Intelligent sugar painting making system, method and equipment

Abstract

The invention relates to the field of robots, and provides an intelligent sugar painting making system, method and equipment, and the system comprises a drawing terminal which is provided with an application program and is used for enabling a user to draw a sugar painting pattern and carry out real-time follow-up control, and transmitting drawn image data or real-time coordinate data to a calculation device; the calculation device is used for operating a related algorithm based on the image data or the real-time coordinate data and controlling the mechanical arm; the mechanical arm is used for driving the extrusion device to carry out spatial position movement so as to draw sugar painting patterns; the extrusion device is mounted at the tail end of the mechanical arm, comprises a heating block, an extrusion cavity and an extrusion screw rod, and is used for extruding syrup to draw sugar painting patterns; the extrusion device control module is used for controlling the working state of the extrusion device; the mechanical arm communication control module is connected with the computing device and the mechanical arm and used for communication and control of the mechanical arm; the stepping motor is connected with the extrusion device and provides power for operation of the extrusion device; and the connecting piece is used for connecting the mechanical arm and the extrusion device.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an intelligent sugar painting making system, method and equipment. Background Art

[0002] With the improvement of people's living standards and the emphasis on the inheritance and innovation of traditional culture, sugar painting, as a traditional art with folk characteristics, has gradually been loved by more and more people. Sugar painting uses sugar as the material. Through the exquisite skills of craftsmen, various lifelike patterns are drawn on stone slabs or planes. They are both ornamental and rich in profound cultural connotations. However, traditional sugar painting relies on hand-painting by craftsmen, with relatively low production efficiency and high requirements on the skills of the artists, which to a certain extent limits the popularity and development of sugar painting.

[0003] In order to overcome the limitations of traditional sugar painting, some sugar painting robots have appeared on the market. These sugar painting robots have improved the efficiency and convenience of sugar painting to a certain extent, allowing more people to have access to this traditional skill. At present, the sugar painting robots on the market mainly adopt the following technical solutions: First, the preset pattern method is adopted, and the user can only choose from the existing fixed patterns, and then the robot draws according to the preset program; second, the use of 3D printers, by processing the pattern data of the sugar painting, and then controlling the corresponding printing device to extrude the syrup for drawing; third, the use of the visual system to read the user's image, and then identify and draw the corresponding sugar painting.

[0004] However, the existing sugar painting robots still have some defects in terms of technology. First, the sugar painting robots with preset patterns lack user autonomy and creativity, and users cannot draw unique sugar painting patterns according to their own ideas, which limits personalized needs. Secondly, the sugar painting robots in the form of 3D printers often have insufficient degrees of freedom in their robotic arms, resulting in poor performance when drawing some complex, delicate or flexible patterns, and cannot accurately restore some lines and shapes with artistic beauty. Finally, the method of using a visual system to read user images not only has high equipment costs and complex system construction, but also has strict requirements on external conditions such as image quality and ambient light, and is prone to problems such as inaccurate image recognition, which in turn affects the final effect of sugar painting.

[0005] Therefore, how to improve the user's creative autonomy while ensuring the efficiency of sugar painting production, enable the robotic arm to draw more flexibly and accurately, and obtain the pattern information drawn by the user in a simpler and more stable way has become an important issue that needs to be urgently solved in the industry. Summary of the invention

[0006] The present invention provides an intelligent sugar painting production system, method and equipment, which solves the problem of poor personalization in sugar painting production in the prior art and realizes intelligent and highly personalized sugar painting production.

[0007] The present invention provides an intelligent sugar painting production system, comprising:

[0008] A drawing terminal is equipped with an application program, wherein the application program is used to allow a user to draw a sugar painting pattern and perform real-time follow-up control, and transmit the drawn image data or real-time coordinate data to a computing device;

[0009] A computing device, connected to the drawing terminal for receiving image data or real-time coordinate data, running a related algorithm based on the image data or real-time coordinate data and controlling the robotic arm;

[0010] A mechanical arm, connected to the computing device for driving the extrusion device to move in space to draw a sugar painting pattern after receiving a first control instruction from the computing device;

[0011] An extrusion device, installed at the end of the mechanical arm, comprises a heating block, an extrusion cavity and an extrusion screw, and is used to extrude syrup to draw sugar painting patterns;

[0012] an extrusion device control module, connected to the computing device and the extrusion device, and configured to control the working state of the extrusion device according to the received second control instruction;

[0013] A robot arm communication control module, connected to the computing device and the robot arm, for communication and control of the robot arm;

[0014] A stepper motor is connected to the extrusion device to provide power for the operation of the extrusion device;

[0015] A connecting piece is used to connect the mechanical arm and the extrusion device.

