Human-machine Chess Intelligent Control System Based On Plane Constraints

Chinese chess,as a game of leisure and puzzle,has been handed down until now.Along with the progress of science and technology,the robot technology based on recognition has been greatly developed,and the related research on man-machine chess game has also increased in popularity.At present,man-machine chess moves mostly in space.In order to improve the field applicability of man-machine equipment,the manmachine chess game under the condition of plane movement is indispensable.By studying the theory of related aspects of man-machine chess,this paper has realized an intelligent control system of man-machine chess under the condition of plane constraint.Its control process is mainly realized through the following four aspects.First,the man-machine chess system chess pieces location and recognition.The image of chessboard is obtained by machine vision,and the cutting method and the template matching algorithm of log-polar coordinates and Fourier are proposed to locate and identify the rotating pieces,so as to eliminate the influence of the rotating amount in the process of moving on image recognition.Difference method is used to improve the speed of chess piece recognition.Second,man-machine chess game algorithm.In addition to the game moves generated by its own rules,a table of preset moves is added.Some simple moves are directly called,and space is exchanged for time.Using alpha-beta search algorithm,on the basis of reducing unnecessary node search,improve search speed and reduce move generation time.Third,man-machine chess move path planning.To raze asymmetric digital matrix chess game,use and improve ant colony algorithm based on chess game rules,increase the convergence of the algorithm to the optimal path of moving chess pieces,and after the better path is obtained,then simplify its movement control points,so as to reduce the overall number of corners and shorten the length of moving path.Fourth,the plane execution analysis of the manipulator.D-H method is used to model the manipulator arm,and then according to the path information,inverse kinematics method is used to calculate the rotation angles of the corresponding joints of the manipulator arm,and the linear trajectory of the end is planned.Finally,the Arduino is passed through the serial port to the lower microcontroller,so as to control the movement of the manipulator arm in the plane path.Based on the basic operation and movement constraints of the man-machine chess system,this paper analyzes and develops the required functions of the system.It consists of two parts: the interface design of the upper computer of the system,and the linkage of the functional modules of the lower computer.After the communication between upper and lower computers is realized,each function module is debugger and integrated as a whole,and the overall construction of human-computer chess intelligent control system under plane constraints is finally completed.