A multi-antenna chess piece recognition system, chessboard and automatic chess-playing robot

Abstract

The present application provides a multi-antenna chess piece recognition system, a chessboard and an automatic chess-playing robot, including a signal transmitting module, multiple chess piece recognition modules and a main control module; the signal transmitting module is arranged in the chess pieces; each chess piece recognition module includes a card reading chip, multiple antenna driving and switching circuits and multiple antennas; each antenna driving and switching circuit corresponds to one antenna and is used to control the connection state between the antenna and the card reading chip, and the antennas are arranged at the chess moving positions; the main control module is respectively connected to the multiple antenna driving and switching circuits in each chess piece recognition module, and controls the connection state between each antenna driving and switching circuit and the corresponding antenna, so as to control the card reading chip in the chess piece recognition module to be sequentially connected to the multiple antennas at different times; the card reading chips in each chess piece recognition module are respectively electrically connected to each antenna and the main control module. The present application can recognize the changes of the chess pieces at each chess moving position in real time, and the number of card reading chips used is small.

Description

Technical Field

[0001] This application relates to the field of radio frequency identification technology. Specifically, it relates to a multi-antenna chess piece recognition system, a chessboard, and an automatic chess-playing robot. Background Art

[0002] It has become very common to play chess, go, snakes and ladders, military chess, etc. between humans and machines through screen-equipped devices such as computers or mobile phones. Compared with the traditional way of playing chess, playing chess through the screen has many advantages. However, playing chess through the screen lacks the fun of playing chess with physical objects such as chessboards and chess pieces to a certain extent. Therefore, intelligent chessboards have emerged. The recognition of chess pieces on the chessboard is an important problem that intelligent chessboards need to solve. Currently known recognition methods include: visual recognition, taking pictures of the chessboard through a camera and recognizing the types and positions of chess pieces through image algorithms; using Hall sensors to sense whether there are magnetic chess pieces at each chess-playing position on the chessboard; single card reader recognition, using a single-position card reader to recognize chess pieces during the chess-playing process and then performing operations on the chess pieces; multi-card reader recognition, placing card readers at each chess-playing position on the chessboard and reading the information of chess pieces at each position on the chessboard surface at any time during the chess-playing process.

[0003] The current recognition solutions for intelligent chessboards have their own advantages and disadvantages.

[0004] For example, Patent CN110180164A discloses a chess-playing robot that visually recognizes the entire chessboard surface. The main problem is that a camera needs to be arranged at a high place, which increases the space occupation of the chessboard. When the camera is arranged at a low place, there will be problems such as large distortion of the chessboard surface image and angle inclination, which affect the recognition effect and at the same time affect the user experience during the chess game; in situations such as strong sunlight and shadows, it is not conducive to chess piece recognition.

[0005] The existing solution on the market that uses Hall sensors to sense magnetic chess pieces can only judge whether there are chess pieces at various positions on the chessboard surface and cannot judge the types of chess pieces.

[0006] For example, the single card reader RFID recognition solutions disclosed in Patent CN107737448A and CN110152280A can only remember the positions of chess pieces on the chessboard by the machine, and people cannot perceive the operations on the chess pieces or other changes in the chess pieces on the chessboard surface in real time.

[0007] Patent CN109675295A discloses a multi-card reader RFID chess piece recognition solution. This solution can recognize the changes of chess pieces at each chess-playing position in real time, and the experience during the chess game is better. However, card readers need to be arranged under each chess-playing position on the chessboard surface, and the intelligent chessboard using this solution has a higher cost. Summary of the Invention

[0008] In view of this, the purpose of the present application is to provide a multi-antenna chess piece recognition system, a chessboard and an automatic chess-playing robot, which can recognize the changes of chess pieces at each chess-playing position in real time and use a relatively small number of card-reading chips.

[0009] The multi-antenna chess piece recognition system provided by the embodiment of the present application, the chess piece recognition system includes: a signal transmission module, a plurality of chess piece recognition modules and a main control module; the signal transmission module is arranged in the chess piece; the chess piece recognition module includes a card-reading chip, a plurality of antenna driving and switching circuits and a plurality of antennas; each antenna driving and switching circuit corresponds to one antenna and is used to control the connection state between the antenna and the card-reading chip, and the antennas are arranged at the chess-playing positions.

[0010] The main control module is respectively connected to the plurality of antenna driving and switching circuits in each chess piece recognition module, and is used to control the connection state between each antenna driving and switching circuit in each chess piece recognition module and the corresponding antenna, so as to control the card-reading chip in the chess piece recognition module to be connected to the plurality of antennas in sequence at different times.

[0011] The signal transmission module is used to transmit a wireless signal at the chess-playing position, and the wireless signal includes the information of the chess piece carrying the signal transmission module.

[0012] The chess piece recognition module is used to obtain the wireless signal transmitted by the signal transmission module when the chess piece carrying the signal transmission module moves to the chess-playing position where the antenna of the chess piece recognition module is located, and send the wireless signal to the card-reading chip of the chess piece recognition module.

[0013] The card-reading chip in each chess piece recognition module is respectively electrically connected to each antenna and the main control module in the chess piece recognition module, and is used to send the wireless signal to the main control module after receiving the wireless signal sent by each antenna.