[0016] According to an intelligent sugar painting production system provided by the present invention, the computing device includes: an image data processing unit, which is used to pre-process the received image data in an autonomous drawing mode, extract the contour point information of the pattern and map it to the robot arm workspace; a follow-up control unit, which is used to receive coordinate data in real time and perform coordinate system conversion in a follow-up control mode, generate control instructions according to the conversion results and send them to the robot arm communication control module; a temperature monitoring unit, which is used to monitor the temperature data of the heating block in real time and control the syrup temperature according to the temperature data.

[0017] According to an intelligent sugar painting production system provided by the present invention, the heating block is equipped with a heating rod, and the heating rod is fixed to the outer wall of the extrusion cavity; a feed port is provided at the upper end of the extrusion cavity, and an extrusion nozzle with a diameter of a preset length is provided at the lower end; the extrusion screw is connected to a stepper motor to realize extrusion control with adjustable speed.

[0018] According to an intelligent sugar painting production system provided by the present invention, the extrusion device control module is communicated with the stepper motor, the heating rod and the thermistor through a bus, a proportional integral differential PID algorithm is used to achieve precise temperature control, and the heating power is adjusted by a pulse width modulation signal to achieve control of a predetermined extrusion amount.

[0019] According to the intelligent sugar painting production system provided by the present invention, the extrusion device control module also dynamically adjusts the rotation speed of the stepper motor according to the motion trajectory of the robot arm and the speed control instruction to achieve precise control of the extrusion amount.

[0020] According to the intelligent sugar painting making system provided by the present invention, the heating block is equipped with a built-in thermistor, and the thermistor is installed at the bottom end of the extrusion device for real-time temperature monitoring.

[0021] The present invention also provides a method for making an intelligent sugar painting, comprising the following steps:

[0022] receiving a sugar painting pattern input by a user through a user interface of a drawing terminal;

[0023] Acquiring image data or real-time coordinate data according to the sugar painting pattern;

[0024] Running relevant algorithms based on the image data or real-time coordinate data to generate a motion trajectory and speed control instructions for the robotic arm;

[0025] Controlling the robot arm to move according to the motion trajectory and the speed control instruction;

[0026] During the movement of the robotic arm, the temperature of the extrusion device and the flow rate of the syrup are monitored in real time, and the syrup extrusion speed of the extrusion device is controlled according to the monitoring results to achieve accurate sugar painting patterns on the preset plane.

[0027] According to an intelligent sugar painting production method provided by the present invention, the relevant algorithm is run based on the image data or real-time coordinate data to generate the motion trajectory and speed control instructions of the robot arm, which specifically includes: in the autonomous drawing mode, receiving the image data generated after the user completes the pattern drawing on the drawing terminal, performing contour extraction on the image data, mapping the extracted contour points to the robot arm workspace, and generating the motion trajectory and speed control instructions of the robot arm; in the follow-up control mode, receiving the real-time drawing operation of the user on the drawing terminal, transmitting the touched coordinate data to the computing device in real time, mapping and converting the received coordinate data, and converting the screen coordinates into the robot arm workspace coordinates; determining the motion trajectory and speed control instructions of the robot arm according to the converted coordinates.

[0028] According to an intelligent sugar painting production method provided by the present invention, the temperature of the extrusion device and the flow rate of syrup are monitored in real time, and the syrup extrusion speed of the extrusion device is controlled according to the monitoring results, which specifically includes: monitoring the temperature data of the extrusion device in real time through a temperature sensor; controlling the temperature of the heating rod based on a PID algorithm according to the temperature data; controlling the extrusion device to rotate and extrude the syrup through an extrusion screw driven by a stepper motor, and monitoring the flow rate of syrup in real time based on the rotation speed of the stepper motor; and dynamically adjusting the rotation speed of the stepper motor by a control module according to the real-time monitored temperature data and syrup flow data.

[0029] According to an intelligent sugar painting making method provided by the present invention, the drawing terminal is connected to the computer via WebSocket communication; the robotic arm communication control module establishes a WebSocket communication connection with the computer via the robotic arm network port.

[0030] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any one of the above-described intelligent sugar painting production methods is implemented.

[0031] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the intelligent sugar painting production method as described above is implemented.

[0032] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the intelligent sugar painting making method as described above is implemented.

[0033] The present invention provides an intelligent sugar painting production system, method and equipment, which include the following beneficial effects: through the intelligent sugar painting production system, users can conveniently draw sugar painting patterns and perform real-time follow-up control. After the system receives image data or real-time coordinate data, it can accurately control the mechanical arm to drive the extrusion device to move in space, thereby accurately drawing the sugar painting pattern. At the same time, the working state of the extrusion device is also effectively controlled, realizing the intelligence and automation of sugar painting production, and improving production efficiency and pattern quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 It is a structural schematic diagram of the intelligent sugar painting making system provided by the present invention.

[0036] Figure 2 The figure is a schematic diagram of the structure of the intelligent sugar painting making robot provided by the present invention.

[0037] Figure 3 This is a diagram of key parts of the extrusion device and the mechanical arm provided by the present invention.

