Intelligent go robot

Abstract

The utility model relates to the field of intelligent go robots, and discloses an intelligent go robot which is an intelligent and automatic device and aims to provide convenient and interesting go playing experience for go lovers. The chessboard is divided into a chessboard assembly, a body assembly and a head assembly, the head is provided with a touch screen, a face recognition camera and a chess piece recognition camera, and simple operation, safe access and chess piece position recognition are achieved. The body part is connected through a plug pin structure and comprises a large arm, a small arm, an air pump and other assemblies, and cooperative movement of the large arm and the small arm is achieved through programming so that chess pieces can be grabbed and placed. The collision detection technology monitors the rotation angle through a coding disc, and the safety of the robot is improved. The robot is further provided with a suction head motor, an air pressure sensor and other devices, and the chess piece grabbing accuracy is ensured. The touch screen is convenient for a user to select a preset function, the robot supports a remote chess playing function, and chess playing between the user and other people is realized through video connection.

Description

Technical Field

[0001] The utility model belongs to the field of intelligent Go robots, in particular to an intelligent Go robot. Background Art

[0002] The intelligent Go robot is an intelligent device designed for Go enthusiasts to provide a convenient and fun Go playing experience. The robot combines computer vision, mechanical design, and electronic technology to have the ability to autonomously grab and place Go pieces. However, when designing and implementing an intelligent Go robot, there are often the following technical issues that may require in-depth research and resolution to ensure the performance and reliability of the robot.

[0003] In the design and implementation of intelligent Go robots, although the background technology has brought many innovations and conveniences, there are also some potential defects and challenges:

[0004] 1. Image recognition error: The chess piece recognition camera may be affected by factors such as lighting, chessboard layout and chess piece color, resulting in image recognition errors, which in turn affects the robot's ability to accurately identify and locate chess pieces.

[0005] 2. Mechanical structure limitations: The design of the mechanical structure may be subject to limitations such as space and weight, and may make it difficult to move flexibly in a complex chess game, especially when multi-directional and multi-angle operations are required.

[0006] 3. Delay in collision detection: Although the encoder disk is used for real-time monitoring, there may be a certain delay in collision detection due to hardware and signal processing delays, which may cause the robot to fail to respond in time to avoid collisions.

[0007] 4. Air pump control is not easy: It may be a challenge to effectively control the air pump to achieve air pressure control when sucking in and releasing chess pieces, especially in situations where fine control is required, which may be limited by the response speed and accuracy of the air pump.

[0008] 5. User interface complexity: Designing an intuitive and easy-to-use touch screen interface is a challenge, especially for users who are not familiar with technology. An overly complex interface may make it difficult to use.

[0009] 6. Unstable remote communication: The robot’s remote game function may be affected by the instability and delay of the network connection, which may make the remote game experience less stable than the actual game.

[0010] 7. Limitations of the suction head design: The suction head design may have certain limitations in terms of the shape and size of the chess pieces, resulting in the robot being unable to adapt to all types of Go chess pieces.

[0011] 8. Complexity of programming and control systems: Designing programs and control systems may require a high degree of complexity, balancing the accuracy of motion planning and the requirements of real-time control, which may increase the difficulty of developing and maintaining software systems.

[0012] Solving these defects requires continuous research and innovation to continuously improve performance in terms of image recognition accuracy, mechanical structure flexibility, collision detection real-time performance, and air pump control accuracy. Utility Model Content

[0013] In order to solve the above technical problems, the utility model relates to the field of intelligent Go robots, and discloses an intelligent Go robot, which is an intelligent and automatic device designed to provide Go enthusiasts with a convenient and interesting chess playing experience. It is divided into three parts: a chessboard component, a body component and a head component. The head is equipped with a touch screen, a face recognition camera and a chess piece recognition camera, which realizes simple operation, safe access and chess piece position recognition. The body part is connected by a latch structure, including components such as an arm, a forearm, and an air pump. The coordinated movement of the arm and the forearm is realized through programming to realize the grabbing and placement of chess pieces. The collision detection technology monitors the rotation angle through the encoder disk, which improves the safety of the robot. The robot is also equipped with equipment such as a suction head motor and an air pressure sensor to ensure the accuracy of chess piece grabbing. The touch screen facilitates users to select preset functions. The robot supports remote chess game functions, and users can play chess with others through video connection.

