一个电磁线圈的PWM信号来动态调整所述棋子驱动底座内的各电磁线圈的磁力，以使得所述待移动棋子和所述棋子驱动底座之间动态地保持相对位置不变。
根据本发明的另一实施例，进一步包括：
控制所述棋盘对放置在所述棋盘上的棋子进行充电。
与现有技术中的方案相比，本发明所提供的棋子可以相对棋盘悬浮的悬浮 棋以及控制棋子悬浮移动的方法可以提高智能棋盘的实用性、观赏性、趣味性。
通过阅读下面的详细描述并参考相关联的附图，这些及其它特点和优点将变得显而易见。应该理解，前面的概括说明和下面的详细描述只是说明性的，不会对所要求保护的各方面形成限制。
附图说明
为了能详细地理解本发明的上述特征所用的方式，可以参照各实施例来对以上简要概述的内容进行更具体的描述，其中一些方面在附图中示出。然而应该注意，附图仅示出了本发明的某些典型方面，故不应被认为限定其范围，因为该描述可以允许有其它等同有效的方面。
图1是根据本发明的一个实施例的悬浮棋的示意图。
图2是根据本发明的一个实施例的棋子的示例结构图。
图3是根据本发明的一个实施例的棋子驱动底座的示例结构图。
图4是根据本发明的一个实施例的悬浮棋的示例架构图。
图5是根据本发明的一个实施例的悬浮棋子交互系统的示例架构图。
图6是根据本发明的一个实施例的控制棋子悬浮移动的方法的流程图。
在附图中，附图并未按照实际的比例绘制。
具体实施方式
下面结合附图详细描述本发明，本发明的特点将在以下的具体描述中得到进一步的显现。以下实施例的详细描述和附图用于示例性地说明本发明的原理，但不能用来限制本发明的范围，即本发明不限于所描述的实施例。
在本发明的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允 许范围之内。
下述描述中出现的方位词均为图中示出的方向，并不是对本发明的具体结构进行限定。在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本发明中的具体含义。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本发明实施例的描述中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
图1是根据本发明的一个实施例的悬浮棋100的示意图。如图1中所示，悬浮棋100包括棋盘102、位于棋盘102内部的棋子驱动底座106、以及多个棋子。作为示例，图1中示出了棋子104a、104b和104c，其中，棋子104b被示出为待移动棋子，因而被激活并正相对于棋盘102悬浮，而棋子104a和104c被示出为未被激活的棋子，因此保持停留在棋盘102上。可以领会，悬浮棋100可以包括更多或更少的棋子。
在行棋的过程中，棋子驱动底座106可以响应于行棋指令，移动到待移动棋子104b下方的对应位置，与待移动棋子104b分别生成相斥的磁力，从而使得待移动棋子104b相对于棋盘102悬浮。然后，棋子驱动底座106带动待移动棋子104b移动到落子位置，棋子驱动底座106改变所生成的磁力以使待移动棋子104b落下。
作为一个示例，棋盘102内还可以包括传动杆(图1中未示出)，棋子驱动底座106可以固定在传送杆上，通过电机皮带齿轮带动棋子驱动底座106在 棋盘102内运动。以此方式，棋子驱动底座106可以移动到待移动棋子104b下方的对应位置，并且带动待移动棋子104b移动到落子位置。
图2是根据本发明的一个实施例的棋子200的示例结构图。如图2中所示，棋子200可以包括电池单元202、电磁线圈204和PCB控制板206，并且PCB控制板206上可配置有例如无线通信单元和控制单元(图2中未示出)等。作为一个非限制性的示例，如图2所述，电池单元202可以位于PCB控制板206的上方，并且电磁线圈204可以位于PCB控制板206的下方。其中，电池单元202可用于为棋子200中的各组件供电，作为一个示例，电池单元202可以例如是锂电池；并且电磁线圈204可被配置成在被激活时产生磁力。
