Calibration method and device for chess-playing robot and chess-playing robot

Abstract

The present invention relates to the technical field of chess-playing robots, and provides a calibration method, device, and chess-playing robot. The chess-playing robot includes a first robotic arm and a pickup member; the calibration robot includes a second robotic arm, the execution end of the second robotic arm being rotatably connected to the pickup member. The calibration method includes: obtaining a global image of a chessboard, and determining coordinate information of each chess-playing point on the chessboard based on the global image; determining first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point based on the coordinate information of the chess-playing point; controlling the second robotic arm to drive the first robotic arm to adjust its posture based on the first angle information until the pickup member reaches the position corresponding to the chess-playing point; and obtaining second angle information of each joint of the first robotic arm when the pickup member reaches the position corresponding to each chess-playing point. The present invention can automatically and accurately calibrate the chess-playing robot with the assistance of the calibration robot.

Description

Technical Field

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

[0002] Chess-playing robots are widely used in user chess teaching and chess entertainment. During the game, the robot usually relies on vision to identify the user's moves, and after calculation, it uses a robotic arm to perform the move operation, realizing the game between machine and human.

[0003] In actual applications, due to the matching errors of the structural parts of the robotic arm and the cumulative tolerance of the assembly, there is a deviation between the actual position where the robotic arm picks up and places chess pieces and the theoretical preset position. The maximum deviation is up to 9mm, which makes it impossible for the robotic arm to accurately pick up or place chess pieces at the chess point. Summary of the Invention

[0004] The present invention provides a calibration method and device for a chess-playing robot and the chess-playing robot, which are used to at least solve or improve the problem in the prior art that the chess-playing robot has difficulty in accurately taking and placing chess pieces.

[0005] The present invention provides a calibration method for a chess-playing robot. The chess-playing robot is configured to be located on one side of a calibration robot. The chess-playing robot includes a first robotic arm and a picking member located at an execution end of the first robotic arm, wherein the picking member is vertically distributed to enable picking and placing chess pieces. The calibration robot includes a second robotic arm, wherein the execution end of the second robotic arm is rotatably connected to the picking member. The calibration method includes:

[0006] Acquire a global image of a chessboard, and determine coordinate information of each chess-playing point on the chessboard according to the global image;

[0007] determining, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point;

[0008] According to the first angle information, the second robotic arm is controlled to drive the first robotic arm to adjust its posture until the picking piece reaches a position corresponding to the chess-playing point;

[0009] The second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point is obtained.

[0010] According to a calibration method of a chess-playing robot provided by the present invention, it also includes: controlling the chess-playing robot to store the coordinate information of each chess-playing point, and the second angle information of each joint of the first robotic arm corresponding to the coordinate information of each chess-playing point.

[0011] According to a chess-playing robot calibration method provided by the present invention, the step of determining the coordinate information of each chess-playing point on the chessboard according to the global image includes:

[0012] Obtaining coordinates of three identification points in the global image;

[0013] Determining coordinate information of each chess point on the chessboard according to the coordinates of the three identified points and the width of each chess square;

[0014] Among them, the three marked points are respectively the chess-playing points at any three corner positions on the chessboard.

[0015] According to a chess-playing robot calibration method provided by the present invention, the step of determining, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point includes: obtaining the length of each joint of the second robotic arm;

[0016] The first angle information of each joint of the second robotic arm is determined according to the length of each arm segment of the second robotic arm, the coordinate information of the chess position, and the coordinates of the base of the second robotic arm.

[0017] According to a calibration method for a chess-playing robot provided by the present invention, the calibration robot further includes a lifting mechanism, and the second mechanical arm includes a first section arm, a second section arm, and a third section arm;

[0018] The first end of the first section arm is connected to the lifting end of the lifting mechanism, the second end of the first section arm is rotatably connected to the first end of the second section arm via a first driving portion, the second end of the second section arm is rotatably connected to the first end of the third section arm via a second driving portion, and the second end of the third section arm is rotatably connected to the picking member;

[0019] The first angle information includes a first angle formed by the first joint arm and the second joint arm, and a second angle formed by the second joint arm and the third joint arm.

[0020] According to a calibration method for a chess-playing robot provided by the present invention, the calibration robot further comprises a clamping seat, and the clamping seat comprises a rotating portion, a connecting portion, and a clamping portion;

[0021] The rotating portion, the connecting portion, and the clamping portion are connected in sequence, the rotating portion is provided on the upper side of the clamping portion, and an accommodating space for accommodating the execution end of the first robotic arm is formed between the rotating portion and the clamping portion;

[0022] The clamping portion is used to clamp the picking member, and the rotating portion is configured to be rotatably provided at the execution end of the second robotic arm around the vertical center axis of the picking member.

