中国象棋机器人棋子定位与识别方法

Chess-piece localization and recognition method for Chinese chess robot

针对中国象棋机器人系统中棋子定位与识别问题,提出了一种基于最小外接圆二次定位的定位方法和一种旋转差分识别算法。首先,采用Hough圆检测进行粗定位获取棋子区域,并对棋子进行均值二值化处理。随后,对二值化图像进行形态学处理,提取最大面积轮廓,并利用其最小外接圆实现棋子二次精准定位。最后,对二次定位修正后的图像进行旋转差分识别。以直径为15 mm的棋子为测试对象,利用我们研制的象棋机器人采集图像进行测试,结果表明,棋子的定位精度为0.5 mm,平均定位时间为2.6 ms;在保证棋子识别正确率在98%以上的情况下,单个棋子平均全流程运算时间为10 ms,完全满足现有象棋机器人需求。

To improve the localization and recognition of chess pieces by the Chinese chess robot system, in this paper,we propose a positioning method based on the secondary positioning of the minimum circumcircle and the use of a rotat-ing differential recognition algorithm. First, we use the Hough circle detection method to roughly position chess piecesand then subject them to mean-value binarization. Next, we morphologically process the binarized images to extract themaximum area contours and use their minimum circumcircle values to achieve secondary precise positioning of thechess pieces. Lastly, the rotating differential recognition algorithm recognizes the secondary positioning of the correctedimages. Using the chess robot we previously developed and selecting chess pieces with a diameter of 15 mm as test ob-jects, we collected and tested the resulting images. The results show that the positioning accuracy of the chess pieces iswithin 0.5 mm, and the average positioning time is 2.6 ms. To ensure a 95% recognition accuracy of the chess pieces,the mean full-process operation period for a single chess piece is 10 ms, which fully meets the requirements of the cur-rent chess robot.