[0014] The main control module is further used to receive the wireless signals corresponding to different antennas sent by the card-reading chips in each chess piece recognition module, and recognize the chess pieces according to the chess piece information included in the wireless signals.

[0015] In some embodiments, the main control module in the multi-antenna chess piece recognition system is further used to remotely send the recognized chess piece information to a remote chess-playing device, and receive the chess piece movement instruction generated according to the control instruction of the target user sent by the remote chess-playing device, where the target user is a user in an area outside the visual range of the current user; the remote chess-playing device is placed at the position of the target user.

[0016] In some embodiments, the antenna driving and switching circuit in the multi-antenna chess piece recognition system includes a switch module, a filtering module and an impedance matching module.

[0017] The switch module is used to control the connection state between each antenna driving switching circuit in each piece recognition module and the corresponding antenna;

[0018] The filtering module is used to filter the high-frequency harmonics of the electrical signal input to the antenna;

[0019] The impedance matching module is used to configure the impedance of the antenna driving switching circuit according to the parameters of the antenna.

[0020] In some embodiments, the switch module, the filtering module, and the impedance matching module of the antenna driving switching circuit in the multi-antenna piece recognition system are connected in series in sequence, so that the switch module is located before the filtering module and the impedance matching module.

[0021] In some embodiments, the multiple piece recognition modules in the multi-antenna piece recognition system correspond to multiple chess-playing areas one by one. The multiple chess-playing areas are obtained by dividing all the chess-playing positions where antennas need to be arranged through a dividing method. The dividing method includes:

[0022] Determine the number and shape of all the chess-playing positions where antennas need to be arranged;

[0023] Divide all the chess-playing positions into multiple chess-playing areas. The number of chess-playing positions in each chess-playing area is within a first preset threshold interval, and the shape in each chess-playing area satisfies a preset condition. The preset condition is that the distance from the central area of the chess-playing area to any chess-playing position in this chess-playing area is less than the first preset threshold.

[0024] In some embodiments, each antenna driving switching circuit in the multi-antenna piece recognition system corresponds to an antenna, and the wiring distance between the antenna driving switching circuit and the antenna corresponding to this antenna driving switching circuit is less than a second preset threshold.

[0025] In some embodiments, the main control module in the multi-antenna piece recognition system controls the connection state between each antenna driving switching circuit in each piece recognition module and the corresponding antenna, including:

[0026] The main control module controls the connection state between one antenna driving switching circuit in the multiple piece recognition modules and the corresponding antenna at a moment, so as to control the card reading chip in each piece recognition module to be connected to one antenna at a moment.

[0027] In some embodiments, the main control module in a multi-antenna piece recognition system controls the connection state between each antenna driving switching circuit in each piece recognition module and the corresponding antenna, including:

[0028] Divide the multiple chess piece recognition modules into several groups;

[0029] According to a preset control sequence, the main control module controls the connection state between the single antenna drive switching circuit of each chess piece recognition module in a group of chess piece recognition modules and the corresponding antenna at a moment, so that the antennas in different groups of chess piece recognition modules are connected to the corresponding card reading chips at different moments; the distance between the row chess areas corresponding to the chess piece recognition modules in a group of chess piece recognition modules is greater than a third preset threshold.

[0030] In some embodiments, a chessboard is further provided, and the chessboard includes the chess piece recognition system, so as to recognize whether there is a chess piece at the chess dropping point of the chessboard through the chess piece recognition system, and when there is a chess piece on the chessboard, recognize the type of the chess piece.

[0031] In some embodiments, an automatic chess-playing robot is further provided, and the chess-playing robot includes a robotic arm and the chessboard, and the robotic arm is placed on the chessboard, and the robotic arm is used to move the chess pieces.

[0032] In this application, multiple chess piece recognition modules are provided, and each chess piece recognition module recognizes the information of the chess pieces in a row chess area, so as to recognize the chess surface information of the entire chessboard panel in real time; each chess piece recognition module corresponds to a card reading chip, that is, a card reading chip reads the information of the chess pieces at multiple row chess positions in a time-sharing manner, so as to greatly reduce the number of card reading chips on the premise of ensuring that the chess surface information of the entire chessboard panel can be recognized in real time, so as to control costs and simplify the antenna circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 Shows a schematic block diagram of the multi-antenna chess piece recognition system;

[0035] Figure 2 Shows a circuit diagram of the antenna drive switching circuit;

[0036] Figure 3 Shows a schematic diagram of the antenna arrangement of Chinese chess;

[0037] Figure 4 Shows a schematic diagram of the grouping of chess piece recognition modules in 5 row chess areas of Chinese chess. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the accompanying drawings in this application are only for the purposes of illustration and description, and are not used to limit the protection scope of this application. Additionally, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application.

[0039] In addition, the described embodiments are only some embodiments of this application, rather than all of the embodiments. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application claimed, but merely represents selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of this application.

[0040] It should be noted that the term "including" will be used in the embodiments of this application to indicate the existence of the features stated thereafter, but does not exclude the addition of other features.

