Three-degree-of-freedom parallel manipulator robot for placing and playing go and control method thereof

Abstract

The application discloses a three-degree-of-freedom parallel manipulator go setting and playing robot and a control method, and relates to the technical fields of intelligent robots and go teaching equipment. The robot comprises a go board, a parallel manipulator, a plurality of motion branch chains and an origin sensor. The static platform is arranged on the side of the dynamic platform away from the go board. One end of each of the plurality of motion branch chains is hingedly connected to the side wall of the static platform at equal intervals, and the other end is hingedly connected to the side wall of the dynamic platform at equal intervals. The automatic sorting and feeding mechanism is provided with a positioning and material taking groove. A visual positioning system is arranged on the static platform and comprises a visual detection unit. A man-machine interaction module is in communication connection with the parallel manipulator, the automatic sorting and feeding mechanism and the visual positioning system. The control system comprises an upper computer connected with the man-machine interaction module and a lower computer connected with the parallel manipulator. The upper computer further comprises an error correction operation unit for real-time correction of the motion instruction. The scheme is accurate in go setting, stable in feeding and simple in operation.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots and Go teaching equipment, and in particular to a three-degree-of-freedom parallel robotic arm robot for placing and playing Go pieces, and its control method. Background Technology

[0002] Existing Go-playing robots generally employ serial robotic arms, with speeds typically ranging from 2 to 6 seconds per move, and are solely focused on human-computer interaction. For example, CN111546356A discloses an interactive human-computer Go-playing robot with automatic piece feeding and resetting, comprising a parallel robotic arm and end effector for grasping pieces, an industrial camera for real-time recording of the game, a Go board, a display screen for human-computer interaction, a control core board for startup and setup, a piece feeding box assembly for retrieval and automatic piece feeding, and an outlet and casing for supplying pieces. In this existing technology, the robotic arm's grasping motion results in significant vibration and poor stability, failing to meet the demands of rapid game review with a large number of pieces and efficient demonstration of classic game records in teaching scenarios.

[0003] Therefore, the following technical problems exist in the prior art:

[0004] Poor stability in piece placement, insufficient positioning accuracy, and unstable piece supply make it difficult to achieve high-speed, batch, and accurate game reconstruction. Summary of the Invention

[0005] To address the technical problems of poor piece placement stability, insufficient positioning accuracy, and unstable piece feeding in existing technologies, this invention provides a three-degree-of-freedom parallel robotic arm for Go piece placement and playing, along with its control method. The technical solution is as follows:

[0006] On the one hand, a three-degree-of-freedom parallel robotic arm for placing and playing Go stones is provided, the robot comprising:

[0007] A chessboard; a parallel robotic arm comprising a stationary platform, a moving platform, multiple sets of motion chains, and an origin sensor, wherein the parallel robotic arm is positioned on one side of the chessboard in the vertical direction; the stationary platform is positioned on the side of the moving platform away from the chessboard; one end of each set of motion chains is hinged at equal intervals to the side wall of the stationary platform, and the other end is hinged at equal intervals to the side wall of the moving platform; an automatic sorting and feeding mechanism is positioned on one side of the chessboard in the horizontal direction, and the automatic sorting and feeding mechanism is provided with a positioning and picking slot; a vision positioning system comprising a vision detection unit, which is positioned on the stationary platform; and human-machine interaction. The system includes a human-machine interface module (HMI) that is communicatively connected to the parallel robotic arm, the automatic sorting and feeding mechanism, and the vision positioning system, and is configured to acquire user commands and chess notation data. A control system includes a host computer and a slave computer. The host computer is connected to the HMI module and sends motion commands to the slave computer. The slave computer is connected to the parallel robotic arm. The host computer further includes an error correction calculation unit configured to obtain deviation data based on the motion commands and the vision detection unit and correct the motion commands in real time. The error correction calculation unit is also configured to correct the parallel robotic arm based on the origin sensor.

[0008] Optionally, each of the multiple sets of motion chains includes an active arm, two driven arms, and a servo motor; the main body of the servo motor is fixedly mounted on the side wall of the stationary platform; one end of the active arm is hinged to the output shaft of the servo motor, and the other end is hinged to one end of each of the two driven arms; the other ends of the two driven arms are hinged to the side wall of the moving platform; wherein the two driven arms are arranged parallel to each other.

[0009] Optionally, the automatic sorting and feeding mechanism includes a storage bin, a stepped sorting unit, an inclined conveyor belt, and a reverse recovery chute; the first end of the stepped sorting unit is connected to the storage bin via the inclined conveyor belt; the last end of the stepped sorting unit is connected to the storage bin via the reverse recovery chute.

