Intelligent three-piece chess automatic playing control planning system and chess playing robot

Abstract

The invention discloses an intelligent three-piece automatic chess playing control planning system and a chess playing robot, and relates to the field of robot control, the intelligent three-piece automatic chess playing control planning system comprises a chessboard, the chessboard is in a 3 * 3 grid type layout, the intelligent three-piece automatic chess playing control planning system further comprises a power supply module, an STM32F103ZET6 controller, a key matrix, an execution assembly and a camera device, the STM32F103ZET6 controller collects instructions generated by equipment operation and stores preset equipment instructions, and the STM32F103ZET6 controller sends the instructions to the robot; the execution component is used for processing and executing the received information instruction; according to the intelligent three-piece chess automatic chess playing control planning system and the chess playing robot, through modular design, lead screw movement, key control, chessboard positioning, chess piece picking and placing, chess playing algorithm design verification and control over a double-track lead screw sliding table to place and pick chess pieces are completed in sequence, and man-machine chess playing is achieved; and the double-rail screw rod sliding table provides stable and accurate linear motion, so that the stability of chess piece falling and the accuracy of chess piece falling positions are improved, and the physical space dynamic state of man-machine chess playing is realized.

Description

Technical Field

[0001] The invention relates to robot control technology, and in particular to an intelligent three-in-one chess automatic chess-playing control planning system and a chess-playing robot. Background Art

[0002] Three in a Row is an ancient traditional folk game, also known as Tic-Tac-toe, Circle and Cross, Black and White, Dragon or Nine Palaces. It is usually played by two players, who take turns placing chess pieces on a 3x3 Nine Palaces chessboard. The goal of both players is to connect their three chess pieces in a straight line (horizontal, vertical or diagonal) to win. If the chessboard is filled with chess pieces and the winner is still undecided, it is considered a draw. Three in a Row has a simple structure and is easy to play. It can be played anytime and anywhere. It is a very suitable game for children to develop their intelligence and exercise their thinking ability.

[0003] The existing intelligent three-in-one chess automatic chess control planning system and chess robot can be used for two people to play face to face, or to play remotely by moving chess pieces on a computer display screen with a mouse via the Internet, or to play against a computer by one person moving chess pieces on a computer display screen with a mouse. It can not only enrich cultural life and cultivate sentiment, but also help develop intelligence, inspire thinking, exercise dialectical analysis ability and cultivate tenacious will. However, moving chess pieces with a mouse in human-computer games is slightly insufficient, and there is no physical space dynamics of taking, moving and placing chess pieces, and there is a lack of dynamic senses when playing chess. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent three-in-one chess automatic chess-playing control planning system and a chess-playing robot to solve the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: an intelligent three-in-one chess automatic playing robot, comprising a chessboard, the chessboard being a 3×3 grid layout, and also comprising a power module, an STM32F103ZET6 controller, a key matrix, an execution component and a camera device; The STM32F103ZET6 controller collects instructions generated by device operation and stores preset device instructions; The execution component is used to process and execute the received information instructions; The key matrix is ​​used to control the movement and positioning of the actuator, as well as the switching of the operation mode and the selection of instructions; The camera device is used to collect and judge the result information after the execution component executes the command, then output the disposal plan, and grayscale the collected image to reduce the amount of data for subsequent processing, and then binarize the grayscale image to divide the pixels in the image into foreground and background according to a certain threshold; The power module is used to provide power to the entire device and system.

[0006] Further, the actuator assembly includes a double-track lead screw slide, which is capable of stable and precise linear motion; A stepper motor is electrically connected to the power module, and its input end is connected to the output end of the STM32F103ZET6 controller. The command output by the STM32F103ZET6 controller can control the stepper motor to drive the double-track lead screw slide to move; The electromagnet module is installed at the working end of the double-track lead screw slide. The double-track lead screw slide drives the electromagnet module to move to the designated position to suck up the chess piece and drop the chess piece to the designated position under the drive of the stepper motor.

