Eyebrow penciling robot system based on robot vision and control method thereof

A robot system, robot vision technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of low precision, rough movement, low flexibility and so on

Active Publication Date: 2019-06-28
ZHEJIANG UNIV CITY COLLEGE
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the shortcomings of existing make-up robots such as low precision, rough movements, and low flexibility, and provide a thrush robot system based on robot vision

Method used

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  • Eyebrow penciling robot system based on robot vision and control method thereof
  • Eyebrow penciling robot system based on robot vision and control method thereof
  • Eyebrow penciling robot system based on robot vision and control method thereof

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Embodiment Construction

[0078] Further description will be made below in conjunction with the accompanying drawings.

[0079] figure 1 , figure 2 Shown is a thrush robot system based on 6 degrees of freedom mechanical arm and binocular vision, a kind of thrush robot system based on robot vision, it includes 6 degrees of freedom mechanical arm, eyebrow pencil 5, binocular camera 1 and computer, 6 The DOF robotic arm is connected to the computer through a network cable, the binocular camera is connected to the computer through a USB cable, and the eyebrow pencil is fixed at the end of the 6DOF robotic arm. The 6-DOF manipulator can use the UR3 manipulator produced by Universal Robots, Denmark, which is a high-precision manipulator with six degrees of freedom. Including: the first wrist 3, the second wrist 4, the first connecting rod 5, the elbow 6, the second connecting rod 7, the shoulder 8, and the base 9. The binocular camera 1 can adopt the binocular camera of the MV-GE300C model produced by Ma...

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Abstract

The invention discloses an eyebrow penciling robot system based on robot vision and a control method thereof. The control method comprises the steps that images of the left portion and the right portion of a human face are obtained by adopting binocular vision; through target calibration, intrinsic parameters and extrinsic parameters of a camera are obtained, and pixel coordinates of the images ofthe left portion and the right portion are converted into space coordinates relative to a camera virtual point; through hand-eye calibration, the relational matrix between the camera and the tail endof a mechanical arm is solved; ten groups of pixel coordinates are obtained by solving face key points, and space coordinates of eyebrow points relative to the camera virtual point are obtained by means of the ten groups of pixel coordinates through a stereoscopic conversion formula; and then the space coordinates relative to the camera virtual point turn into mechanical arm tail end coordinatesthrough hand-eye conversion, and an eyebrow pencil at the tail end of the mechanical arm can be made to reach a designated position to complete eyebrow penciling action by means of a mechanical arm control algorithm. The accuracy of an eyebrow penciling robot is improved.

Description

technical field [0001] The invention relates to the fields of robot intelligent control, image processing, machine vision and the like, in particular to a robot vision-based thrush robot system and a control method thereof. Background technique [0002] The existing makeup robot system has rough movements and cannot correctly position and control the robotic arm to complete the real makeup, resulting in makeup ink left on the user's forehead, eyelids, and near the bridge of the nose. And because the lipstick cannot be applied according to the lip shape of each woman, some cosmetic stains will remain on the user's lips and chin. [0003] Through literature research, it is found that there are few researches on makeup robots at home and abroad, and the existing designs do not show a good eyebrow makeup effect. With the continuous development of sensor technology, computer technology and artificial intelligence technology, people are no longer satisfied with robots that comple...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16
Inventor 程伟沈徐杭蒋怡云郑浩鹏吴程越潘树文王雪洁刘艳
Owner ZHEJIANG UNIV CITY COLLEGE
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