Gobang man-machine playing equipment based on machine vision
The Gobang human-computer game device uses machine vision and automated linear modules with vacuum suction cups to address accuracy and automation issues in existing chess devices, ensuring precise and efficient chess piece handling.
Patent Information
- Application Number
- CN202411541339.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2024-12-17
AI Technical Summary
Existing human-computer chess devices face accuracy issues due to reliance on hall sensors and photosensitive sensors affected by external factors, requiring manual placement of chess pieces, leading to low automation and inefficiency.
A Gobang human-computer game device utilizing machine vision with a camera to accurately judge and position chess pieces, combined with X-axis, Z-axis, and Y-axis linear modules and vacuum suction cups for automated chess piece delivery and placement.
The device achieves precise and efficient chess piece supply and placement, enhancing automation and stability, enabling accurate chess piece type and position judgment, and facilitating stable gameplay.
Smart Images
Figure CN119139682A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of Gobang game equipment, and in particular to a Gobang human-machine game equipment based on machine vision. Background Art
[0002] With the steady improvement of economic level, various advanced technologies such as artificial intelligence technology, control technology, machine vision technology, etc. have gradually been integrated into people's lives. At the same time, with the development of science and technology, the integration of various advanced technologies has become a development trend. The demand for intelligent product development has gradually increased, and the application fields have gradually expanded. The development of intelligent products integrated with intelligent control technology based on machine vision will gradually increase.
[0003] At present, the artificial intelligence industry has achieved certain development, and artificial intelligence plays an indispensable role in the field of human-computer chess, but the integration of its core technology with other advanced technologies and actual product needs are still major problems.
[0004] At present, the existing technology used in most human-computer chess devices has shortcomings. Hall sensors and photosensitive sensors are combined with magnetism and light to determine the type and position of chess pieces on the chessboard. This method is greatly affected by external factors, the accuracy of position information judgment is unstable, and the chessboard and chess pieces need to be specially made. Manually placing the positions of chess pieces for the execution component to take chess pieces is cumbersome and inefficient, and the degree of automation is low. Summary of the invention
[0005] In order to overcome the shortcomings of the prior art, the present invention provides a Gobang human-computer game device based on machine vision. The camera collects chess game pictures in real time to obtain the types and positions of chess pieces on the chessboard. The types of chess pieces can be accurately judged and positioned accurately. The chess piece supply component improves the efficiency of delivering chess pieces and reduces the trouble of manually placing chess pieces. The X-axis linear module and the Z-axis linear module are accompanied by the Y-axis linear module to make the vacuum suction cup located at the placement point. The vacuum suction cup completes the suction and placement of chess pieces, thereby completing the functional requirements of human-computer game.
[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A Gobang human-machine game device based on machine vision, comprising: A chessboard component, comprising a chessboard and a camera, wherein the camera is located above the top surface of the chessboard and collects chess game images on the chessboard through the camera; A chess supply assembly includes a chess supply box for placing chess pieces and a chess supply device rotating disk below the bottom of the chess supply box, wherein the chess pieces in the chess supply box are removed by rotating the chess supply device rotating disk; The execution component includes a vacuum suction cup, an X-axis mechanism, a Z-axis mechanism and a Y-axis mechanism. The vacuum suction cup is used to grab and release chess pieces. The vacuum suction cup is installed on the Z-axis mechanism, and the movement of the vacuum suction cup on the Z-axis is realized by the Z-axis mechanism. The Z-axis mechanism is installed on the X-axis mechanism, and the movement of the Z-axis mechanism on the X-axis is realized by the X-axis mechanism. The chessboard is installed on the Y-axis mechanism, and the movement of the chessboard on the Y-axis is realized by the Y-axis mechanism.
[0007] As a preferred embodiment of a machine vision-based Gobang human-computer game device described in the present invention, the chessboard assembly also includes a human-computer game workbench, the top of which is connected to a camera support frame, and the camera is installed on the camera support frame.