[0014] Preferably, an intelligent Go robot comprises: a chessboard component, the chessboard component comprises a chessboard, two chess boxes connected to the chessboard, and connected to the chessboard through a latch structure; a body component, the body component comprises a body, an upper arm, and a lower arm, and the body is connected to the chessboard through a latch structure; a head component, the head component comprises a head, a touch screen, a face recognition camera, and decorative ears, and a chess piece recognition camera is installed in the decorative ear on the right.

[0015] Preferably, the head is composed of a front cover and a rear cover, two decorative ears are installed on the upper end of the rear cover, and the decorative ears include a decorative ear upper cover and a decorative ear lower cover, and a chess piece recognition camera is installed on the decorative ear lower cover on the right side.

[0016] Preferably, a touch screen is installed at the front end of the head bracket, a head mainboard is installed at the rear end of the head bracket, and a speaker is installed on the inner wall of the head rear cover.

[0017] Preferably, the body has a front shell and a rear shell, the front end of the front shell has an indicator light and a start button, a fixed bracket is installed inside the body, an air pump is installed on the right side of the rear end of the fixed bracket, and the body mainboard is installed on the left side of the rear end.

[0018] Preferably, a boom motor pad is installed in the middle of the fixed bracket, a boom stepping motor is installed on the pad, and a boom driving wheel is installed at the lower end of the boom stepping motor.

[0019] Preferably, an idler wheel is installed on the bracket on the left side of the boom driving wheel, and a boom driven wheel is installed on the fixed bracket on the left side of the boom stepping motor, and the boom driven wheel and the boom driving wheel are connected by a belt.

[0020] Preferably, a small arm stepping motor is installed at the upper end of the driven wheel of the large arm, and a large arm magnetic encoding disk is installed at the lower end of the small arm stepping motor.

[0021] Preferably, a forearm driving wheel is installed on the motor shaft of the forearm stepper motor, a large arm support is installed on the upper end of the forearm stepper motor, and a large arm upper shell and a forearm magnetic encoding disk are installed on the large arm support.

[0022] Compared with the prior art, the beneficial effects of the utility model are:

[0023] 1. Precise grabbing and placement: Through the precise coordinated movements of the upper and lower arms, the robot can accurately grab and place chess pieces at any position on the chessboard and chess box, achieving highly flexible chess operations.

[0024] 2. Multifunctional head design: The head component is equipped with a touch screen, a face recognition camera and a chess piece recognition camera, making the robot multifunctional, including operation control, user recognition and chess piece visual recognition functions, which improves the user interaction and equipment intelligence level.

[0025] 3. Automated chess-playing process: Through programming and control, the robot can automatically complete the entire chess-playing process, including chess piece recognition, grabbing, placement and air pump control on the chessboard, achieving an efficient automatic chess-playing experience.

[0026] 4. Encoder disk collision detection: The magnetic encoder disks on the upper and lower arms are used to detect the rotation angle. By real-time monitoring of the deviation between the rotation angle and the theoretical angle, timely detection of collision is achieved, thereby improving the safety and stability of the robot.

[0027] 5. Flexibility and controllability: The robot body is connected by a latch structure, which allows the various components to be easily disassembled and assembled, improving the flexibility and maintainability of the robot.

[0028] 6. Air pressure sensor chess piece detection: The suction head has a built-in air pressure sensor to detect whether the chess piece is successfully adsorbed. By real-time monitoring of the changes in air pressure, the robot can promptly determine whether the suction head has successfully adsorbed the chess piece, thereby improving the accuracy of grasping.

[0029] 7. User-friendly operation interface: The introduction of touch screen provides a user-friendly operation interface. Users can control the device and select preset functions through the screen, making the use of the robot more convenient.

[0030] 8. Face recognition and remote chess: The face recognition camera on the head allows the robot to unlock the device through face recognition, achieving secure access to the device; at the same time, the presence of the head camera enables the robot to connect via video and realize the remote chess function, which increases the entertainment and interactivity of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a front schematic diagram of the utility model;

[0032] Figure 2 This is a cross-sectional view of the head of the utility model;

[0033] Figure 3 This is a cross-sectional view of the body of the utility model;

[0034] Figure 4 It is a partial cross-sectional view of the body of the utility model;

[0035] Figure 5 It is a partial cross-sectional view of the utility model;