[0038] Figure 4 It is a schematic diagram of the process of the intelligent sugar painting making method provided by the present invention.

[0039] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention.

[0040] Reference numerals:

[0041] Tablet 1, computer 2, robotic arm 3, extrusion device 4, extrusion device control module 5, robotic arm communication control module 6, stepper motor 7, connector 8, heating rod and thermistor 9, extrusion screw 10, robotic arm end 11, robotic arm network port 12. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] The present invention aims to solve the following problems:

[0044] (1) To solve the problem that existing sugar painting robots lack user autonomy in pattern creation, and to provide a method that allows users to independently draw the desired sugar painting patterns to meet personalized creation needs.

[0045] (2) Overcome the defect of insufficient degrees of freedom of existing sugar painting robots using robotic arms, enable the robotic arms to draw sugar painting patterns of various complexities more flexibly and accurately, and improve the drawing quality.

[0046] (3) Avoid the high cost, complex construction and susceptibility to external interference of the existing method of using visual systems to read images, and obtain the pattern information drawn by the user in a simpler and more stable way and accurately control the robotic arm to draw.

[0047] (4) Fill the gap in the market for the control of follow-up control robotic arms for sugar painting, and increase the interactivity of sugar painting robots.

[0048] Combine the following Figure 1-Figure 5 Embodiments of the present invention are described in detail.

[0049] like Figure 1 The figure shows a schematic diagram of an intelligent sugar painting production system provided by the present invention, comprising:

[0050] The present invention provides an intelligent sugar painting production system, comprising:

[0051] The drawing terminal 110 is equipped with an application program, which is used to allow the user to draw sugar painting patterns and perform real-time follow-up control, and transmit the drawn image data or real-time coordinate data to the computing device;

[0052] The computing device 120 is connected to the drawing terminal 110 for receiving the image data or the real-time coordinate data, running the relevant algorithm based on the image data or the real-time coordinate data and controlling the robot arm;

[0053] The robot arm 130 is connected to the computing device 120 for driving the extrusion device 140 to move in space to draw a sugar painting pattern after receiving a first control instruction from the computing device 120;

[0054] The extrusion device 140 is installed at the end of the mechanical arm 130, including a heating block, an extrusion cavity and an extrusion screw, and is used to extrude syrup to draw sugar painting patterns;

[0055] The extrusion device control module 150 is connected to the computing device 120 and the extrusion device 140 and is used to control the working state of the extrusion device 140 according to the received second control instruction;

[0056] A robot arm communication control module 160 , connected to the computing device 120 and the robot arm 130 , for communication and control of the robot arm 130 ;

[0057] A stepper motor 170 is connected to the extrusion device 140 to provide power for the operation of the extrusion device 140;

[0058] The connecting member 180 is used to connect the robot arm 130 and the extrusion device 140 .

[0059] Specifically, Figure 2 The figure shows a schematic diagram of the structure of a system intelligent sugar painting robot provided by an embodiment of the present invention. The intelligent sugar painting robot system is used for automating and following the production of sugar painting works, and includes: a tablet computer 1 equipped with an APP, on which users can draw sugar painting patterns and perform real-time following control; a computer 2, which runs relevant algorithms and processes data; a robotic arm 3, which drives the extrusion device to move precisely in space to draw patterns after receiving control instructions; an extrusion device 4, which is used to extrude syrup to draw patterns; an extrusion device control module 5, which controls the extrusion device; and a robotic arm communication control module 6, which is responsible for the communication and control of the robotic arm.

[0060] According to an intelligent sugar painting production system provided by the present invention, the computing device includes: an image data processing unit, which is used to pre-process the received image data in the autonomous drawing mode, extract the contour point information of the pattern and map it to the robot arm workspace; a follow-up control unit, which is used to receive the coordinate data in real time and perform coordinate system conversion in the follow-up control mode, generate control instructions according to the conversion results and send them to the robot arm communication control module; a temperature monitoring unit, which is used to monitor the temperature data of the heating block in real time and control the syrup temperature according to the temperature data.

[0061] Specifically, the computer 2 is used to receive image data or real-time coordinate data from the tablet computer 1 equipped with the APP. In the autonomous drawing mode, the image is processed through the OpenCV library, the contour point information is extracted and mapped to the robot arm workspace; in the follow-up control mode, the touch coordinate data is received in real time and the coordinate system is converted; the computer 2 is also used to control the movement of the robot arm 3 through the robot arm communication control module 6, and control the operation of the extrusion device 4 through the extrusion device control module 5, and is also used to monitor the temperature data of the heating rod and the thermistor 9 in real time to ensure that the syrup is kept at an appropriate temperature.

[0062] It should be noted that, in addition to the tablet, the drawing terminal can also use an integrated image processing device instead of the tablet to draw patterns, such as combining a Raspberry Pi or other image processing device to replace the current computer image processing method.