[0010] Optionally, the stepped sorting unit includes: a high-level receiving platform, a low-level sliding platform, and a vertical step surface disposed between the high-level receiving platform and the low-level sliding platform; the inlet of the high-level receiving platform is connected to the inclined conveyor belt, and the outlet of the high-level receiving platform is connected to the positioning material picking trough; the inlet of the low-level sliding platform is connected to the vertical step surface, and the outlet of the low-level sliding platform is connected to the reverse recycling chute.

[0011] Optionally, the inclined conveyor belt includes: a driving roller, a driven roller, and an anti-slip conveyor belt disposed on the driving roller and the driven roller; the surface of the anti-slip conveyor belt has a plurality of protrusions arranged at equal intervals; and a stepper drive motor is disposed on the driving roller.

[0012] Optionally, the visual detection unit includes a camera and an algorithm unit, wherein the camera is mounted on the static platform and the algorithm unit is a visual algorithm unit.

[0013] Optionally, the moving platform is provided with a silicone vacuum suction cup and a micro-laser rangefinder on the side near the chessboard.

[0014] Optionally, the host computer is an embedded main control unit, configured to receive signals from the human-machine interaction module and perform chess notation analysis, image recognition, path planning and logic scheduling, and send the motion commands to the slave computer; the slave computer is a multi-axis motion controller, configured to perform inverse kinematics calculation, trajectory interpolation and real-time motor drive based on the motion commands; the human-machine interaction module also includes a touch screen, which is communicatively connected to the host computer and configured to display the parallel robotic arm's operating status, move progress, game play permissions, and real-time fault alarm data.

[0015] On the other hand, the present invention also provides a control method for a three-degree-of-freedom parallel robotic arm Go board placement and playing robot, the method comprising the following steps:

[0016] S1. The control system controls the parallel robotic arm, the automatic sorting and feeding mechanism, the vision positioning system and the human-machine interaction module to initialize, and controls the automatic sorting and feeding mechanism to complete automatic alignment and feeding.

[0017] S2. The visual positioning system measures the coordinates of the chessboard and performs corner point recognition, perspective correction, and coordinate mapping on the chessboard coordinates in sequence to obtain the chessboard spatial coordinates; the visual positioning system sends the chessboard spatial coordinates to the control system.

[0018] S3. The human-computer interaction module acquires the user instruction and the chess score data, and sends the user instruction and the chess score data to the control system; the host computer in the control system obtains the motion instruction based on the chessboard space coordinates, the user instruction and the chess score data, and inputs the motion instruction into the slave computer;

[0019] S4. The lower-level machine controls the multiple sets of motion chains in the parallel robotic arm to move the moving platform to the positioning and picking slot to pick up the material. Then, based on the motion command, it controls the multiple sets of motion chains to move the moving platform to the corresponding position to place the piece. After that, the vision positioning system obtains the coordinates of the piece being placed.

[0020] S5. The error correction calculation unit obtains the coordinates of the piece being placed and obtains the deviation data based on the motion command; the error correction calculation unit corrects the motion command in real time based on the deviation data and calibrates the parallel robotic arm based on the origin sensor.

[0021] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0022] This invention employs parallel robotic arms instead of serial ones, resulting in more stable operation. Furthermore, the parallel robotic arms are three-degree-of-freedom (Delta) parallel robotic arms. The moving platform achieves three-degree-of-freedom translation through multiple sets of kinematic chains. These parallel robotic arms exhibit high rigidity, low inertia, smooth operation, low vibration, and strong long-term stability, improving the smoothness of piece placement and reducing vibration. Additionally, the error correction calculation unit of this invention can be used for closed-loop calibration and repositioning of the robotic arm, ensuring accurate and unbiased piece placement, improving positioning precision, effectively avoiding errors in game reconstruction, and guaranteeing the correctness of the game record display. The automatic sorting and feeding mechanism enables continuous feeding, with stable operation and a low failure rate. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of a three-degree-of-freedom parallel robotic arm for placing and playing Go stones, provided in an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of a stepped sorting unit structure provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the system operation process provided in the embodiment of the present invention;

[0027] Figure 4 This is a flowchart of the human-computer chess game provided in an embodiment of the present invention;

[0028] Among them, 1-motion branch chain; 2-automatic sorting and feeding mechanism; 3-static platform; 4-moving platform; 5-human-machine interaction module; 6-positioning material picking trough; 7-step sorting unit; 8-inclined conveyor belt; 9-high receiving platform; 10-low sliding platform; 11-vertical step surface. Detailed Implementation

