Calibration device, chess-playing robot and calibration method thereof

Abstract

The present invention relates to the technical field of chess-playing robots, and provides a calibration device, a chess-playing robot, and a calibration method thereof. The calibration device includes a housing, a positioning pin, and a camera module; the housing is detachably connected to a robotic arm; the positioning pin is extended along the direction of the chess-playing robot's placement, and has an inner cavity and a light-through port connected to the inner cavity, and the light-through port is provided at the needle head of the positioning pin; the camera module is provided in the inner cavity and is communicatively connected to a host; the lens of the camera module is arranged relative to the light-through port; the camera module captures images of chess-playing points on the chessboard, so that the host can determine the chess-playing points to be calibrated based on the comparison results between the images and the standard images; the pin head contacts the chess-playing points to be calibrated, so that the host can determine the calibration coordinates of the chess-playing points based on the posture of the robotic arm. The present invention facilitates the determination of the chess-playing points to be calibrated, and obtains the calibration coordinates of the chess-playing points based on the calibration of the chess-playing points to be calibrated. This is not only convenient to operate, but also achieves accurate calibration of the chess-playing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of chess-playing robots, and in particular to a calibration device, a chess-playing robot and a calibration method thereof. Background Art

[0002] Currently, chess-playing robots are widely used in user chess teaching and chess entertainment. During the game, chess-playing robots usually rely on vision to identify the user's moves, and after calculations, they use robotic arms to perform moves, thus realizing the game between machines and humans.

[0003] The chess-playing robot is mainly calibrated for the coordinates of each chess-playing point on the chessboard before leaving the factory. However, in actual application, if a calibrated chess-playing robot is hit or reassembled, the internal parameters of the chess-playing robot will change, making it difficult to ensure the accuracy of the chess-playing robot's placement, affecting the user's chess-playing experience. Summary of the Invention

[0004] The present invention provides a calibration device, a chess-playing robot and a calibration method thereof, which are used to at least solve or improve the problem in the prior art that it is difficult to calibrate the chess-playing robot in actual use.

[0005] In a first aspect, the present invention provides a calibration device for use with a chess-playing robot, the chess-playing robot comprising a host and a robotic arm, the robotic arm being disposed on the host, the calibration device comprising: a housing for detachably connecting to the robotic arm;

[0006] A positioning needle is provided on the housing and extends along the direction in which the chess-playing robot places a piece; the positioning needle has an inner cavity and a light-through port communicating with the inner cavity, and the light-through port is provided at the needle head of the positioning needle;

[0007] A camera module is disposed in the inner cavity and is in communication with the host; a lens of the camera module is disposed opposite to the light port;

[0008] The camera module is used to capture images of chess positions on the chessboard, so that the host can determine the chess positions to be calibrated based on the comparison results between the images and the standard pictures.

[0009] The needle is used to contact the chess-playing point to be calibrated, so that the host can determine the calibration coordinates of the chess-playing point according to the posture of the robotic arm.

[0010] According to a calibration device provided by the present invention, the housing has a receiving cavity and a pinhole communicating with the receiving cavity;

[0011] The positioning needle includes a needle seat and a needle body. The needle seat is movably arranged in the accommodating cavity along the optical axis direction of the camera module. The needle body is connected to the needle seat and is inserted into the needle hole.

[0012] According to a calibration device provided by the present invention, the needle seat is provided with a contact, and the needle seat is rotatably arranged in the accommodating cavity relative to the optical axis of the camera module;

[0013] A guide groove is provided on the inner wall of the accommodating cavity. The guide groove extends along a spiral track relative to the optical axis of the camera module. The contact is movably arranged in the guide groove along the extending direction of the guide groove.

[0014] A calibration device according to the present invention further includes:

[0015] The elastic member is disposed in the accommodating cavity and abuts between the inner wall of the accommodating cavity and the needle seat along the optical axis direction of the camera module.

[0016] A calibration device according to the present invention further includes:

[0017] a trigger switch, disposed on the housing and electrically connected to the camera module;

[0018] Wherein, when the housing is connected to the robotic arm, the trigger switch is triggered by the robotic arm to control the camera module to start working.

[0019] A calibration device according to the present invention further includes:

[0020] a control module, electrically connected to the trigger switch;

[0021] An indicator light and a wireless communication module are electrically connected to the control module respectively. The indicator light is used to indicate the working status of the calibration device, and the wireless communication module is used to send the image captured by the camera module to the host.

[0022] In a second aspect, the present invention further provides a chess-playing robot, comprising:

[0023] A host and a robotic arm, wherein the robotic arm is provided on the host, and the host and the robotic arm are communicatively connected;

[0024] A picking component, detachably connected to the robotic arm and used to pick up chess pieces;

[0025] As described above, the calibration device has a housing that is detachably connected to the robotic arm, and a camera module that is communicatively connected to the host.