[0063] For image reading and data processing, in addition to using OPENCV, you can also use some other open source image recognition libraries, such as Scikit-Image and other deep learning models with better effects. According to their characteristics and advantages, you can adjust and optimize the algorithm to achieve better image extraction and processing effects to adapt to different usage scenarios and user needs.

[0064] In terms of robotic arm control, in addition to the MOVEIT-based algorithm, the traditional robot kinematics inverse algorithm combined with the intelligent optimization algorithm can also be used to plan and optimize the robotic arm motion path to achieve similar or even better flexible drawing effects. Different algorithm combinations can be selected and switched according to actual application conditions.

[0065] According to an intelligent sugar painting production system provided by the present invention, a heating block is equipped with a heating rod, and the heating rod is fixed on the outer wall of the extrusion cavity; a feed port is provided at the upper end of the extrusion cavity, and an extrusion nozzle with a preset diameter is provided at the lower end; the extrusion screw is connected to a stepper motor to realize extrusion control with adjustable speed.

[0066] like Figure 3 The diagram shows the key parts of the extrusion device and the robot arm, including a stepper motor 7, which provides power for the operation of the extrusion device; a connector 8, which is used to connect the robot arm and the extrusion device; a heating rod and a thermistor 9, which are used to heat the sugar material to melt it into syrup; an extrusion screw 10, which rotates and extrude the syrup under the drive of the stepper motor; the end of the robot arm 11, which is responsible for connecting with the connector 8 to ensure the reliable connection between the robot arm and the extrusion device; and a robot arm network port 12, which is used for network communication between the robot arm and other devices.

[0067] The extrusion device 4 is mechanically mounted on the end 11 of the mechanical arm and fixedly connected by a connector 8. The device consists of a heating block, an extrusion cavity, and an extrusion screw 10. The heating block has a built-in heating rod and a thermistor 9, which is fixed to the outer wall of the extrusion cavity by a hexagon socket screw; a feed port is provided at the upper end of the extrusion cavity, and an extrusion nozzle with a diameter of 0.4 mm is provided at the lower end; the extrusion screw 10 is connected to the stepper motor 7 through a coupling to realize extrusion control with adjustable speed.

[0068] According to an intelligent sugar painting production system provided by the present invention, a thermistor is built into the heating block, and the thermistor is installed at the bottom end of the extrusion device for real-time temperature monitoring.

[0069] Specifically, a thermistor is installed at the bottom of the extrusion device to monitor the temperature in real time. The working process of the extrusion device is that when the temperature reaches 115°C, the stepper motor 7 starts to drive the extrusion screw 10 to rotate at a set speed to extrude the molten syrup from the extrusion nozzle, and at the same time, the robot arm 3 drives the entire extrusion device 4 to move according to the planned trajectory or real-time coordinates to complete the drawing of the sugar painting.

[0070] According to an intelligent sugar painting production system provided by the present invention, the extrusion device control module is communicated with the stepper motor, the heating rod and the thermistor through a bus, and a PID algorithm (Proportional-Integral-Derivative Algorithm) is used to achieve precise temperature control, and the heating power is adjusted by a pulse width modulation signal. At the same time, the speed of the stepper motor is dynamically adjusted according to the motion trajectory of the robot arm and the speed control instruction to achieve precise control of the extrusion amount.

[0071] Specifically, the extrusion device control module 5 establishes a communication connection with the stepper motor 7, the heating rod and the thermistor 9 through the RS485 bus. The module uses the PID algorithm to achieve precise temperature control, and adjusts the heating power through the pulse width modulation PWM signal to stabilize the temperature at the set value. At the same time, the module dynamically adjusts the speed of the stepper motor 7 according to the trajectory characteristics or the real-time movement speed to achieve precise control of the extrusion amount. When the temperature is abnormal or a blockage is detected, the control module immediately stops the stepper motor and alarms.

[0072] The robot communication control module 6 establishes a WebSocket communication connection with the computer 2 through the robot network port 12, receives complete motion control instructions in the autonomous drawing mode, and receives real-time position instructions in the follow-up control mode. The module converts the received Cartesian space trajectory points into joint space motion instructions and controls the robot 3 to perform the corresponding movement. During the movement, the module monitors the position and speed information of the robot in real time to ensure the movement accuracy and stability. When an abnormal situation is detected, the emergency stop command is immediately executed to ensure system safety.

[0073] The intelligent sugar painting making method provided by the present invention is described below. The intelligent sugar painting making method described below and the intelligent sugar painting making system described above can be referenced to each other.

[0074] Figure 4 It is one of the flow charts of the intelligent sugar painting making method provided by the present invention, such as Figure 4 As shown, the method comprises the following steps:

[0075] S110: receiving a sugar painting pattern input by a user through a user interface of a drawing terminal.

[0076] S120, acquiring image data or real-time coordinate data according to the sugar painting pattern.

[0077] S130, running relevant algorithms based on the image data or real-time coordinate data to generate a motion trajectory and speed control instructions for the robotic arm.

