Research On The Control System Of Chinese Chess Robot Based On ARM And Embedded Linux

With the global escalation of the aging process, entertainment robot is attracting moreand more attention. As a kind of entertainment robot, Chinese chess robot fuses thetechnology of computer with artificial intelligence, and it not only brings joy to people, butalso raises people’s intellectual level. This paper aims at developing a Chinese chess robotcontrol system based on ARM and embedded Linux. It consists of ARM master module,board recognition module and motion control module.As the core part, ARM master module provides the software and hardware platformbased on ARM+embedded Linux for the whole system. First of all, establish embeddeddevelopment environment on host, and then port U-Boot bootloader, Linux kernel and rootfile system to ARM hardware platform. ARM master module is also the decision center ofrobot to get the best moves according to Chinese chess game program. The program consistsof four parts, including situation expression, move generation, situation evaluation and gametree search algorithm, which is the key and decides the intelligence of robot. After introducingand analyzing game tree search algorithm, minimax algorithm, negative maxima algorithmand-β pruning algorithm, this paper chose-β pruning as the search engine andcompleted the design of the whole game program.Board recognition module is responsible for collecting the information of board andpieces. This paper puts forward a photoresister-based board recognition method. First, installphotoresistors on each piece position, then through the collection and analysis of the valuestate of photoresistors before and after player’ move, we can obtain player’s moveinformation. Compared with common image recognition method, this method has thefollowing advantages: low hardware requirement, less processing data, simple algorithm, highefficiency and so on.Motion control module mainly implements the action of grasping, moving and releasinga piece through controlling the manipulator. This paper selects AVR MCU ATmega16L asmotion control chip. ATmega16L receives data from ARM master module through UARTcommunication, then realizes the action of moving the manipulator by controlling two step motors and a DC motor, and accomplishes the action of grasping and releasing a piece bycontrolling a push-pull electromagnet.All the three modules were tested. The results show that mechanical design, hardwareelectrocircuit design, control design and software design for each module fully meet thedesign’s requirement. Therefore, the conclution is that this Chinese chess robot control systemcan be made.