进一步地，棋子200还包括外壳208和闭磁壳体210，其中闭磁壳体210可以例如是铁氧闭磁壳体或其它闭磁性壳体。作为一个非限制性的示例，如图2所述，电磁线圈204可被闭磁壳体210所包围，并且外壳208可以包围棋子200中的各个组件。
图3是根据本发明的一个实施例的棋子驱动底座300的示例结构图。如图3中所示，棋子驱动底座300可以包括电磁线圈组302、磁传感器304和PCB控制板306。进一步地，棋子驱动底座300还包括闭磁壳体308。作为一个非限制性的示例，如图3所述，磁传感器304位于电磁线圈组302之中，闭磁壳体308包围电磁线圈组302，并且这些组件被安装在PCB控制板306的上方。
其中，电磁线圈组302可被配置成在被驱动时产生磁力。磁传感器304可被配置成检测棋子驱动底座300上方的待移动棋子内部的电磁线圈所产生的磁场的磁场强度。PCB控制板306可被配置成向棋子驱动底座300中的各组件发送控制指令。
作为一个示例，电磁线圈组302可以包括至少4个电磁线圈，并且该至少4个电磁线圈被配置成生成磁力以使得在该至少4个电磁线圈产生的磁力的共同作用下，待移动棋子能够相对于棋盘悬浮、并在棋子驱动底座300的移动过程中相对于棋子驱动底座300保持位置不变。如图3中所示，电池线圈组302具有4个线圈，相应地，电磁传感器304为四通道电磁传感器。但可以领会，根据实际应用的需要，电池线圈组也可以具有5、6、7等n个线圈(其中，n>4)，并且电磁传感器304可以相应地为n通道电磁传感器。
图4是根据本发明的一个实施例的悬浮棋400的示例架构图。如图4中所示，悬浮棋400可以包括悬浮棋子402、棋盘中的棋盘面板420和棋子驱动底座442。
悬浮棋子402可以包括锂电池404(即图2中所示电池单元202的一种)、天线406、悬浮棋子控制主板408(即图2中所示的PCB控制板202)和电磁线圈418等。作为一个示例，悬浮棋子控制主板408可以包括MCU 410、无线通信芯片414和电磁线圈驱动电路416等。
MCU 410作为一种控制单元，可被配置成向悬浮棋子402中的各组件发送控制指令。无线通信芯片414作为一种无线通信单元，可被配置成接收激活指令。例如，无线通信芯片414可以包括蓝牙、SUB-1G、WIFI、2.4G等，并且无线通信芯片414可以例如通过天线406来接收指令。作为一个示例，无线通信单元可以接收来自驱动底座的激活指令。作为另一示例，无线通信单元也可以接收来自除了驱动底座之外的控制板(例如，位于棋盘之中或之外的控制板)、移动终端(例如，手机、平板电脑等)等的激活指令。另外，电磁线圈组驱动电路416可用于根据MCU 410输出的PWM信号来控制电磁线圈418的驱动。
进一步地，作为一个非限制性的示例，悬浮棋子402还可以包括无线充电芯片412，并且电磁线圈418可被复用成无线充电的接受线圈，其可以例如通过负载开关来切换使用。具体地，无线充电芯片412可被配置成在悬浮棋子402未被激活时(如图1中的棋子104a和104c)利用电磁线圈418对锂电池404进行充电。相应地，棋盘面板420可以包括无线充电线圈422(例如，每个棋格都带有充电线圈)，以用于对放置在棋盘面板420上的棋子(例如，图1中的棋子104a和104c)进行充电。但是，应当领会，也可以根据实际应用的需要，仅在棋盘面板420的一些棋格(例如，常用棋格)下方装备有无线充电线圈422。
在另一方面，棋子驱动底座422中的悬浮底座控制主板436(即图3中的PCB控制板306)可以包括电磁线圈组驱动电路430和MCU 432(即控制单元)。电磁线圈组驱动电路430可用于根据MCU 432输出的PWM信号来控制电磁线圈组中的各电磁线圈424的驱动，以调整待移动棋子的悬浮高度。例如， 调整后的悬浮高度可以大于棋子的高度，以使得悬浮棋子402能够在随棋子驱动底座442的移动过程中越过其它棋子。在棋子驱动底座442带动悬浮棋子402运动的过程中，其它未被激活的棋子将不会受到棋子驱动底座442的影响，即不会被悬浮或移动，因此，可以实现被激活棋子悬浮于其它棋子之上运动。