[0026] In a third aspect, the present invention further provides a calibration method for the chess-playing robot as described above, comprising: determining a chess-playing point on a chessboard to be calibrated;

[0027] receiving a user's gesture adjustment of the robotic arm until the tip of the positioning pin contacts the chess point to be calibrated;

[0028] The angle information of each joint of the robotic arm is obtained, and the calibration coordinates of the chess-playing point to be calibrated are determined according to the angle information.

[0029] According to a calibration method provided by the present invention, the step of determining a chess point to be calibrated on a chessboard includes:

[0030] receiving a first input to the chess-playing robot;

[0031] In response to the first input, according to preset coordinate information, the robotic arm is controlled to drive the calibration device to move to positions corresponding to each chess-playing point on the chessboard, and the camera module is controlled to capture images of each chess-playing point;

[0032] The image captured by the camera module is compared with a standard image to obtain the chess-playing points to be calibrated among the chess-playing points.

[0033] According to a calibration method provided by the present invention, the step of comparing the image captured by the camera module with a standard picture to obtain the chess playing points to be calibrated among the chess playing points includes: superimposing the image captured by the camera module and the standard picture;

[0034] In the case where the "cross" mark on at least part of the standard picture is outside the area where the "cross" pattern in the image is located, the chess point corresponding to the image is determined to be the chess point to be calibrated.

[0035] According to a calibration method provided by the present invention, after determining the calibration coordinates of the chess point to be calibrated, the method further includes:

[0036] Acquire position coordinates of a plurality of chess-playing points around the calibration coordinates, wherein the position coordinates of the plurality of chess-playing points are sequentially connected to form a square area;

[0037] Determine the coordinates of the geometric center of the square area;

[0038] In the case where the distance that the calibration coordinate deviates from the coordinate of the geometric center exceeds a preset value, the calibration coordinate of the chess point to be calibrated is re-determined.

[0039] According to a calibration method provided by the present invention, after determining the calibration coordinates of the chess point to be calibrated, the method further includes:

[0040] receiving a second input to the chess-playing robot;

[0041] In response to the second input, the calibration coordinates of each of the calibrated chess positions are reviewed and calibrated according to the calibration method described above.

[0042] The calibration device and the calibration method of the chess-playing robot provided by the present invention provide a positioning pin and a camera module based on the shell of the calibration device, and set the camera module inside the positioning pin. This not only ensures that the camera module takes pictures facing the chess-playing point along the direction of chess-playing, so that the host can accurately determine the chess-playing point to be calibrated based on the image taken by the camera module, but also ensures that the positioning pin calibrates the chess-playing point to be calibrated along the direction of chess-playing, so that the calibrated position of the positioning pin is consistent with the position where the chess-playing robot places the chess, which is convenient for the host to accurately obtain the calibration coordinates of the chess-playing point according to the posture of the robotic arm when the positioning pin performs calibration, thereby ensuring the accuracy of the calibration of the chess-playing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 It is a structural schematic diagram of the calibration device provided by the present invention;

[0045] Figure 2 is a cross-sectional schematic diagram of the calibration device provided by the present invention when the positioning pin is in a retracted state;

[0046] Figure 3 is a cross-sectional schematic diagram of the calibration device provided by the present invention when the positioning pin is in an extended state;

[0047] Figure 4 is a cross-sectional schematic diagram of the housing provided by the present invention;

[0048] Figure 5 It is a structural schematic diagram of the positioning pin provided by the present invention;

[0049] Figure 6 This is a schematic structural diagram of the assembly of the mechanical arm and calibration device of the shogi robot provided by the present invention;

[0050] Figure 7 This is a schematic structural diagram of the assembly of the mechanical arm and the suction nozzle of the shogi robot provided by the present invention;

[0051] Figure 8 This is a schematic diagram of the structure of the robot arm provided by the present invention being assembled with the calibration device or the nozzle in a threaded connection manner;

[0052] Figure 9 1 is a flow chart of a calibration method for a chess-playing robot based on a calibration device provided by the present invention;

[0053] Figure 10 This is a schematic diagram comparing the image captured by the camera module provided by the present invention with a standard image;

[0054] Figure 11 This is one of the schematic diagrams of the cross mark on the standard picture provided by the present invention being within the area where the cross pattern is located in the image captured by the camera module;

[0055] Figure 12 This is a second schematic diagram showing that the cross mark on the standard image provided by the present invention is located within the area where the cross pattern is located in the image captured by the camera module;

[0056] Figure 13 This is a schematic diagram showing that the cross mark on the standard image provided by the present invention is outside the area where the cross pattern is located in the image captured by the camera module;

[0057] Figure 14 This is an example diagram of the calibration check of the calibration coordinates of chess points provided by the present invention;

[0058] Figure 15 It is a structural schematic diagram of the electronic device provided by the present invention;

[0059] Reference numerals:

[0060] 1. Calibration device; 2. Host; 3. Robotic arm; 4. Picking parts; 5. Chessboard; 100. Image; 200. Standard image;

[0061] 11. Shell; 111. Accommodating cavity; 112. Needle hole; 1101. Guide groove; 1102. Threaded hole; 12. Positioning pin; 1201. Contact; 121. Needle seat; 122. Needle body; 1221. Inner cavity; 1222. Light port; 13. Camera module; 14. Elastic member; 15. Trigger switch; 16. Control module; 17. Indicator light; 18. Charging port. DETAILED DESCRIPTION

[0062] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0063] The following combination Figures 1-15 , the calibration device and the calibration method of the chess-playing robot provided by the embodiments of the invention are described in detail through specific embodiments and their application scenarios.

