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Shorter-path robot image drawing method

A technology of image drawing and robotics, applied in the field of image drawing, can solve the problem of heavy teaching tasks

Active Publication Date: 2015-04-29
SIASUN ROBOT & AUTOMATION LIMITED BY SHARE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

When the graphics are complex, the task of teaching is quite heavy

Method used

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  • Shorter-path robot image drawing method
  • Shorter-path robot image drawing method
  • Shorter-path robot image drawing method

Examples

Experimental program
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Embodiment 1

[0049] Embodiment 1: as figure 1 , figure 2 , image 3 and Figure 4 As shown in , a robot image drawing method with a shorter path is performed in the following steps:

[0050] (1) Preliminary preparation:

[0051] First convert the image into a grayscale image, and then binarize the image through thresholding to extract the foreground target. Then, through mathematical morphology operations, delete isolated points and eliminate salt and pepper noise. After that, extract the target contour. The data points that make up the outline are reduced;

[0052] (2), draw the outline:

[0053] First draw the largest outline of the periphery, then draw the remaining second-largest outlines, draw in order according to smoothness, and finally draw the detail outline;

[0054] The drawing sequence of the detail outline is solved by the traveling salesman problem;

[0055] To this end, the center of gravity of each contour line is regarded as individual cities. The problem is to fin...

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Abstract

The invention relates to an image drawing method, in particular to a shorter-path robot image drawing method, which is implemented according to the steps of previous preparation, contour drawing, starting point determination and degree control drawing. According to the shorter-path robot image drawing method, the operation efficiency is improved, and operation steps are simplified.

Description

technical field [0001] The invention relates to an image drawing method, in particular to a robot image drawing method with a short path. Background technique [0002] Plotting is a very common task, both printers and flat plotters have this capability. However, its functionality is limited to this. [0003] In the field of industrial technology, when endowed with different end tools, the function of drawing can also be extended to laser cutting, marking, wire cutting and so on. In order to realize the specific motion trajectory, this work mainly relies on the numerical control code to realize at present. For raster images, it cannot be directly processed yet. [0004] In the field of industrial robots, the motion trajectory is mainly completed by point-by-point teaching. When the graphics are complex, the task of teaching is quite heavy. Contents of the invention [0005] The present invention mainly solves the deficiencies in the prior art, and provides a method to ...

Claims

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Application Information

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IPC IPC(8): G06T11/00
Inventor 李正刚范卫国何雪军陈立朱彬金晶
Owner SIASUN ROBOT & AUTOMATION LIMITED BY SHARE
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