[0007] Furthermore, it also includes an LED display screen, which is used to display image information collected by the camera device and display command information issued by the STM32F103ZET6 controller.

[0008] Furthermore, the electromagnet module controls the contactless lifting and lowering of the chess piece, and the electromagnetic strength calculation formula of the electromagnet module is: H = N × I / Le; in: H represents the magnetic field strength in amperes per meter; N represents the number of turns of the coil, that is, the number of turns of wire in the coil; I represents the current passing through the coil in amperes; Le represents the effective magnetic path length of the coil, which refers to the length of the path that the current passes through when generating a magnetic field. It is measured in meters. Le is approximately equal to the circumference or average circumference of the coil.

[0009] Furthermore, the driver module of the stepper motor is a FMDD36D22NOM driver module.

[0010] Furthermore, the double-track lead screw slide is a positioning device with double guide rails and lead screw drive. The interior of the double-track lead screw slide is driven by a lead screw, and the cooperation between the lead screw and the nut realizes high-precision linear motion.

[0011] Furthermore, the button matrix is ​​arranged as a 4×4 button matrix, which is composed of 4 groups of row lines and 4 groups of column lines, forming a matrix structure with 16 intersections, and a button is placed at each intersection, thereby realizing centralized arrangement and management of the 16 buttons. The 16 buttons of the button matrix respectively represent the placement positions and working mode selections of the 9 chess pieces on the chessboard, and the placement position of the chess piece is selected by pressing the corresponding button.

[0012] Furthermore, a circular iron sheet for detecting the magnetic field strength of the electromagnet module is placed on the top of the chessboard.

[0013] Furthermore, a 24V power switch for controlling power on and off is connected between the power module and the entire device via electric wires.

[0014] An intelligent three-in-one chess automatic chess-playing control planning system, used for an intelligent three-in-one chess automatic chess-playing robot according to claims 1-9, specifically comprising the following steps: S1, the camera device collects whether the chessboard is in the initialization state. If the chessboard is in the initialization state, the chessboard is output. If the chessboard is not in the initialization state, the stepper motor is controlled by the STM32F103ZET6 controller to drive the double-track lead screw slide to move and the electromagnet module to reset the chess piece to the initial position, and the chessboard is output to display the chessboard state; S2. The player first selects a chess piece of a certain color and controls the double-track screw slide to move on the chessboard through the key matrix; S3, the camera device detects the position of the chess piece placed on the chessboard surface by the player and determines whether the position of the chess piece needs to be corrected through the STM32F103ZET6 controller. If the position of the chess piece deviates from the grid of the chessboard, the STM32F103ZET6 controller issues a correction instruction, and the stepper motor drives the double-track lead screw slide to drive the electromagnet module to move above the deviated chess piece, and attracts the chess piece through electromagnetic force and moves it to the correct grid position until the chess piece is in the correct grid of the chessboard; S4. After the player's turn ends, the camera device detects the position of the chess pieces of each color on the current chessboard. The STM32F103ZET6 controller determines whether there are three chess pieces of the same color on the same straight line in the chessboard grid and whether there are any empty grids on the chessboard based on the detected position information. If there are no three chess pieces of the same color on the same straight line and there are empty grids on the chessboard, the STM32F103ZET6 controller controls the stepper motor to drive the double-track lead screw slide to drive the electromagnet module to magnetically attract chess pieces of another color based on its own preset algorithm or strategy, and drops the chess piece into any empty grid on the chessboard that does not overlap with the player's chess piece, thereby completing the robot's chess piece dropping action; S5. After the robot's turn ends, it is the player's turn to operate. The player selects the chess piece of the color he initially selected, and observes the remaining empty grids on the chessboard through the LED display screen, and manipulates the button matrix to indicate the position where he wants to place the chess piece. After the system receives the instruction, the STM32F103ZET6 controller instruction is confirmed, and the stepper motor drives the double-track lead screw slide to drive the electromagnet module to move to the grid position selected by the player, and attracts the corresponding chess piece through electromagnetic force and places it in the grid, completing the player's chess piece placement action; S6, repeat S2-S5 until the camera device detects the positions of chess pieces of different colors and determines through the STM32F103ZET6 controller that any three chess pieces of the same color are in the same straight line in the grid of the chessboard, then the LED display screen generates a game result that one side wins, or there are chess pieces in the grid of the chessboard and no three chess pieces of the same color are in the same straight line in the grid of the chessboard, then the LED display screen generates a draw result; S7. After the game result is generated, the player manually restarts. If restarting, S1 to S6 are repeated. If there is no subsequent operation by the player, the game ends.

