This document describes a robotic chessman prototype that uses a Raspberry Pi, camera module, motors and light sensors. The chessman moves around on a chessboard by tracking a laser pointer with its camera. It can be activated into a laser-tracking mode or killed by the opponent using different light intensities detected by its sensors. It has a variable height base to crouch when not in use. The chessman is entirely controlled through a web interface on the Raspberry Pi.
2. You like playing chess BIG
But you don’t want to strain your back!
3. Enter the Lightsaber
Chessman
4 wheels,
2 independent encoder motors
Raspberry Pi Camera
module with
custom image tracking
software
Two light intensity
sensors, for laser-based
activation, deactivation,
and capturing (killing, by
the opponent’s
lightsabre)
Variable-height base for
crouching when not used
4. Chessman’s base
❖ Two encoder-motors controlled
by Makeblock Orion board
❖ One encoder motor for
crouching/raising
❖ LED strip for signaling current
mode of operation (white=idle,
green = track laser, red = dead,
blue = manual)
5. Chessman’s body
❖ Raspberry Pi 2 plus a
Raspberry Camera module
❖ Camera module looks at the
ground right ahead and tracks
the position of the laser dot
❖ The Raspberry Pi moves the
wheels proportionally to the
distance of laser w.r.t. center of
frame (above = move a head, to
the right = rotate to the right)
6. Chessman’s head
❖ Two Makeblock grayscale light
sensors: right one toggles the
laser-tracking mode, the left
one kills the chessman.
❖ When dead, the chessman tries
to exit the chessboard by itself
❖ Clever combination of light
guides and self-tuning algorithm
filters out fluctuations in
ambient illumination
