An intelligent candy picture making system, method and device

Abstract

The application relates to the field of robots, and provides an intelligent candy picture making system, method and equipment. The system comprises a drawing terminal, which is provided with an application program for enabling a user to draw a candy picture pattern and perform real-time follow-up control, and transmits drawn image data or real-time coordinate data to a computing device; the computing device is used for running a related algorithm based on the image data or the real-time coordinate data and controlling a mechanical arm; the mechanical arm is used for driving an extrusion device to move in a space position to draw the candy picture pattern; the extrusion device is installed at the end of the mechanical arm and comprises a heating block, an extrusion cavity and an extrusion screw, and is used for extruding a syrup to draw the candy picture pattern; an extrusion device control module is used for controlling the working state of the extrusion device; a mechanical arm communication control module is connected with the computing device and the mechanical arm and is used for communication and control of the mechanical arm; a stepping motor is connected with the extrusion device and provides power for operation of the extrusion device; and a connecting piece is used for connecting the mechanical arm and the extrusion device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to an intelligent sugar painting system, method and device. BACKGROUND

[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 skill with folk characteristics, has gradually been loved by more and more people. Sugar painting uses sugar as a material, and through the exquisite skills of artisans, various lifelike patterns are drawn on stone slabs or flat surfaces, which not only have ornamental value, but also are rich in cultural connotations. However, traditional sugar painting relies on manual drawing by artisans, and the production efficiency is relatively low, and the skill requirements for artisans are relatively high, which to some extent limits the popularization and development of sugar painting.

[0003] In order to overcome the limitations of traditional sugar painting production, some sugar painting robots have appeared on the market. These sugar painting robots have improved the efficiency and convenience of sugar painting production to some extent, allowing more people to have the opportunity to access this traditional skill. The sugar painting robots on the market currently mainly adopt the following technical solutions: one is to use a preset pattern, users can only choose from existing fixed patterns, and then the robot draws according to the preset program; two is to use a 3D printer, by processing the pattern data of the sugar painting, and then controlling the corresponding printing device to extrude the syrup for drawing; three is to use a visual system to read user images, and then recognize and draw corresponding sugar paintings.

[0004] However, the existing sugar painting robots still have some defects in the technical aspect. First, the sugar painting robot using a preset pattern lacks user autonomy, users cannot draw unique sugar painting patterns according to their own ideas, which limits the personalized demand. Secondly, the sugar painting robot using a 3D printer has insufficient freedom of the mechanical arm, which leads to poor performance in drawing some complex, delicate or flexible patterns, and cannot accurately reproduce some artistic lines and shapes. Finally, the method of using a visual system to read user images not only has high equipment cost and complex system construction, but also has strict requirements for image quality, environmental light and other external conditions, which is prone to inaccurate image recognition and other problems, thereby affecting the final effect of sugar painting drawing.

[0005] Therefore, how to ensure the production efficiency of sugar painting while improving the user's creative autonomy, realizing the more flexible and accurate drawing of the mechanical arm, and obtaining the user's drawing pattern information through a more convenient and stable way, has become an important issue to be solved in the industry. SUMMARY

[0006] The application provides an intelligent sugar picture making system, method and device, and solves the problem of poor personalization in the prior art, and realizes intelligent and personalized sugar picture making.

[0007] The application provides an intelligent sugar picture making system, which comprises the following components.