[0008] As a preferred solution of a machine vision-based Gobang human-computer game device described in the present invention, the chess supply assembly further includes a chess supply device support frame, a chess supply device bottom plate, a chess supply device upper plate and a conical block, the chess supply device support frame is connected and fixed to the top of the human-computer game workbench, the chess supply device bottom plate is connected and fixed to the top of the chess supply device support frame, the chess supply device upper plate is located directly above the chess supply device bottom plate, and an intermediate fixed block is connected and arranged between the end corners of the chess supply device upper plate and the chess supply device bottom plate, and the chess supply device rotating disk is rotatably embedded in the chess supply device upper plate The chess supply box is connected to the top of the upper plate of the chess supply device and is located above the rotating disk of the chess supply device. The chess supply box is a hollow cylinder with upper and lower openings. The conical block is installed inside the chess supply box and the lower end movably penetrates the rotating disk of the chess supply device and is connected to the bottom plate of the chess supply device. The top surface of the upper plate of the chess supply device is located at the outer edge of the rotating disk of the chess supply device and is provided with a chess-out track. The conical block is used to distribute the chess pieces in the chess supply box on the edge of the top surface of the rotating disk of the chess supply device. The rotation of the rotating disk of the chess supply device enables the chess pieces to be moved out of the inside of the chess supply box along the chess-out track of the upper plate of the chess supply device.
[0009] As a preferred solution of a machine vision-based Gobang human-computer game device described in the present invention, the chess piece supply assembly also includes a reduction motor and a rotating disk driven gear, the rotating disk driven gear is coaxially connected to the bottom of the rotating disk of the chess piece supply device, a slewing support bearing is connected between the rotating disk driven gear and the bottom plate of the chess piece supply device, the reduction motor is installed on the bottom plate of the chess piece supply device, and the output shaft of the reduction motor is connected to a reduction motor driving gear meshing with the rotating disk driven gear.
[0010] As a preferred solution of a machine vision-based human-computer Go game device described in the present invention, the chess piece supply component also includes a fiber optic sensor, and a fiber optic sensor fixing block is installed at the end of the chess piece delivery track on the upper board of the chess supply device, and the fiber optic sensor is installed on the fiber optic sensor fixing block, and the output signal of the fiber optic sensor fixing block is fed back to the control switch of the reduction motor.
[0011] As a preferred solution of a machine vision-based Gobang human-computer game device described in the present invention, the X-axis mechanism includes an X-axis linear module, an X-axis servo motor and an X-axis limit sensor, the bottom of the X-axis linear module is connected with an X-axis linear module fixed plate, an X-axis linear module fixed plate support block is connected between the X-axis linear module fixed plate and the top of the human-computer game workbench, one end of the X-axis linear module is connected with an X-axis servo motor fixed plate, the X-axis servo motor is installed on the X-axis servo motor fixed plate, a first synchronous pulley is installed on the lead screw of the X-axis linear module, a second synchronous pulley is installed on the output shaft of the X-axis servo motor, a first synchronous belt is connected between the second synchronous pulley and the first synchronous pulley, an X-axis limit sensor fixed block is connected to the side of the X-axis linear module, the X-axis limit sensor is installed on the X-axis limit sensor fixed block, and the output signal of the X-axis limit sensor is fed back to the control switch of the X-axis linear module.
[0012] As a preferred solution of a machine vision-based Gobang human-computer game device described in the present invention, the Z-axis mechanism includes a Z-axis linear module, a Z-axis servo motor and a Z-axis limit sensor, the slider of the X-axis linear module is connected with a Z-axis linear module fixed block, the Z-axis linear module is installed on the Z-axis linear module fixed block, the top of the Z-axis linear module is connected with a Z-axis servo motor fixed block, the Z-axis servo motor is installed on the Z-axis servo motor fixed block, a coupling is connected between the Z-axis servo motor and the Z-axis linear module, the side of the Z-axis linear module is connected with a Z-axis limit sensor fixed block, the Z-axis limit sensor is installed on the Z-axis limit sensor fixed block, and the output signal of the Z-axis limit sensor is fed back to the control switch of the Z-axis servo motor.