[0029] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0030] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0031] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0032] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0033] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0034] This invention provides a three-degree-of-freedom parallel robotic arm for placing and playing Go stones. For example... Figure 1As shown, the robot includes: a chessboard; a parallel robotic arm, which includes a static platform 3, a moving platform 4, multiple sets of motion chains 1, and an origin sensor, and the parallel robotic arm is located on one side of the chessboard in the vertical direction; the static platform 3 is located on the side of the moving platform 4 away from the chessboard; one end of each set of motion chains 1 is hinged at equal intervals to the side wall of the static platform 3, and the other end is hinged at equal intervals to the side wall of the moving platform 4; an automatic sorting and feeding mechanism 2, which is located on one side of the chessboard in the horizontal direction, and the automatic sorting and feeding mechanism 2 is provided with a positioning and picking slot 6; and a vision positioning system, which includes a vision detection unit, which is located on the chessboard in the vertical direction. On the static platform 3; a human-machine interaction module 5, which is communicatively connected to the parallel robotic arm, the automatic sorting and feeding mechanism 2, and the vision positioning system, and is configured to acquire user commands and chess score data; a control system, which includes an upper computer and a lower computer; the upper computer is connected to the human-machine interaction module 5 and sends motion commands to the lower computer; the lower computer is connected to the parallel robotic arm; wherein, the upper computer also includes an error correction calculation unit, which is configured to obtain deviation data based on the motion commands and the vision detection unit and correct the motion commands in real time, and the error correction calculation unit is also configured to correct the parallel robotic arm based on the origin sensor.

[0035] The technical solution provided by this invention employs a parallel robotic arm instead of a serial robotic arm, and the parallel robotic arm is a three-degree-of-freedom (Delta) parallel robotic arm. The moving platform 4 achieves three-degree-of-freedom translation through the multiple sets of motion branches 1. This parallel robotic arm has good rigidity, low moment of inertia, stable operation, low vibration, and strong long-term stability, which can improve the stability of placing pieces and reduce vibration. Furthermore, the error correction calculation unit of this invention can be used for closed-loop calibration and repeated positioning of the robotic arm to ensure accurate and non-offset placement of pieces, improve positioning accuracy, effectively avoid errors in game reconstruction, and ensure the correctness of the game record display. In addition, this invention achieves continuous feeding through an automatic sorting and feeding mechanism 2, which is stable in operation and has a low failure rate. Through the above solutions, this invention can simultaneously achieve high-speed picking and placing of game pieces, quickly completing the batch placement of the entire game record without manual placement of each piece, greatly improving the efficiency of Go teaching and game review demonstrations.

[0036] Furthermore, the solution provided by this invention is simple and easy to use. It enables functions such as game record selection, one-click replay, and status monitoring via a touchscreen. The operation is intuitive and concise, requiring no specialized robot operation skills, making it suitable for widespread use in educational settings. The human-computer interaction module 5 of this invention is also configured to acquire game record data, making it suitable for Go game record restoration, classic game demonstrations, and classroom teaching presentations. Unlike ordinary Go-playing robots, it better meets the actual needs of teaching and research.

[0037] In one specific embodiment, the robot comprises a positioning calibration system and a trajectory planning system through a parallel robotic arm, a visual positioning system, and a control system.

[0038] The positioning calibration system consists of a home point sensing unit built into the parallel robotic arm, a vision positioning system, and an error correction calculation unit in the control system. The home point sensing unit of the parallel robotic arm utilizes the absolute encoder of the servo motor. After power-on, it establishes a reference coordinate system for the robotic arm's movement through a homing motion, providing a position reference for the entire stroke. The vision positioning system collects the actual coordinates of the piece after each placement, achieving visual closed-loop detection. The error correction calculation unit, integrated into the control system, receives the deviation data between the actual coordinates and the target coordinates, and corrects subsequent motion commands in real time, achieving a closed-loop positioning effect with zero error accumulation. These three components work together to complete the entire positioning calibration process from reference establishment and real-time verification to deviation correction.

[0039] The trajectory planning system consists of a control system and a parallel robotic arm. The host computer also includes an inverse kinematics calculation module, a trajectory interpolation module, and a singular configuration avoidance module. The inverse kinematics calculation module calculates the driving angle of the active arm based on the target space coordinates, providing underlying parameters for the robotic arm's movement. The trajectory interpolation module generates a continuous and smooth motion path based on the move sequence, optimizing the movement order of material handling, move placement, and idle travel, thus shortening the overall runtime. The singular configuration avoidance module sets workspace constraints based on the robotic arm's structural parameters, automatically avoiding singular configurations during path generation, ensuring smooth and uninterrupted movement across the entire chessboard. The entire system uses hardware parameters as constraints and host computer computation as its core to achieve efficient and stable motion path planning.