具体地，MCU 432可以通过磁传感器检测电路428来驱动磁传感器426，检测电磁线圈组中的各电磁线圈424的磁场强度、以及棋子驱动底座442上方的悬浮棋子402内部的电磁线圈418在不同悬浮高度时的磁场强度，从而判断悬浮棋子402距离磁传感器426的相对位置，并且通过调整对应于每一个电磁线圈424的PWM信号的频率和占空比来动态调整各电磁线圈424的磁力，以使得悬浮棋子402和棋子驱动底座442之间动态地保持相对位置不变。
作为一个具体的实施例，棋子驱动底座442可以例如通过电机传动杆移动到待移动棋子下方。待移动棋子(即，图4中所示的悬浮棋子402)可以基于其无线通信单元(例如，图4中的无线通信芯片414)所接收的激活信号而被激活，驱动棋子402中的电磁线圈418产生磁力。至于棋盘面板420上的其它未被激活的棋子，由于这些棋子的电磁线圈中的电源是关闭的，因此将不会受棋子驱动底座442的影响。
棋子驱动底座442的磁传感器426在驱动底座控制主板436的控制下，在短时间里检测悬浮棋子402的磁力，从而判断悬浮棋子402离棋子驱动底座442的相对位置。具体地，结合图3中的棋子驱动底座300，在电磁线圈组包括4个电磁线圈的情形中，棋子驱动底座442中的4个电磁线圈424可例如通过PWM信号来控制：在PWM为高电平时，该4个电磁线圈424的驱动电流为恒定电流值；在PWM为低电平时，该4个电磁线圈424驱动的电流都为零。在棋子驱动底座(例如，图3中的300和图4中的442)中电磁线圈424的驱动电流都为零的情形中，空间中只存在悬浮棋子402中的电磁线圈418所产生的磁场。此时，棋子驱动底座442的4通道磁传感器426检测悬浮棋子402中的电磁线圈418所产生的磁场的磁场强度，并且通过ADC信号传送至MCU 432，然后通过MCU程序来判断悬浮棋子402与磁传感器442之间的相对位置，例如，利用4通道的磁场强度总和值来计算相对于磁传感器426的Z轴距离，以及通过4通道的磁场强度的差值来计算相对于传感器426的X、Y轴水平距离。
如上所述，棋子驱动底座442由此判断得到悬浮棋子402的当前位置距离磁传感器426在X(t)、Y(t)、Z(t)各轴上的位置参数、以及三个方向上的增量变化率dx(t)、dy(t)、dz(t)。通过PID比例、微分这两个参量算出磁传感器426中每一路通道所对应的磁力强度U(t)，计算公式如下：
其中，Ka、Kb、Kc为比例系数，可根据实际工程调试得出每个电磁线圈所对应的系数；Ta、Tb、Tc为微分系数，同样可根据实际工程调试得出每个电磁线圈所对应的系数。
在根据以上PID算法得出每个线圈的磁力强度U(t)后，将U(t)转化为4个电磁线圈424所对应的驱动PWM频率以及占空比，通过MCU 432的引脚(例如，GPIO等)输出PWM信号来控制恒流驱动电路，从而动态地控制电磁线圈组中各电磁线圈424的磁力，以使得悬浮棋子402和棋子驱动底座442之间动态地控制在一定的相对位置上。
如上所述，棋子驱动底座442在移动过程中可以动态实时地通过其内部的磁传感器426所反馈的信号来控制悬浮棋子402的相对运动。具体地，悬浮棋子402可以跟随棋子驱动底座442运动，并且保持在相对的高度不变，当悬浮棋子402运动到指定位置时，控制悬浮棋子402断开其电磁线圈418，悬浮棋子402落下，棋子移动结束。可以领会，在悬浮棋子402的移动过程中，棋子驱动底座442也可以根据实际需要来动态实时地调整悬浮棋子402的悬浮高度，从而例如可以使得悬浮棋子402越过不同数目个叠放在棋盘上的或不同高度的未被激活的棋子。
图5是根据本发明的一个实施例的悬浮棋子交互系统500的示例架构图。如图5中所示，悬浮棋504可以包括棋盘控制单元510、棋子驱动底座506和多个棋子(例如，508a、508b、508c)。在一个示例中，棋子驱动底座506可以例如通过串口、SPI、网线等来有线地连接到棋盘控制单元510(例如，棋盘控制主板)，从而接收来自终端502(例如，手机终端、WLAN/WIFI、远程终端、电脑等)的指令，例如行棋指令。在另一示例中，棋子驱动底座506也可以进一步包括无线通信单元(例如，蓝牙)，从而无线地接收来自终端502的指令。响应于所接收到的指令，棋子驱动底座506可以执行如上参考图1、图3和图4 所述的各种操作。