[0015] Compared with the prior art, the intelligent three-in-one chess automatic chess control planning system and chess-playing robot provided by the present invention have successively completed the design verification of screw rod movement, button control, chessboard positioning, chess piece picking and placement, and game algorithm through modular design. It can control the double-track screw slide to place and pick up chess pieces, and can ensure that the robot does not lose the game, thereby realizing human-machine game. The double-track screw slide provides stable and precise linear motion, which is convenient for the stability of chess piece placement and the accuracy of chess piece placement. The height to which the chess piece is sucked can also be changed according to the strength of magnetic attraction, thereby realizing the physical space dynamics of taking, moving, and placing chess pieces in human-machine game, and enhancing the dynamic sense of playing chess. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0017] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention; Figure 2 A game logic judgment diagram provided by an embodiment of the present invention; Figure 3 A schematic diagram of a key matrix structure provided in an embodiment of the present invention.

[0018] Description of reference numerals: 1. LED display screen; 2. STM32F103ZET6 controller; 3. Electromagnet module; 4. Key matrix; 5. Stepper motor; 6. Camera device; 7. Chessboard; 8. Power module; 9. Double-track lead screw slide. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] Embodiment 1:

[0021] See also Figure 1 , an intelligent three-in-one chess automatic playing robot, comprising a chessboard 7, the chessboard 7 is a 3×3 grid layout, and also comprises a power module 8, an STM32F103ZET6 controller 2, a key matrix 4, an execution component and a camera device 6; STM32F103ZET6 controller 2 collects instructions generated by device operation and stores preset device instructions; The execution component is used to process and execute the received information instructions; The key matrix 4 is used to control the movement and positioning of the actuator, as well as the switching of the operation mode and the selection of the command; The camera device 6 is used to collect and judge the result information after the execution component executes the command, then output the treatment plan, and grayscale the collected image to reduce the amount of data for subsequent processing, and then binarize the grayscale image to divide the pixels in the image into foreground and background according to a certain threshold; The power module 8 is used to provide power to the entire device and system.

[0022] The specific implementation is as follows: the camera device 6 includes but is not limited to the OpenMV4 H7 camera. The OpenMV4 H7 camera uses an adaptive image processing algorithm to ensure the accuracy of image processing. Image acquisition is the first step in the chessboard 7 and chess piece recognition process. At this stage, the OpenMV4 The H7 camera captures images on the chessboard 7 in real time. The camera has 300,000 pixels and a high frame rate, ensuring that the details of the chessboard 7 can be clearly captured even when the chess pieces move or the light changes. The camera's viewing angle and position can be adjusted to completely cover the entire chessboard 7 area. The collected image is grayed to reduce the amount of data for subsequent processing. The graying is achieved through the maximum value method, and then the grayscale image is binarized, that is, the pixels in the image are divided into foreground (chess pieces) and background (chessboard 7) according to a certain threshold. The binarized image will be easier to perform subsequent feature extraction and recognition. The edge is the area in the image where the grayscale changes most dramatically, and it is also the main boundary between the chess piece and the chessboard 7. The edge detection algorithm is used to detect the edge in the image. Through edge detection, a series of pixel points representing the outline of the chess piece can be obtained. Using this outline information, combined with the grid structure of the chessboard 7, the specific position of each chess piece can be determined.