[0064] In the first aspect, Figures 1 to 3 As shown, an embodiment of the present invention provides a calibration device 1, which is applied to a chess-playing robot. The chess-playing robot includes a host 2 and a robotic arm 3. The robotic arm 3 is provided on the host 2. The calibration device 1 includes: a housing 11, a positioning pin 12 and a camera module 13;

[0065] The housing 11 is configured to be detachably connected to the robotic arm 3. A positioning pin 12 is disposed on the housing 11 and extends along the direction in which the chess-playing robot places its chess pieces. The positioning pin 12 has an inner cavity 1221 and a light opening 1222 communicating with the inner cavity 1221. The light opening 1222 is disposed at the tip of the positioning pin 12. A camera module 13 is disposed within the inner cavity 1221 and is in communication with the host 2. The lens of the camera module 13 is disposed opposite the light opening 1222.

[0066] The camera module 13 is used to capture images of the chessboard 5 so that the host 2 can determine the chessboard positions to be calibrated based on the comparison results between the images and the standard images.

[0067] The needle is used to contact the chess point to be calibrated, so that the host 2 can determine the calibration coordinates of the chess point according to the posture of the robotic arm 3.

[0068] It is understandable that the chess-playing robot is used to play chess, Go or Gobang with household personnel; when playing chess, the chess-playing point is the center of each square on the chessboard 5; when playing Go or Gobang, the chess-playing point is each "cross" intersection on the chessboard 5.

[0069] The shell 11 has a first end and a second end, and the first end and the second end are arranged opposite to each other along the optical axis direction of the camera module 13; the first end of the shell 11 can be detachably connected to the execution end of the robotic arm 3 by means of threaded connection, snap connection, etc., and the second end of the shell 11 is connected to the positioning pin 12.

[0070] The execution end of the robotic arm 3 is provided with a connecting portion, which extends in a vertical direction and is configured to be selectively detachably connected to the picking component 4 for picking up chess pieces or the first end of the shell 11. The extending direction of the connecting portion is the direction in which the chess robot places the chess pieces.

[0071] The positioning pin 12 can be configured to extend along the optical axis direction of the camera module 13. By setting the camera module 13 in the inner cavity 1221 of the positioning pin 12 and performing image acquisition based on the light port 1222 at the needle head, it can be ensured that the camera module 13 is vertically downward and directly facing the chess-playing point along the direction of the chess-playing, thereby avoiding the deviation of the shooting angle of the camera module 13 from affecting the determination of the chess-playing point to be calibrated. When it is determined that the coordinates corresponding to the current chess-playing point need to be calibrated, the positioning pin 12 coaxially arranged with the camera module 13 can be directly used to calibrate the chess-playing point along the direction of the chess-playing, so that the calibrated position of the positioning pin 12 is consistent with the position where the chess-playing robot places the chess, thereby ensuring the accuracy of the calibration of the chess-playing robot.

[0072] In actual application, the shell 11 of the calibration device 1 is connected to the execution end of the robotic arm 3, and the host 2 of the chess-playing robot stores coordinate information corresponding to each chess-playing point on the chessboard 5. The host 2 can adjust the posture of the robotic arm 3 according to the coordinate information so that the robotic arm 3 controls the calibration device 1 to reach the position corresponding to each chess-playing point, and then the camera module 13 captures the image of the chess-playing point.

[0073] At the same time, after the camera module 13 transmits the captured image to the host 2, the host 2 compares and analyzes the image captured by the camera module 13 with the pre-stored standard picture. When the image captured by the camera module 13 is misaligned relative to the standard picture, it can be determined that the chess-playing point photographed by the camera module 13 is the chess-playing point to be calibrated.

[0074] Next, the operator can manually change the posture of the robotic arm 3 and control the needle tip of the positioning pin 12 to contact the chess-playing point to be calibrated, thereby calibrating the chess-playing point to be calibrated. Since the coordinates of the chess-playing point correspond to the angle information of each joint of the robotic arm 3 in the current posture, the host 2 can determine the calibration coordinates of the chess-playing point based on the posture of the robotic arm 3.