[0078] S140, controlling the robot arm to move according to the motion trajectory and speed control instruction.

[0079] S150. During the movement of the robot arm, the temperature of the extrusion device and the flow rate of the syrup are monitored in real time, and the syrup extrusion speed of the extrusion device is controlled according to the monitoring results to achieve accurate sugar painting patterns on a preset plane.

[0080] According to an intelligent sugar painting production method provided by the present invention, a related algorithm is run based on image data or real-time coordinate data to generate a motion trajectory and speed control instructions for a robot arm, specifically including: in an autonomous drawing mode, receiving image data generated after a user completes pattern drawing on a drawing terminal, performing contour extraction on the image data, mapping the extracted contour points to a robot arm workspace, and generating a motion trajectory and speed control instructions for the robot arm; in a follow-up control mode, receiving a real-time drawing operation of a user on a drawing terminal, transmitting the touched coordinate data to a computing device in real time, mapping and converting the received coordinate data, and converting the screen coordinates into robot arm workspace coordinates; and determining the motion trajectory and speed control instructions for the robot arm according to the converted coordinates.

[0081] Specifically, in the autonomous drawing mode, when the user completes the pattern drawing on the tablet computer 1, the APP transmits the image data to the computer 2. The computer 2 first pre-processes the image, including grayscale conversion, binarization and contour extraction, and then maps the extracted contour points to the robot workspace. The computer controls the robot 3 to move to the starting position through the robot communication control module 6, and starts the extruder 4 through the extruder control module 5. During the drawing process, the system realizes real-time monitoring and dynamic adjustment through multi-sensor fusion to ensure the accuracy and stability of sugar painting production.

[0082] In the follow-up control mode, when the user performs real-time drawing operations on the tablet computer 1, the APP transmits the touch coordinate data to the computer 2 in real time. The computer maps and converts the received coordinate data, and converts the screen coordinates 1920×1080 into the robot arm workspace coordinates X:-0.3~-0.18m, Y:0.1~0.3m, Z:0.174m. The converted coordinates are sent to the robot arm 3 through the robot arm communication control module 6 to achieve real-time follow-up movement. When the drawing state is detected, the extrusion device control module 5 controls the stepper motor 7 to start and realize the real-time extrusion of syrup; when the pen lifting state is detected, the system automatically performs a retraction operation to prevent the syrup from dripping. The system ensures the smoothness and accuracy of the follow-up process through trajectory prediction algorithms and dynamic speed planning. When an abnormal situation is detected, the system will immediately execute the protection program to ensure the safety of equipment and products.

[0083] According to an intelligent sugar painting production method provided by the present invention, the temperature of the extrusion device and the flow rate of syrup are monitored in real time, and the syrup extrusion speed of the extrusion device is controlled according to the monitoring results, which specifically includes: monitoring the temperature data of the extrusion device in real time through a temperature sensor; controlling the temperature of the heating rod based on a PID algorithm according to the temperature data; controlling the extrusion device to rotate and extrude the syrup through an extrusion screw driven by a stepper motor, and monitoring the flow rate of the syrup in real time based on the rotation speed of the stepper motor; and dynamically adjusting the rotation speed of the stepper motor by a control module according to the real-time monitored temperature data and syrup flow data.

[0084] Specifically, sugar painting requires a high degree of precision and artistry. In order to complete accurate painting, the outflow of syrup can be controlled by controlling the uniform and variable speed rotation of the stepper motor.

[0085] Through variable speed control, the speed of the stepper motor is monitored in real time, and the system will calculate the real-time syrup flow rate based on the speed data. Since temperature changes will affect the viscosity and fluidity of the syrup, the temperature needs to be monitored in real time. The system receives and processes these real-time data, and dynamically adjusts the speed of the stepper motor based on these data to react to the control of the syrup flow. When the line is thin, the system will appropriately reduce the motor speed to reduce the flow; conversely, when the line is thick, it will increase the speed to increase the flow.

[0086] In order to reduce the computing cost and eliminate the complex dynamic calculation process, thereby reducing the occupation of computing resources, this method also introduces the concept of uniform speed control on the basis of variable speed control. Once the appropriate extrusion rate is determined, the system will switch to uniform speed control mode. In this mode, the speed of the stepper motor will remain stable, and the thickness of the drawn lines will be uniform. Painting can be achieved by controlling the extrusion time. The extrusion amount is determined according to the line area of ​​the sugar painting pattern drawn by the user, and then the extrusion time of the syrup is calculated according to the thickness of the drawn lines. The system will accurately control the extrusion rate of the syrup based on this time and constant extrusion amount. In this way, the system no longer needs to continuously monitor and calculate the relationship between the speed and the syrup flow rate, which significantly reduces the computing cost.