[0041] With the development of the times, new forms have emerged in board game duels such as Chinese chess, Go, Flight Chess, and Military Chess. It has become very common to play board games such as Chinese chess, Go, Flight Chess, and Military Chess against the computer or on a screen device such as a mobile phone. Compared with the traditional way of playing chess, playing against the screen allows one to play chess at any time, has low requirements for the location of playing chess, and does not require making an appointment with a chess opponent in reality, having many advantages.

[0042] However, playing chess against the screen lacks the fun of playing against physical chessboards and pieces to a certain extent. Therefore, intelligent chessboards have emerged as the times require.

[0043] The basic principle of an intelligent chessboard is that the human side of the duel places the chess pieces on the playing positions of the chessboard. The chessboard identifies whether there are chess pieces on each playing position and, when there are chess pieces on the playing position, the types of those chess pieces. Thus, when the human side places the chess pieces on the playing positions, it can timely identify the chess piece information at each playing position on the chessboard. The chess piece information includes whether there are chess pieces and the types of the chess pieces when there are chess pieces, judge the real-time chess game, and thus calculate the playing position of the machine side according to the built-in algorithm, and control the manipulator to grab the corresponding chess piece of the machine side and place the chess piece at the calculated playing position of the machine side, thereby completing the duel.

[0044] Therefore, the recognition of chess pieces on the chessboard is an important problem that an intelligent chessboard needs to solve. Currently known recognition methods include some that use visual recognition. By taking pictures of the chessboard with a camera and using image algorithms to recognize the types and positions of chess pieces, this recognition method requires installing a camera at a high position, which increases the space occupied by the chessboard. If the camera is installed at a low position, there will be problems such as large distortion of the chessboard image and angle inclination, which will affect the recognition effect and the user experience during the game. At the same time, it is not conducive to chess piece recognition in situations such as strong sunlight and shadows.

[0045] Some existing recognition methods also use Hall sensors to sense whether there are magnetized chess pieces at each chess-playing position on the chessboard. This recognition method can only determine whether there are chess pieces at various positions on the chessboard surface and cannot determine the types of chess pieces.

[0046] Some existing recognition methods also use radio frequency identification technology to identify whether there are chess pieces with electronic tags at each chess-playing position and identify the ID of the electronic tags of the chess pieces, so as to obtain real-time chess game information. This recognition method has single card reader recognition and multi-card reader recognition. In single card reader recognition, a single-position card reader is used to identify chess pieces during the chess game, and then the chess pieces are operated. Since the card reader can only identify one chess piece at a time, the position of the chess piece on the chessboard can only be memorized by the machine. People cannot perceive the operation of the chess piece or other changes in the chess pieces on the chessboard surface in real time, and the recognition efficiency is low.

[0047] In multi-card reader recognition, card readers are placed at each chess-playing position on the chessboard, and the information of the chess pieces at each position on the chessboard surface is read at any time during the chess game. This recognition method can simultaneously identify the information of the chess pieces at all chess-playing positions on the chessboard, obtain real-time chess games, and the game effect is good. However, the intelligent chessboard is expensive, and the card reader chips and antennas at each chess-playing position need to occupy the planar space of the area of the circuit board covering that chess-playing position. Under the requirement of identifying chess pieces at each chess-playing position on the chessboard surface, this solution puts forward high requirements for the circuit layout, wiring of the card reader chips, and the size design of the antennas, etc.

[0048] Based on this, as Figure 1 shown, this application proposes a chess piece recognition system with multiple antennas. The chess piece recognition system includes: a signal transmission module 101, multiple chess piece recognition modules 102, and a main control module 103; the signal transmission module 101 is arranged in the chess piece; the chess piece recognition module 102 includes a card reading chip 1023, multiple antenna drive switching circuits 1022, and multiple antennas 1021; each antenna drive switching circuit 1022 corresponds to an antenna 1021 and is used to control the connection state between the antenna 1021 and the card reading chip 1023. The antenna 1021 is arranged at the chess-playing position.

[0049] The main control module 103 is respectively connected to a plurality of antenna drive switching circuits 1022 in each piece recognition module 102, and is used to control the connection state between each antenna drive switching circuit 1022 in each piece recognition module 102 and the corresponding antenna 1021, so as to control the card reading chip 1023 in the piece recognition module 102 to be connected to a plurality of antennas 1021 in sequence at different times;

[0050] The signal transmitting module 101 is used to transmit a wireless signal at the chess moving position, and the wireless signal includes information of the piece of the signal transmitting module 101;

[0051] The piece recognition module 102 is used to obtain the wireless signal transmitted by the signal transmitting module 101 when the piece carrying the signal transmitting module 101 moves to the chess moving position where the antenna 1021 of the piece recognition module 102 is located, and send the wireless signal to the card reading chip 1023 of the piece recognition module 102;

[0052] The card reading chip 1023 in each piece recognition module 102 is respectively electrically connected to each antenna 1021 and the main control module 103 in the piece recognition module 102, and is used to send the wireless signal to the main control module 103 after receiving the wireless signal sent by each antenna 1021;

[0053] The main control module 103 is further used to receive the wireless signals corresponding to different antennas 1021 sent by the card reading chips 1023 in each piece recognition module 102, and identify the pieces according to the piece information included in the wireless signals.

