Chess Robot Research And Development Of Embedded Vision Systems

The chess robot is one of the high-end entertainment products. Researching and developing the intelligent chess robot which combines with the embedded system is the future research priority and direction. Such kind of humanoid chess robot has motion ability, self-positioning ability and binocular vision ability. Embedded visual system of the chess robot is responsible for the acquisition, storage, display and transmission of the video image, and it is the development platform of image processing system; Image processing system is responsible for the accomplishment of the image preprocessing, detection, division, identification and matching of the chess board and pieces, determine changes in board, and coordinate the calibration of pieces.Aimed at function requirement of embedded vision system of chess robot, this paper developed a new embedded vision system, with the core of "DSP+FPGA" structure. This system mainly includes some function module:image acquisition module, image processing module, image display module and serial interface module, while image processing module is divided into DSP processing modules and FPGA processing module. The working principle:image acquisition module collect image information, which is then preprocessed by FPGA module and processed by DSP module, finally, the change information of chess board and pieces will be displayed, and transmited to main processor control system simultaneously. This design made full use of DSP's powerful data processing ability and FPGA's high-speed parallel processing ability, and it improved the image processing of vision system of chess robot.Besides design of hardware circuit, this paper achived of the image filtering algorithm, fast Fourier algorithm, linear Hough transform algorithm with Verilog HDL language based on FPGA. Simulated these image processing algorithms with Modelsim and compared the results with those with Matlab. In the fast Fourier algorithm and linear Hough transform algorithm, calculation of trigonometric function value based on CORDIC principle reduced the resources and access time of the traditional ROM look-up table and improved the performance of the image processing algorithm.This paper detailed the design process, commissioning test and realization of image processing algorithms of embedded, vision system modules of the chess robot, which greatly improved the performance of vision system of the chess robot, and put forward some optimized scheme.