[0013] As a preferred solution of the Gobang human-computer game device based on machine vision described in the present invention, wherein: a vacuum suction cup fixing block is connected to the slider of the Z-axis linear module, and the vacuum suction cup is installed on the vacuum suction cup fixing block.
[0014] As a preferred solution of a machine vision-based Gobang human-computer game device described in the present invention, the Y-axis mechanism includes a Y-axis linear module, a Y-axis servo motor and a Y-axis limit sensor, the Y-axis linear module is connected and fixed to the top of the human-computer game workbench, one end of the Y-axis linear module is connected with a Y-axis servo motor fixing plate, the Y-axis servo motor is installed on the Y-axis servo motor fixing plate, a third synchronous pulley is installed on the lead screw of the Y-axis linear module, a fourth synchronous pulley is installed on the output shaft of the Y-axis servo motor, a second synchronous belt is connected between the fourth synchronous pulley and the third synchronous pulley, a Y-axis limit sensor fixing block is connected to the side of the Y-axis linear module, the Y-axis limit sensor is installed on the Y-axis limit sensor fixing block, and the output signal of the Y-axis limit sensor is fed back to the control switch of the Y-axis servo motor.
[0015] As a preferred solution of the machine vision-based Gobang human-computer game device described in the present invention, a chessboard fixing plate is connected to the slider of the Y-axis linear module, and the chessboard is connected to the top of the chessboard fixing plate.
[0016] Compared with the prior art, the present invention can achieve the following beneficial effects: The X-axis linear module and the Z-axis linear module are accompanied by the Y-axis linear module to place the vacuum suction cup at the chessboard. The vacuum suction cup can suck and place chess pieces, completing the functional requirements of human-computer chess. The chessboard can be stably placed at the corner of the chessboard, and the overall control is precise. The camera is used to collect chess game pictures in real time, obtain the type and position of the chess pieces on the chessboard, and complete the work of obtaining the current chess piece position information. Compared with using sensors to determine the position and type of chess pieces, the chess piece type judgment is accurate and the positioning is accurate; The chess pieces are supplied by rotating the rotating disk of the chess supply device under the drive of the reduction motor so that the chess pieces move along the chess-out track on the upper board of the chess supply device, and the optical fiber sensor is used to stop the rotation of the reduction motor when the chess pieces move to the chess-taking position, thereby improving the efficiency of chess-feeding, reducing the trouble of manually placing chess pieces, and completing the automatic supply of chess pieces; When a person plays chess against a computer, the entire device runs stably and efficiently through the movement of three linear modules, meeting the functional requirements of the game. The chess piece position information is acquired accurately, and the game can be completed when facing different groups of people. The device runs stably and is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 The figure is a structural diagram of a Gobang human-computer game device based on machine vision.
[0018] Figure 2This is a schematic diagram of the X-axis mechanism of a Gobang human-computer game device based on machine vision.
[0019] Figure 3 The figure is a schematic diagram of the Z-axis mechanism of a Gobang human-computer game device based on machine vision.
[0020] Figure 4 The figure is a schematic diagram of the Y-axis mechanism of a Gobang human-computer game device based on machine vision.
[0021] Figure 5 The present invention is a schematic diagram of a chess piece supply component of a Gobang human-computer game device based on machine vision.
[0022] Among them: 1. Human-computer chess workbench; 2. X-axis linear module fixed plate support block; 3. X-axis linear module fixed plate; 4. X-axis linear module; 5. X-axis servo motor; 6. X-axis servo motor fixed plate; 7. First synchronous pulley; 8. Second synchronous pulley; 9. First synchronous belt; 10. X-axis limit sensor fixed block; 11. X-axis limit sensor; 12. Z-axis linear module fixed block; 13. Z-axis linear module; 14. Z-axis servo motor; 15. Z-axis servo motor fixed block; 16. Coupling; 17. Vacuum suction cup fixed block; 18. Vacuum suction cup; 19. Z-axis limit sensor fixed block; 20. Z-axis limit sensor; 21. Y-axis linear module; 22. Y Axis servo motor; 23, Y-axis servo motor fixing plate; 24, third synchronous pulley; 25, fourth synchronous pulley; 26, second synchronous belt; 27, Y-axis limit sensor fixing block; 28, Y-axis limit sensor; 29, chessboard fixing plate; 30, chessboard; 31, camera support frame; 32, camera; 33, chess supply device support frame; 34, reduction motor; 35, chess supply device bottom plate; 36, chess supply device upper plate; 37, middle fixing block; 38, chess supply device rotating disk; 39, rotating disk driven gear; 40, slewing support bearing; 41, reduction motor driving gear; 42, chess supply box; 43, optical fiber sensor fixing block; 44, optical fiber sensor; 45, conical block. DETAILED DESCRIPTION
[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.