[0008] A drawing terminal is provided with an application program, which is used for enabling a user to draw a sugar picture pattern and perform real-time follow-up control, and transmitting the drawn image data or real-time coordinate data to a computing device;

[0009] The computing device is in communication connection with the drawing terminal, and is used for receiving the image data or real-time coordinate data, running a related algorithm based on the image data or real-time coordinate data and controlling a mechanical arm;

[0010] The mechanical arm is in communication connection with the computing device, and is used for driving an extrusion device to move in space to draw a sugar picture pattern after receiving a first control instruction of the computing device;

[0011] The extrusion device is installed at the end of the mechanical arm, and comprises a heating block, an extrusion cavity and an extrusion screw, and is used for extruding sugar syrup to draw a sugar picture pattern;

[0012] An extrusion device control module is connected with the computing device and the extrusion device, and is used for controlling the working state of the extrusion device according to a received second control instruction;

[0013] A mechanical arm communication control module is connected with the computing device and the mechanical arm, and is used for communication and control of the mechanical arm;

[0014] A stepping motor is connected with the extrusion device, and provides power for the operation of the extrusion device;

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

[0016] According to the intelligent sugar picture making system provided by the application, the computing device comprises an image data processing unit, a follow-up control unit and a temperature monitoring unit.

[0017] According to the intelligent sugar picture making system provided by the application, the heating block is internally provided with a heating rod, and the heating rod is fixed to the outer wall of the extrusion cavity; the upper end of the extrusion cavity is provided with a feeding port, and the lower end is provided with an extrusion nozzle with a preset length of diameter; the extrusion screw is connected with the stepping motor to realize the extrusion control with adjustable rotating speed.

[0018] According to the intelligent sugar picture making system provided by the application, the extrusion device control module is in communication connection with the stepping motor, the heating rod and the thermistor through a bus, adopts a proportional-integral-derivative (PID) algorithm to realize the accurate control of temperature, and adjusts the heating power through a pulse width modulation signal to realize the control of the predetermined extrusion amount.

[0019] According to the intelligent sugar picture making system provided by the application, the extrusion device control module also dynamically adjusts the rotating speed of the stepping motor according to the motion trail and the speed control instruction of the mechanical arm to realize the accurate control of the extrusion amount.

[0020] According to the intelligent sugar picture making system provided by the application, the heating block is internally provided with a thermistor, and the thermistor is installed at the bottom end of the extrusion device to realize the real-time monitoring of temperature.

[0021] The application further provides an intelligent sugar picture making method, which comprises the following steps:

[0022] The user interface of the drawing terminal receives the sugar picture pattern input by the user;

[0023] Image data or real-time coordinate data is acquired according to the sugar picture pattern;

[0024] A related algorithm is run based on the image data or real-time coordinate data to generate the motion trail and the speed control instruction of the mechanical arm;

[0025] The mechanical arm is controlled to move according to the motion trail and the speed control instruction;

[0026] During the movement of the mechanical arm, the temperature of the extrusion device and the flow of the sugar syrup are monitored in real time, and the sugar syrup extrusion speed of the extrusion device is controlled according to the monitoring result to realize the accurate drawing of the sugar picture pattern on the preset plane.

[0027] According to the intelligent sugar painting method provided by the present invention, the step of running relevant algorithms based on the image data or real-time coordinate data to generate the motion trajectory and speed control instructions of the robotic arm specifically includes: in autonomous drawing mode, receiving image data generated after the user completes the pattern drawing on the drawing terminal, extracting the contour of the image data, mapping the extracted contour points to the workspace of the robotic arm, and generating the motion trajectory and speed control instructions of the robotic arm; in follow-up control mode, receiving the user's real-time drawing operation on the drawing terminal, transmitting the touch coordinate data to the computing device in real time, mapping and converting the received coordinate data, converting the screen coordinates into the workspace coordinates of the robotic arm; and determining the motion trajectory and speed control instructions of the robotic arm based on the converted coordinates.

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

[0029] According to the intelligent sugar painting 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 through the robotic arm network port.

[0030] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the intelligent sugar painting method described above.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent sugar painting method as described above.

[0032] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the intelligent sugar painting method as described above.

[0033] The present invention provides an intelligent sugar painting production system, method and equipment, which has the following beneficial effects: Through the intelligent sugar painting production system, users can easily draw sugar painting patterns and perform real-time follow-up control. After receiving image data or real-time coordinate data, the system can accurately control the robotic arm to drive the extrusion device to move in space, thereby accurately drawing sugar painting patterns. At the same time, the working status of the extrusion device is also effectively controlled, realizing the intelligentization and automation of sugar painting production, and improving production efficiency and pattern quality. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

[0037] Figure 3 These are diagrams of key components of the extrusion device and robotic arm provided by this invention.

