A method and a system for controlling a robot portrait

A technology of robots and portraits, applied in the generation of 2D images, instruments, manipulators, etc., can solve problems such as inability to draw colorful pictures

Active Publication Date: 2018-12-25
深圳市智能机器人研究院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But now most robots can only draw black and white images based on binary images, but cannot

Method used

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  • A method and a system for controlling a robot portrait
  • A method and a system for controlling a robot portrait
  • A method and a system for controlling a robot portrait

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] like figure 1 As shown, a method for controlling a robot portrait comprises the following steps:

[0048] A1. Acquire the color image to be drawn, and use the preset HSV color model to divide the color image into color regions, so as to obtain multiple color regions.

[0049] Wherein, the preset HSV color model is an HSV color space including a plurality of color subspaces, specifically obtained through the following steps:

[0050] Perform color space division processing on the HSV color space according to the hue to obtain multiple color subspaces; wherein, each color subspace corresponds to a hue.

[0051] The HSV (Hue, Saturation, Value) color space is a method for determining a color according to three basic attributes of the color: hue (Hue), saturation (Saturation) and lightness (Value). The model of the HSV color space corresponds to a conical subset in the cylindrical coordinate system. The circular bottom of the cone is equivalent to the hue, the saturation ...

Embodiment 2

[0084] On the basis of Embodiment 1, step S1 also includes the following steps:

[0085] Determine whether the brightness of the pixel is greater than the preset value, and if so, directly assign the brightness of the pixel to 1.

[0086] When the lightness of the pixel value in the image is greater than the preset value, it means that the color is dark, and the lightness of the pixel is directly assigned a value of 1 and represented by black. The preset value may be 0.5˜0.9, and in this embodiment, the preset value is 0.8. The lightness is processed by the above method to make the image more tense and more realistic.

Embodiment 3

[0088] refer to Figure 4 , a system for controlling robot portraits, including a division module, a mapping module and a control module;

[0089] The division module is used to obtain the color image to be drawn, and uses the preset HSV color model to divide the color image into color regions, thereby obtaining multiple color regions;

[0090] The mapping module is used to obtain the contour coordinates of each color area, and after mapping the contour coordinates to the first coordinate system according to a preset ratio, obtain the color block contour information on the first coordinate system;

[0091] The control module is used to combine the outline information of the color block and the color information of the color area to plan the portrait path of the robot in the first coordinate system, and control the robotic arm of the robot to perform portrait according to the portrait path.

[0092] The above system divides the color image through the HSV color model to obtain...

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PUM

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Abstract

The invention discloses a method and a system for controlling a robot portrait, wherein, the method comprises the following steps: obtaining a color image of the image to be portrayed; dividing a color region of the color image by adopting a preset HSV color model, thereby obtaining a plurality of color regions; obtaining a color region of the color image by using a preset HSV color model; and obtaining a color region of the color image; obtaining contour coordinates of each color region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and obtaining contour information of color blocks on the first coordinate system; combining the outline information of color block and its corresponding color information, the robot's image path in the first coordinate system being planned, and the robot's manipulator being controlled to draw according to the image path. The invention obtains a plurality of color regions through an HSV color model, and the contour coordinates of the color region are mapped to the first coordinate system, and then the robot is controlled to draw on the first coordinate system according to the contour information of the color block, so as to obtain the color portrait, which satisfies the requirements of people on the color image drawing of the portrait robot, and can be widely used in the field of robot control.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method and system for controlling a robot portrait. Background technique [0002] With the development of science and technology, the functions of robots are becoming more and more powerful, and the applications of robots are becoming more and more extensive. Today, when photographic technology is very developed, many people are still keen on street portraits. With the rising cost of living and the reduction of portrait demand, there are fewer and fewer street portrait painters, and portrait robots can draw photos into portraits. Following the trend, robots are not only comparable to manual creation in the field of art, but also have their own style. But now most robots can only draw black-and-white images based on binary images, but cannot draw colorful pictures, which cannot meet people's requirements for portrait robot portraits. Contents of the invention [0003] In order t...

Claims

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Application Information

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IPC IPC(8): G06T11/00G06T7/90B25J13/08
CPCG06T7/90G06T11/001B25J13/08Y02P90/02
Inventor 刘江李耀楠陈和平
Owner 深圳市智能机器人研究院
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