[0087] Uniform speed control not only simplifies the system's computing requirements, but also improves the stability and predictability of sugar painting production. Since the extrusion rate is constant, it is easier to achieve the desired line thickness by controlling the extrusion time, further improving the accuracy and efficiency of sugar painting production. In addition, uniform speed control also reduces wear on mechanical parts because the stepper motor no longer needs to accelerate and decelerate frequently. This not only extends the service life of the equipment, but also reduces maintenance costs.

[0088] According to an intelligent sugar painting making method provided by the present invention, the drawing terminal is connected to the computer via WebSocket communication; the robotic arm communication control module establishes a WebSocket communication connection with the computer via the robotic arm network port.

[0089] Specifically, in autonomous drawing mode, the system waits for new image files by monitoring the specified path. When the tablet computer 1 with the APP completes drawing and uploads the image, the computer 2 processes the image using the OpenCV library: first converting the image into a grayscale image, rotating it 90 degrees clockwise, then generating a binary image through threshold processing, and finally extracting the image contour points. These contour points are then mapped to the actual workspace coordinate system of the robot 3.

[0090] The computer 2 processes the extracted contour points through the robot arm communication control module 6: first, the total length and complexity of each contour are calculated. For longer or more complex contours, the system will process them in segments with 20 points in each segment, and 5 points overlap between adjacent segments, generating a smooth motion path for each trajectory to ensure the motion continuity of the robot arm 3 and the connector 8, and adjusting the speed and acceleration parameters to 80% and 60% of the original to ensure motion stability.

[0091] Computer 2 creates two parallel control threads: a robot arm control thread and an extruder control thread.

[0092] In the robot control thread, the movement of the robot 3 is controlled by the robot communication control module 6, and the robot end 11 drives the extrusion device 4 to move along the planned path through the connecting piece 8, and the movement execution is monitored in real time to ensure the position accuracy.

[0093] In the extruder control thread, the extrusion system parameters are initialized through the extruder control module 5: the relative extrusion mode is set, the extrusion position is reset, the retraction parameters are configured, the temperature is set to 115 degrees through the heating rod and thermistor 9, and the stepper motor 7 is controlled to drive the extrusion screw 10 for precise extrusion: the extrusion coefficient is calculated as 45 based on the trajectory length, the minimum single extrusion amount is limited to 0.005mm, the maximum extrusion amount is 0.2mm, and the feed rate is dynamically adjusted to 650mm / min.

[0094] The system also implements a number of intelligent compensation mechanisms:

[0095] Smooth transition between track segments: add a short pause of 50ms between adjacent track segments;

[0096] Dynamic extrusion control: adaptively adjust the extrusion amount according to trajectory characteristics;

[0097] Real-time temperature monitoring: the temperature is continuously adjusted through the heating rod and thermistor 9, and motion compensation: the movement of the robot arm 3 is adjusted in real time to ensure accuracy.

[0098] The system's exception handling process in autonomous drawing mode is as follows:

[0099] 1) Image processing exception: When image loading or processing fails, reset the processing flag and wait for a new image;

[0100] 2) Path planning abnormality: When the planning quality is less than 70%, the segment planning strategy is started;

[0101] 3) Hardware abnormality monitoring: monitor the communication status through the robot arm network port 12; monitor the response of the extrusion device control module 5; check the working status of the stepper motor 7 and the extrusion screw 10; monitor the temperature control of the heating rod and the thermistor 9.

[0102] Specifically, in the follow-up control mode, when the system starts, the computer 2 first initializes the ROS2 (Robot Development Platform 2) environment and creates a control node, and configures the motion parameters of the robot 3 through the robot communication control module 6, and sets the maximum speed and acceleration to 30% to ensure smooth motion. The computer 2 establishes a connection with the extrusion device 4 through the extrusion device control module 5 to complete the parameter configuration, including controlling the motion mode of the stepper motor 7, resetting the position of the extrusion screw 10, configuring the retraction parameters, and setting the working temperature of the heating rod and thermistor 9. At the same time, the computer 2 establishes a WebSocket server through the robot network port 12, waiting for the tablet computer 1 equipped with the APP to connect.

[0103] After receiving the touch data from the tablet computer 1 with the APP installed, the computer 2 first performs a coordinate system conversion to map the screen coordinates to the workspace coordinate system of the robot 3. During the user's drawing process, the system continuously collects the converted coordinate points to form a trajectory sequence. When the drawing is detected to be finished, the computer 2 processes the collected trajectory points, calculates the complete Cartesian path through the robot communication control module 6, and performs trajectory smoothing optimization to ensure the accessibility of the motion path of the robot 3 and the connector 8.

[0104] The computer 2 will analyze the planned trajectory, calculate the motion parameters of the robot arm 3 and the amount of syrup extrusion required by the extruder 4. To ensure synchronization, the system controls the movement of the robot arm 3 through the robot arm communication control module 6, and controls the stepper motor 7 through the extruder control module 5 to drive the extrusion screw 10 for precise extrusion. During this process, the end 11 of the robot arm drives the extruder 4 to move stably through the connector 8, while the heating rod and thermistor 9 continuously maintain the syrup temperature within the optimal working range.