[0075] As can be seen from the above, by setting a positioning pin 12 and a camera module 13 based on the shell 11 of the calibration device 1, and setting the camera module 13 in the positioning pin 12, it can not only ensure that the camera module 13 takes pictures facing the chess-playing point along the direction of the chess-playing, so that the host 2 can accurately determine the chess-playing point to be calibrated according to the image taken by the camera module 13, but also ensure that the positioning pin 12 calibrates the chess-playing point to be calibrated along the direction of the chess-playing, so that the calibrated position of the positioning pin 12 is consistent with the position where the chess-playing robot places the chess, which is convenient for the host 2 to accurately obtain the calibration coordinates of the chess-playing point according to the posture of the robotic arm 3 when the positioning pin 12 performs calibration, thereby ensuring the accuracy of the calibration of the chess-playing robot.

[0076] In some embodiments, as Figure 2 and Figure 3 As shown, the housing 11 has a receiving cavity 111 and a needle hole 112 communicating with the receiving cavity 111;

[0077] The positioning needle 12 includes a needle seat 121 and a needle body 122 . The needle seat 121 is movably disposed in the accommodating cavity 111 along the optical axis direction of the camera module 13 . The needle body 122 is connected to the needle seat 121 and is passed through the needle hole 112 .

[0078] It can be understood that by arranging the needle seat 121 movably arranged in the accommodating cavity 111, the positioning needle 12 can have an extended state and a retracted state relative to the shell 11; wherein, the first end of the needle body 122 is connected to the needle seat 121, the second end of the needle body 122 serves as a needle head, and an inner cavity 1221 for accommodating the camera module 13 is formed in the needle body 122.

[0079] The peripheral wall of the needle seat 121 and the inner wall of the accommodating cavity 111 may be configured to be connected in a threaded or sliding manner, so that the needle seat 121 can be movably arranged in the accommodating cavity 111 along the optical axis direction of the camera module 13 .

[0080] like Figure 2 As shown, when it is necessary to take a picture of the chess-playing point so that the host 2 can judge whether the chess-playing point needs to be calibrated based on the photographed image, the positioning pin 12 is in a retracted state. This design can prevent the needle tip of the positioning pin 12 from contacting the chessboard 5 when the robotic arm 3 drives the calibration device 1 to move.

[0081] like Figure 3 As shown, when the chess-playing point needs to be calibrated, the positioning needle 12 is in an extended state so that the needle head of the positioning needle 12 can accurately contact the chess-playing point to be calibrated.

[0082] Furthermore, if Figure 4 and Figure 5As shown, the needle seat 121 is provided with a contact 1201 , and the needle seat 121 is rotatably disposed in the accommodating cavity 111 relative to the optical axis of the camera module 13 ;

[0083] A guide groove 1101 is formed on the inner wall of the accommodating cavity 111 . The guide groove 1101 extends along a spiral trajectory relative to the optical axis of the camera module 13 . The contact 1201 is movably disposed in the guide groove 1101 along the extension direction of the guide groove 1101 .

[0084] It is understandable that the needle seat 121 can be configured as a cylindrical structure, and the accommodating cavity 111 can be configured as a cylindrical inner cavity 1221. The diameter of the needle seat 121 matches the inner diameter of the accommodating cavity 111, that is, the peripheral wall of the needle seat 121 fits the inner wall of the accommodating cavity 111.

[0085] Contact 1201 is mounted on the periphery of needle holder 121. Rotation of locating pin 12 causes needle holder 121 to rotate contact 1201 relative to housing 11. Because guide slot 1101 extends along a spiral path, guide slot 1101 guides contact 1201, allowing locating pin 12 to simultaneously rotate relative to the optical axis of camera module 13 and move along the optical axis of camera module 13, thereby switching locating pin 12 between an extended and retracted state relative to housing 11.

[0086] Optionally, two contacts 1201 may be provided, and the two contacts 1201 are located on opposite sides of the needle seat 121 ; two guide slots 1101 may be provided, and the two contacts 1201 are movably provided in the two guide slots 1101 in a one-to-one correspondence.

[0087] Specifically, the guide slot 1101 includes a first horizontal section, a spiral section, and a second horizontal section, which are sequentially connected. When the contact 1201 is in the first horizontal section, the positioning pin 12 is stably extended; when the contact 1201 is in the second horizontal section, the positioning pin 12 is stably retracted.

[0088] In some embodiments, as Figure 2 and Figure 3 As shown, the calibration device 1 further includes an elastic member 14 , which is disposed in the accommodating cavity 111 and abuts between the inner wall of the accommodating cavity 111 and the needle seat 121 along the optical axis direction of the camera module 13 .

[0089] It is understandable that when the telescopic position of the positioning pin 12 relative to the housing 11 is adjusted, the elastic force provided by the elastic member 14 can ensure the stability of the positioning pin 12 relative to the housing 11.

[0090] Optionally, the elastic member 14 can be a spring, a first positioning groove is provided at the end of the needle seat 121 facing away from the needle body 122, a second positioning groove is provided at the end of the accommodating cavity 111 opposite to the needle seat 121, one end of the spring is inserted in the first positioning groove, and the other end is inserted in the second positioning groove.