[0038] Figure 4 This is a flowchart illustrating the intelligent sugar painting production method provided by the present invention.

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

[0040] Figure label:

[0041] 1. Tablet; 2. Computer; 3. Robotic arm; 4. Extrusion device; 5. Extrusion device control module; 6. Robotic arm communication control module; 7. Stepper motor; 8. Connector; 9. Heating rod and thermistor; 10. Extrusion screw; 11. Robotic arm end effector; 12. Robotic arm network port. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] This invention aims to solve the following problems:

[0044] (1) To solve the problem of lack of user autonomy in pattern creation of existing sugar painting robots, and to provide a way for users to draw the sugar painting patterns they want, so as to meet the needs of personalized creation.

[0045] (2) Overcome the shortcomings of the existing sugar painting robots that utilize robotic arms, which have insufficient degrees of freedom, and enable the robotic arms to draw sugar painting patterns of varying complexity more flexibly and accurately, thereby improving the quality of the drawings.

[0046] (3) Avoid the problems of high cost, complex construction and susceptibility to external interference in the existing method of using vision system 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) To fill the gap in the market for the control of follow-up control robotic arms for sugar painting, and to increase the interactivity of sugar painting robots.

[0048] The following is combined with Figures 1-5 The embodiments of the present invention are described in detail.

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

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

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

[0052] The computing device 120 is communicatively connected to the drawing terminal 110 and is used to receive image data or real-time coordinate data, run relevant algorithms based on the image data or real-time coordinate data, and control the robotic arm.

[0053] The robotic arm 130 is communicatively connected to the computing device 120 and is used to drive the extrusion device 140 to move in spatial position to draw sugar painting patterns after receiving the first control command from the computing device 120.

[0054] The extrusion device 140, installed at the end of the robotic arm 130, includes 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 command.

[0056] The robotic arm communication control module 160 is connected to the computing device 120 and the robotic arm 130, and is used for communication and control of the robotic arm 130.

[0057] Stepper motor 170 is connected to extrusion device 140 and provides power for the operation of extrusion device 140;

[0058] Connector 180 is used to connect robotic arm 130 and extrusion device 140.

[0059] Specifically, such as Figure 2 The diagram shows a schematic of an intelligent sugar painting robot system according to an embodiment of the present invention. The intelligent sugar painting robot system is used for automated and adaptive sugar painting creation, and includes: a tablet computer 1 equipped with an app, allowing users to draw sugar painting patterns and perform real-time adaptive control on the tablet; a computer 2, which runs relevant algorithms and processes data; a robotic arm 3, which, upon receiving control commands, drives an extrusion device to move precisely in space to draw patterns; an extrusion device 4, used to extrude syrup for pattern drawing; an extrusion device control module 5, which controls the extrusion device; and a robotic arm communication control module 6, responsible for the communication and control of the robotic arm.

[0060] According to the present invention, an intelligent sugar painting production system includes a computing device comprising: an image data processing unit for preprocessing received image data in autonomous drawing mode, extracting the outline point information of the pattern and mapping it to the workspace of a robotic arm; a follow-up control unit for receiving coordinate data in real time and performing coordinate system transformation in follow-up control mode, generating control commands based on the transformation results and sending them to the robotic arm communication control module; and a temperature monitoring unit for monitoring the temperature data of the heating block in real time and controlling the syrup temperature based on the temperature data.