[0036] In the figure: 1. forearm; 2. upper arm; 3. suction cup; 4. chess box; 5. face recognition camera; 6. decorative ear; 601. decorative ear upper cover; 602. decorative ear lower cover; 7. chess piece recognition camera; 8. touch screen; 9. head; 901. head front cover; 902. head main board; 903. head back cover; 904. head bracket; 10. body; 1001. body front shell; 1002. body back shell; 1003. body main board; 11. switch button; 1 2. Chessboard; 13. Suction head motor; 14. Speaker; 15. Indicator light; 16. Start button; 17. Upper arm motor pad; 18. Upper arm stepper motor; 19. Air pump; 20. Fixed bracket; 21. Foot; 22. Upper arm driven wheel; 23. Upper arm support; 24. Upper arm upper shell; 25. Forearm magnetic encoder disk; 26. Upper arm magnetic encoder disk; 27. Idle wheel; 28. Upper arm driving wheel; 29. ​​Forearm driven wheel; 30. Forearm support; 31. Forearm stepper motor. DETAILED DESCRIPTION

[0037] Reference Figure 1-Figure 5The utility model relates to the field of intelligent Go robots and discloses an intelligent Go robot. The intelligent Go robot is an intelligent and automated device designed to provide Go enthusiasts with a convenient and interesting game experience. The robot consists of a chessboard component, a body component, and a head component. Through advanced technology integration and mechanical design, it realizes the functions of automatically identifying, grabbing, and placing Go pieces.

[0038] The head 9 of the robot is equipped with a touch screen 8, a face recognition camera 5 and a chess piece recognition camera 7, so that the user can perform simple and intuitive operations through the touch screen and achieve secure access to the device through face recognition technology. The chess piece recognition camera 7 of the head 9 can accurately identify the position of the chess pieces on the chessboard 12, thereby achieving accurate capture and placement of the target chess pieces.

[0039] The robot's body 10 includes components such as a front shell, a rear shell, a large arm 2, and a small arm 1, which are flexibly connected through a latch structure, so that the robot has stability and high controllability during the chess game. The large arm 2 and the small arm 1 are equipped with a stepper motor, a coding disk, and an air pump 19. The coordinated movement of the large arm 2 and the small arm 1 is realized through programming to achieve the grabbing and placement of chess pieces. The collision detection technology monitors the rotation angle through the coding disk, realizes real-time detection of collisions, and improves the safety of the robot.

[0040] The robot also has a suction head motor 13, an air pressure sensor and other equipment, which can detect air pressure changes while grabbing chess pieces through the suction head to ensure the accuracy of grabbing. The introduction of the touch screen 8 allows users to easily select preset functions. At the same time, the robot has a remote chess function, which enables users to play chess with others remotely through video connection.

[0041] Overall, this intelligent Go robot provides a brand new Go playing experience for Go enthusiasts with its intelligent, flexible and innovative design, and aims to become an ideal partner for Go enthusiasts to learn and entertain.

[0042] Specifically, an intelligent Go robot includes: a chessboard component, the chessboard component includes a chessboard 12, two chess boxes 4 connected to the chessboard 12, and connected to the chessboard 12 through a latch structure; a body component, the body component includes a body 10, an upper arm 2, and a lower arm 1, and the body 10 is connected to the chessboard 12 through a latch structure; a head component, the head component includes a head 9, a touch screen 8, a face recognition camera 5, and a decorative ear 6, and a chess piece recognition camera 7 is installed in the decorative ear 6 on the right.

[0043] Specifically, the head 9 is composed of a front cover 901 and a back cover 903. Two decorative ears 6 are installed on the upper end of the back cover 903. The decorative ears 6 include a decorative ear upper cover 601 and a decorative ear lower cover 602. A chess piece recognition camera 7 is installed on the decorative ear lower cover 602 on the right.

[0044] Specifically, a touch screen 8 is installed at the front end of the head 9 bracket, a mainboard of the head 9 is installed at the rear end of the head 9 bracket, and a speaker 14 is installed on the inner wall of the rear cover of the head 9.

[0045] Specifically, the body 10 has a front shell 1001 and a rear shell 1002, the front end of the front shell 1001 is provided with an indicator light 15 and a start button 16, a fixed bracket 20 is installed inside the body 10, an air pump 19 is installed on the right side of the rear end of the fixed bracket 20, and a body main board 1003 is installed on the left side of the rear end.

[0046] Specifically, a boom motor pad 17 is installed in the middle of the fixed bracket 20 , a boom stepper motor 18 is installed on the pad, and a boom driving wheel 28 is installed at the lower end of the boom stepper motor 18 .

[0047] Specifically, an idler wheel 27 is installed on the bracket on the left side of the boom driving wheel 28, and a boom driven wheel 22 is installed on the fixed bracket 20 on the left side of the boom stepping motor 18. The boom driven wheel 22 and the boom driving wheel 28 are connected by a belt.