[0054] The signal transmitting module 101 is an RFID chip, and each type of piece in a set of pieces corresponding to the chessboard has its corresponding ID.

[0055] The multiple piece recognition modules 102 correspond to multiple chess moving areas one by one. The multiple chess moving areas are obtained by dividing all the chess moving positions where the antennas 1021 need to be arranged, and the chess moving positions on the chessboard panel are in one-to-one correspondence; the dividing method includes: determining the number and shape of all the chess moving positions where the antennas 1021 need to be arranged;

[0056] Dividing all the chess moving positions into multiple chess moving areas, the number of chess moving positions in each chess moving area is within a first preset threshold range, and the shape of each chess moving area meets a preset condition, and the preset condition is that the distance from the central area of the chess moving area to any chess moving position in the chess moving area is less than a first preset threshold.

[0057] Specifically, in practice, the antenna 1021 in each chess piece recognition module 102 can be printed on a PCB circuit board, and the PCB circuit board is fixedly connected to the chessboard panel, and chessboard grids are arranged on the upper end surface of the chessboard panel; it can also be directly fixedly arranged on a non-electromagnetic shielding chessboard panel. Then, all the chess-playing positions where the antenna 1021 needs to be arranged can be either the chess-playing positions on the PCB circuit board corresponding one-to-one to the chess-playing positions on the chessboard panel, or the chess-playing positions on the non-electromagnetic shielding chessboard panel.

[0058] In the circuit design of the RFID chip and the antenna 1021, the length of the antenna 1021 trace should be minimized to avoid interference and signal attenuation. Therefore, the number of chess-playing positions in each chess-playing area should not be too large. Usually, since a card-reading chip 1023 needs to be set in each chess-playing area, to reduce costs, the number of chess-playing positions in each chess-playing area should not be too small and should be within a reasonable preset threshold range of the number of chess-playing positions. If there is a relatively isolated chess-playing position, and the distance between this relatively isolated chess-playing position and any other chess-playing position is relatively far, then this chess-playing position can also correspond to a separate chess-playing area.

[0059] The distribution of the chessboard grids of some chess types is uneven, and the areas of the plane regions corresponding to the same number of chess-playing positions are different. Therefore, only considering the number of chess-playing positions in each chess-playing area, the situation of too long antenna 1021 trace may still occur. Therefore, the shape of each chess-playing area also needs to meet a preset condition, and the preset condition is that the distance from the central area of the chess-playing area to any chess-playing position in this chess-playing area is less than a first preset threshold. The distance from the boundary of the central area of the chess-playing area to the center point of the chess-playing area is less than or equal to the set threshold of the central area. Considering both the number of chess-playing positions in the chess-playing area and the shape of the chess-playing area, the chess-playing area corresponding to each chess piece recognition module 102 is relatively reasonable, avoiding too long antenna 1021 trace in the circuit design of the RFID chip and the antenna 1021, reducing interference and signal attenuation, thereby increasing the reading accuracy of the wireless signal emitted by the signal transmission module 101 carried by the chess piece by the card-reading chip 1023, and thus increasing the accuracy of chess piece recognition.

[0060] The main control module 103 can use a single-chip microcomputer.

[0061] Each antenna drive switching circuit 1022 corresponds to an antenna 1021, and the wiring distance between the antenna drive switching circuit 1022 and the antenna 1021 corresponding to this antenna drive switching circuit 1022 is less than a second preset threshold.

[0062] The control of the wiring distance can be achieved in the following manner: A driving board is provided in each chess-playing area. A plurality of antenna driving and switching circuits 1022 in the chess piece recognition module 102 corresponding to this chess-playing area are arranged on this driving board, and one antenna driving and switching circuit 1022 corresponds to an antenna 1021 at one chess-playing position. The card-reading chip 1023 in the chess piece recognition module 102 corresponding to this chess-playing area is located at the central area of this chess-playing area, and the distance from the boundary of the central area to the center point of this chess-playing area is within the set threshold of the central area.

[0063] The positional relationship between the antenna driving and switching circuit 1022 and the corresponding antenna 1021 can be a covering relationship or not, and it is reasonably set according to the structure of the antenna driving and switching circuit 1022 and the distribution of the antenna 1021, as long as the wiring distance between the antenna driving and switching circuit 1022 and the antenna 1021 corresponding to this antenna driving and switching circuit 1022 is less than the second preset threshold.

[0064] A driving board is set, so that the antenna 1021 array and the antenna driving and switching circuit 1022 array are separated at the board level, rather than setting the antenna 1021 and the antenna driving and switching circuit 1022 of this antenna 1021 in the same plane, so that the plane area where the antenna 1021 array is located does not need to be arranged with the antenna driving and switching circuit 1022, maximizing the arrangement of the antenna 1021 on the chessboard panel, thereby maximizing the coverage range of the antenna 1021 for the chess-playing position, so as to ensure the receiving range of the wireless signal of the signal transmitting module 101 located at this chess-playing position by the antenna 1021, and reducing the ineffective recognition area of the chess pieces on the chessboard panel.