[0105] The system's exception handling mechanism in follow-up control mode includes:

[0106] 1) Communication exception handling: monitoring the WebSocket connection status between the tablet computer 1 with the APP installed and the computer 2, as well as the communication status of the robot arm network port 12;

[0107] 2) Motion abnormality processing: monitor the motion state of the robot arm 3 and the connecting piece 8 to ensure the position accuracy of the robot arm end 11

[0108] 3) Hardware exception handling: monitor the working status of the extrusion device control module 5 and the robot arm communication control module 6, as well as the temperature control abnormalities of the heating rod and thermistor 9, and the operating status of the stepper motor 7 and the extrusion screw 10.

[0109] The present invention has the following technical effects:

[0110] (1) Compared with the existing sugar painting robots that use preset patterns, the present invention allows users to draw patterns independently through a tablet APP, which greatly improves the user's creative autonomy and personalized experience. Users can draw unique sugar painting patterns anytime and anywhere according to their own creativity and preferences, and are no longer limited to a few fixed preset patterns. It better meets the diverse needs of different users and is particularly suitable for parent-child interaction, folk experience activities and other scenarios, and can fully stimulate people's interest in sugar painting making and their enthusiasm for inheriting traditional culture.

[0111] (2) In order to solve the problem of insufficient degrees of freedom of existing robotic arms, the control algorithm of the robotic arm of the present invention is combined with MOVEIT to give full play to the performance of the robotic arm and accurately calculate the motion path of each joint, so that the robotic arm can move flexibly in space and achieve high-quality drawing of complex patterns and delicate lines, such as drawing human figures with rich details and exquisite floral patterns, etc., which greatly improves the artistic expression and appreciation of sugar painting and expands the range of patterns that can be drawn by sugar painting robots.

[0112] (3) Compared with the method of using a visual system to read user images, the present invention uses a tablet APP to draw and read images, which not only reduces the equipment cost and the complexity of system construction, but also is not subject to excessive interference from factors such as external ambient light and image quality fluctuations. It can stably and accurately obtain the pattern information drawn by the user and control the robotic arm to draw, thereby improving the reliability and efficiency of the entire sugar painting production process and reducing the occurrence of drawing errors caused by inaccurate image recognition and other problems.

[0113] (4) It fills the gap in the market for the lack of follow-up control robotic arms for sugar painting and increases interactivity. This instant interactive feedback greatly stimulates the user's enthusiasm for participation. The operation is simple and easy to understand, and only requires drawing on a tablet.

[0114] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the intelligent sugar painting making method, which includes: receiving a sugar painting pattern input by a user through a user interface of a drawing terminal; acquiring image data or real-time coordinate data according to the sugar painting pattern; running a related algorithm based on the image data or real-time coordinate data to generate a motion trajectory and speed control instruction of a mechanical arm; controlling the mechanical arm to move according to the motion trajectory and speed control instruction; during the movement of the mechanical arm, monitoring the temperature of the extrusion device and the flow rate of the syrup in real time, and controlling the syrup extrusion speed of the extrusion device according to the monitoring result, so as to realize drawing an accurate sugar painting pattern on a preset plane.

[0115] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0116] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the intelligent sugar painting production method provided by the above-mentioned methods, which includes: receiving a sugar painting pattern input by a user through a user interface of a drawing terminal; obtaining image data or real-time coordinate data according to the sugar painting pattern; running relevant algorithms based on the image data or real-time coordinate data to generate a motion trajectory and speed control instructions for a robotic arm; controlling the robotic arm to move according to the motion trajectory and speed control instructions; during the movement of the robotic arm, monitoring the temperature of the extrusion device and the flow rate of the syrup in real time, and controlling the syrup extrusion speed of the extrusion device according to the monitoring results, so as to achieve drawing of an accurate sugar painting pattern on a preset plane.

[0117] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the intelligent sugar painting production method provided by the above-mentioned methods, the method comprising: receiving a sugar painting pattern input by a user through a user interface of a drawing terminal; acquiring image data or real-time coordinate data according to the sugar painting pattern; running relevant algorithms based on the image data or real-time coordinate data to generate a motion trajectory and speed control instructions for a robotic arm; controlling the robotic arm to move according to the motion trajectory and speed control instructions; during the movement of the robotic arm, monitoring the temperature of the extrusion device and the flow rate of the syrup in real time, and controlling the syrup extrusion speed of the extrusion device according to the monitoring results, so as to achieve drawing of an accurate sugar painting pattern on a preset plane.