[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments. Example
[0026] Please refer to Figures 1 to 5 As shown, the present invention provides a Gobang human-machine game device based on machine vision, comprising: The chessboard assembly includes a chessboard 30 and a camera 32, wherein the camera 32 is located above the top surface of the chessboard 30, and the chess game image on the chessboard 30 is collected by the camera 32; the chessboard assembly also includes a human-computer chess workbench 1, and the top of the human-computer chess workbench 1 is connected to a camera support frame 31, and the camera 32 is installed on the camera support frame 31; The chess supply assembly includes a chess supply box 42 for placing chess pieces and a chess supply device rotating disk 38 below the bottom of the chess supply box 42. The chess pieces in the chess supply box 42 are removed by rotating the chess supply device rotating disk 38. The chess supply assembly also includes a chess supply device support frame 33, a chess supply device bottom plate 35, a chess supply device upper plate 36 and a conical block 45. The chess supply device support frame 33 is connected and fixed to the top of the human-machine chess playing workbench 1. The chess supply device bottom plate 35 is connected and fixed to the top of the chess supply device support frame 33. The chess supply device upper plate 36 is located directly above the chess supply device bottom plate 35. An intermediate fixing block 37 is connected and arranged between the end corners of the chess supply device upper plate 36 and the chess supply device bottom plate 35. The chess supply device rotating disk 38 is provided with a plurality of intermediate fixing blocks 37. The turntable 38 is rotatably embedded in the upper plate 36 of the chess supply device, and the chess supply box 42 is connected to the top of the upper plate 36 of the chess supply device and is located above the rotating disk 38 of the chess supply device. The chess supply box 42 is a hollow cylinder with upper and lower openings. The conical block 45 is installed inside the chess supply box 42 and the lower end movably penetrates the rotating disk 38 of the chess supply device and is connected to the bottom plate 35 of the chess supply device. The top surface of the upper plate 36 of the chess supply device is located at the outer edge of the rotating disk 38 of the chess supply device and is provided with a chess-out track. The conical block 45 is used to realize that the chess pieces in the chess supply box 42 are distributed on the top surface edge of the rotating disk 38 of the chess supply device, and the rotation of the rotating disk 38 of the chess supply device realizes that the chess pieces are moved out of the inside of the chess supply box 42 along the chess-out track of the upper plate 36 of the chess supply device; Specifically, the chess supply assembly also includes a reduction motor 34 and a rotating disk driven gear 39, the rotating disk driven gear 39 is coaxially connected to the bottom of the rotating disk 38 of the chess supply device, a slewing support bearing 40 is connected between the rotating disk driven gear 39 and the bottom plate 35 of the chess supply device, the reduction motor 34 is installed on the bottom plate 35 of the chess supply device, and the output shaft of the reduction motor 34 is connected to the reduction motor driving gear 41 meshing with the rotating disk driven gear 39; the chess supply assembly also includes an optical fiber sensor 44, and an optical fiber sensor is installed at the end of the chess output track of the upper plate 36 of the chess supply device The optical fiber sensor 44 is mounted on the optical fiber sensor fixing block 43, and the output signal of the optical fiber sensor fixing block 43 is fed back to the control switch of the reduction motor 34; the reduction motor driving gear 41 on the output of the reduction motor 34 starts to rotate, and the rotating disk driven gear 39 is rotated through the gear transmission, thereby driving the chess supply device rotating disk 38 to rotate, so that the chess pieces on the chess supply device rotating disk 38 move to the chess taking position along the chess taking track of the chess supply device upper board 36, and the reduction motor 34 stops rotating when the