[0065] The specific process of the signal transmitting module 101 transmitting a wireless signal is as follows: When the main control module 103 controls a certain antenna driving and switching circuit 1022 in the chess piece recognition module 102 to conduct, so that the card-reading chip 1023 is connected to the antenna 1021 corresponding to this antenna driving and switching circuit 1022, the card-reading chip 1023 drives this antenna 1021 through this antenna driving and switching circuit 1022; When the chess piece carrying the wireless signal transmitting module 101 is placed at the chess-playing position corresponding to the conducting antenna driving and switching circuit 1022, the wireless signal transmitting module 101 establishes communication with the card-reading chip 1023 and transmits a wireless signal, and the card-reading chip 1023 reads this wireless signal and sends this wireless signal to the main control module 103. The main control module 103 determines the number of the antenna 1021 at the chess-playing position where the chess piece carrying the wireless signal transmitting module 101 is located according to this conducting antenna driving and switching circuit 1022, so as to determine the chess-playing position where this chess piece is located.

[0066] The main control module 103 receives the ID numbers of the chess pieces located on the chessboard panel and the numbers of the antennas 1021 corresponding to each chess piece, and identifies the chess pieces, so as to obtain the chessboard information of the entire chessboard panel.

[0067] This application sets multiple chess piece identification modules 102. Each chess piece identification module 102 identifies the information of the chess pieces in a chess-playing area, so as to identify the chessboard information of the entire chessboard panel in real time; each chess piece identification module 102 corresponds to a card reading chip 1023. That is to say, a card reading chip 1023 reads the information of the chess pieces at multiple chess-playing positions in a time-sharing manner, so as to greatly reduce the number of card reading chips 1023 on the premise of ensuring that the chessboard information of the entire chessboard panel can be identified in real time, so as to control costs and simplify the antenna 1021 circuit.

[0068] The main control module 103 is also used to remotely send the identified chess piece information to the remote chess-playing device, and receive the chess piece movement instruction generated according to the control instruction of the target user sent by the remote chess-playing device. The target user is a user in an area outside the field of vision of the current user; the remote chess-playing device is placed at the position of the target user.

[0069] The main control module 103 remotely sends the identified chess piece information to the remote chess-playing device. The remote chess-playing device can determine the type of the chess piece to be moved and the chess-playing position of the chess piece according to the built-in algorithm, and send a chess piece movement instruction to the main control module 103. The chess piece movement instruction includes the chess piece type and the chess-playing position. The main control module 103 can directly control the manipulator on the local machine side to place the corresponding chess piece at the corresponding chess-playing position.

[0070] The main control module 103 remotely sends the identified chess piece information to the remote chess-playing device. The remote chess-playing device can receive the externally input chess piece movement instruction and send the chess piece movement instruction to the main control module 103, so as to realize remote chess-playing between people.

[0071] The main control module 103 can also remotely send the identified chess piece information to the local chess-playing device. The local chess-playing device can determine the type of the chess piece to be moved and the chess-playing position of the chess piece according to the built-in algorithm, and send a chess piece movement instruction to the main control module 103. The chess piece movement instruction includes the chess piece type and the chess-playing position. The main control module 103 can directly control the manipulator on the local machine side to place the corresponding chess piece at the corresponding chess-playing position.

[0072] For the multi-antenna chess piece identification system, the antenna driving and switching circuit 1022 includes a switching module, a filtering module and an impedance matching module;

[0073] The switch module is used to control the connection state between each antenna driving switching circuit 1022 in each piece identification module 102 and the corresponding antenna 1021;

[0074] The filtering module is used to filter the high-frequency harmonics of the electrical signal input to the antenna 1021;

[0075] The impedance matching module is used to configure the impedance of the antenna driving switching circuit 1022 according to the parameters of the antenna 1021.

[0076] The switch module, filtering module and impedance matching module of the antenna driving switching circuit 1022 are connected in series in sequence, so that the switch module is located before the filtering module and the impedance matching module.

[0077] Specifically, the card reading chip 1023 uses an MS522 chip. The switch module in the antenna driving switching circuit 1022 includes three MOS switches. The filtering module includes two filtering inductors and two filtering capacitors. The impedance matching module includes four matching capacitors.

[0078] As Figure 2 shown, specifically, the antenna driving switching circuit 1022 further includes a first resistor R1, a first capacitor C1, a second resistor R2, a fourth resistor R4, and a seventh resistor R7. The switch module in the antenna driving switching circuit 1022 includes a first MOS switch Q1, a second MOS switch Q2, and a third MOS switch Q3, as well as a third resistor R3, a fifth resistor R5, and a sixth resistor R6. The two filtering inductors of the filtering module are respectively a first inductor L1 and a second inductor L2. The two filtering capacitors are respectively a third capacitor C3 and a fifth capacitor C5. The four matching capacitors of the impedance matching module are respectively a second capacitor C2, a fourth capacitor C4, a sixth capacitor C6, and a seventh capacitor C7;

[0079] The RX terminal of the card reading chip 1023 is sequentially connected to the first end of the antenna 1021 through the second resistor R2, the first capacitor C1, and the first MOS switch Q1. One end of the first capacitor C1 electrically connected to the first MOS switch Q1 is grounded through the first resistor R1;