[0023] The actuator assembly includes a double-track screw slide 9, which can perform stable and precise linear motion; The stepper motor 5 is electrically connected to the power module 8, and its input end is connected to the output end of the STM32F103ZET6 controller 2. The command output by the STM32F103ZET6 controller 2 can control the stepper motor 5 to drive the double-track lead screw slide 9 to move; The electromagnet module 3 is installed at the working end of the double-track lead screw slide 9. The double-track lead screw slide 9 drives the electromagnet module 3 to move to the designated position to suck up the chess piece and drop the chess piece to the designated position under the drive of the stepper motor 5.

[0024] It also includes an LED display screen 1, which is used to display image information collected by the camera device 6 and display command information issued by the STM32F103ZET6 controller 2.

[0025] The electromagnet module 3 controls the contactless suction and placement of the chess piece. The electromagnetic strength calculation formula of the electromagnet module 3 is: H = N × I / Le; in: H represents the magnetic field strength, the unit is ampere per meter A / m; N represents the number of turns of the coil, that is, the number of turns of wire in the coil; I represents the current passing through the coil, in ampere A; Le represents the effective magnetic path length of the coil, which refers to the length of the path that the current passes through when generating a magnetic field. The unit is meter m. Le is approximately equal to the circumference or average circumference of the coil.

[0026] The specific implementation is as follows: the electromagnet module 3 is composed of an electromagnet body, a control circuit and auxiliary components. The on and off of the electromagnet is controlled by the switch of the control circuit. According to Ampere's law, when current passes through a wire, a magnetic field will be generated around it. The wire is wound into a coil and current is passed through it to generate a strong magnetic field. When the magnetic field strength is large enough, it is used to adsorb ferromagnetic materials. By controlling the on and off of the current, the adsorption force of the electromagnet is controlled.

[0027] The driver module of the stepper motor 5 is a FMDD36D22NOM driver module.

[0028] The specific implementation is as follows: the FMDD36D22NOM drive module adopts DSP control technology, and has the characteristics of high precision and high stability. Its drive voltage is DC12V-36V, and it works stably within the voltage range.

[0029] Adaptive current: below 2.2A, suitable for motor models with various current requirements.

[0030] Motor adaptation: Various types of two-phase hybrid stepper motors with an outer diameter of 28-42mm5.

[0031] Positioning accuracy: up to 6400 steps / revolution, providing high-precision positioning capability.

[0032] The double-track screw slide 9 is a positioning device with double guide rails and screw drive. The interior of the double-track screw slide 9 is driven by a screw, and the cooperation of the screw and the nut realizes high-precision linear motion.

[0033] The specific implementation is as follows: The double-rail lead screw slide 9 is a precision positioning device that combines double guide rails and lead screw transmission. It adopts a double guide rail structure and has higher stability and load-bearing capacity than a single guide rail design. The double guide rails can effectively disperse the load, reduce guide rail wear, and improve the accuracy and life of the slide. The slide is internally transmitted through a lead screw, and the cooperation between the lead screw and the nut can achieve high-precision linear motion. The lead screw transmission has the advantages of high transmission efficiency, accurate positioning, and smooth movement.

[0034] The key matrix 4 is arranged as a 4×4 key matrix 4, and is composed of 4 groups of row lines and 4 groups of column lines, forming a matrix structure of 16 intersections. A key is placed at each intersection, thereby realizing centralized arrangement and management of the 16 keys. The 16 keys of the key matrix 4 represent the placement positions and working mode selections of the 9 chess pieces on the chessboard 7, respectively, and the placement position of the chess piece is selected by pressing the corresponding key.