[0023] The present invention also provides a calibration device for a chess-playing robot, wherein the chess-playing robot is configured to be communicatively connected to a calibration robot, the chess-playing robot comprising a first robotic arm and a picking member disposed at an execution end of the first robotic arm, the picking member being vertically arranged to enable picking and placing chess pieces; the calibration robot comprising a second robotic arm, the execution end of the second robotic arm being rotatably connected to the picking member, the calibration device comprising:

[0024] A first acquisition module is used to acquire a global image of the chessboard and determine the coordinate information of each chess point on the chessboard according to the global image;

[0025] a determination module, configured to determine, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point;

[0026] a control module, configured to control the second robotic arm to drive the first robotic arm to adjust its posture according to the first angle information, until the picking piece reaches a position corresponding to the chess-playing point;

[0027] The second acquisition module is used to obtain second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point.

[0028] The present invention also provides a chess-playing robot, comprising: a robot body, a first mechanical arm, and a camera module;

[0029] The first robotic arm and the camera module are respectively provided on the robot body, the camera module is used to capture a global image of the chessboard, and the execution end of the first robotic arm is provided with a picking piece, which is vertically distributed to realize the picking and placing of chess pieces;

[0030] The robot body is provided with a controller, and the controller is configured to be communicatively connected with the camera module, the first robotic arm and the calibration robot respectively;

[0031] The controller is provided with a computer program, and when the controller executes the computer program, the calibration method of the chess-playing robot as described above is implemented.

[0032] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-described chess-playing robot calibration method when executing the computer program.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned calibration method for the chess-playing robot when executed by a processor.

[0034] The calibration method, device and chess-playing robot provided by the present invention obtain the global image of the chessboard, determine the coordinate information of each chess-playing point on the chessboard, control the execution end of the second robotic arm to move to the corresponding chess-playing point, and then obtain the first angle information of the second robotic arm, and control the second robotic arm to drive the first robotic arm to adjust its posture. When the picking part reaches the position of the corresponding chess-playing point, the second angle information of the first robotic arm is obtained, and the position of the picking part of the chess-playing robot for picking up and placing chess pieces is calibrated according to the second angle information, so that the posture of the first robotic arm of the chess-playing robot under the second angle information drives the picking part to pick up and place chess pieces to be the same as the position of the chess-playing point, compensating for the accumulated tolerance of the first robotic arm. With the assistance of the calibration robot, the accurate calibration of the chess-playing robot can be automatically realized, so that the chess-playing robot can accurately pick up or place chess pieces at each chess-playing point during the game. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be 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.

[0036] Figure 1 This is one of the flow charts of the calibration method for the chess-playing robot provided by the present invention.

[0037] Figure 2 This is the second flow chart of the calibration method for the chess-playing robot provided by the present invention.

[0038] Figure 3 It is a schematic diagram of a process for determining the coordinate information of each chess point on the chessboard according to the global image provided by the present invention.

[0039] Figure 4It is a flow chart of determining the first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point according to the coordinate information of the chess-playing point provided by the present invention.

[0040] Figure 5 It is a schematic diagram of the coordinate system of the chessboard provided by the present invention.

[0041] Figure 6 It is a schematic diagram of the chessboard positions provided by the present invention.

[0042] Figure 7 It is a schematic diagram of the assembly of the chess-playing robot and the calibration robot provided by the present invention.

[0043] Figure 8 Schematic diagram of the second robotic arm of the calibration robot provided by the present invention.

[0044] Figure 9 It is a schematic diagram of the assembly of the second robotic arm and the forearm provided by the present invention.

[0045] Figure 10 It is an exploded view of the second robotic arm and the forearm provided by the present invention.

[0046] Figure 11 It is a structural schematic diagram of the calibration device for the chess-playing robot provided by the present invention.

[0047] Figure 12 It is a schematic diagram of the chess-playing robot provided by the present invention in the attracting state.

[0048] Figure 13 It is a schematic diagram of the chess-playing robot provided by the present invention in a chess-playing state.

[0049] Figure 14 It is a schematic diagram of the upper arm and lower arm of the chess-playing robot provided by the present invention.

[0050] Figure 15 Schematic diagram of the first robotic arm provided by the present invention.

[0051] Figure 16 This is one of the perspective views of the first robotic arm provided by the present invention.

[0052] Figure 17 This is the second perspective view of the first robotic arm provided by the present invention.

[0053] Figure 18 This is the third perspective view of the first robotic arm provided by the present invention.

[0054] Figure 19 It is a structural schematic diagram of the electronic device provided by the present invention.

[0055] Reference numerals:

[0056] 1. Chess-playing robot; 11. First robotic arm; 12. Pickup element; 13. Robot body; 14. Camera module; 111. Upper arm; 112. Lower arm; 113. Screw mechanism; 114. Traction rope; 115. Reversing pulley; 116. Elastic element; 117. Air pump; 118. Solenoid valve; 119. Air pipe; 121. Sleeve; 122. Negative pressure nozzle; 1121. Cylinder;

[0057] 2. Calibration robot; 21. Second robotic arm; 22. Lifting mechanism; 23. Clamping seat; 211. First arm section; 212. Second arm section; 213. Third arm section; 214. First driving unit; 215. Second driving unit; 231. Rotating unit; 232. Connecting unit; 233. Clamping unit; 234. Bar magnet; 2311. Rotating shaft; 2312. Bearing; 2331. First clamping member; 2332. Second clamping member;

[0058] 3. Chessboard; 31. Chess positions;

[0059] α1, first angle; α2, second angle; β1, third angle; β2, fourth angle. DETAILED DESCRIPTION

[0060] 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 embodiments of the present invention, not all embodiments. 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.