[0061] Specifically, computer 2 is used to receive image data or real-time coordinate data from tablet computer 1 equipped with APP. In autonomous drawing mode, it processes the image through OpenCV library, extracts contour point information and maps it to the workspace of the robotic arm. In follow-up control mode, it receives touch coordinate data in real time and performs coordinate system transformation. Computer 2 is also used to control the movement of robotic arm 3 through robotic arm communication control module 6, and to control the operation of extrusion device 4 through extrusion device control module 5. It is also used to monitor the temperature data of heating rod and thermistor 9 in real time to ensure that the syrup is kept at a suitable temperature.

[0062] It should be noted that, in addition to tablets, image processing all-in-one devices can also be used to replace tablets for drawing patterns. For example, combining devices with image processing capabilities, such as Raspberry Pi, can replace the current method of computer image processing.

[0063] For image reading and data processing, in addition to using OpenCV, other open-source image recognition libraries can also be used, such as Scikit-Image, which has better deep learning models. The algorithm can be adjusted and optimized according to its characteristics and advantages to achieve better image extraction and processing results, so as to adapt to different use cases and user needs.

[0064] In terms of robotic arm control, in addition to the MOVEIT-based algorithm, traditional robot kinematics inverse kinematics algorithms can also be used in combination with intelligent optimization algorithms. By planning and optimizing the robotic arm's motion path, similar or even better flexible drawing effects can be achieved. Furthermore, different algorithm combinations can be selected and switched according to the actual application.

[0065] According to the present invention, an intelligent sugar painting production system is provided, wherein a heating block has a built-in heating rod, which is fixed to the outer wall of the extrusion chamber; the upper end of the extrusion chamber is provided with a feed port, and the lower end is provided with an extrusion nozzle with a diameter of a preset length; the extrusion screw is connected to a stepper motor to realize adjustable speed extrusion control.

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

[0067] The extrusion device 4 is mechanically mounted on the end of the robotic arm 11 and fixedly connected by a connector 8. This device consists of a heating block, an extrusion chamber, and an extrusion screw 10. The heating block contains a heating rod and a thermistor 9, which are fixed to the outer wall of the extrusion chamber by hexagonal socket screws. The extrusion chamber has a feed inlet at the upper end and an extrusion nozzle with a diameter of 0.4 mm at the lower end. The extrusion screw 10 is connected to a stepper motor 7 via a coupling, enabling adjustable speed extrusion control.

[0068] According to the present invention, an intelligent sugar painting system is provided, wherein the heating block has a built-in thermistor, which is installed at the bottom 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 extrusion device operates as follows: when the temperature reaches 115°C, the stepper motor 7 starts to drive the extrusion screw 10 to rotate at a set speed, extruding the molten syrup from the extrusion nozzle. At the same time, the robotic arm 3 drives the entire extrusion device 4 to move along a planned trajectory or real-time coordinates to complete the sugar painting.

[0070] According to the intelligent sugar painting production system provided by the present invention, the extrusion device control module is connected to the stepper motor, heating rod and thermistor via a bus. It uses PID algorithm (Proportional-Integral-Derivative Algorithm) to achieve precise temperature control, adjusts the heating power through pulse width modulation signal, and dynamically adjusts the speed of stepper motor according to the movement trajectory and speed control command of the robotic arm to achieve precise control of extrusion amount.

[0071] Specifically, the extrusion unit control module 5 establishes a communication connection with the stepper motor 7, the heating rod, and the thermistor 9 via an RS485 bus. This module employs a PID algorithm to achieve precise temperature control and adjusts the heating power using a pulse width modulation (PWM) signal to stabilize the temperature at the set value. Simultaneously, the module dynamically adjusts the speed of the stepper motor 7 based on trajectory characteristics or real-time movement speed to achieve precise control of the extrusion volume. When an abnormal temperature is detected or a blockage is detected, the control module immediately stops the stepper motor and issues an alarm.

[0072] The robotic arm communication control module 6 establishes a WebSocket communication connection with the computer 2 via the robotic arm's network port 12. In autonomous drawing mode, it receives complete motion control commands; in servo control mode, it receives real-time position commands. This module converts the received Cartesian space trajectory points into joint space motion commands, controlling the robotic arm 3 to execute corresponding movements. During movement, the module monitors the robotic arm's position and speed information in real time to ensure motion accuracy and stability. When an abnormality is detected, an emergency stop command is immediately executed to ensure system safety.