[0035] The specific implementation is as follows: the 16 key positions of the key matrix 4 are represented by one to sixteen respectively, thirteen is the Mode switching key, and the Mode is divided into three modes: Mode 0, Mode 1 and Mode 2. All modes are switched by pressing the thirteenth key. In Mode 0, one is the open MV recognition key, two is the background recognition key, three is the black chess piece recognition key, four is the white chess piece recognition key, five is the open MV key, six is ​​the zero reset initialization key, seven is the key for turning on the electromagnet module 3, and eight is the key for turning off the electromagnet module 3. In Mode 1, keys one to nine correspond to the nine chess piece placement spaces on the chessboard respectively. When any one of keys one to nine is selected in Mode 1, the double-track lead screw slide 9 controls the electromagnet module 3 to drop the chess piece into the corresponding position of the chessboard 7. Keys ten, eleven, fifteen and sixteen can manually control the chess piece placement positions respectively. Key twelve is for selecting the white chess piece, and key fourteen is for selecting the black chess piece. In mode 2, press button 5 to turn on the machine for human-computer chess. Press buttons 1 to 9 to select the color of the chess piece and place it in the corresponding space on the chessboard 7. Press buttons 10, 11, 15 and 16 to manually control the placement of the chess piece.

[0036] A circular iron sheet for detecting the magnetic field strength of the electromagnet module 3 is also placed on the top of the chessboard 7 .

[0037] A 24V power switch for controlling the power supply is also connected between the power module 8 and the entire device through an electric wire.

[0038] The specific implementation method is as follows: after the inspection and verification is completed, the round iron sheet is removed from the chessboard 7, and the 24V power switch can control the connection and disconnection of the entire device and system with the power module 8. The power module 8 selects a battery pack with a voltage of 12-36V and a current of less than 2.2A.

[0039] Embodiment 2:

[0040] See also Figure 2 This embodiment provides a technical solution based on the first embodiment: an intelligent three-in-one chess automatic chess control planning system, used for an intelligent three-in-one chess automatic chess robot according to claims 1-9, specifically comprising the following steps: S1, the camera device 6 collects whether the chessboard 7 is in the initialization state, if the chessboard 7 is in the initialization state, the chessboard is output, if the chessboard 7 is not in the initialization state, the stepper motor 5 and the electromagnet module 3 are controlled by the STM32F103ZET6 controller 2 to reset the chess pieces to the initial position, and the chessboard is output to show the chessboard state; S2, the player first selects a chess piece of a color and controls the double-track screw slide 9 to move on the chessboard 7 through the key matrix 4 to place the chess piece; S3, the camera device 6 detects the position of the chess piece dropped by the player on the surface of the chessboard 7 and determines whether the position of the chess piece needs to be corrected through the STM32F103ZET6 controller 2. If the position of the chess piece deviates from the grid of the chessboard 7, the STM32F103ZET6 controller 2 issues a correction instruction, and the stepper motor 5 drives the double-track lead screw slide 9 to drive the electromagnet module 3 to move above the chess piece that deviates from the position, and attracts the chess piece through electromagnetic force and moves it to the correct grid position until the chess piece is in the correct grid of the chessboard 7; S4. After the player's turn ends, the camera device 6 detects the positions of the chess pieces of various colors on the current chessboard 7. The STM32F103ZET6 controller 2 determines whether there are three chess pieces of the same color on the same straight line in the grid of the chessboard 7 and whether there are any empty grids on the chessboard 7 based on the detected position information. If there are no three chess pieces of the same color on the same straight line and there are empty grids on the chessboard 7, the STM32F103ZET6 controller 2 controls the stepper motor 5 to drive the double-track lead screw slide 9 to drive the electromagnet module 3 to magnetically attract chess pieces of another color according to its own preset algorithm or strategy, and drops the chess piece into any empty grid on the chessboard 7 that does not overlap with the player's chess piece, thereby completing the robot's chess piece dropping action; S5. After the robot's turn ends, it is the player's turn to operate. The player selects the chess piece of the color he initially selected, and observes the remaining empty grids on the chessboard 7 through the LED display screen 1, and controls the key matrix 4 to indicate the position where he wants to place the chess piece. After the system receives the instruction, the STM32F103ZET6 controller 2 confirms the instruction, and the stepper motor 5 drives the double-track lead screw slide 9 to drive the electromagnet module 3 to move to the grid position selected by the player, and attracts the corresponding chess piece through electromagnetic force and places it in the grid, completing the player's chess piece placement action; S6, repeat S2-S5 until the camera device 6 detects the positions of the chess pieces of different colors and determines through the STM32F103ZET6 controller 2 that any three chess pieces of the same color are in the same straight line in the grid of the chessboard 7, then the LED display screen 1 generates a game result that one side wins, or there are chess pieces in the grid of the chessboard 7 and no three chess pieces of the same color are in the same straight line in the grid of the chessboard 7, then the LED display screen 1 generates a draw result; S7. After the game result is generated, the player manually restarts. If restarting, S1 to S6 are repeated. If there is no subsequent operation by the player, the game ends.

