Portrait drawing system based robot

A robot and robot body technology, applied in the field of robot vision, can solve problems such as lack of hair detail information, achieve the effect of improving programming efficiency and simplifying the programming process

Active Publication Date: 2016-06-22
SHENYANG SIASUN ROBOT & AUTOMATION
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Problems solved by technology

However, because human hair is not sensitive to near-infrared light, the drawn face portrait lacks hair detail information

Method used

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  • Portrait drawing system based robot
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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0033] Please refer to figure 1 As shown, the portrait drawing system based on the robot includes a robot body 10, a light source 20, a shooting mechanism 30, a first image processing mechanism 40, a second image processing mechanism 50, a vector processing mechanism 60, a control mechanism 70, A remote management mechanism 80 , an easel unloading mechanism 90 and an air pressure supply mechanism 100 .

[0034] The light source 20 is a near-infrared light source, which is used to send electromagnetic waves to the human face. The wavelength of the electromagnetic waves is 830nm to 870nm, and the ef...

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Abstract

The invention discloses a portrait drawing system based on a robot. The system comprises a light source, a shooting mechanism, a first image processing mechanism, a second image processing mechanism, a vector processing mechanism, and a control mechanism; the light source is used for sending electromagnetic waves to a face; the shooting mechanism is an industrial camera with the integration of near-infrared and color and used for obtaining near-infrared images and color images of a human body, sending the color images to the first image processing mechanism, and sending the near-infrared images to the second processing mechanism; the first image processing mechanism is used for obtaining the color images sent by the shooting mechanism and obtaining binary images of the face; the second image processing mechanism is used for obtaining the near-infrared images sent by the shooting mechanism and obtaining binary images of five sense organs of the face; the vector processing mechanism is used for merging the binary images of the color images and the binary images of the near-infrared images, extracting the contour of the face, and performing vector processing of points of the contour; and the control mechanism is used for planning motion points to be drawn by the robot body according to vectorization of the points, controlling the movement of the robot, and accomplishing the drawing of the portrait.

Description

technical field [0001] The invention belongs to the technical field of robot vision, and mainly relates to a robot-based portrait drawing system. Background technique [0002] In the prior art, the process of drawing a human face portrait by a robot is as follows: the person to be painted stands or sits in front of the camera, and the camera completes the acquisition of the face image of the person to be painted, and the acquired image is processed to extract the contour of the human face, and the extracted The outline is sent to the robot controller through trajectory planning to complete the drawing of the face portrait of the industrial robot. [0003] In Europe, the German Robotics Laboratory used six-axis industrial robots to perform automatic portrait drawing. The technology they use mainly uses the edge extraction effect in image processing to obtain the contour line of the face, and then converts it into vector points for the robot to draw. Not stable. [0004] In...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/54G05D3/00
Inventor 张涛李邦宇邹风山宋吉来董状刘晓帆
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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