[0040] Optionally, each set of motion chains 1 includes an active arm, two driven arms, and a servo motor; the main body of the servo motor is fixedly mounted on the side wall of the stationary platform 3; one end of the active arm is hinged to the output shaft of the servo motor, and the other end is hinged to one end of each of the two driven arms; the other ends of the two driven arms are hinged to the side wall of the moving platform 4; wherein the two driven arms are arranged parallel to each other.

[0041] For example in Figure 1In this embodiment, three integrated servo motors are evenly mounted on the upper surface of the stationary platform 3 at 120° circumferential angles. The output shafts of the servo motors are directly and fixedly connected to the active arm, forming the rotary joint input of the mechanism. The three servo motors achieve multi-axis synchronous control via a CAN bus. This direct-drive connection eliminates the intermediate reduction transmission link, which simplifies the structure, eliminates transmission backlash, and improves the system response speed and positioning accuracy. The repeatability of the robotic arm can reach ±0.1mm, which is specially designed for high-frequency reciprocating moves in chess game review scenarios. The end of the active arm is connected to two parallel driven arms via a rotary joint. The other end of the driven arm is hinged to the side of the moving platform 4 via a ball joint. No motor is installed between the end of the active arm and the driven arm, and no motor is installed between the driven arm and the moving platform.

[0042] The three sets of branches work together to constrain the moving platform 4, allowing it to retain only three degrees of spatial translation. Furthermore, the parallelogram structure formed by the two parallel links forces the moving platform 4 to always maintain a horizontal orientation, ensuring the placement direction is perpendicular to the chessboard and preventing the pieces from rolling off course due to tilting. This design is well-suited to the smooth, easily rolling shape of Go pieces. This motion chain 1 design gives the parallel robotic arm low inertia, high rigidity, and high dynamic response characteristics, enabling high-speed reciprocating placement that is impossible with traditional serial robotic arms. It is a dedicated optimized configuration for Go game review scenarios, not a simple application of conventional robotic arms.

[0043] The dimensions and structural layout of this parallel robotic arm are specifically optimized for Go scenarios. The combination of parameters—a 450mm radius for the circumscribed circle of the static platform 3, a 150mm radius for the circumscribed circle of the moving platform 4, a 400mm length for the active arm, and a 360mm length for the driven arm—matches the working area of ​​a standard 19x19 Go board. The workspace completely covers the entire board area without redundant travel, maximizing the dynamic response speed of the mechanism while ensuring the placement range. This avoids the inertia waste and speed loss caused by the excessively large workspace of general three-degree-of-freedom parallel robotic arms. The drive end adopts a servo motor direct-drive layout for the active arm, eliminating intermediate reduction transmission links. This simplifies the structure, eliminates transmission gaps, and further improves system response speed and repeatability, adapting to the high-frequency repetitive placement requirements in replay scenarios. The driven arm uses carbon fiber material with a double parallel rod structure, significantly reducing motion inertia while ensuring support rigidity, giving the parallel robotic arm higher acceleration and deceleration capabilities. Simultaneously, through dual constraints of mechanism parameter matching and trajectory planning, singular configurations within the Go board's working plane are eliminated, ensuring smooth and stable placement actions across the entire Go board area.

[0044] Optionally, the automatic sorting and feeding mechanism 2 includes a storage bin, a stepped sorting unit 7, an inclined conveyor belt 8, and a reverse recovery chute; the first end of the stepped sorting unit 7 is connected to the storage bin via the inclined conveyor belt 8; the last end of the stepped sorting unit 7 is connected to the storage bin via the reverse recovery chute.

[0045] Optionally, the stepped sorting unit 7 includes: a high-level receiving platform 9, a low-level sliding platform 10, and a vertical step surface 11 disposed between the high-level receiving platform 9 and the low-level sliding platform 10; the inlet of the high-level receiving platform 9 is connected to the inclined conveyor belt 8, and the outlet of the high-level receiving platform 9 is connected to the positioning material picking trough 6; the inlet of the low-level sliding platform 10 is connected to the vertical step surface 11, and the outlet of the low-level sliding platform 10 is connected to the reverse recycling chute.

[0046] The automatic sorting and feeding mechanism 2 uniquely combines an inclined conveyor belt 8 with a stepped sorting device, relying entirely on gravity and geometric constraints to achieve the separation of chess pieces upside down. It can achieve automatic alignment and continuous feeding of chess pieces without the need for sensors, electrical control, or complex algorithms. It has a simple structure and extremely high reliability.