[0041] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An intelligent three-in-one chess automatic playing robot, comprising a chessboard (7), wherein the chessboard (7) is in a 3×3 grid layout, characterized in that: It also includes a power module (8), an STM32F103ZET6 controller (2), a key matrix (4), an execution component and a camera device (6); The STM32F103ZET6 controller (2) collects instructions generated by the operation of the device and stores preset device instructions; The execution component is used to process and execute the received information instructions; The key matrix (4) is used to control the movement and positioning of the actuator, as well as the switching of the operating mode and the selection of instructions; The camera device (6) is used to collect and judge the result information after the execution component executes the command, then output a disposal plan, and grayscale the collected image to reduce the amount of data for subsequent processing, and then binarize the grayscale image to divide the pixels in the image into foreground and background according to a certain threshold value; The power module (8) is used to provide power to the entire device and system.

2. The intelligent three-in-one chess automatic playing robot according to claim 1, characterized in that: The actuator assembly comprises a double-track screw slide (9), and the double-track screw slide (9) is capable of stable and precise linear motion; A stepper motor (5) is electrically connected to a power module (8), and its input end is connected to an output end of an STM32F103ZET6 controller (2), and the command output by the STM32F103ZET6 controller (2) can control the stepper motor to drive the double-track lead screw slide (9) to move; The electromagnet module (3) is mounted on the working end of the double-track lead screw slide (9). The double-track lead screw slide (9) is driven by the stepping motor (5) to drive the electromagnet module (3) to move to a designated position, suck up the chess piece, and place the chess piece at the designated position.

3. The intelligent three-in-one chess automatic playing robot according to claim 2, characterized in that: It also comprises an LED display screen (1), wherein the LED display screen (1) is used to display image information collected by the camera device (6) and to display command information issued by the STM32F103ZET6 controller (2).

4. The intelligent three-in-one chess automatic playing robot according to claim 2, characterized in that: The electromagnet module (3) controls the contactless lifting and lowering of chess pieces. The electromagnetic strength calculation formula of the electromagnet module (3) is: H = N × I / Le; in: H represents the magnetic field strength, measured in amperes per meter (A / m); N represents the number of turns of the coil, that is, the number of turns of wire in the coil; I represents the current passing through the coil, in amperes (A); Le represents the effective magnetic path length of the coil, which refers to the length of the path that the current passes through when generating a magnetic field. The unit is meter (m). Le is approximately equal to the circumference or average circumference of the coil.

5. The intelligent three-in-one chess automatic playing robot according to claim 2, characterized in that: The driver module of the stepper motor (5) is a FMDD36D22NOM driver module.

6. The intelligent three-in-one chess automatic playing robot according to claim 2, characterized in that: The double-track screw slide (9) is a positioning device with double guide rails and screw drive. The interior of the double-track screw slide (9) is driven by a screw, and the cooperation between the screw and the nut realizes high-precision linear motion.