optical fiber sensor 44 senses the chess pieces; The actuator assembly includes a vacuum suction cup 18, an X-axis mechanism, a Z-axis mechanism, and a Y-axis mechanism. The vacuum suction cup 18 is used to grab and release chess pieces. The vacuum suction cup 18 is mounted on the Z-axis mechanism, and the Z-axis mechanism realizes the movement of the vacuum suction cup 18 on the Z-axis. The Z-axis mechanism is mounted on the X-axis mechanism, and the movement of the Z-axis mechanism on the X-axis is realized by the X-axis mechanism. The chessboard 30 is mounted on the Y-axis mechanism, and the movement of the chessboard 30 on the Y-axis is realized by the Y-axis mechanism. Specifically, the X-axis mechanism includes an X-axis linear module 4, an X-axis servo motor 5 and an X-axis limit sensor 11. The bottom of the X-axis linear module 4 is connected with an X-axis linear module fixed plate 3, and an X-axis linear module fixed plate support block 2 is connected between the X-axis linear module fixed plate 3 and the top of the human-computer chess workbench 1. One end of the X-axis linear module 4 is connected with an X-axis servo motor fixed plate 6. The X-axis servo motor 5 is installed on the X-axis servo motor fixed plate 6. A first synchronous pulley 7 is installed on the lead screw of the X-axis linear module 4. A second synchronous pulley 8 is installed on the output shaft of the X-axis servo motor 5. A The first synchronous belt 9 and the side of the X-axis linear module 4 are connected with an X-axis limit sensor fixing block 10, and the X-axis limit sensor 11 is installed on the X-axis limit sensor fixing block 10, and the output signal of the X-axis limit sensor 11 is fed back to the control switch of the X-axis linear module 4; the X-axis servo motor 5 is started, and the first synchronous pulley 7 of the output shaft of the X-axis servo motor 5 starts to rotate, and the second synchronous pulley 8 is driven by the first synchronous belt 9 to rotate so that the lead screw of the X-axis linear module 4 rotates, and the rotation of the lead screw of the X-axis linear module 4 is converted into the linear motion of the slider of the X-axis linear module 4, thereby driving the vacuum suction cup 18 on the Z-axis linear module 13 to move left and right in the X-axis direction; Specifically, the Z-axis mechanism includes a Z-axis linear module 13, a Z-axis servo motor 14 and a Z-axis limit sensor 20. The slider of the X-axis linear module 4 is connected with a Z-axis linear module fixed block 12. The Z-axis linear module 13 is installed on the Z-axis linear module fixed block 12. The top of the Z-axis linear module 13 is connected with a Z-axis servo motor fixed block 15. The Z-axis servo motor 14 is installed on the Z-axis servo motor fixed block 15. A coupling 16 is connected between the Z-axis servo motor 14 and the Z-axis linear module 13. The side of the Z-axis linear module 13 is connected with a Z The Z-axis limit sensor fixing block 19, the Z-axis limit sensor 20 is installed on the Z-axis limit sensor fixing block 19, and the output signal of the Z-axis limit sensor 20 is fed back to the control switch of the Z-axis servo motor 14; the start of the Z-axis servo motor 14 drives the lead screw of the Z-axis linear module 13 to start rotating through the coupling 16, and the rotation of the lead screw of the Z-axis linear module 13 is converted into the linear motion of the slider, and the vacuum suction cup 18 moves downward under the drive of the slider of the Z-axis linear module 13 until it stops at the chess piece taking position, and the vacuum suction cup 18 is ventilated and sucks the chess piece tightly and then moves upward to the origin position; Specifically, the Y-axis mechanism includes a Y-axis linear module 21, a Y-axis servo motor 22 and a Y-axis limit sensor 28. The Y-axis linear module 21 is connected and fixed to the top of the human-computer chess workbench 1. One end of the Y-axis linear module 21 is connected to a Y-axis servo motor fixing plate 23. The Y-axis servo motor 22 is installed on the Y-axis servo motor fixing plate 23. A third synchronous pulley 24 is installed on the lead screw of the Y-axis linear module 21. A fourth synchronous pulley 25 is installed on the output shaft of the Y-axis servo motor 22. A second synchronous belt 26 is connected between the