Robot arm sketch drawing method and device and robot workbench

A technology of robot workbench and drawing method, applied in manipulators, program-controlled manipulators, instruments, etc., can solve problems such as ineffective processing, low user experience, and inability to achieve sketch results, and achieve a good user experience and sketch effect. Good, cost-reducing effect

Active Publication Date: 2021-08-31
FOSHAN LONGSHEN ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the development of technology, the control precision of the manipulator is getting higher and higher, and the application field of the manipulator is becoming more and more extensive, and it is gradually applied to the field of painting; The relatively simple sketch drawing processing, that is, the simple single-line sketch drawing, cannot be effectively processed in the sketch shadow coloring or the sketch light-darkness transformation, so in the more complex sketch drawing, the corresponding sketch result cannot be achieved, resulting in User experience is not high

Method used

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  • Robot arm sketch drawing method and device and robot workbench
  • Robot arm sketch drawing method and device and robot workbench
  • Robot arm sketch drawing method and device and robot workbench

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Experimental program
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Embodiment 1

[0049] see figure 1 , figure 1 It is a schematic flow chart of the robot hand sketch drawing method based on the robot workbench in the embodiment of the present invention.

[0050] Such as figure 1Shown, a kind of robot hand sketch drawing method based on robot workbench, described robot workbench comprises work platform, is used for the manipulator of sketch drawing, control display terminal and at least one sketch drawing board; Described manipulator is arranged on described work platform on; at least one sketch board is set on the working platform, and within the working range of the manipulator; the control display end is set on the working platform through a bracket; the method includes:

[0051] S11: Obtain image information to be painted based on the control display terminal, and perform grayscale processing on the image information to be painted to obtain grayscale image information to be painted;

[0052] In the specific implementation process of the present inven...

Embodiment 2

[0074] see figure 2 , figure 2 It is a schematic diagram of the structural composition of the robot hand sketch drawing device based on the robot workbench in the embodiment of the present invention.

[0075] Such as figure 2 Shown, a kind of robot hand sketch drawing device based on robot workbench, described robot workbench comprises work platform, is used for the manipulator of sketch drawing, control display terminal and at least one sketch drawing board; Said manipulator is arranged on described work platform On; at least one sketch board is set on the working platform, and within the working range of the manipulator; the control display end is set on the working platform through a bracket; the device includes:

[0076] Grayscale processing module 21: used to obtain image information to be painted based on the control display terminal, and perform grayscale processing on the image information to be painted to obtain grayscale image information to be painted;

[0077...

Embodiment 3

[0101] see image 3 , image 3 It is a schematic diagram of the structural composition of the robot workbench in the embodiment of the present invention.

[0102] Such as image 3 Shown, a kind of robot workbench, described robot workbench comprises work platform 31, is used for the manipulator 32 of sketch drawing, control display terminal 34 and at least one sketch board 33; Said manipulator 32 is arranged on described work platform 31 ; At least one sketch board 33 is arranged on the working platform 31, and within the working range of the manipulator 32; the control display terminal 34 is arranged on the working platform 31 by a support; wherein, the robot workbench is configured as Carry out the method for sketching and drawing a robot described in any one of the above.

[0103] Here, the specific embodiments of the robot workbench executing the sketch drawing method of the robot will not be repeated here, please refer to the above embodiments for details.

[0104]In ...

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Abstract

The invention discloses a robot arm sketch drawing method and device based on a robot workbench and the robot workbench, and the method comprises the steps: obtaining to-be-drawn image information based on a control display end, and carrying out the graying processing, and obtaining the gray-scale to-be-drawn image information; performing sketch contour extraction processing on the gray-scale to-be-drawn image information to obtain a sketch contour image; clustering the gray-scale image information to be drawn based on the sketch contour image to obtain a plurality of clustering centers, and forming a plurality of sketch coloring areas based on the plurality of clustering centers; generating a sketch drawing path for controlling the manipulator by using the sketch contour image and the plurality of corresponding sketch coloring areas according to a preset scaling ratio; and controlling the manipulator to sketch and draw on the sketch drawing board based on the sketch drawing path. In the embodiment of the invention, sketch drawing can be quickly carried out on the corresponding sketch drawing board according to the content of the color image, the sketch drawing cost is reduced, and good use experience is achieved.

Description

technical field [0001] The invention relates to the technical field of manipulator sketch trajectory control, in particular to a robot workbench-based robot hand sketch drawing method, device and robot workbench. Background technique [0002] With the development of technology, the control precision of the manipulator is getting higher and higher, and the application field of the manipulator is becoming more and more extensive, and it is gradually applied to the field of painting; The relatively simple sketch drawing processing, that is, the simple single-line sketch drawing, cannot be effectively processed in the sketch shadow coloring or the sketch light-darkness transformation, so in the more complex sketch drawing, the corresponding sketch result cannot be achieved, resulting in User experience is not high. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a robotic ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/34G06K9/46G06K9/62G06T7/62B25J11/00B25J9/16
CPCG06T7/62B25J9/1661B25J9/1664B25J9/1679B25J11/00G06V20/10G06V10/267G06V10/44G06F18/23
Inventor 郑雅微朱婷刘海松
Owner FOSHAN LONGSHEN ROBOT
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