7. The intelligent three-in-one chess automatic playing robot according to claim 1, characterized in that: The key matrix (4) is arranged as a 4×4 key matrix (4). The key matrix (4) is composed of 4 groups of row lines and 4 groups of column lines, forming a matrix structure with 16 intersections. A key is placed at each intersection, thereby realizing centralized arrangement and management of the 16 keys. The 16 keys of the key matrix (4) respectively represent the placement positions and working mode selection of 9 chess pieces on the chessboard (7). The placement position of the chess piece is selected by pressing the corresponding key.

8. The intelligent three-in-one chess automatic playing robot according to claim 4, characterized in that: A circular iron sheet for detecting the magnetic field strength of the electromagnet module (3) is also placed on the top of the chessboard (7).

9. The intelligent three-in-one chess automatic playing robot according to claim 2, characterized in that: A 24V power switch for controlling the on and off of the power supply is also connected between the power supply module (8) and the entire device via an electric wire.

10. An intelligent three-in-one chess automatic chess playing control planning system, used for an intelligent three-in-one chess automatic chess playing robot according to claims 1-9, characterized in that: The specific steps include: S1, the camera device (6) collects information on whether the chessboard (7) is in an initialization state, and if the chessboard (7) is in the initialization state, outputs the chessboard; if the chessboard (7) is not in the initialization state, controls the stepper motor (5) and the electromagnet module (3) through the STM32F103ZET6 controller (2) to reset the chess pieces to an initial position, and outputs the chessboard to display the chessboard state; S2, the player first selects a chess piece of a certain color and controls the double-track screw slide (9) to move on the chessboard (7) through the key matrix (4) to place the chess piece; S3, the camera device (6) detects the position of the chess piece dropped by the player on the surface of the chessboard (7) and determines whether the position of the chess piece needs to be corrected through the STM32F103ZET6 controller (2). If the position of the chess piece deviates from the grid of the chessboard (7), the STM32F103ZET6 controller (2) issues a correction instruction, and the stepper motor (5) drives the double-track lead screw slide (9) to drive the electromagnet module (3) to move above the chess piece that deviates from the position, and attracts the chess piece through electromagnetic force and moves it to the correct grid position until the chess piece is in the correct grid of the chessboard (7); S4, after the player's turn ends, the camera device (6) detects the positions of chess pieces of different colors on the current chessboard (7), and the STM32F103ZET6 controller (2) determines whether three chess pieces of the same color are on the same straight line in the grid of the chessboard (7) based on the detected position information, and whether there are any empty grids on the chessboard (7). If there are no three chess pieces of the same color on the same straight line and there are any empty grids on the chessboard (7), the STM32F103ZET6 controller (2) controls the stepper motor (5) to drive the double-track lead screw slide (9) to drive the electromagnet module (3) to magnetically attract chess pieces of another color, and drops the chess piece into any empty grid on the chessboard (7) that does not overlap with the chess piece dropped by the player, thereby completing the robot's drop action; S5. After the robot's turn ends, it is the player's turn to operate. The player selects the chess piece of the color he initially selected, and observes the remaining empty grids on the chessboard (7) through the LED display screen (1), and operates the key matrix (4) to indicate the position where he wants to place the chess piece. After the system receives the instruction, the STM32F103ZET6 controller (2) confirms the instruction, and the stepper motor (5) drives the double-track lead screw slide (9) to drive the electromagnet module (3) to move to the grid position selected by the player, and attracts the corresponding chess piece through electromagnetic force and places it in the grid, completing the player's chess piece placement action; S6, repeating S2-S5 until the camera device (6) detects the positions of chess pieces of different colors and determines through the STM32F103ZET6 controller (2) that any three chess pieces of the same color are in the same straight line in the grid of the chessboard (7), then the LED display screen (1) generates a game result indicating that one side wins, or there are chess pieces in the grid of the chessboard (7) and no three chess pieces of the same color are in the same straight line in the grid of the chessboard (7), then the LED display screen (1) generates a game result indicating that the game is a draw; S7. After the game result is generated, the player manually restarts. If restarting, S1 to S6 are repeated. If there is no subsequent operation by the player, the game ends.

Images