[0061] The following combination Figures 1-19 , through specific embodiments and their application scenarios, the calibration method, device and chess-playing robot provided by the embodiments of the present invention are described in detail.

[0062] like Figure 1 As shown, an embodiment of the present invention provides a calibration method for a chess-playing robot. The execution subject of the method can be a host computer (server) or a controller on the chess-playing robot. The chess-playing robot is configured to be located on one side of the calibration robot. The chess-playing robot includes a first robotic arm and a picking member located at the execution end of the first robotic arm. The picking member is vertically distributed to realize the picking and placing of chess pieces. The calibration robot includes a second robotic arm. The execution end of the second robotic arm is rotatably connected to the picking member. The calibration method includes the following steps:

[0063] Step 111: Acquire a global image of the chessboard, and determine the coordinate information of each chess point on the chessboard based on the global image.

[0064] It is understandable that the chess-playing robot is used to play chess with users. This embodiment takes Go as an example. When playing Go, the chess points are each "cross" intersection on the chessboard.

[0065] The chess-playing robot is usually equipped with a camera, which is configured to communicate with a calibration robot. The camera is used to capture a global image of the chessboard, and based on the global image of the chessboard, obtain the position of each cross on the chessboard, and then obtain the coordinate information of each cross.

[0066] Of course, a camera can also be set on the calibration robot or on one side of the calibration robot to capture the global image of the chessboard. In addition, the optical axis of the camera is perpendicular to the chessboard to ensure the accuracy of the global image.

[0067] Step 112: Determine, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point.

[0068] It is understandable that the execution end of the second robotic arm of the calibration robot can move to all chess-playing positions. The second robotic arm includes several joints. Since the length of each joint of the second robotic arm is fixed, when the second robotic arm moves to different chess-playing positions, the angle between two adjacent joints will change. The angle information between each adjacent joint corresponding to the execution end of the second robotic arm at a certain chess-playing position is defined as the first angle information. The first angle information includes the angles between all adjacent joints under the corresponding chess-playing position coordinates.

[0069] Specifically, for the 361 chess-playing points on the Go board, this embodiment includes 361 first angle information, and each first angle information includes the angles of all adjacent joints.

[0070] Step 113: Control the second robotic arm to drive the first robotic arm to adjust its posture according to the first angle information until the picking piece reaches the position corresponding to the chess point.

[0071] It is understandable that since the execution end of the second robotic arm is rotatably connected to the picking piece, when the calibration robot moves to the corresponding chess-playing point, the calibration robot can drive the picking piece of the chess-playing robot to reach the corresponding chess-playing point.

[0072] Based on the angles of all adjacent joints obtained by the execution end of the second robotic arm when it is at the corresponding chess-playing point, the joints of the second robotic arm are controlled to adjust according to the set posture, so that the execution end of the second robotic arm reaches the corresponding chess-playing point. At the same time, the execution end of the second robotic arm drives the picking part of the chess-playing robot to reach the corresponding chess-playing point at the same time.

[0073] Step 114 , obtaining second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point.

[0074] It is understandable that the first robotic arm also includes multiple joints. When the first robotic arm moves with the movement of the second robotic arm, the postures of the joints of the first robotic arm also change accordingly. At the same time, the angles between adjacent joints of the first robotic arm also change. The angle information between the corresponding adjacent joints when the picking part of the first robotic arm is at a certain chess-playing point is defined as second angle information. The second angle information includes the angles between all adjacent joints under the corresponding chess-playing point coordinates.

[0075] Specifically, for the 361 chess-playing points on the Go board, this embodiment includes 361 second angle information, and each second angle information includes the angles of all adjacent joints.

[0076] In actual applications, since the calibration robot has high precision, when the postures of the various joints of the second robotic arm are adjusted, the execution end of the second robotic arm can accurately reach the corresponding chess-playing point, so that the second robotic arm can drive the first robotic arm to accurately reach the corresponding chess-playing point, thereby ensuring that the picking-up piece can accurately reach the corresponding chess-playing point. At this time, the second angle information when the first robotic arm reaches the corresponding chess-playing point is stored in the upper computer or the controller of the chess-playing robot. The upper computer or controller can adjust the posture of the first robotic arm according to the second angle information, thereby calibrating the position of the chess-playing robot for picking up and placing chess pieces, so that the position where the first robotic arm drives the picking-up piece to reach is consistent with the position of each chess-playing point, thereby ensuring the accuracy of the calibration of the chess-playing robot.