[0073] The intelligent sugar painting production method provided by the present invention is described below. The intelligent sugar painting production method described below can be referred to in correspondence with the intelligent sugar painting production system described above.

[0074] Figure 4 This is one of the flowcharts illustrating the intelligent sugar painting method provided by this invention, such as... Figure 4 As shown, the method includes the following steps:

[0075] S110. Receive the sugar painting pattern input by the user through the user interface of the drawing terminal.

[0076] S120. Obtain image data or real-time coordinate data based on the sugar painting pattern.

[0077] S130: Based on image data or real-time coordinate data, run relevant algorithms to generate the motion trajectory and speed control commands of the robotic arm.

[0078] S140. Control the robotic arm to move according to the motion trajectory and speed control commands.

[0079] S150. 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. Based on the monitoring results, the syrup extrusion speed of the extrusion device is controlled to achieve accurate sugar painting patterns on the preset plane.

[0080] According to the present invention, an intelligent sugar painting method is provided, which generates the motion trajectory and speed control instructions of a robotic arm based on image data or real-time coordinate data and runs relevant algorithms. Specifically, it includes: in autonomous drawing mode, receiving image data generated after the user completes the drawing on the drawing terminal, extracting the contour of the image data, mapping the extracted contour points to the workspace of the robotic arm, and generating the motion trajectory and speed control instructions of the robotic arm; in follow-up control mode, receiving the user's real-time drawing operation on the drawing terminal, transmitting the touch coordinate data to the computing device in real time, mapping and converting the received coordinate data, converting the screen coordinates into the workspace coordinates of the robotic arm; and determining the motion trajectory and speed control instructions of the robotic arm based on the converted coordinates.

[0081] Specifically, in the autonomous drawing mode, after the user completes the drawing on tablet 1, the APP transmits the image data to computer 2. Computer 2 first preprocesses the image, including grayscale conversion, binarization, and contour extraction, and then maps the extracted contour points to the robotic arm's workspace. The computer controls the robotic arm 3 to move to the starting position through the robotic arm communication control module 6, and simultaneously starts the extrusion device 4 through the extrusion device control module 5. During the drawing process, the system achieves real-time monitoring and dynamic adjustment through multi-sensor fusion to ensure the accuracy and stability of sugar painting production.

[0082] In follow-up control mode, when a user performs real-time drawing operations on tablet 1, the APP transmits touch coordinate data to computer 2 in real time. The computer maps and transforms the received coordinate data, converting the screen coordinates 1920×1080 into the robotic arm's workspace coordinates: X: -0.3~-0.18m, Y: 0.1~0.3m, Z: 0.174m. The transformed coordinates are sent to robotic arm 3 via robotic arm communication control module 6, enabling real-time follow-up movement. When drawing is detected, extrusion device control module 5 controls stepper motor 7 to start, achieving real-time syrup extrusion; when pen lifting is detected, the system automatically performs a retraction operation to prevent syrup 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 immediately executes protection procedures to ensure equipment and product safety.

[0083] According to the present invention, a method for making intelligent sugar paintings involves real-time monitoring of the temperature and syrup flow rate of an extrusion device, and controlling the syrup extrusion speed of the extrusion device based on the monitoring results. Specifically, the method includes: real-time monitoring of the temperature data of the extrusion device using 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 syrup via an extrusion screw driven by a stepper motor, and real-time monitoring of the syrup flow rate based on the stepper motor's rotation speed; and dynamically adjusting the stepper motor's rotation speed based on the real-time monitored temperature data and syrup flow rate data.

[0084] Specifically, sugar painting requires a high degree of precision and artistry. To achieve precise painting, the flow of syrup can be controlled by adjusting the speed of a stepper motor, which can operate at both constant and variable speeds.