[0080] The TX1 terminal of the card-reading chip 1023 is connected in series with the second MOS switch Q2. The second MOS switch Q2 is connected to the first end of the first inductor L1. The TX2 terminal of the MS522 chip is connected in series with the third MOS switch Q3. The third MOS switch Q3 is connected to the first end of the second inductor L2. The first end of the first inductor L1 is sequentially connected to the first end of the second inductor L2 through the fourth resistor R4 and the seventh resistor R7. The second end of the first inductor L1 is connected to the first end of the third capacitor C3. The second end of the third capacitor C3 is connected to the first end of the fifth capacitor C5. The second end of the fifth capacitor C5 is connected to the second end of the second inductor L2. The second end of the first inductor L1 is connected to the first end of the second capacitor C2. The second end of the second capacitor C2 is connected to the first end of the antenna 1021. The second end of the second inductor L2 is connected to the first end of the seventh capacitor C7. The second end of the seventh capacitor C7 is connected to the second end of the antenna 1021. The second end of the second inductor L2 is connected to the first end of the fourth capacitor C4. The second end of the fourth capacitor C4 is connected to the first end of the sixth capacitor C6. The second end of the sixth capacitor C6 is connected to the second end of the seventh capacitor C7.

[0081] The first MOS switch Q1 is connected to the main control module 103 through the third resistor R3. The second MOS switch Q2 is connected to the main control module 103 through the fifth resistor R5. The third MOS switch Q3 is connected to the main control module 103 through the sixth resistor R6.

[0082] The main control module 103 controls the level of the switching enable signal pins connected to the first MOS switch Q1, the second MOS switch Q2, and the third MOS switch Q3. When the switching enable signal level output by the pin is low, the antenna drive switching circuit 1022 is disconnected. When the switching enable signal level output by the pin is high, the antenna drive switching circuit 1022 is connected to the card-reading chip 1023. The drive current output by the card-reading chip 1023 passes through the TX1 terminal and the TX2 terminal, filters the harmonic components through the first inductor L1, the second inductor L2, the third capacitor C3, and the fifth capacitor C5, and then optimally matches the impedance through the second capacitor C2, the fourth capacitor C4, the sixth capacitor C6, and the seventh capacitor C7. The impedance matching depends on the parameters of the antenna 1021, the overall layout of the PCB circuit board, and the overall structure of the whole machine. Among them, the parameters of the antenna 1021 play a decisive role.

[0083] In the embodiment of the present application, the switch module specifically uses three MOS switches instead of an analog switch chip because the analog switch chip has a conduction resistance of 100 - 300 ohms, resulting in a significant reduction in the drive current after passing through the analog switch chip, weakening the driving force, which will cause the number of drivable coils to decrease, that is, the number of coils in a chess piece recognition module 102 will decrease. The entire chessboard needs to be divided into more chess piece recognition modules 102, requiring more card-reading chips 1023, which is not conducive to cost control.

[0084] When using MOS switches, the on-resistance is in the milliohm range, greatly reducing the impact on the weakening of the drive current. This allows a single card-reading chip 1023 to drive a larger number of antenna 1021 lines, which is beneficial for cost control. At the same time, due to the strong driving ability, relatively speaking, the traces of antenna 1021 can be longer. The combination of these two factors results in a larger area for the chess-playing region divided by the entire chessboard, a larger number of chess-playing positions in a single chess-playing region, more accurate wireless signals received by the card-reading chip 1023, and more accurate identification of the chess pieces at the chess-playing positions by the card-reading chip 1023.

[0085] In actual operation, there are multiple options for the position setting of the switch module. If the switch module is set at the first end and the second end of the antenna 1021, it is also possible to achieve the function of switching between the two connection states of conducting or disconnecting the antenna 1021 and the card-reading chip 1023 by controlling the on and off of the MOS switch, which can save some resistors and capacitors. However, the drive current here passes through the previous resistors and capacitors, and the current drive ability is already very weak. In addition, the MOS switch also has resistance, C1 and C2 are capacitors in the picofarad range, and the switch itself also has a capacitor in the picofarad range. Therefore, setting the switch module here will affect the circuit characteristics, and the number of antennas 1021 that can be driven is greatly reduced. After testing, this setting method can drive at most 3 antennas 1021, which cannot meet the requirements of the intelligent chessboard.

[0086] Therefore, the switch module is set in the filtering module and the impedance matching module so that the drive current of the card-reading chip 1023 can drive more antennas 1021.

[0087] In the multi-antenna chess piece recognition system described in the embodiments of the present application, the main control module 103 controls the connection state between each antenna drive switching circuit 1022 in each chess piece recognition module 102 and the corresponding antenna 1021, including:

[0088] The main control module 103 controls the connection state between one antenna drive switching circuit 1022 in the multiple chess piece recognition modules 102 and the corresponding antenna 1021 at a moment, so as to control the card-reading chip 1023 in each chess piece recognition module 102 to be connected to one antenna 1021 at a moment.

[0089] At the same moment, in one chess piece recognition module 102, only one antenna drive switching circuit 1022 is turned on, so that one antenna 1021 in this chess piece recognition module 102 is connected to the card-reading chip 1023. However, the card-reading chips 1023 in multiple chess piece recognition modules 102 can be respectively connected to their corresponding antennas 1021 at the same moment to improve the efficiency of alternately reading the antennas 1021 on the entire chessboard surface.