[0077] From the above, it can be seen that the calibration method of the chess-playing robot provided by the present invention obtains the global image of the chessboard, determines the coordinate information of each chess-playing point on the chessboard, controls the execution end of the second robotic arm to move to the corresponding chess-playing point, and then obtains the first angle information of the second robotic arm, and controls the second robotic arm to drive the first robotic arm to adjust its posture. When the picking part reaches the position of the corresponding chess-playing point, the second angle information of the first robotic arm is obtained, and the position of the picking part of the chess-playing robot for picking up and placing chess pieces is calibrated according to the second angle information, so that the posture of the first robotic arm of the chess-playing robot under the second angle information drives the picking part to pick up and place chess pieces to be the same as the position of the chess-playing point, compensating for the accumulated tolerance of the first robotic arm, and can automatically realize the accurate calibration of the chess-playing robot with the assistance of the calibration robot, so that the chess-playing robot can accurately pick up or place pieces at each chess-playing point during the game.

[0078] In some embodiments, as Figure 2 As shown, the calibration method of the chess-playing robot of this embodiment further includes the following steps:

[0079] Step 211: Control the chess-playing robot to store the coordinate information of each chess-playing point and the second angle information of each joint of the first robotic arm corresponding to the coordinate information of each chess-playing point.

[0080] It can be understood that the Go board in this embodiment has 361 chess-playing points, and the host computer or controller can store the coordinate information of all chess-playing points to construct a coordinate data set of the chess-playing points on the chessboard. In addition, when the picking-up part of the first robotic arm reaches the corresponding chess-playing point, the second angle information of each joint of the first robotic arm includes the angle information of multiple adjacent joints, which can also be stored in the host computer or controller to construct a data set of the second angle information of the first robotic arm. When it is necessary to control the first robotic arm to adjust its posture so that the picking-up part reaches the corresponding chess-playing point to perform the operation of picking up and placing the flag, the coordinate information of the corresponding chess-playing point and the second angle information of the first robotic arm corresponding to the coordinate information are called from the corresponding data set, and the first robotic arm is controlled to adjust its posture according to the second angle information. Based on the one-to-one mapping relationship between the coordinate information of the chess-playing point and the second angle information of the first robotic arm, the picking-up part can be controlled to accurately reach the corresponding chess-playing point, thereby ensuring that the chess-playing robot can accurately reach the position when performing the operation of picking up and placing chess pieces at any chess-playing point.

[0081] In some embodiments, as Figure 3 As shown, the step of determining the coordinate information of each chess point on the chessboard according to the global image in this embodiment includes:

[0082] Step 311: Obtain the coordinates of three identification points in the global image.

[0083] Step 312: Determine the coordinate information of each chess point on the chessboard based on the coordinates of the three marking points and the width of each chess square.

[0084] Among them, the three marked points are the chess-playing points at any three corner positions on the chessboard.

[0085] It can be understood that the global image obtained contains images of all the "cross" intersections of the entire chessboard, three identification points are selected from all the chess points, the coordinates of the identification points are manually marked, and the coordinates of these three identification points are obtained. For the convenience of obtaining the coordinates, the three identification points can be the chess points at any three corner positions on the chessboard.

[0086] Then, since the Go chessboard's squares are evenly spaced, the coordinates of the other points on the board can be calculated based on the coordinates of the three identified points and the width of the squares, and thus the coordinate information of all 361 points on the board can be obtained.

[0087] Specifically, if Figure 5 As shown, select any three points among the four vertices on the chessboard as the identification points. Take the upper left, upper right, and lower left as examples. Their coordinates are (0,0), (0,19), and (19,0) respectively. Figure 6 As shown, for the Go board 3, the remaining chess points 31 can be calculated through the coordinate values ​​of the above three identification points through the method of plane coordinate calculation. The Go board 3 contains 19 horizontal lines and 19 vertical lines. Taking the first row as an example, the first row has 19 "cross" intersections. By analogy with the coordinates (0,0) of chess point No. 1 and the chess grid width of 22.35, the coordinates of the remaining chess points can be calculated, and then the coordinates of all 361 chess points can be obtained.

[0088] This embodiment can obtain the coordinate information of the chess point through a simple plane geometry method, which facilitates the subsequent determination of the one-to-one correspondence between the coordinate information of the chess point and the first angle information and the second angle information.

[0089] In some embodiments, as Figure 4 As shown, the step of determining, based on the coordinate information of the chess-playing point, the first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at the position corresponding to the chess-playing point in this embodiment includes:

[0090] Step 411: Obtain the length of each arm segment of the second robotic arm.

[0091] Step 412: Determine the first angle information of each joint of the second robotic arm according to the length of each arm segment of the second robotic arm, the coordinate information of the chess point, and the coordinates of the base of the second robotic arm.

[0092] It can be understood that the length of each arm segment of the second robotic arm is fixed, the coordinate information of the chess point is the end position of the second robotic arm, and the base coordinates of the second robotic arm are the starting position of the second robotic arm. When the starting position, end position and arm segment length of the second robotic arm are determined, the angles of each adjacent joint of the second robotic arm can determine the posture of the second robotic arm, that is, there is a one-to-one correspondence between the first angle information and the different postures of the second robotic arm.

[0093] In some embodiments, as Figure 7 and Figure 8 As shown, the calibration robot 2 of this embodiment further includes a lifting mechanism 22 , and the second robotic arm 21 includes a first segment arm 211 , a second segment arm 212 and a third segment arm 213 .

