Resumen de Design and Implementation of a Computer Vision Systemfor an Autonomous Chess-Playing Robot
Guillermo Larregay, Federico Pinna, Luis Avila, Daniel Morán
This work describes a mechatronic system composedby a robot arm that can play chess autonomously. Thesystem is based on an industrial-grade robot manipu-lator, a computer vision system, and an open sourcechess engine. Classification algorithms were imple-mented in order to detect whether a given chessboardsquare is occupied, and in that case, if the piece isblack or white. Such algorithms were compared interms of their complexity of implementation, execu-tion time and accuracy of predictions. To achieve anuniform illumination of the chessboard, a theoreticalmodel of an LED illuminance curve was used to findthe best orientation for each diode using a genetic al-gorithm. Both the support base for the LEDs and thechess pieces were made using a 3D printer. This im-plementation demonstrates the capabilities of the pro-posed vision-based system, whose complexity can beincreased in the future for a number of applications
