Robot chess opening arranging method and system based on target outline and skeleton characteristics

Abstract

The invention discloses a robot chess opening arranging method and system based on target outline and skeleton characteristics. In the method, a chess piece positioning and identifying method of primary coarse positioning, region segmentation, secondary accurate positioning and extraction based on the target outline and skeleton characteristics combined with a SVM multi-classifier part is provided, and the automatic arranging function at the opening stage of an intelligent chess robot is achieved. The system is formed by a common Chinese-chess chessboard, chess pieces, a uArm four-degree-of-freedom mechanical arm, a sucking disc, a camera, a light source, a control system based on a PC and the like; the whole system is simple in structure and easy and convenient to operate, the full-automatic arranging function of the robot can be completed before man-machine chess playing is conducted, and the system has the good stability in the relatively-complex environment.

Description

technical field [0001] The invention relates to the field of machine vision detection, in particular to a method and system for opening a chess game of a robot based on object outline and skeleton features. Background technique [0002] With the continuous development of society and the continuous advancement of science and technology, entertainment service robots represented by Chinese chess robots have gradually become one of the hot spots in the field of robot research. Traditional chess robots often use non-visual positioning and recognition methods, by customizing special chess pieces and electronic chessboards, and realizing chess piece positioning and recognition through hardware circuits. [0003] After consulting relevant literature, the paper: "Robot Controller Design Based on AVR Single-chip Microcomputer" (Zhang Yongde, Bi Jintao) adopts the method of specially making chess pieces with different resistance values ​​and designing an electronic chessboard, and uses...

AI Technical Summary

Problems solved by technology

[0004] (1) The positioning of the chess pieces depends on the special chessboard or the special chess pieces, and the positioning of any ordinary chess pieces and the automatic chess setting function at the opening stage cannot be achieved;

[0005] (2) Additional sensors or electronic devices and electronic circuits need to be added in the chess robot system, which increases the cost and complexity of system development;

[0006] (3) Chess robot man-machine game is not highly intelligent

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