在另一方面，在一个示例中，在棋子驱动底座506包括无线通信单元的情况下，棋子驱动底座506还可以在移动到待移动棋子下方的对应位置之后，向该棋子发送激活指令，激活该棋子为需要行走的棋子。该棋子可以响应于所接收的激活指令而产生与棋子驱动底座506相斥的磁力(例如，相同极性的磁力)，从而相对于棋盘悬浮。但是，应当领会，针对待移动棋子的激活指令不限于棋子驱动底座506所发送的无线信号指令，该激活指令也可以是由手机、棋子驱动底座506之外的主板或控制板等来发送的。
在一个示例中，下棋双方中的一方可以在线远程，通过移动终端502(例如，手机、平板电脑等APP)下棋，棋子驱动底座506可以在有线或无线地接收到行棋指令之后，通过如上所述的悬浮技术来移动相应的棋子。而下棋的另一方则可以有如下两种方法来移动棋子：其一是位于悬浮棋504面前，手拿棋子进行直接操作，操作完成后棋子驱动底座506识别棋子信息，并且有线或无线地上传同步到远程设备上；另一方法是也通过移动终端(例如，手机、平板电脑等APP)下棋，同样地，棋子驱动底座506可以在有线或无线地接收到行棋指令之后，通过如上所述的悬浮技术来移动相应的棋子。
图6是根据本发明的一个实施例的控制棋子悬浮移动的方法600的流程图。如图6中所示，方法600开始于步骤602，可以响应于行棋指令，控制位于棋盘内部的棋子驱动底座移动到待移动棋子下方的对应位置。例如，悬浮棋(例如，图1中的悬浮棋100、图4中的悬浮棋子电路系统400和图5中的悬浮棋504)可以响应于所接收的行棋指令，控制位于棋盘(例如，图1中的棋盘102)内部的棋子驱动底座(例如，图1中的棋子驱动底座106、图3中的棋子驱动底座300、图4中的棋子驱动底座442和图5中的棋子驱动底座506)移动到待移动棋子(例如，图1中的棋子104b、图2中的棋子200、图4中的悬浮棋子402和图5中的棋子508)下方的对应位置。随后，在步骤604，可以控制棋子驱动底座与待移动棋子分别生成相斥的磁力，使待移动棋子相对于棋盘悬浮。然后，在步骤606，可以控制棋子驱动底座带动待移动棋子移动到落子位置。具体地，作为一个示例，控制棋子驱动底座检测该棋子驱动底座上方的待移动棋子所产生的磁场的磁场强度。然后，控制棋子驱动底座通过检测到的磁场强度来判断 待移动棋子距离棋子驱动底座的相对位置，并且通过调整对应于该棋子驱动底座内的每一个电磁线圈的PWM信号来动态调整棋子驱动底座内的各电磁线圈的磁力，以使得待移动棋子和棋子驱动底座之间动态地保持相对位置不变。最后，在步骤608，可以控制棋子驱动底座改变所生成的磁力以使待移动棋子落下。
进一步地，在一个示例中，方法600还可以包括控制棋盘(例如，图1中的棋盘102)对放置在棋盘上的棋子(例如，图1中的棋子104a和104c)进行充电。
以上描述了本发明的棋子可以相对棋盘悬浮的悬浮棋以及控制棋子悬浮移动的方法，与现有技术中的方案相比，本发明至少具有以下优点：通过智能悬浮棋子技术，改变了以往的接触式棋子运动方式，本发明中的棋子可以直线点对点运动，不再需要绕行，大大提高了走棋的速度，同时增加了走棋的观赏性以及趣味性，同时避免了棋子与棋盘的摩擦制造的噪声以及长期摩擦之后带来的棋盘刮花情况。
以上所已经描述的内容包括所要求保护主题的各方面的示例。当然，出于描绘所要求保护主题的目的而描述每一个可以想到的组件或方法的组合是不可能的，但本领域内的普通技术人员应该认识到，所要求保护主题的许多进一步的组合和排列都是可能的。从而，所公开的主题旨在涵盖落入所附权利要求书的精神和范围内的所有这样的变更、修改和变化。

Claims (12)

  1. 一种悬浮棋，包括：
    棋盘；
    多个棋子；以及
    位于所述棋盘内部的棋子驱动底座，其中，响应于行棋指令：
    所述棋子驱动底座移动到待移动棋子下方的对应位置；