[0090] The main control module 103 controls the connection state between one antenna drive switching circuit 1022 in the multiple chess piece recognition modules 102 and the corresponding antenna 1021 at a moment, and can either control all the chess piece recognition modules 102 simultaneously or control a part of the chess piece recognition modules 102.

[0091] In the embodiment described in the present application, specifically, the main control module 103 controls the connection state between each antenna drive switching circuit 1022 in each chess piece recognition module 102 and the corresponding antenna 1021, including:

[0092] Dividing the multiple chess piece recognition modules 102 into several groups;

[0093] The main control module 103 controls the connection state between a single antenna drive switching circuit 1022 in each chess piece recognition module 102 in a group of chess piece recognition modules 102 and the corresponding antenna 1021 at a moment according to a preset control sequence, so that the antennas 1021 in different groups of chess piece recognition modules 102 are connected to the corresponding card reading chips 1023 at different moments; the distance between the row-playing areas corresponding to the chess piece recognition modules 102 in a group of chess piece recognition modules 102 is greater than a third preset threshold, so that the distance between the antennas 1021 driven simultaneously in different chess piece recognition modules 102 is greater than the third preset threshold, thereby preventing interference between the antennas 1021 driven simultaneously due to too close a distance and affecting the accuracy of the card reading chip 1023 reading the wireless signal emitted by the wireless signal module in the chess piece.

[0094] Taking Chinese chess as an example, the embodiment described in the present application will be specifically described below.

[0095] As Figure 3 shown, there are 90 row-playing positions on the chessboard of Chinese chess, and 90 antennas 1021 need to be arranged, with a total of 10 rows * 9 columns. The 90 row-playing positions are divided into 5 row-playing areas, each row-playing area is 2 rows * 9 columns, with 18 row-playing positions, and one chess piece recognition module 102 is set in each row-playing area; the 18 antennas 1021 in the chess piece recognition module 102 are arranged one by one in the 18 row-playing positions, and the 18 antenna drive switching circuits 1022 in the drive board in the chess piece recognition module 102 respectively correspond to these 18 antennas 1021.

[0096] As Figure 4 shown, the chess piece recognition modules 102 in the 5 row-playing areas are respectively marked as chess piece recognition module 102A, chess piece recognition module 102B, chess piece recognition module 102C, chess piece recognition module 102D, and chess piece recognition module 102E, and the antennas 1021 in each chess piece recognition module 102 are respectively numbered from 1 to 18.

[0097] Divide the chess piece recognition modules 102A, 102B, 102C, 102D, and 102E in the five chess-playing areas into two groups. The chess piece recognition modules 102A, 102C, and 102E form one group, and the chess piece recognition modules 102B and 102D form the other group.

[0098] The main control module 103 controls the chess piece recognition modules 102 in the five chess-playing areas to alternately read all the chess piece information on the chessboard according to the following preset control sequence: the first time (antennas 1021A1, C1, and E1 are simultaneously connected to the corresponding card reading chips 1023), the second time (antennas 1021B1 and D1 are simultaneously connected to the corresponding card reading chips 1023), the third time (antennas 1021A2, C2, and E2 are simultaneously connected to the corresponding card reading chips 1023), the fourth time (antennas 1021B2 and D2 are simultaneously connected to the corresponding card reading chips 1023)... (antennas 1021A18, C18, and E18 are simultaneously connected to the corresponding card reading chips 1023), (antennas 1021B18 and D18 are simultaneously connected to the corresponding card reading chips 1023), to complete the sequential scanning of all the chess piece information on the chessboard.

[0099] The circuit connection relationship between the chess piece recognition modules 102 in the five chess-playing areas and the main control module 103 is as follows: the card reading chips 1023A in the chess piece recognition module 102A, the card reading chips 1023B in the chess piece recognition module 102B, the card reading chips 1023C in the chess piece recognition module 102C, the card reading chips 1023D in the chess piece recognition module 102D, and the card reading chips 1023E in the chess piece recognition module 102E are respectively connected to the main control module 103; the connection relationship between the main control module 103 and the chess piece recognition module 102A is that the main control module 103 outputs switching control signals A1, A2,..., A18 to the antenna drive switching circuits 1022A1, 1022A2,..., 1022A18, and the antenna drive switching circuits 1022A1, 1022A2,..., 1022A18 are respectively connected to the antennas 1021A1, 1021A2,..., 1021A18. The connection relationships between the main control module 103 and the chess piece recognition modules 102B, 102C, 102D, and 102E are the same as those of the chess piece recognition module 102A and will not be elaborated one by one.

[0100] The embodiment of the present application also provides a chessboard, which includes the chess piece recognition system to identify whether there are chess pieces at the chess dropping points on the chessboard through the chess piece recognition system, and to identify the types of chess pieces when there are chess pieces on the chessboard.

[0101] An embodiment of the present application also provides an automatic chess-playing robot, which includes a robotic arm and the chessboard described above. The robotic arm is placed on the chessboard and is used to move the chess pieces.

