本論文提出應用至DOC2機器人之五子棋、象棋和西洋棋辨識整合系統，使用者可藉由此整合系統與機器人長時間的進行互動於對奕五子棋、象棋和西洋棋。本文提出之辨識系統利用特殊設計的定位點與棋子，使棋盤得以快速且準確的定位與辨識；五子棋辨識係利用黑白棋中灰階值的大差異性來區隔辨識；象棋辨識係利用顏色過濾將可能群組留下，再利用填滿和遮罩來判斷是否為有象棋存在；西洋棋辨識係分別對棋盤位置判斷棋子可能處，再配合顏色過濾雙重確定棋子存在位置。最後利用模組化之五子棋演算法、象棋和西洋棋下棋軟體決定機器人之接續棋步，機器人再依該棋步以機器手臂來直接移動棋子。

This research proposes image recognition techniques for the intelligent robot DOC-2 to play Gobang, Chinese-Chess and Chess board games with human being autonomously. By using an unique reference point locations and game pieces, the game boards can be quickly and correctly recognized and interpreted by the robot. The game pieces in Gobang game recognition system are separated by using the large difference in gray scale values in specific locations. In Chinese-Chess recognition, it defines the possible groups by color filtering, then filling the group and finally decides Chessman by mask calculation. The Chess recognition algorithm estimates the possible chessman on board and then confirms by using color filtering techniques. The game-play software of Gobang, Chinese-Chess and Chess is used to determine the next play for the robot and then the robot will move the chessman on the board accordingly with the robot arm.

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