    所述棋子驱动底座与所述待移动棋子分别生成相斥的磁力，使所述待移动棋子相对于所述棋盘悬浮；
    所述棋子驱动底座带动所述待移动棋子移动到落子位置；以及
    所述棋子驱动底座改变所生成的磁力以使所述待移动棋子落下。
  2. 如权利要求1所述的悬浮棋，其特征在于，所述棋子包括：
    电池单元，用于为所述棋子中的各组件供电；
    电磁线圈，所述电磁线圈被配置成在被激活时产生磁力；
    无线通信单元，所述无线通信单元被配置成接收激活指令；以及
    控制单元，所述控制单元被配置成向所述棋子中的各组件发送控制指令。
  3. 如权利要求2所述的悬浮棋，其特征在于，所述棋子进一步包括：
    无线充电芯片，所述无线充电芯片被配置成在棋子未被激活时利用所述电磁线圈为所述电池单元进行充电。
  4. 如权利要求2所述的悬浮棋，其特征在于，所述棋子驱动底座包括：
    电磁线圈组，所述电磁线圈组被配置成在被驱动时产生磁力；
    磁传感器，所述磁传感器被配置成检测所述棋子驱动底座上方的所述待移动棋子内部的电磁线圈所产生的磁场的磁场强度；以及
    控制单元，所述控制单元被配置成向所述棋子驱动底座中的各组件发送控制指令。
  5. 如权利要求4所述的悬浮棋，其特征在于，所述电磁线圈组包括至少4个电磁线圈，并且所述至少4个电磁线圈被配置成生成磁力以使得在所述至少4个电磁线圈产生的磁力的共同作用下，所述待移动棋子能够相对于所述棋盘悬浮、并在所述棋子驱动底座的移动过程中相对于所述棋子驱动底座保持位置不变。
  6. 如权利要求4所述的悬浮棋，其特征在于，所述棋子驱动底座进一步包括电子线圈组驱动电路，用于根据所述控制单元输出的PWM信号来控制所述电磁线圈组中的各电磁线圈的驱动，以调整所述待移动棋子的悬浮高度。
  7. 如权利要求6所述的悬浮棋，其特征在于，
    所述棋子驱动底座中的所述控制单元通过所述磁传感器检测到所述棋子驱动底座上方的待移动棋子内部的电磁线圈所产生的磁场的磁场强度来判断所述待移动棋子距离所述磁传感器的相对位置，并且通过调整对应于每一个电磁线圈的PWM信号的频率和占空比来动态调整各电磁线圈的磁力，以使得所述待移动棋子和所述棋子驱动底座之间动态地保持相对位置不变。
  8. 如权利要求6所述的悬浮棋，其特征在于，所述悬浮高度大于所述棋子的高度，使得所述待移动棋子能够在随所述棋子驱动底座的移动过程中越过其它棋子。
  9. 如权利要求1所述的悬浮棋，其特征在于，所述棋盘包括无线充电线圈，用于对放置在所述棋盘上的棋子进行充电。
  10. 一种控制棋子悬浮移动的方法，包括：
    响应于行棋指令，控制位于棋盘内部的棋子驱动底座移动到待移动棋子下方的对应位置；
    控制所述棋子驱动底座与所述待移动棋子分别生成相斥的磁力，使所述待移动棋子相对于所述棋盘悬浮；
    控制所述棋子驱动底座带动所述待移动棋子移动到落子位置；以及
    控制所述棋子驱动底座改变所生成的磁力以使所述待移动棋子落下。
  11. 如权利要求10所述的方法，其特征在于，控制所述棋子驱动底座带动所述待移动棋子移动到落子位置进一步包括：
    控制所述棋子驱动底座检测所述棋子驱动底座上方的所述待移动棋子所产生的磁场的磁场强度；以及
    控制所述棋子驱动底座通过检测到的所述磁场强度来判断所述待移动棋子距离所述棋子驱动底座的相对位置，并且通过调整对应于所述棋子驱动底座内的每一个电磁线圈的PWM信号来动态调整所述棋子驱动底座内的各电磁线圈的磁力，以使得所述待移动棋子和所述棋子驱动底座之间动态地保持相对位置不变。
  12. 如权利要求10所述的方法，其特征在于，进一步包括：
    控制所述棋盘对放置在所述棋盘上的棋子进行充电。
PCT/CN2023/093393 2022-05-12 2023-05-11 悬浮棋以及控制棋子悬浮移动的方法 WO2023217207A1 (zh)

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