[0047] like Figure 1 As shown, in a specific embodiment, the Go stone storage bin is located at the bottom of the automatic sorting and feeding mechanism 2 and is used to accommodate scattered Go stones; the inclined conveyor belt 8 assembly is fixedly installed inside the Go stone storage bin at a 50° angle; the stepped sorting unit 7 is located adjacent to the top discharge side of the inclined conveyor belt 8.

[0048] like Figure 2 As shown, to achieve the core innovative structure for forward and reverse sorting, the stepped sorting unit 7 is composed of a high-level receiving platform 9, a vertical step surface 11, and a low-level sliding platform 10 connected in sequence. The step height of the vertical step surface 11 is precisely matched to be slightly greater than half the thickness of a standard Go piece, but less than the overall thickness of the piece. The high-level receiving platform 9 is flush with the discharge end of the inclined conveyor belt 8, and the low-level sliding platform 10 connects downwards to a reverse recovery chute. When a Go piece is conveyed to the high-level receiving platform 9 with its convex side facing upwards, its center of gravity is lower than the top surface of the step, allowing it to maintain a stable posture and move forward along the receiving platform under the continuous push of subsequent pieces. When a Go piece is conveyed to the step with its concave side facing upwards, its center of gravity is higher than the top surface of the step. Upon crossing the edge of the step, it loses support and becomes unstable, automatically tipping over to the low-level sliding platform 10, completing the purely mechanical sorting of forward and reverse Go pieces. The positioning and picking trough 6 is located at the end of the high-position receiving platform 9. The outline of the trough is matched with the gap of a single Go piece to circumferentially limit the front Go pieces after sorting, so that each feeding Go piece stays at a fixed spatial coordinate position, which is completely consistent with the preset picking point of the parallel robotic arm. This ensures the alignment consistency of the end vacuum suction cup each time it grabs, and improves the success rate of grabbing.

[0049] The automatic sorting and feeding mechanism 2 completes the automatic sorting and alignment of chess pieces with only a single power source and a pure geometric structure. It eliminates the need for photoelectric recognition sensors, reversing actuators and corresponding control circuits required by conventional feeding devices, greatly simplifying the structure and reducing costs and failure rates. The precise matching of its step height parameters with the shape of the chess pieces, and the combination of tilting conveying and gravity sorting, are all creative designs that are specific to the unique shape characteristics of Go pieces and cannot be easily obtained by those skilled in the art through conventional technical means.

[0050] Optionally, the inclined conveyor belt 8 includes: a drive roller, a driven roller, and an anti-slip conveyor belt disposed on the drive roller and the driven roller; the surface of the anti-slip conveyor belt has a plurality of protrusions arranged at equal intervals; and a stepper drive motor is disposed on the drive roller.

[0051] The inclined conveyor belt features equidistant raised baffles on its surface, each with a height adapted to the size of a single chess piece. This ensures that only one piece is carried at a time during the upward movement of the conveyor belt, preventing multiple pieces from stacking and causing jams. A stepper drive motor is coaxially connected to the drive roller, providing the sole power input for the entire mechanism and driving the conveyor belt to transport the chess pieces from the storage bin upwards to the top discharge end.

[0052] Optionally, the visual detection unit includes a camera and an algorithm unit, wherein the camera is mounted on the static platform 3 and the algorithm unit is a visual algorithm unit.

[0053] The camera is a 5-megapixel high-definition camera, fixed directly above the chessboard, using an "eye outside the hand" installation mode. It utilizes an OpenCV vision algorithm unit to detect 19×19 corner points of the chessboard, perform sub-pixel optimization and four-point perspective transformation, and establish a homography mapping relationship between image coordinates and robot base coordinates. Combined with a ring-shaped LED light source to eliminate reflections and shadows, it enables chess piece recognition, position verification, and status updates, providing real-time feedback on move accuracy and forming a hand-eye collaborative positioning system. This solves the problems of positioning drift and inaccurate moves in traditional Go robots.

[0054] The upper and lower computer control system 4 adopts a distributed architecture. The upper computer is an embedded main controller, responsible for chess game analysis, image recognition, path planning and logic scheduling; the lower computer is a multi-axis motion controller, responsible for Delta robotic arm inverse kinematics calculation, trajectory interpolation and real-time motor drive. The two achieve instruction synchronization through serial communication, decoupling high computing power tasks and high real-time tasks, avoiding motion stuttering caused by computing power conflicts. It is an original control architecture for high-speed chess game review scenarios.

[0055] Optionally, the moving platform 4 is provided with a silicone vacuum suction cup and a micro-laser rangefinder on the side near the chessboard.

[0056] The silicone vacuum suction cup integrated at the lower end of the moving platform 4 has a flexible buffer structure to prevent the pieces from slipping or breaking due to impact when they are dropped. The micro-laser ranging sensor and the servo motor current loop form a dual detection mechanism to realize material picking status recognition and collision protection. It is a special adaptation design for the smooth, light and fragile characteristics of Go pieces.