fourth synchronous pulley 25 and the third synchronous pulley 24. The Y-axis linear module A Y-axis limit sensor fixing block 27 is connected to the side of 21, and a Y-axis limit sensor 28 is installed on the Y-axis limit sensor fixing block 27, and the output signal of the Y-axis limit sensor 28 is fed back to the control switch of the Y-axis servo motor 22; the Y-axis servo motor 22 is started, and the third synchronous pulley 24 of the output shaft of the Y-axis servo motor 22 starts to rotate, and the fourth synchronous pulley 25 driven by the second synchronous belt 26 rotates to rotate the lead screw of the Y-axis linear module 21, and the rotation of the lead screw of the Y-axis linear module 21 is converted into the linear motion of the slider of the Y-axis linear module 21, thereby driving the chessboard 30 to move back and forth in the Y-axis direction; Specifically, a vacuum suction cup fixing block 17 is connected to the slider of the Z-axis linear module 13, and the vacuum suction cup 18 is installed on the vacuum suction cup fixing block 17; a chessboard fixing plate 29 is connected to the slider of the Y-axis linear module 21, and the chessboard 30 is connected to the top of the chessboard fixing plate 29.
[0027] The present invention provides a machine vision-based human-computer Gobang game device, the working principle of which is as follows: during the Gobang game, after people finish playing chess, the camera 32 starts to collect images of the chess game, and then uploads the chess game images to the computer, the computer program runs to obtain the next step of the chess placement point, the reduction motor 34 in the chess supply component is started, the reduction motor driving gear 41 on the output of the reduction motor 34 starts to rotate, and the rotating disk driven gear 39 is rotated by gear transmission to drive the chess supply device rotating disk 38 to rotate, so that the chess pieces on the chess supply device rotating disk 38 move to the chess taking position along the chess supply device upper board 36 The track moves, and the reduction motor 34 stops rotating when the optical fiber sensor 44 senses the chess piece; Then, the Z-axis servo motor 14 starts to drive the lead screw of the Z-axis linear module 13 to start rotating through the coupling 16. The rotation of the lead screw of the Z-axis linear module 13 is converted into the linear motion of the slider. The vacuum suction cup 18 moves downward under the drive of the slider of the Z-axis linear module 13 until it stops at the chess piece taking position. After the vacuum suction cup 18 is ventilated and sucks the chess piece tightly, it moves upward to the origin position. Then the X-axis servo motor 5 is started, and the first synchronous pulley 7 of the output shaft of the X-axis servo motor 5 starts to rotate, and the second synchronous pulley 8 is driven to rotate through the first synchronous belt 9 to rotate the lead screw of the X-axis linear module 4, and the rotation of the lead screw of the X-axis linear module 4 is converted into the linear motion of the slider of the X-axis linear module 4, thereby driving the vacuum suction cup 18 on the Z-axis linear module 13 to move left and right in the X-axis direction; The Y-axis servo motor 22 is started, and the third synchronous pulley 24 of the output shaft of the Y-axis servo motor 22 starts to rotate. The fourth synchronous pulley 25 is driven by the second synchronous belt 26 to rotate, so that the lead screw of the Y-axis linear module 21 rotates. The rotation of the lead screw of the Y-axis linear module 21 is converted into the linear motion of the slider of the Y-axis linear module 21, thereby driving the chessboard 30 to move forward and backward in the Y-axis direction; When the vacuum suction cup 18 is driven by the X-axis linear module 4 and the Z-axis linear module 13 and the chessboard 30 is driven by the Y-axis linear module 21 and is located at the chess piece placement point on the chessboard 30, the vacuum suction cup 18 is blocked to release the chess piece. After the chess piece is released, the vacuum suction cup 18 is driven by the X-axis linear module 4 and the Z-axis linear module 13 to return to the chess piece taking position. This round of chess is over and the next round of chess is waiting until the winner is determined.