[0094] The first end of the first arm 211 is connected to the lifting end of the lifting mechanism 22, the second end of the first arm 211 is rotatably connected to the first end of the second arm 212 through the first driving part 214, the second end of the second arm 212 is rotatably connected to the first end of the third arm 213 through the second driving part 215, and the second end of the third arm 213 is rotatably connected to the picking part 12.

[0095] The first angle information includes a first angle α1 formed between the first boom 211 and the second boom 212 and a second angle α2 formed between the second boom 212 and the third boom 213 .

[0096] It can be understood that the lifting end of the lifting mechanism 22 serves as the base of the second robotic arm 21, and the lifting mechanism 22 drives the second robotic arm 21 to rise and fall to adjust the height of the execution end of the second robotic arm 21, so that the execution end of the second robotic arm 21 can be adapted to the picking part 12 of the first robotic arm 11 in height to meet the connection requirements between the execution end of the second robotic arm 21 and the picking part 12.

[0097] Specifically, the lifting mechanism 22 may adopt a slider guide structure to achieve lifting motion, or may adopt a telescopic rod structure to achieve lifting motion.

[0098] The first angle between the first section arm 211 and the second section arm 212 is α1, and the second angle between the second section arm 212 and the third section arm 213 is α2. The first driving part 214 can drive the second section arm 212 to rotate relative to the first section arm 211, that is, adjust the size of the first angle α1. The second driving part 215 can drive the rotation rod of the third section arm 213 relative to the second section arm 212, that is, adjust the size of the second angle α2.

[0099] Specifically, the first driving unit 214 may be a driving motor, and the second driving unit 215 may also be a driving motor.

[0100] Correspondingly, angle sensors are further provided between the first boom 211 and the second boom 212 , and between the second boom 212 and the third boom 213 , and the angle sensors are used to collect data information of the first angle α1 and the second angle α2 .

[0101] Specifically, the angle sensor can be a coding plate and a magnet. The magnet is arranged on the rotating shaft, and the coding plate is arranged on one side of the magnet. The coding plate rotates with the rotation of the second arm 212 and the third arm 213, and the position of the magnet remains unchanged. The coding plate detects the change in the magnetic field to obtain the rotation angle of the coding plate, and then obtains the data information of the first angle α1 and the second angle α2.

[0102] In some embodiments, as Figure 9 and Figure 10 As shown, the calibration robot 2 of this embodiment further includes a clamping seat 23 , and the clamping seat 23 includes a rotating portion 231 , a connecting portion 232 and a clamping portion 233 .

[0103] The rotating portion 231 , the connecting portion 232 and the clamping portion 233 are connected in sequence. The rotating portion 231 is disposed on the upper side of the clamping portion 233 . A receiving space for receiving the execution end of the first robot arm 11 is formed between the rotating portion 231 and the clamping portion 233 .

[0104] The clamping portion 233 is used to clamp the picking member 12 , and the rotating portion 231 is configured to be rotatable around the vertical center axis of the picking member 12 at the execution end of the second robotic arm 21 .

[0105] It can be understood that the clamping seat 23 is used to connect the execution end of the first robotic arm 11 and the execution end of the second robotic arm 21. Based on the rotation connection of the rotating part 231 around the vertical center axis of the picking member 12, the picking member 12 is coaxially arranged with the rotating part 231, so that the picking member 12 and the execution end of the second robotic arm 21 are coaxially arranged. Since the picking member 12 is vertically arranged to realize the picking and placing of chess pieces, the second robotic arm 21 and the first robotic arm 11 can both be rotationally connected based on the vertical center axis, ensuring the reliability and stability of the second robotic arm 21 and the first robotic arm 11 during rotation.

[0106] Furthermore, the rotating portion 231 of this embodiment includes a rotating shaft 2311 and a bearing 2312. The rotating shaft 2311 is rotatably connected to the execution end of the second robot arm 21 through the bearing 2312. The connecting portion 232 is an arc-shaped plate. The two ends of the arc-shaped plate are respectively connected to the rotating portion 231 and the clamping portion 233. The clamping portion 233 of this embodiment includes a first clamping member 2331 and a second clamping member 2332. The first clamping member 2331 is provided on the connecting portion 232. The first clamping member 2331 is provided on the connecting portion 232. The clamping member 2331 and the second clamping member 2332 are detachably connected, and the first clamping member 2331 and the second clamping member 2332 are both arc-shaped. The accommodating space formed after the first clamping member 2331 and the second clamping member 2332 are assembled is used to accommodate the execution end of the first robotic arm 11. In actual installation, the execution end of the first robotic arm 11 is first placed in the first clamping member 2331, and then the second clamping member 2332 is installed with the first clamping member 2331.

[0107] In this embodiment, the space formed between the rotating portion 231 and the clamping portion 233 is used to accommodate the execution end of the first robotic arm 11, so that the execution end of the first robotic arm 11 and the execution end of the second robotic arm 21 can be rotatably connected through the clamping seat 23, and the coaxial arrangement of the picking member 12 and the execution end of the second robotic arm 21 can be ensured, so that when the second robotic arm 21 drives the picking member 12 to the preset chess-playing point 31, the rotation axes 2311 of the first robotic arm 11 and the second robotic arm 21 are both in a vertical state, ensuring the reliability of the position of the picking member 12 during the calibration process.