[0057] Optionally, the host computer is an embedded main control unit, configured to receive signals from the human-machine interaction module 5 and perform chess notation analysis, image recognition, path planning and logic scheduling, and send the motion commands to the slave computer; the slave computer is a multi-axis motion controller, configured to perform inverse kinematics calculation, trajectory interpolation and real-time motor drive based on the motion commands; the human-machine interaction module 5 also includes a touch screen, which is communicatively connected to the host computer and configured to display the parallel robotic arm's operating status, move progress, game play permissions, and real-time fault alarm data.

[0058] The control system adopts a distributed architecture, with the host computer processing vision and chess game logic, and the slave computer performing inverse kinematics calculations and real-time motor drive, avoiding motion stuttering caused by computing power conflicts. It is an original control architecture for high-speed chess game review scenarios.

[0059] The human-machine interaction touchscreen is the hardware interaction carrier of the human-machine interaction module 5. Its interaction logic and data processing rely on the host computer unit of the control system. It is not just a display interface, but is composed of touch display hardware, interactive function programs built into the host computer, and supporting physical operation components, realizing two-way command input and status feedback between humans and machines. The touch screen is installed on the front operating side of the human-machine interaction touchscreen, which is the main visual interaction entry point. The human-machine interaction touchscreen is equipped with an independent physical emergency stop button, which, together with the software emergency stop function in the touch interface, forms a dual operation guarantee and is part of the system's four-level safety protection system. The interaction module connects to the host computer through a communication interface to realize two-way data interaction of command uploading and status transmission. The interactive functions of the human-computer interaction touchscreen are run by a host computer. The interface integrates a virtual chessboard display area, a function selection area, a parameter adjustment area, and a status prompt area. It supports operations such as importing game records, storing local game records, switching modes, starting a one-click replay, adjusting movement speed, resigning a game, emergency stop, and displaying the running status. Users can directly click on the virtual chessboard to issue commands. The operation logic is intuitive and simple, and users can quickly get started without professional training. During system operation, user operation commands are collected by the touchscreen and transmitted to the host computer for parsing, and then sent to the slave computer to drive each mechanism to execute the corresponding actions. At the same time, the host computer sends real-time data such as the robotic arm's running status, move progress, game permissions, and fault alarms back to the touchscreen for visualization, forming a complete two-way interactive closed loop.

[0060] like Figure 3 As shown, the present invention also provides a control method for a three-degree-of-freedom parallel robotic arm Go board placement and playing robot, the method comprising the following steps:

[0061] S1. The control system controls the parallel robotic arm, the automatic sorting and feeding mechanism 2, the vision positioning system and the human-machine interaction module 5 to initialize, and controls the automatic sorting and feeding mechanism 2 to complete automatic alignment and feeding.

[0062] S2. The visual positioning system measures the coordinates of the chessboard and performs corner point recognition, perspective correction, and coordinate mapping on the chessboard coordinates in sequence to obtain the chessboard spatial coordinates; the visual positioning system sends the chessboard spatial coordinates to the control system.

[0063] S3. The human-computer interaction module 5 acquires the user instruction and the chess score data, and sends the user instruction and the chess score data to the control system; the host computer in the control system obtains the motion instruction based on the chessboard space coordinates, the user instruction and the chess score data, and inputs the motion instruction into the slave computer;

[0064] S4. The lower computer controls the multiple sets of motion chains 1 in the parallel robotic arm to move the moving platform 4 to the positioning and picking slot 6 to pick up the material. Then, based on the motion command, it controls the multiple sets of motion chains 1 to move the moving platform 4 to the corresponding position to place the piece. After that, the vision positioning system obtains the coordinates of the piece being placed.

[0065] S5. The error correction calculation unit obtains the coordinates of the piece being placed and obtains the deviation data based on the motion command; the error correction calculation unit corrects the motion command in real time based on the deviation data and calibrates the parallel robotic arm based on the origin sensor.

[0066] Through the above solution, the present invention can simultaneously achieve high-speed picking and placing of chess pieces, quickly complete the batch placement of the entire game score, eliminate the need for manual placement of each piece, and greatly improve the efficiency of Go teaching and game review demonstration.