[0048] Specifically, a small arm stepping motor 31 is installed at the upper end of the large arm driven wheel 22 , and a large arm magnetic encoding disk 26 is installed at the lower end of the small arm stepping motor 31 .

[0049] Specifically, a driving wheel of the forearm 1 is installed on the motor shaft of the forearm stepper motor 31 , a large arm support 23 is installed on the upper end of the forearm stepper motor 31 , and a large arm upper shell 24 and a forearm magnetic encoder disk 25 are installed on the large arm support 23 .

[0050] Working principle:

[0051] The intelligent Go robot is turned on by the start button 16. After the intelligent Go robot is started, it can be operated through the touch screen 8 to select preset functions. At the same time, through the face recognition camera 5 located on the head 9, the device can be unlocked or a video connection can be made for remote Go games.

[0052] When playing chess, the main board 1003 of the body will control the rotation of the upper arm stepper motor 18 to control the rotation of the upper arm 2, and the motor of the lower arm 1 can control the rotation of the lower arm 1. Through the rotation of the upper arm 2 and the lower arm 1, the chess piece suction head can be located at any point above the chessboard 12 and the chess box 4;

[0053] The suction head motor 13 can control the chess piece suction head to move up and down, so that the suction cup 3 at the lower end of the suction head can be close to the chess piece on the chessboard 12, and then the air pump 19 starts to work to suck up the chess piece. At this time, the air pressure sensor in the suction head determines whether the chess piece is grabbed by detecting the air pressure;

[0054] The chess piece recognition camera 7 in the decorative ear 6 of the head 9 can recognize the chess pieces on the chessboard 12 and accurately grab the required chess pieces and put them in the right place in combination with the set of coordinates of the chessboard 12.

[0055] Collision detection: The upper arm magnetic encoding disk 26 and the lower arm magnetic encoding disk 25 are used to detect the rotation angle of the upper arm 2 and the lower arm 1. The system will calculate the required rotation angle in advance based on the position of the chess piece. At this time, the role of the encoding disk is to detect the actual rotation angle every 10ms and compare it with the theoretical rotation angle. If an angle deviation occurs, it proves that a collision has occurred in the upper arm 2 or the lower arm 1, resulting in a rotation error, thereby detecting the occurrence of a collision.

Claims

1. An intelligent Go robot, characterized in that: include: A chessboard assembly, the chessboard assembly comprising a chessboard, and two chess boxes connected to the chessboard, connected to the chessboard via a latch structure; A body component, the body component comprising a body, an upper arm, and a lower arm, the body being connected to the chessboard via a latch structure; The head component includes a head, a touch screen, a face recognition camera, and decorative ears. A chess piece recognition camera is installed in the decorative ear on the right.

2. The intelligent Go robot according to claim 1, characterized in that: The head is composed of a front cover and a rear cover. Two decorative ears are installed on the upper end of the rear cover. The decorative ears include a decorative ear upper cover and a decorative ear lower cover. A chess piece recognition camera is installed on the decorative ear lower cover on the right side.

3. The intelligent Go robot according to claim 2, characterized in that: A touch screen is installed at the front end of the head bracket, a head main board is installed at the rear end of the head bracket, and a speaker is installed on the inner wall of the head rear cover.

4. The intelligent Go robot according to claim 3, characterized in that: The body comprises a front shell and a rear shell, an indicator light and a start button are arranged at the front end of the front shell, a fixed bracket is installed inside the body, an air pump is installed on the right side of the rear end of the fixed bracket, and a body mainboard is installed on the left side of the rear end.

5. The intelligent Go robot according to claim 4, characterized in that: A boom motor pad is installed in the middle of the fixed bracket, a boom stepping motor is installed on the pad, and a boom driving wheel is installed at the lower end of the boom stepping motor.

6. The intelligent Go robot according to claim 5, characterized in that: An idler wheel is installed on the bracket on the left side of the boom driving wheel, and a boom driven wheel is installed on the fixed bracket on the left side of the boom stepping motor. The boom driven wheel and the boom driving wheel are connected by a belt.

7. The intelligent Go robot according to claim 6, characterized in that: A small arm stepping motor is installed at the upper end of the driven wheel of the large arm, and a large arm magnetic encoding disk is installed at the lower end of the small arm stepping motor.

8. The intelligent Go robot according to claim 7, characterized in that: A forearm driving wheel is installed on the motor shaft of the forearm stepping motor, a large arm support is installed on the upper end of the forearm stepping motor, and a large arm upper shell and a forearm magnetic encoding disk are installed on the large arm support.

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