[0108] Optionally, the clamping seat 23 also includes a bar magnet 234. In this embodiment, four bar magnets 234 are provided. The four bar magnets 234 are installed at the junction of the first clamping member 2331 and the second clamping member 2332, so that the first clamping member 2331 and the second clamping member 2332 fit tightly, which is conducive to the installation and disassembly of the first clamping member 2331 and the second clamping member 2332.

[0109] like Figure 11 As shown, an embodiment of the present invention further provides a calibration device for a chess-playing robot 1. The chess-playing robot 1 is configured to communicate with a calibration robot 2. The chess-playing robot 1 includes a first robotic arm 11 and a pick-up member 12 provided at the execution end of the first robotic arm 11. The pick-up member 12 is vertically distributed to enable the picking and placing of chess pieces. The calibration robot 2 includes a second robotic arm 21. The execution end of the second robotic arm 21 is rotatably connected to the pick-up member 12. The calibration device includes the following modules:

[0110] The first acquisition module is used to acquire a global image of the chessboard 3 and determine the coordinate information of each chess-playing point 31 on the chessboard 3 according to the global image.

[0111] The determination module is used to determine the first angle information of each joint of the second robotic arm 21 when the execution end of the second robotic arm 21 is at the position corresponding to the chess playing point 31 according to the coordinate information of the chess playing point 31.

[0112] The control module is used to control the second robotic arm 21 to drive the first robotic arm 11 to adjust its posture according to the first angle information until the picking member 12 reaches the position corresponding to the chess-playing point 31.

[0113] The second acquisition module is used to obtain second angle information of each joint of the first robotic arm 11 when the picking member 12 reaches the position corresponding to each chess-playing point 31.

[0114] As can be seen from the above, the calibration device provided by the present invention obtains the global image of the chessboard 3, determines the coordinate information of each chess-playing point 31 on the chessboard 3, controls the execution end of the second robotic arm 21 to move to the corresponding chess-playing point 31, and then obtains the first angle information of the second robotic arm 21, and controls the second robotic arm 21 to drive the first robotic arm 11 to adjust its posture. When the picking-up part 12 reaches the position of the corresponding chess-playing point 31, the second angle information of the first robotic arm 11 is obtained, and the position of the picking-up and placing chess pieces of the picking-up part 12 of the chess-playing robot 1 is calibrated according to the second angle information, so that the posture of the first robotic arm 11 of the chess-playing robot 1 under the second angle information drives the picking-up and placing of chess pieces to be the same as the position of the chess-playing point 31, thereby compensating for the accumulated tolerance of the first robotic arm 11. With the assistance of the calibration robot, the accurate calibration of the chess-playing robot can be automatically realized, so that the chess-playing robot 1 can accurately pick up or place pieces at each chess-playing point during the game.

[0115] like Figure 12 、 Figure 13 and Figure 14 As shown, an embodiment of the present invention further provides a chess-playing robot 1 , comprising: a robot body 13 , a first robotic arm 11 and a camera module 14 .

[0116] The first robotic arm 11 and the camera module 14 are respectively provided on the robot body 13. The camera module 14 is used to collect the global image of the chessboard 3. The execution end of the first robotic arm 11 is provided with a picking member 12, which is vertically distributed to realize the picking and placing of chess pieces.

[0117] The robot body 13 is provided with a controller, which is configured to communicate with the camera module 14 , the first robot arm 11 and the calibration robot 2 respectively.

[0118] The controller is provided with a computer program, and when the controller executes the computer program, the calibration method of the chess-playing robot 1 as described above is implemented.

[0119] It is understandable that the camera module 14 can adopt a high-definition camera to capture the global image of the chessboard 3.

[0120] The first robotic arm 11 of this embodiment includes an upper arm 111 and a lower arm 112 . The first end of the upper arm 111 is rotatably connected to the robot body 13 , the second end of the upper arm 111 is rotatably connected to the first end of the lower arm 112 , and the second end of the lower arm 112 is provided with a picking piece 12 .

[0121] Specifically, if Figure 15 As shown, the third angle between the first end of the upper arm 111 and the straight line along the length direction of the chessboard 3 of the robot body 13 is β1, and the fourth angle between the second end of the upper arm 111 and the first end of the small arm 112 is β2. The first end of the upper arm 111 and the connecting end of the upper arm 111 and the small arm 112 are both provided with drive motors, which can respectively drive the rotation of the upper arm 111 and the small arm 112, that is, adjust the size of the third angle β1 and the size of the fourth angle β2.

[0122] The picking member 12 of this embodiment is cylindrical. During calibration, the central axis of the picking member 12 is perpendicular to the surface of the chessboard 3 and points vertically downward toward the chess position 31 .