[0091] In some embodiments, as Figure 2 and Figure 3 As shown, the calibration device 1 also includes: a trigger switch 15, which is arranged in the shell 11 and electrically connected to the camera module 13; wherein, when the shell 11 is connected to the robotic arm 3, the trigger switch 15 is triggered by the robotic arm 3 to control the camera module 13 to start working.

[0092] Specifically, the trigger switch 15 can be a proximity switch or a travel switch. The trigger switch 15 can be configured to be electrically connected to the control module 16, and the control module 16 is electrically connected to the camera module 13. The control module 16 can be a circuit board, which is disposed on the needle seat 121 of the positioning needle 12.

[0093] Furthermore, a threaded hole 1102 is provided at the first end of the shell 11, and the trigger switch 15 is provided at the bottom of the threaded hole 1102; the connection part located at the execution end of the robot arm 3 can be configured as a threaded joint, which is used to be threadedly connected to the threaded hole 1102.

[0094] In actual use, when the housing 11 is not connected to the robotic arm 3 via the threaded hole 1102 and the threaded joint, the trigger switch 15 will not be triggered, the calibration device 1 will not start working, and the camera module 13 will be in the off state. When the housing 11 is connected to the robotic arm 3 via the threaded hole 1102 and the threaded joint, the trigger switch 15 will be triggered, the calibration device 1 will start working, and the camera module 13 will be in the on state.

[0095] In some embodiments, as Figure 1 and Figure 2 As shown, the calibration device 1 also includes: a control module 16, an indicator light 17 and a wireless communication module; the control module 16 is electrically connected to the trigger switch 15; the indicator light 17 and the wireless communication module are electrically connected to the control module 16 respectively, the indicator light 17 is used to indicate the working status of the calibration device 1, and the wireless communication module is used to send the image captured by the camera module 13 to the host 2.

[0096] Specifically, indicator light 17 can be an RGB light. When trigger switch 15 is not triggered, indicator light 17 emits blue light to indicate that calibration device 1 is not working. When trigger switch 15 is triggered, indicator light 17 emits green light to indicate that calibration device 1 is working. When calibration device 1 is operating abnormally or the remaining power of the power module in calibration device 1 is lower than a set value, indicator light 17 emits red light. Based on the three-color light emitted by indicator light 17, the user can accurately understand the current working status of calibration device 1.

[0097] At the same time, the wireless communication module can be any one of a Bluetooth module and a WiFi module; the calibration device 1 establishes a wireless communication connection with the host 2 of the chess-playing robot through the wireless communication module.

[0098] like Figure 1 As shown, the calibration device 1 also includes: a charging interface 18; the charging interface 18 is provided on the surface of the shell 11 and is electrically connected to the power module, the power module is provided in the shell 11, and is configured to be electrically connected to the control module 16 and the camera module 13 respectively.

[0099] Among them, the charging interface 18 can be a Type-c interface, and the power module can be a lithium battery pack.

[0100] In the second aspect, Figure 6 and Figure 7 As shown, the present invention also provides a chess-playing robot, comprising: a host 2 and a mechanical arm 3, wherein the mechanical arm 3 is provided on the host 2, and the host 2 and the mechanical arm 3 are communicatively connected;

[0101] A picking component 4 is detachably connected to the robotic arm 3 and is used to pick up chess pieces;

[0102] As described above, the calibration device 1 has a housing 11 detachably connected to the robotic arm 3 , and a camera module 13 of the calibration device 1 is communicatively connected to the host 2 .

[0103] It is understandable that the host 2 serves as a carrying platform for the robotic arm 3 , the base of the robotic arm 3 is rotatably disposed on the host 2 , and the execution end of the robotic arm 3 is detachably connected to the picking component 4 or the calibration device 1 .

[0104] like Figure 8 As shown, the picking component 4 can be a negative pressure suction nozzle, which is used to absorb or release chess pieces. The threaded joint on the robot arm 3 can be threadedly connected to the negative pressure suction nozzle or to the calibration device 1.

[0105] The robotic arm 3 may be a multi-degree-of-freedom robotic arm, such as a six-axis robotic arm. Optionally, the robotic arm 3 includes a main arm and a small arm, wherein the first end of the main arm is rotatably mounted on the main machine 2, the second end of the main arm is rotatably connected to the first end of the small arm, and the second end of the small arm is detachably connected to the pickup component 4 or the calibration device 1.

[0106] At the same time, each joint of the robotic arm 3 is equipped with an angle sensor, and each angle sensor is respectively communicated with the host 2. The host 2 can control the rotation angle of each joint according to the angle information fed back by each angle sensor, thereby adjusting the posture of the robotic arm 3.

[0107] In actual application, when it is necessary to calibrate the chess-playing robot, the execution end of the robotic arm 3 is connected to the calibration device 1; when it is necessary to play chess based on the chess-playing robot, the execution end of the robotic arm 3 is connected to the picking component 4.

[0108] Since the chess-playing robot includes a calibration device 1, and the specific structure of the calibration device 1 refers to the above embodiment, the chess-playing robot of this embodiment includes all the technical solutions of the above embodiment, and therefore has at least all the beneficial effects achieved by all the technical solutions of the above embodiment, which will not be repeated here.