[0028] 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 preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.
Claims
1. A Gobang human-machine game device based on machine vision, characterized in that: include: A chessboard assembly, comprising a chessboard (30) and a camera (32), wherein the camera (32) is located above the top surface of the chessboard (30), and an image of a chess game on the chessboard (30) is collected by the camera (32); A chess supply assembly, comprising a chess supply box (42) for placing chess pieces, and a chess supply device rotating disk (38) below the bottom of the chess supply box (42), wherein the chess pieces in the chess supply box (42) are removed by rotating the chess supply device rotating disk (38); The execution assembly comprises a vacuum suction cup (18), an X-axis mechanism, a Z-axis mechanism and a Y-axis mechanism, wherein the vacuum suction cup (18) is used for grasping and releasing chess pieces, the vacuum suction cup (18) is mounted on the Z-axis mechanism, and the movement of the vacuum suction cup (18) on the Z-axis is achieved through the Z-axis mechanism, the Z-axis mechanism is mounted on the X-axis mechanism, and the movement of the Z-axis mechanism on the X-axis is achieved through the X-axis mechanism, and the chessboard (30) is mounted on the Y-axis mechanism, and the movement of the chessboard (30) on the Y-axis is achieved through the Y-axis mechanism.
2. The machine vision-based Gobang human-machine game device according to claim 1, characterized in that: The chessboard assembly further comprises a human-computer chess-playing workbench (1), the top of which is connected to a camera support frame (31), and the camera (32) is mounted on the camera support frame (31).
3. The machine vision-based Gobang human-machine game device according to claim 2, characterized in that: The chess supply assembly further comprises a chess supply device support frame (33), a chess supply device bottom plate (35), a chess supply device upper plate (36) and a conical block (45); the chess supply device support frame (33) is connected and fixed to the top of the human-machine chess playing workbench (1); the chess supply device bottom plate (35) is connected and fixed to the top of the chess supply device support frame (33); the chess supply device upper plate (36) is located directly above the chess supply device bottom plate (35); an intermediate fixed block (37) is connected and provided between the end corners of the chess supply device upper plate (36) and the chess supply device bottom plate (35); the chess supply device rotating disk (38) is rotatably embedded in the chess supply device upper plate (36); and the chess supply box (42) is connected to the chess supply device upper plate The chess supply box (42) is a hollow cylinder with upper and lower openings. The conical block (45) is installed inside the chess supply box (42) and its lower end is movably penetrated through the chess supply device rotating disk (38) and connected to the chess supply device bottom plate (35). The top surface of the chess supply device upper plate (36) is located at the outer edge of the chess supply device rotating disk (38) and is provided with a chess-out track. The conical block (45) enables the chess pieces in the chess supply box (42) to be distributed on the top surface edge of the chess supply device rotating disk (38). The chess supply device rotating disk (38) is rotated to enable the chess pieces to be moved out of the chess supply box (42) along the chess-out track of the chess supply device upper plate (36).
4. The machine vision-based Gobang human-machine game device according to claim 3, characterized in that: The chess supply assembly further comprises a reduction motor (34) and a rotating disk driven gear (39); the rotating disk driven gear (39) is coaxially connected to the bottom of the chess supply device rotating disk (38); a slewing support bearing (40) is connected between the rotating disk driven gear (39) and the chess supply device bottom plate (35); the reduction motor (34) is mounted on the chess supply device bottom plate (35); and the output shaft of the reduction motor (34) is connected to a reduction motor driving gear (41) meshing with the rotating disk driven gear (39).