[0123] Optionally, the picking member 12 of this embodiment may include an electromagnet, and the chess piece can be taken and placed by turning the electromagnet on and off. The picking member 12 may also include a negative pressure suction nozzle 122, and the chess piece can be taken and placed by controlling the adsorption and release of the chess piece.

[0124] In the case where the picking member 12 includes a negative pressure nozzle 122, as Figure 16 、 Figure 17 and Figure 18 As shown, the picking member 12 includes a sleeve 121 and a negative pressure suction nozzle 122. The second end of the small arm 112 is provided with a vertical cylinder 1121. The sleeve 121 is vertically movably arranged on the inner side of the cylinder 1121. The negative pressure suction nozzle 122 is fixedly connected to the sleeve 121. The small arm 112 is hollow. A screw mechanism 113, a traction rope 114, a reversing pulley 115 and an elastic member 116 are arranged in the small arm 112. One end of the traction rope 114 is connected to the sleeve 121, and the other end of the traction rope 114 is wound around the reversing pulley 115 and connected to the slider of the screw mechanism 113. One end of the elastic member 116 is against the sleeve 121, and the other end is against the connecting end of the cylinder 1121 and the horizontal section of the small arm 112.

[0125] An air pump 117 and a solenoid valve 118 are also provided in the forearm 112. The negative pressure suction nozzle 122 is connected to the solenoid valve 118 and the air pump 117 through the air pipe 119. When the negative pressure suction nozzle 122 picks up the chess piece, the negative pressure suction nozzle 122 abuts the chess piece, the air pump 117 and the solenoid valve 118 are opened, and negative pressure is formed in the air pipe 119 and the negative pressure suction nozzle 122. The negative pressure suction nozzle 122 sucks the chess piece to achieve the picking up of the piece; when the negative pressure suction nozzle 122 releases the chess piece, the solenoid valve 118 is closed, the negative pressure state in the negative pressure suction nozzle 122 disappears, and the negative pressure suction nozzle 122 releases the chess piece to achieve the dropping of the piece.

[0126] At the same time, the negative pressure suction nozzle 122 moves in the vertical direction driven by the sleeve 121. When the sleeve 121 moves upward, the screw motor drives the slider to move horizontally in the direction away from the second end of the forearm 112. The slider pulls the first end of the traction rope 114 to move in the direction away from the second end of the forearm 112. The traction rope 114 is in a tensioned state, and the second end of the traction rope 114 pulls the sleeve 121 to move vertically upward. At this time, the sleeve 121 compresses the elastic part 116, and elastic potential energy is accumulated in the elastic part 116; when the screw motor no longer drives the slider to move, the traction rope 114 is in a loose state, the elastic potential energy of the elastic part 116 is released, and the elastic part 116 drives the sleeve 121 to move downward.

[0127] Specifically, a guide structure is provided between the sleeve 121 and the cylinder 1121 , and the guide structure is used to guide the movement of the sleeve 121 relative to the cylinder 1121 in the vertical direction.

[0128] Specifically, the negative pressure nozzle 122 may be a silicone nozzle, and the elastic member 116 may be a spring.

[0129] The robot host of this embodiment is provided with a touch screen, which is used to display the chess point 31 to be calibrated; the user can send control instructions to the touch screen, and the robot host responds to the control instructions to control the first robotic arm 11 to adjust its posture.

[0130] The controller is communicatively connected with the first robotic arm 11 , including being communicatively connected with the drive motors on the upper arm 111 and the lower arm 112 , and being communicatively connected with the angle sensors on the upper arm 111 and the lower arm 112 . At the same time, the controller can also be communicatively connected with the calibration robot 2 .

[0131] On the other hand, the present invention further provides a computer program product, comprising a computer program. The computer program may be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the calibration method for the chess-playing robot provided by the above methods, which comprises the following steps:

[0132] A global image of a chessboard is obtained, and coordinate information of each chess-playing point on the chessboard is determined according to the global image.

[0133] According to the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point is determined.

[0134] According to the first angle information, the second robotic arm is controlled to drive the first robotic arm to adjust its posture until the picking piece reaches a position corresponding to the chess-playing point.

[0135] The second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point is obtained.

[0136] like Figure 19 As shown, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the calibration method of the chess-playing robot as described above is implemented.

[0137] Figure 19 The following is a schematic diagram illustrating the physical structure of an electronic device, which may include: a processor 1910, a communications interface 1920, a memory 1930, and a communication bus 1940. The processor 1910, the communications interface 1920, and the memory 1930 communicate with each other via the communication bus 1940. The processor 1910 may invoke logic instructions in the memory 1930 to execute a calibration method for a chess-playing robot, which includes the following steps:

[0138] Acquire a global image of a chessboard, and determine coordinate information of each chess-playing point on the chessboard according to the global image;

[0139] determining, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point;

[0140] According to the first angle information, the second robotic arm is controlled to drive the first robotic arm to adjust its posture until the picking piece reaches a position corresponding to the chess-playing point;

[0141] The second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point is obtained.