[0109] In the third aspect, Figure 9 As shown, the present invention also provides a calibration method using the chess-playing robot described above. The execution subject of the calibration method can be a server or a host of the chess-playing robot. The calibration method includes the following steps:

[0110] Step 910, determining the chess point to be calibrated on the chessboard;

[0111] It is understandable that the host of the chess-playing robot is usually equipped with a camera, which is used to capture pictures of the chess game on the chessboard; based on the chess game pictures, the host can understand that the chess-playing robot cannot accurately place the pieces at one or more chess-playing points, for example, the chess pieces are not accurately placed at the chess-playing points, then these chess-playing points can be determined as chess-playing points to be calibrated.

[0112] Of course, the user can also actively input selection instructions to the host according to actual needs to select the chess points that need to be calibrated.

[0113] Step 920: Receive the user's posture adjustment of the robotic arm until the needle tip of the positioning pin contacts the chess point to be calibrated.

[0114] It is understandable that a touch screen is provided on the host, which is used to display the chess-playing points to be calibrated; the user can send control instructions to the touch screen, and the host of the chess-playing robot responds to the control instructions to control the robotic arm to adjust its posture until the needle tip of the positioning needle contacts the chess-playing point to be calibrated.

[0115] Of course, the user can also manually adjust the posture of the robotic arm. When the calibration device is located above the chess-playing point to be calibrated, the positioning pin is controlled to be in an extended state, that is, the positioning pin extends downward and contacts the chess-playing point to be calibrated to achieve calibration of the chess-playing point to be calibrated.

[0116] Step 930: Obtain angle information of each joint of the robotic arm, and determine the calibration coordinates of the chess point to be calibrated based on the angle information.

[0117] It is understandable that, since the coordinates of the chess point correspond to the angle information of each joint of the robotic arm in the current posture, the host can determine the calibration coordinates of the chess point according to the posture of the robotic arm.

[0118] From the above, it can be seen that the calibration method shown in the present invention can, with the assistance of the user, use a positioning needle to calibrate the chess-playing point to be calibrated, so that the calibrated position of the positioning needle is consistent with the position where the chess-playing robot places the piece, which is convenient for the host to accurately obtain the calibration coordinates of the chess-playing point according to the posture of the robotic arm when the positioning needle performs calibration, thereby ensuring the accuracy of the calibration of the chess-playing robot.

[0119] Furthermore, the step of determining the chess-playing point to be calibrated on the chessboard shown in this embodiment includes: S1, receiving a first input from the chess-playing robot;

[0120] S2, in response to the first input, controlling the robotic arm to drive the calibration device to move to positions corresponding to respective chess positions on the chessboard according to preset coordinate information, and controlling the camera module to capture images of the respective chess positions;

[0121] S3, comparing the image captured by the camera module with the standard image to obtain the chess playing points to be calibrated among the various chess playing points.

[0122] It is understandable that the user can give the first input to the touch screen on the host by pressing a virtual button or sliding input; in response to the first input, the host will change the angles of each joint of the robotic arm according to the coordinate information stored when the chess robot leaves the factory, so as to control the working state of the robotic arm, and then the robotic arm drives the calibration device to move to the position of each chess point on the corresponding chessboard, so as to verify the coordinates of each chess point based on the calibration device.

[0123] If the image captured by the camera module is compared with the standard picture and it is determined that the image captured by the camera module completely overlaps with the standard picture, the current chess position verification is passed.

[0124] After the previous chess-playing point is verified, the robotic arm drives the calibration device to the position corresponding to the next chess-playing point, and controls the camera module to capture the image of the current chess-playing point; the host continues to compare the image captured by the camera module with the standard picture. If the current chess-playing point fails the verification, the current chess-playing point is determined to be the chess-playing point to be calibrated, and positioning is used to calibrate the chess-playing point to be calibrated.

[0125] like Figure 10 As shown, for Go, the image 100 of each chess position captured by the camera module is an image with a "cross" pattern, and the standard image 200 is a picture with a "cross" mark pre-stored by the host.

[0126] Specifically, the step of comparing the image captured by the camera module with the standard picture to obtain the chess playing points to be calibrated among the chess playing points includes: superimposing the image captured by the camera module and the standard picture;

[0127] In the case where the "cross" mark on at least part of the standard image is outside the area where the "cross" pattern is located in the image, the chess playing point corresponding to the image is determined to be the chess playing point to be calibrated.

[0128] like Figure 11 As shown, the image 100 captured by the camera module completely overlaps with the standard image 200, and at this time, it is determined that the calibration coordinates of the current chess point have been verified.

[0129] like Figure 12 As shown, the "cross" mark on the standard image 200 is within the area where the "cross" pattern is located in the image 100, but the "cross" mark deviates from the center of the "cross" pattern. At this time, it can also be determined that the calibration coordinates of the current chess point have been verified.