5. The machine vision-based Gobang human-machine game device according to claim 4, characterized in that: The chess piece supply assembly further comprises an optical fiber sensor (44); an optical fiber sensor fixing block (43) is installed at the end of the chess piece discharging track of the upper plate (36) of the chess piece supply device; the optical fiber sensor (44) is installed on the optical fiber sensor fixing block (43); and an output signal of the optical fiber sensor fixing block (43) is fed back to a control switch of the reduction motor (34).
6. The machine vision-based Gobang human-machine game device according to claim 2, characterized in that: The X-axis mechanism comprises an X-axis linear module (4), an X-axis servo motor (5) and an X-axis limit sensor (11); the bottom of the X-axis linear module (4) is connected to an X-axis linear module fixing plate (3); an X-axis linear module fixing plate support block (2) is connected between the X-axis linear module fixing plate (3) and the top of the human-machine chess workbench (1); one end of the X-axis linear module (4) is connected to an X-axis servo motor fixing plate (6); the X-axis servo motor (5) is mounted on the X-axis servo motor fixing plate (6); the X-axis linear module (4) is connected to an X-axis servo motor fixing plate (6); and the X-axis linear module (4) is connected to an X-axis servo motor fixing plate (6). ) is installed on the screw rod, a second synchronous pulley (8) is installed on the output shaft of the X-axis servo motor (5), a first synchronous belt (9) is connected between the second synchronous pulley (8) and the first synchronous pulley (7), an X-axis limit sensor fixing block (10) is connected to the side of the X-axis linear module (4), the X-axis limit sensor (11) is installed on the X-axis limit sensor fixing block (10), and the output signal of the X-axis limit sensor (11) is fed back to the control switch of the X-axis linear module (4).
7. The machine vision-based Gobang human-machine game device according to claim 6, characterized in that: The Z-axis mechanism comprises a Z-axis linear module (13), a Z-axis servo motor (14) and a Z-axis limit sensor (20); a Z-axis linear module fixing block (12) is connected to a slider of the X-axis linear module (4); the Z-axis linear module (13) is mounted on the Z-axis linear module fixing block (12); a Z-axis servo motor fixing block (15) is connected to the top of the Z-axis linear module (13); the Z-axis servo motor (14) is mounted on the Z-axis servo motor fixing block (15); a coupling (16) is connected between the Z-axis servo motor (14) and the Z-axis linear module (13); a Z-axis limit sensor fixing block (19) is connected to the side of the Z-axis linear module (13); the Z-axis limit sensor (20) is mounted on the Z-axis limit sensor fixing block (19); and an output signal of the Z-axis limit sensor (20) is fed back to a control switch of the Z-axis servo motor (14).
8. The machine vision-based Gobang human-machine game device according to claim 7, characterized in that: A vacuum suction cup fixing block (17) is connected to the slider of the Z-axis linear module (13), and the vacuum suction cup (18) is mounted on the vacuum suction cup fixing block (17).
9. The machine vision-based Gobang human-machine game device according to claim 2, characterized in that: The Y-axis mechanism comprises a Y-axis linear module (21), a Y-axis servo motor (22) and a Y-axis limit sensor (28); the Y-axis linear module (21) is connected and fixed to the top of the human-machine chess workbench (1); one end of the Y-axis linear module (21) is connected and provided with a Y-axis servo motor fixing plate (23); the Y-axis servo motor (22) is installed on the Y-axis servo motor fixing plate (23); a third synchronous pulley (24) is installed on the lead screw of the Y-axis linear module (21); A fourth synchronous pulley (25) is mounted on the output shaft of the servo motor (22); a second synchronous belt (26) is connected between the fourth synchronous pulley (25) and the third synchronous pulley (24); a Y-axis limit sensor fixing block (27) is connected to the side of the Y-axis linear module (21); the Y-axis limit sensor (28) is mounted on the Y-axis limit sensor fixing block (27); and an output signal of the Y-axis limit sensor (28) is fed back to a control switch of the Y-axis servo motor (22).
10. The machine vision-based Gobang human-machine game device according to claim 9, characterized in that: A chessboard fixing plate (29) is connected to the slider of the Y-axis linear module (21), and the chessboard (30) is connected to the top of the chessboard fixing plate (29).
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