[0142] Furthermore, the logic instructions in the aforementioned memory 1930 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, stored in a storage medium, includes instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0143] An embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the calibration method for the chess-playing robot described above is implemented. The method includes the following steps:

[0144] Acquire a global image of a chessboard, and determine coordinate information of each chess-playing point on the chessboard according to the global image;

[0145] According to the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point is determined.

[0146] According to the first angle information, the second robotic arm is controlled to drive the first robotic arm to adjust its posture until the picking piece reaches a position corresponding to the chess-playing point;

[0147] The second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point is obtained.

[0148] 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 method for a chess-playing robot, characterized in that: The chess-playing robot is configured to be disposed on one side of the calibration robot. The chess-playing robot includes a first robotic arm and a picking member disposed at an execution end of the first robotic arm, wherein the picking member is vertically distributed to enable picking and placing of chess pieces. The calibration robot includes a second robotic arm, wherein the execution end of the second robotic arm is rotatably connected to the picking member. The calibration method includes: Acquire a global image of a chessboard, and determine coordinate information of each chess-playing point on the chessboard according to the global image; determining, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point; According to the first angle information, the second robotic arm is controlled to drive the first robotic arm to adjust its posture until the picking piece reaches a position corresponding to the chess-playing point; The second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point is obtained.

2. The calibration method of a chess-playing robot according to claim 1, wherein: Also includes: The chess-playing robot is controlled to store the coordinate information of each chess-playing point and the second angle information of each joint of the first robotic arm corresponding to the coordinate information of each chess-playing point.

3. The calibration method of the chess-playing robot according to claim 1, wherein: The step of determining the coordinate information of each chess point on the chessboard according to the global image comprises: Obtaining coordinates of three identification points in the global image; Determining coordinate information of each chess point on the chessboard according to the coordinates of the three identified points and the width of each chess square; Among them, the three marked points are respectively the chess-playing points at any three corner positions on the chessboard.

4. The method for calibrating a chess-playing robot according to any one of claims 1 to 3, wherein: The step of determining, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point includes: obtaining the length of each joint of the second robotic arm; The first angle information of each joint of the second robotic arm is determined according to the length of each arm segment of the second robotic arm, the coordinate information of the chess position, and the coordinates of the base of the second robotic arm.

5. The chess-playing robot calibration method according to claim 4, characterized in that: The calibration robot further comprises a lifting mechanism, and the second mechanical arm comprises a first section arm, a second section arm and a third section arm; The first end of the first section arm is connected to the lifting end of the lifting mechanism, the second end of the first section arm is rotatably connected to the first end of the second section arm via a first driving portion, the second end of the second section arm is rotatably connected to the first end of the third section arm via a second driving portion, and the second end of the third section arm is rotatably connected to the picking member; The first angle information includes a first angle formed by the first joint arm and the second joint arm, and a second angle formed by the second joint arm and the third joint arm.

6. The method for calibrating a chess-playing robot according to any one of claims 1 to 3, characterized in that: The calibration robot further comprises a clamping seat, wherein the clamping seat comprises a rotating portion, a connecting portion and a clamping portion; The rotating portion, the connecting portion, and the clamping portion are connected in sequence, the rotating portion is provided on the upper side of the clamping portion, and an accommodating space for accommodating the execution end of the first robotic arm is formed between the rotating portion and the clamping portion; The clamping portion is used to clamp the picking member, and the rotating portion is configured to be rotatably provided at the execution end of the second robotic arm around the vertical center axis of the picking member.

7. A calibration device for a chess-playing robot, characterized in that: The chess-playing robot is configured to be in communication connection with a calibration robot. The chess-playing robot includes a first robotic arm and a picking member provided at an execution end of the first robotic arm, wherein the picking member is vertically distributed to realize picking and placing chess pieces. The calibration robot includes a second robotic arm, wherein the execution end of the second robotic arm is rotatably connected to the picking member. The calibration device includes: A first acquisition module is used to acquire a global image of the chessboard and determine the coordinate information of each chess point on the chessboard according to the global image; a determination module, configured to determine, based on the coordinate information of the chess-playing point, first angle information of each joint of the second robotic arm when the execution end of the second robotic arm is at a position corresponding to the chess-playing point; a control module, configured to control the second robotic arm to drive the first robotic arm to adjust its posture according to the first angle information, until the picking piece reaches a position corresponding to the chess-playing point; The second acquisition module is used to obtain second angle information of each joint of the first robotic arm when the picking member reaches a position corresponding to each chess-playing point.

8. A chess-playing robot, characterized in that: include: Robot body, first robotic arm and camera module; The first robotic arm and the camera module are respectively provided on the robot body, the camera module is used to capture a global image of the chessboard, and the execution end of the first robotic arm is provided with a picking piece, which is vertically distributed to realize the picking and placing of chess pieces; The robot body is provided with a controller, and the controller is configured to be communicatively connected with the camera module, the first robotic arm and the calibration robot respectively; The controller is provided with a computer program, and when the controller executes the computer program, the calibration method of the chess-playing robot according to any one of claims 1 to 6 is implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the calibration method for the chess-playing robot according to any one of claims 1 to 6 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the calibration method of the chess-playing robot according to any one of claims 1 to 6 is implemented.

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