[0067] In one specific implementation, in step S1, after the system is powered on, it first enters a power-on self-test process. The control system performs status checks on the Delta parallel robotic arm, the automatic sorting and feeding mechanism 2, the vision positioning system, and the human-machine interaction module 5 to confirm that each module has normal power supply, stable communication, and no jamming of moving parts, thus completing system initialization and origin positioning of the parallel robotic arm. Next, in step S2, the vision positioning system acquires chessboard images through a camera, performs corner point recognition, perspective correction, and coordinate mapping, converting the physical coordinates of the chessboard into spatial coordinates executable by the parallel robotic arm, and sends the calibration data to the control system for storage as a reference for subsequent moves. In step S3, the user selects a target chess game record and issues a replay command through the human-machine interaction module 5. The chess game record data is transmitted from the human-machine interaction module 5 to the control system. The control system parses the chess game record, converts the move sequence into a coordinate sequence executable by the robotic arm, and generates a continuous and smooth motion path through the trajectory planning system as a motion command, which is then sent to the lower-level machine. In step S4, the parallel robotic arm first moves to the positioning and feeding slot 6 of the automatic chess piece sorting and feeding mechanism 2 to pick up the chess pieces, and then moves quickly to the target chessboard position according to the planned path and places the pieces accurately. In step S5, after each piece is placed, the positioning calibration system works. The visual positioning system immediately collects the placement position and sends it to the host computer. The host computer compares the actual placement coordinates with the target coordinates and feeds back the verification result to the control system. If there is a deviation, the control system corrects the subsequent movement trajectory in real time to achieve closed-loop control and ensure that there is no cumulative error in the entire game. At the same time, it also corrects the parallel robotic arm based on the origin sensor.

[0068] The above S1 to S5 processes are executed cyclically until all moves in the game record are completed. After all steps are completed, the control system sends a replay completion signal to the human-machine interface module 5, and the Delta parallel robotic arm returns to its safe initial position, awaiting the next instruction. After use, the system shuts off the power to all modules, and the user can clean up the game pieces and mechanical parts, completing the device reset and storage.

[0069] This control method employs visual closed-loop verification, automatically checking the position after each move to achieve real-time error correction and zero accumulation, ensuring the entire game record is restored without deviation. This is a high-precision closed-loop mechanism not found in conventional robots in this field. Furthermore, this solution supports continuous game record trajectory optimization, enabling batch placement of all pieces with smooth, stutter-free movement and no singular positions. It can complete large-scale, high-speed piece placement tasks in a short time, tasks that traditional robots cannot achieve.

[0070] This invention can also be used in human-computer chess playing processes, such as... Figure 4As shown, the robot first initializes, then the visual positioning system collects the chessboard state and transmits it to the host computer. After the host computer performs AI deduction, it determines whether the move should be made by the robot or by a human. When a human makes a move, a waiting time is given and the system continuously checks for timeout or resignation. When the move is completed, the visual positioning system collects the chessboard and the host computer determines whether a piece has been captured. After the capture is completed, the system determines whether the game should end.

[0071] This invention can automatically complete the sorting, feeding, and placement of black and white Go pieces, as well as the rapid restoration of Go game records. It is suitable for professional scenarios such as Go teaching, demonstration, and game record reproduction. It supports the import and rapid reproduction of multiple game record formats and has strong scalability. The overall functional combination, structural design, and control logic of the technical solution disclosed in this invention are not obvious to those skilled in the art, and it possesses outstanding inventiveness and practicality.

[0072] This device achieves automatic alignment and continuous feeding of Go pieces through a unique, purely mechanical, stepped sorting structure. A Delta parallel mechanism enables high-speed, high-repetition-precision picking and placing operations. A visual motion closed-loop positioning system completes precise chessboard calibration and real-time piece placement verification. A distributed control architecture between upper and lower computers enables game record analysis and multi-axis collaborative motion. This device breaks through the limitations of traditional Go robots used only for human-computer interaction, creatively designed for rapid game record review and educational demonstrations. The overall structural combination, control logic, and functional implementation are not readily apparent to those skilled in the art, demonstrating outstanding inventiveness. This invention can quickly and automatically reconstruct an entire game record, featuring high-speed piece placement, precise positioning, stable feeding, simple operation, and strong adaptability. It is suitable for various scenarios such as Go teaching, game record research, and historical game reproduction.