[0130] like Figure 13 As shown, a portion of the "cross" mark on the standard image 200 is outside the area where the "cross" pattern is located in the image 100. At this time, it is determined that the calibration coordinate verification of the current chess point has failed.

[0131] It should be pointed out here that when the chess-playing robot is powered on for the first time and the calibration device is determined to be installed at the execution end of the robotic arm, the verification method shown in this embodiment can use the above steps to calibrate the chess-playing robot.

[0132] Of course, even if this is not the first time the chess robot is turned on and running, the user can input control instructions to the host according to actual needs to control the chess robot to start the calibration program; in actual application, the coordinates of all chess points (361) on the chessboard can be calibrated, or the coordinates of some chess points can be calibrated.

[0133] In some embodiments, after determining the calibration coordinates of the chess point to be calibrated, the method further includes:

[0134] Obtaining the position coordinates of multiple chess points around the calibration coordinates, where the position coordinates of the multiple chess points are sequentially connected to form a square area;

[0135] Determine the coordinates of the geometric center of the square area;

[0136] When the distance that the calibration coordinate deviates from the coordinate of the geometric center exceeds a preset value, the calibration coordinate of the chess point to be calibrated is re-determined.

[0137] It is understood that when the user determines that the calibrated chess position needs to be recalibrated, the calibration process will be initiated. The host will display the chess position that failed the verification in the previous step, instructing the user to position the positioning needle to the chess position and click the confirmation button. The host will convert the current angle information of each joint of the robot arm into the coordinate information corresponding to the chess position.

[0138] In order to avoid users from incorrectly calibrating the chess-playing points, after obtaining the calibration coordinates of the chess-playing points, the chess-playing robot will check the accuracy of the calibration coordinates.

[0139] For example, for Figure 14 There is a chess point at the center of the image. There are 8 chess points around it. The coordinates of these 8 chess points are (1, 1), (1, 2), (1, 3), (2, 1), (2, 3), (3, 1), (3, 2) and (3, 3). The coordinates of the geometric center of the square area formed by these 8 chess points are (2, 2).

[0140] If the calibration coordinates calculated based on the robot arm's posture are distributed near the coordinates (2, 2), for example, (2.1, 2.2) or (2, 2.1), the calibration results are considered normal. If the calibration coordinates are (2, 4) or (1, 2), the calibration results are considered abnormal and the calibration method of steps 910 to 930 must be used to recalibrate the coordinates of the chess positions. Calibration is complete when all marked chess positions have been recalibrated.

[0141] The preset value of the distance by which the calibration coordinate deviates from the coordinate of the geometric center can be set to 0.5-1 times the width of a chess square on the chessboard.

[0142] In some embodiments, after determining the calibration coordinates of the chess point to be calibrated, the method further includes:

[0143] receiving a second input from the chess-playing robot;

[0144] In response to the second input, the calibration coordinates of each calibrated chess position are reviewed and calibrated according to the above calibration method.

[0145] It is understandable that the user can give the second input to the touch screen on the host by pressing a virtual key or sliding input; in response to the second input, the host starts a review and calibration procedure for the calibration coordinates of each calibrated chess point.

[0146] After calibrating the chess playing points to be calibrated and obtaining the corresponding calibration coordinates, the calibration method of steps S1 to S3 above can be used to review the coordinates of each chess playing point, and recalibrate the chess playing points whose calibration coordinates show abnormalities until the calibration coordinates of all chess playing points show normal results.

[0147] Figure 15 An example of a physical structure diagram of an electronic device is shown below. Figure 15 As shown, the electronic device may include: a processor 151, a communications interface 152, a memory 153, and a communications bus 154, wherein the processor 151, the communications interface 152, and the memory 153 communicate with each other via the communications bus 154. The processor 151 may call logic instructions in the memory 153 to execute a calibration method for a chess-playing robot, which includes: determining a chess-playing point on a chessboard to be calibrated; receiving a user's posture adjustment of the robotic arm until the needle tip of the positioning pin contacts the chess-playing point to be calibrated; obtaining angle information of each joint of the robotic arm, and determining the calibration coordinates of the chess-playing point to be calibrated based on the angle information.

[0148] Furthermore, the logic instructions in the aforementioned memory 153 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0149] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the calibration method of the chess-playing robot provided by the above methods, and the calibration method includes: determining the chess-playing point to be calibrated on the chessboard; receiving the user's posture adjustment of the robotic arm until the needle tip of the positioning pin contacts the chess-playing point to be calibrated; obtaining the angle information of each joint of the robotic arm, and determining the calibration coordinates of the chess-playing point to be calibrated based on the angle information.

[0150] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the calibration method of the chess-playing robot provided by the above-mentioned methods. The calibration method includes: determining the chess-playing point to be calibrated on the chessboard; receiving the user's posture adjustment of the robotic arm until the needle tip of the positioning pin contacts the chess-playing point to be calibrated; obtaining the angle information of each joint of the robotic arm, and determining the calibration coordinates of the chess-playing point to be calibrated based on the angle information.