[0102] The robotic arm moving the chess pieces may include the following steps: The chess piece recognition system in the chessboard sends the recognized chess piece information to the host computer, which is responsible for algorithm control. When the host computer receives the chess piece information, it calculates the chessboard information and sends a control instruction to the control system of the robotic arm. The robotic arm moves the chess pieces under the control of its own control system.

[0103] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the method embodiments, which will not be elaborated in this application. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or modules can be in electrical, mechanical, or other forms.

[0104] The modules described as separate components may or may not be physically separated. The components displayed as modules may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, in each embodiment of this application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0106] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A multi-antenna chess piece recognition system, characterized in that, The described chess piece recognition system includes: a signal transmission module, multiple chess piece recognition modules, and a main control module; the signal transmission module is arranged in the chess piece; each chess piece recognition module includes a card reading chip, multiple antenna driving and switching circuits, and multiple antennas; each antenna driving and switching circuit corresponds to one antenna and is used to control the connection state between the antenna and the card reading chip, and the antennas are arranged at the chess moving positions. The main control module is respectively connected to the multiple antenna driving and switching circuits in each chess piece recognition module, and is used to control the connection state between each antenna driving and switching circuit in each chess piece recognition module and the corresponding antenna, so as to control the card reading chip in this chess piece recognition module to be connected to the multiple antennas in sequence at different times. The signal transmission module is used to transmit a wireless signal at the chess moving position, and the wireless signal includes information of the chess piece where the signal transmission module is located. The chess piece recognition module is used to obtain the wireless signal transmitted by the signal transmission module when the chess piece where the signal transmission module is located moves to the chess moving position where the antenna of this chess piece recognition module is located, and send the wireless signal to the card reading chip of this chess piece recognition module. The card reading chip in each chess piece recognition module is respectively electrically connected to each antenna and the main control module in this chess piece recognition module, and is used to send the wireless signal to the main control module after receiving the wireless signal sent by each antenna. The main control module is further used to receive the wireless signals corresponding to different antennas sent by the card reading chips in each chess piece recognition module, and identify the chess pieces according to the chess piece information included in the wireless signals. The main control module controls the connection state between each antenna driving and switching circuit in each chess piece recognition module and the corresponding antenna, including: The main control module controls the connection state between one antenna driving and switching circuit in the multiple chess piece recognition modules and the corresponding antenna at one moment, so as to control the card reading chip in each chess piece recognition module to be connected to one antenna at one moment. The main control module controls the connection state between each antenna driving and switching circuit in each chess piece recognition module and the corresponding antenna, including: Dividing the multiple chess piece recognition modules into several groups; The main control module controls the connection state between the single antenna driving and switching circuit of each chess piece recognition module in a group of chess piece recognition modules and the corresponding antenna at one moment according to a preset control sequence, so that the antennas in different groups of chess piece recognition modules are connected to the corresponding card reading chips at different times; the distance between the chess moving areas corresponding to the chess piece recognition modules in a group of chess piece recognition modules is greater than a third preset threshold.

2. The multi-antenna chess piece recognition system according to claim 1, wherein The main control module is further used to remotely send the identified chess piece information to a remote chess playing device, and receive the chess piece movement instruction generated according to the control instruction of the target user sent by the remote chess playing device, where the target user is a user in an area outside the visual range of the current user; the remote chess playing device is placed at the position of the target user.

3. The multi-antenna chess piece recognition system according to claim 1, characterized in that, The antenna driving and switching circuit includes a switch module, a filtering module, and an impedance matching module. The switch module is used to control the connection state between each antenna driving switching circuit in each piece recognition module and the corresponding antenna; The filtering module is used to filter the high-frequency harmonics of the electrical signal input to the antenna; The impedance matching module is used to configure the impedance of the antenna driving switching circuit according to the parameters of the antenna.

4. The multi-antenna chess piece recognition system according to claim 3, characterized in that, The switch module, the filtering module, and the impedance matching module of the antenna driving switching circuit are connected in series in sequence, so that the switch module is located before the filtering module and the impedance matching module.

5. The multi-antenna chess piece recognition system according to claim 1, wherein The multiple piece recognition modules correspond to multiple chess-playing areas one by one. The multiple chess-playing areas are obtained by dividing all the chess-playing positions where antennas need to be arranged through a division method. The division method includes: Determine the number and shape of all the chess-playing positions where antennas need to be arranged; Divide all the chess-playing positions into multiple chess-playing areas. The number of chess-playing positions in each chess-playing area is within a first preset threshold range, and the shape of each chess-playing area meets a preset condition. The preset condition is that the distance from the central area of the chess-playing area to any chess-playing position in the chess-playing area is less than a first preset threshold.

6. The multi-antenna piece recognition system according to claim 1, wherein Each antenna driving switching circuit corresponds to an antenna, and the wiring distance between the antenna driving switching circuit and the antenna corresponding to the antenna driving switching circuit is less than a second preset threshold.

7. A chessboard, characterized in that, The chessboard includes the piece recognition system according to any one of claims 1-6 to identify whether there is a piece at the piece placement point on the chessboard, and when there is a piece on the chessboard, identify the type of the piece.

8. An automatic chess-playing robot, characterized in that, The chess-playing robot includes a robotic arm and the chessboard according to claim 7. The robotic arm is placed on the chessboard, and the robotic arm is used to move the pieces.

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