Application Of Embedded Linux In Control System Of Intelligent Chinese Chess Robot

Intelligent Chinese chess robot as a kind of entertainment robot, it syncretizes the technology of computer and artificial intelligence, and it not only brings joy to people, but also raises people's intellectual level. Intelligent Chess Robot System consists of host control system based on ARM S3C2410, the image acquisition system based on DSP TMS320DM642 and the motion control system based on DSP TMS320F2812. Host control system is responsible for the system's initialization, and responds to user commands through the man-machine interface, as well as gets the best moves, which is attained through chess algorithm that handler the board chess information from the image acquisition, and finally sends it to the motion control system.The image acquisition system is responsible for collecting chessboard image and by dealing with it attatins the coordinate's information of chess board pieces.The motion control system mainly implements the action of grasping and releasing a chess piece.This thesis studies the way of transplanting Linux operating system and the design of application running under Linux on ARM-based control system. First of all, establish embedded development environment on host,and then port U-Boot bootloader, Linux operating system kernel and root file system to ARM hardware platform. After that, research and design the HPI driver. The HPI interface is the communication interface between the ARM system and the image acquisition and processing system based on DM642.The DSP RAM space is mapped to the ARM address space through HPI driver,hence the application can access DSP RAM directly by use of system calls such as function read.And then,researches the design and test of Chinese chess algorithm,including the generator of moves,search engine,evaluation function.The algorithm computes the best move accordingly to the current chess board position.Finally, introduces the design of system applications.In accordance with system requirements of real-time and synchronization between different tasks. System tasks are divided into the main thread and worker threads, the main thread to complete system initialization and create worker threads, including chess game algorithm and Qt interface thread and so on, different worker threads to complete different tasks.At the end of the dissertation,it summarizes research work and proposes the methods to improve system.