RESULT
SIMPLE DRAWING
This voide shows how the simply drawing works.
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We can see that the Gomoku Robot can move the correct position precisely and then drawing a prefect concentric circles within the grid.
SIMPLE ERASING
This voide shows how the simply erasing works.
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We can see that the Gomoku Robot can move the correct position precisely and then erase the circle without affect other grid.
CHEATING DETECTION
This video shows how the cheating detection works and how the baxter erases the invalid stones or draw valid stones back.
After the people plays a cheat, the robot compares the current situation and the previous situation of the chessboard. If it finds some red stones (robot’s stone) is removed or more than one green stone (operator’s stone) is placed. The robot will operate the eraser arm and remove the newly-added green stones (if there are) and redraw the newly-removed red stones (if there are).
NORMALÂ GAME PROCESS
This video shows how the Gomoku Robot playing gomoku with a people.
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After the people plays a move, the robot takes a picture of the chess board and analyses it with CV to recognize whether a grid is occupied by a red stone, by a green stone or blank, and think for the next move to play. Then it will move the marker gripper to the target position and draw.​ And pay attention to head monitor of baxter, it would promote some tips accordingly.
In each term, Gomoku Robot will check the situation on the chessboard to test whether the people has won or failure if the robot has won. It will show the results on the screen.