Autonomous Chess Piece Control System

One of our most technically challenging and rewarding projects involved the development of a fully autonomous robotic chess system, designed to move large chess pieces accurately around a board while keeping all technology hidden beneath the playing surface.

The original concept sounded deceptively simple: create chess pieces capable of moving to precise locations on a chess board in a programmed sequence. In reality, the project evolved into a highly complex combination of robotics, motion control, wireless communication, sensor systems, and custom software development.

Hidden Autonomous Movement System

A major challenge was that nothing could be visible on the surface of the board. All drive systems, tracking technology, and positioning hardware had to operate entirely underneath the floor.

Traditional robotic positioning methods were unsuitable, as wheel slip or movement errors would quickly cause the pieces to lose their position. To overcome this, we developed a custom line-following navigation system using embedded signal paths beneath the board surface.

The system works by transmitting a dedicated AC frequency through hidden tracks under the floor. Custom-designed inductive sensors mounted beneath each robotic chess piece detect the signal and continuously calculate their position relative to the line. By comparing readings from sensors positioned either side of the track, the robots are able to automatically correct their steering and maintain accurate alignment while moving.

Precision Position Detection

Following the line alone was not enough — the system also needed to know exactly where each chess piece was positioned on the board.

After testing several approaches, we implemented a magnetic positioning system. Magnets embedded at key locations beneath the floor are detected by arrays of Hall-effect sensors mounted inside each robot. This allows the system to identify precise board positions and stop accurately within individual squares.

This positioning data is combined with the line-following system to provide reliable navigation and repeatable movement sequences.

Custom Robotic Chassis Design

The robotic platforms themselves were fully designed in-house using SolidWorks and Fusion 360. Multiple prototype stages were developed throughout the project, beginning with small MicroPython-based test vehicles before progressing to full-scale aluminium prototypes and finally the finished production systems.

The final chassis was constructed using C-section aluminium to provide a lightweight yet rigid frame with sufficient internal space for batteries, control electronics, wireless systems, and motor assemblies.

To maximise manoeuvrability, we incorporated mecano wheels, allowing the chess pieces to move smoothly in multiple directions while maintaining precise positioning control.

Battery & Wireless Systems

Because the units needed to operate completely independently and without visible cables, the entire system runs from onboard battery power.

We selected removable e-bike battery systems due to their reliability, ease of charging, long runtime, and simple maintenance. The batteries can be quickly swapped or recharged between operating periods.

Communication between the robots and the master control system is handled wirelessly. Initially the system operated over Wi-Fi, although future revisions may migrate to 868MHz communication for improved reliability in crowded public environments where large numbers of mobile devices can create wireless interference.

Central Control & Motion Coordination

At the heart of the installation is a custom master control system responsible for coordinating all robot movement.

The system manages:

• Piece positioning

• Movement sequencing

• Collision avoidance

• Speed control

• Synchronisation between multiple autonomous units

Using technology developed from previous EtherCAT-based motion control projects, we integrated real-time sensor feedback directly into the control architecture, allowing accurate monitoring and responsive motion control throughout the installation.

The project currently includes multiple autonomous chess pieces, including a rook and pawn, alongside a separately controlled rotating queen feature.

Safety & Motion Engineering

One of the key engineering challenges involved balancing movement speed with stopping accuracy. Because the robots only determine their position when detecting magnetic markers, acceleration and deceleration profiles had to be carefully tuned to prevent overshoot or unstable movement.

The system also incorporated planned safety features including edge-mounted pressure sensing strips designed to stop movement if an obstruction or person was detected nearby.

From Prototype to Final Installation

The project progressed through numerous development stages over several months:

• Initial MicroPython proof-of-concept robots

• Aluminium extrusion test platforms

• Full sensor development

• Wireless communication systems

• Custom control software

• Final production robot assemblies

Throughout development, extensive testing and refinement were required to achieve reliable autonomous movement beneath a fully concealed floor system.

A Complex Blend of Engineering Disciplines

This project combined a wide range of technologies including:

• Robotics

• Motion control

• Embedded electronics

• Wireless communication

• Sensor fusion

• Mechanical design

• Software engineering

• Autonomous navigation

Made in Britain