[0151] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0152] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A calibration device, applied to a chess-playing robot, the chess-playing robot comprising a host and a robotic arm, the robotic arm being provided on the host, characterized in that: The calibration device comprises: a housing, configured to be detachably connected to the robotic arm; A positioning needle is provided on the housing and extends along the direction in which the chess-playing robot places a piece; the positioning needle has an inner cavity and a light-through port communicating with the inner cavity, and the light-through port is provided at the needle head of the positioning needle; A camera module is disposed in the inner cavity and is in communication with the host; a lens of the camera module is disposed opposite to the light port; The camera module is used to capture images of chess positions on the chessboard, so that the host can determine the chess positions to be calibrated based on the comparison results between the images and the standard pictures. The needle is used to contact the chess-playing point to be calibrated, so that the host can determine the calibration coordinates of the chess-playing point according to the posture of the robotic arm.

2. The calibration device according to claim 1, characterized in that The housing has a receiving cavity and a needle hole communicating with the receiving cavity; The positioning needle includes a needle seat and a needle body. The needle seat is movably arranged in the accommodating cavity along the optical axis direction of the camera module. The needle body is connected to the needle seat and is inserted into the needle hole.

3. The calibration device according to claim 2, characterized in that The needle seat is provided with a contact, and the needle seat is rotatably arranged in the accommodating cavity relative to the optical axis of the camera module; A guide groove is provided on the inner wall of the accommodating cavity. The guide groove extends along a spiral track relative to the optical axis of the camera module. The contact is movably arranged in the guide groove along the extending direction of the guide groove.

4. The calibration device according to claim 3, characterized in that Also includes: The elastic member is disposed in the accommodating cavity and abuts between the inner wall of the accommodating cavity and the needle seat along the optical axis direction of the camera module.

5. The calibration device according to any one of claims 1 to 4, characterized in that: Also includes: a trigger switch, disposed on the housing and electrically connected to the camera module; Wherein, when the housing is connected to the robotic arm, the trigger switch is triggered by the robotic arm to control the camera module to start working.

6. The calibration device according to claim 5, characterized in that Also includes: a control module, electrically connected to the trigger switch; An indicator light and a wireless communication module are electrically connected to the control module respectively. The indicator light is used to indicate the working status of the calibration device, and the wireless communication module is used to send the image captured by the camera module to the host.

7. A chess-playing robot, characterized in that: include: A host and a robotic arm, wherein the robotic arm is provided on the host, and the host and the robotic arm are communicatively connected; A picking component, detachably connected to the robotic arm and used to pick up chess pieces; The calibration device according to any one of claims 1 to 6, wherein a housing of the calibration device is detachably connected to the robotic arm, and a camera module of the calibration device is communicatively connected to the host.

8. A method for calibrating a chess-playing robot as claimed in claim 7, characterized in that: The robotic arm is connected to a housing of the calibration device, and the calibration method includes: Determine the chess point to be calibrated on the chessboard; receiving a user's gesture adjustment of the robotic arm until the tip of the positioning pin contacts the chess point to be calibrated; The angle information of each joint of the robotic arm is obtained, and the calibration coordinates of the chess-playing point to be calibrated are determined according to the angle information.

9. The calibration method according to claim 8, characterized in that: The step of determining the chess point to be calibrated on the chessboard includes: receiving a first input to the chess-playing robot; In response to the first input, according to preset coordinate information, the robotic arm is controlled to drive the calibration device to move to positions corresponding to each chess-playing point on the chessboard, and the camera module is controlled to capture images of each chess-playing point; The image captured by the camera module is compared with a standard image to obtain the chess-playing points to be calibrated among the chess-playing points.

10. The calibration method according to claim 9, characterized in that: The step of comparing the image captured by the camera module with a standard image to obtain the chess playing points to be calibrated among the chess playing points includes: Overlaying the image captured by the camera module with a standard picture; In a case where the "cross" mark on at least part of the standard image is outside the area where the "cross" pattern is located in the image, the chess playing point corresponding to the image is determined to be the chess playing point to be calibrated.

11. The calibration method according to claim 8, characterized in that: After determining the calibration coordinates of the chess point to be calibrated, the method further includes: Acquire position coordinates of a plurality of chess-playing points around the calibration coordinates, wherein the position coordinates of the plurality of chess-playing points are sequentially connected to form a square area; Determine the coordinates of the geometric center of the square area; In the case where the distance that the calibration coordinate deviates from the coordinate of the geometric center exceeds a preset value, the calibration coordinate of the chess point to be calibrated is re-determined.

12. The calibration method according to claim 9 or 10, characterized in that: After determining the calibration coordinates of the chess point to be calibrated, the method further includes: receiving a second input to the chess-playing robot; In response to the second input, the calibration coordinates of each of the calibrated chess positions are reviewed and calibrated according to the calibration method according to claim 9 or 10.

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