[0118] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0119] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent sugar painting production system, characterized in that: include: A drawing terminal is equipped with an application program, wherein the application program is used to allow a user to draw a sugar painting pattern and perform real-time follow-up control, and transmit the drawn image data or real-time coordinate data to a computing device; A computing device, connected to the drawing terminal for receiving image data or real-time coordinate data, running a related algorithm based on the image data or real-time coordinate data and controlling the robotic arm; A mechanical arm, connected to the computing device for driving the extrusion device to move in space to draw a sugar painting pattern after receiving a first control instruction from the computing device; An extrusion device, installed at the end of the mechanical arm, comprises a heating block, an extrusion cavity and an extrusion screw, and is used to extrude syrup to draw sugar painting patterns; an extrusion device control module, connected to the computing device and the extrusion device, and configured to control the working state of the extrusion device according to the received second control instruction; A robot arm communication control module, connected to the computing device and the robot arm, for communication and control of the robot arm; A stepper motor is connected to the extrusion device to provide power for the operation of the extrusion device; A connecting piece is used to connect the mechanical arm and the extrusion device.

2. The intelligent sugar painting making system according to claim 1, characterized in that: The computing device comprises: An image data processing unit, used to pre-process the received image data in the autonomous drawing mode, extract the contour point information of the pattern and map it to the robot arm workspace; A follow-up control unit, used to receive coordinate data in real time and perform coordinate system conversion in a follow-up control mode, and generate control instructions according to the conversion results and send them to the robot communication control module; The temperature monitoring unit is used to monitor the temperature data of the heating block in real time and control the syrup temperature according to the temperature data.

3. The intelligent sugar painting making system according to claim 1, characterized in that: The heating block is provided with a heating rod, and the heating rod is fixed on the outer wall of the extrusion cavity; The upper end of the extrusion cavity is provided with a feed inlet, and the lower end is provided with an extrusion nozzle with a diameter of a preset length; The extrusion screw is connected to a stepping motor to achieve extrusion control with adjustable speed.

4. The intelligent sugar painting making system according to claim 1, characterized in that: The extrusion device control module is connected to the stepper motor, the heating rod and the thermistor through a bus, uses a proportional integral differential PID algorithm to achieve precise temperature control, and adjusts the heating power through a pulse width modulation signal to achieve control of a predetermined extrusion amount.

5. The intelligent sugar painting making system according to claim 4, characterized in that: The extrusion device control module also dynamically adjusts the rotation speed of the stepper motor according to the motion trajectory of the robot arm and the speed control instruction to achieve accurate control of the extrusion amount.

6. The intelligent sugar painting making system according to claim 3, characterized in that: The heating block is built with a thermistor, which is installed at the bottom end of the extrusion device for real-time temperature monitoring.

7. A method for making an intelligent sugar painting based on the intelligent sugar painting making system according to any one of claims 1 to 6, characterized in that: include: receiving a sugar painting pattern input by a user through a user interface of a drawing terminal; Acquiring image data or real-time coordinate data according to the sugar painting pattern; Running relevant algorithms based on the image data or real-time coordinate data to generate a motion trajectory and speed control instructions for the robotic arm; Controlling the robot arm to move according to the motion trajectory and the speed control instruction; During the movement of the robotic arm, the temperature of the extrusion device and the flow rate of the syrup are monitored in real time, and the syrup extrusion speed of the extrusion device is controlled according to the monitoring results to achieve accurate sugar painting patterns on the preset plane.

8. The method for making smart sugar painting according to claim 7, characterized in that: The generating of the motion trajectory and speed control instructions of the robot arm by running the relevant algorithm based on the image data or the real-time coordinate data specifically includes: In the autonomous drawing mode, the image data generated after the user completes the pattern drawing on the drawing terminal is received, the contour of the image data is extracted, the extracted contour points are mapped to the robot arm workspace, and the motion trajectory and speed control instructions of the robot arm are generated; In the follow-up control mode, the user's real-time drawing operation on the drawing terminal is received, the touch coordinate data is transmitted to the computing device in real time, the received coordinate data is mapped and converted, and the screen coordinates are converted into the robot arm workspace coordinates; the motion trajectory and speed control instructions of the robot arm are determined according to the converted coordinates.

9. The method for making smart sugar painting according to claim 7, characterized in that: The real-time monitoring of the temperature of the extrusion device and the flow rate of the syrup and the control of the syrup extrusion speed of the extrusion device according to the monitoring results specifically include: Monitor the temperature data of the extrusion device in real time through the temperature sensor; According to the temperature data, the temperature of the heating rod is controlled based on a PID algorithm; Controlling the extrusion device to rotate and extrude the syrup by driving the extrusion screw of the stepper motor, and monitoring the flow rate of the syrup in real time based on the rotation speed of the stepper motor; According to the real-time monitored temperature data and syrup flow data, the control module dynamically adjusts the speed of the stepper motor.

10. The method for making smart sugar painting according to claim 7, characterized in that: The drawing terminal is connected to the computer via WebSocket communication; The robot arm communication control module establishes a WebSocket communication connection with the computer through the robot arm network port.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the intelligent sugar painting making method as described in any one of claims 7 to 10 is implemented.

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