[0073] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0074] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0075] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0076] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0077] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0078] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0079] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0080] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0081] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0082] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A three-degree-of-freedom parallel robotic arm for placing and playing Go stones, characterized in that, The robot includes: checkerboard; A parallel robotic arm includes a static platform, a moving platform, multiple sets of motion chains, and an origin sensor. The parallel robotic arm is located on one side of the chessboard in the vertical direction. The static platform is located on the side of the moving platform away from the chessboard. One end of each set of motion chains is hinged at equal intervals to the side wall of the static platform, and the other end is hinged at equal intervals to the side wall of the moving platform. An automatic sorting and feeding mechanism is provided on one side of the chessboard in the horizontal direction, and the automatic sorting and feeding mechanism is provided with a positioning material picking groove. A visual positioning system, the visual positioning system including a visual detection unit, the visual detection unit being disposed on the static platform; The human-machine interaction module is communicatively connected to the parallel robotic arm, the automatic sorting and feeding mechanism, and the vision positioning system, and is configured to acquire user commands and chess score data. The control system includes a host computer and a slave computer; the host computer is connected to the human-machine interaction module and sends motion commands to the slave computer; the slave computer is connected to the parallel robotic arm. The host computer further includes an error correction calculation unit, which is configured to obtain deviation data based on the motion command and the visual detection unit and correct the motion command in real time. The error correction calculation unit is also configured to correct the parallel robotic arm based on the origin sensor.

2. The three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 1, characterized in that, Each set of motion chains includes a driving arm, two driven arms, and a servo motor; the main body of the servo motor is fixedly mounted on the side wall of the stationary platform. One end of the active arm is hinged to the output shaft of the servo motor, and the other end is hinged to one end of each of the two driven arms; the other ends of the two driven arms are hinged to the side wall of the moving platform; wherein the two driven arms are arranged parallel to each other.

3. The three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 1, characterized in that, The automatic sorting and feeding mechanism includes a storage bin, a stepped sorting unit, an inclined conveyor belt, and a reverse recovery chute; The first end of the stepped sorting unit is connected to the storage bin via the inclined conveyor belt; the second end of the stepped sorting unit is connected to the storage bin via the reverse recycling chute.

4. The three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 3, characterized in that, The stepped sorting unit includes: a high receiving platform, a low sliding platform, and a vertical step surface disposed between the high receiving platform and the low sliding platform; The entrance of the high-level receiving platform is connected to the inclined conveyor belt, and the exit of the high-level receiving platform is connected to the positioning material picking trough; the entrance of the low-level sliding platform is connected to the vertical step surface, and the exit of the low-level sliding platform is connected to the reverse recycling chute.

5. The three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 4, characterized in that, The inclined conveyor belt includes: a drive roller, a driven roller, and an anti-slip conveyor belt disposed on the drive roller and the driven roller; The surface of the anti-slip conveyor belt has multiple raised structures arranged at equal intervals; a stepper drive motor is installed on the drive roller.

6. The three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 1, characterized in that, The visual detection unit includes a camera and an algorithm unit. The camera is mounted on the static platform, and the algorithm unit is a visual algorithm unit.

7. The three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 1, characterized in that, The moving platform is equipped with a silicone vacuum suction cup and a micro-laser rangefinder on the side closest to the chessboard.

8. The three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 1, characterized in that, The host computer is an embedded main control unit, which is configured to receive signals from the human-computer interaction module and perform chess score analysis, image recognition, path planning and logic scheduling, and send the motion command to the lower computer. The lower-level machine is a multi-axis motion controller, which is configured to perform inverse kinematics calculation, trajectory interpolation and real-time motor drive based on the motion command. The human-computer interaction module also includes a touch screen, which is communicatively connected to the host computer and configured to display the operating status of the parallel robotic arm, the progress of placing pieces, the game move permissions, and real-time fault alarm data.

9. The control method for a three-degree-of-freedom parallel robotic arm Go board placement and playing robot according to claim 1, characterized in that, The method includes the following steps: S1. The control system controls the parallel robotic arm, the automatic sorting and feeding mechanism, the vision positioning system and the human-machine interaction module to initialize, and controls the automatic sorting and feeding mechanism to complete automatic alignment and feeding. S2. The visual positioning system measures the coordinates of the chessboard and performs corner point recognition, perspective correction, and coordinate mapping on the chessboard coordinates in sequence to obtain the chessboard spatial coordinates; the visual positioning system sends the chessboard spatial coordinates to the control system. S3. The human-computer interaction module acquires the user instruction and the chess score data, and sends the user instruction and the chess score data to the control system; the host computer in the control system obtains the motion instruction based on the chessboard space coordinates, the user instruction and the chess score data, and inputs the motion instruction into the slave computer; S4. The lower-level machine controls the multiple sets of motion chains in the parallel robotic arm to move the moving platform to the positioning and picking slot to pick up the material. Then, based on the motion command, it controls the multiple sets of motion chains to move the moving platform to the corresponding position to place the piece. After that, the vision positioning system obtains the coordinates of the piece being placed. S5. The error correction calculation unit obtains the coordinates of the piece being placed and obtains the deviation data based on the motion command; the error correction calculation unit corrects the motion command in real time based on the deviation data and calibrates the parallel robotic arm based on the origin sensor.

Images