[0085] By using variable speed control and real-time monitoring of the stepper motor's rotational speed, the system calculates the real-time syrup flow rate based on the speed data. Since temperature variations affect the syrup's viscosity and flowability, real-time temperature monitoring is also necessary. The system receives and processes this real-time data, and uses this data to dynamically adjust the stepper motor's rotational speed to control the syrup flow rate. When the lines are thinner, the system appropriately reduces the motor speed to decrease the flow rate; conversely, when the lines are thicker, it increases the speed to increase the flow rate.

[0086] To reduce computational costs and eliminate complex dynamic calculations, thereby reducing computational resource consumption, this method introduces the concept of uniform speed control in addition to variable speed control. Once a suitable extrusion rate is determined, the system switches to uniform speed control mode. In this mode, the stepper motor speed remains stable, resulting in uniform line thickness. Drawing can be achieved by controlling the extrusion duration. The extrusion volume is determined based on the area of ​​the sugar painting pattern drawn by the user, and the extrusion duration of the syrup is calculated based on the line thickness. The system then precisely controls the syrup extrusion rate based on this duration and the constant extrusion volume. This eliminates the need for continuous monitoring and calculation of the relationship between rotational speed and syrup flow rate, significantly reducing computational costs.

[0087] Uniform speed control not only simplifies the system's computational requirements but also improves the stability and predictability of sugar painting production. Because the extrusion rate is constant, the desired line thickness can be achieved more easily by controlling the extrusion time, further enhancing the precision and efficiency of sugar painting production. Furthermore, uniform speed control reduces wear on mechanical components, as the stepper motor no longer needs frequent acceleration and deceleration. This not only extends the equipment's lifespan but also reduces maintenance costs.

[0088] According to the intelligent sugar painting 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 through the robotic arm's network port.

[0089] Specifically, in autonomous drawing mode, the system monitors a designated path and waits for new image files. Once the tablet 1 with the app installed completes the drawing and uploads the image, computer 2 uses the OpenCV library to process the image: first, the image is converted to grayscale, rotated 90 degrees clockwise, then thresholded to generate a binary image, and finally, the image contour points are extracted. These contour points are then mapped to the actual workspace coordinate system of the robotic arm 3.

[0090] Computer 2 processes the extracted contour points through the robotic arm communication control module 6: First, it calculates the total length and complexity of each contour. For longer or more complex contours, the system will process them in segments of 20 points each, with 5 points overlapping between adjacent segments, to generate a smooth motion path for each segment, ensuring the continuity of motion of the robotic arm 3 and the connector 8. The speed and acceleration parameters are adjusted to 80% and 60% of their original values, respectively, to ensure motion stability.

[0091] Computer 2 creates two parallel control threads: a robotic arm control thread and an extrusion device control thread.

[0092] In the robotic arm control thread, the robotic arm 3 is controlled to move through the robotic arm communication control module 6. The end effector 11 of the robotic arm drives the extrusion device 4 to move along the planned path through the connector 8. The motion execution is monitored in real time to ensure positional accuracy.

[0093] In the extrusion device control thread, the extrusion system parameters are initialized through the extrusion device 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 amount coefficient is calculated to be 45 based on the trajectory length, the minimum 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 several intelligent compensation mechanisms:

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

[0096] Dynamic extrusion control: Adaptively adjusts the extrusion amount based on trajectory characteristics;

[0097] Real-time temperature monitoring: The temperature is continuously adjusted via heating rods and thermistor 9. Motion compensation: The motion of robotic arm 3 is adjusted in real time to ensure accuracy.

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

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

[0100] 2) Path planning anomaly: When the planning quality is less than 70%, the segmented planning strategy is activated;

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

[0102] Specifically, in servo control mode, upon system startup, computer 2 first initializes the ROS2 (robot development platform 2) environment and creates control nodes. Simultaneously, it configures the motion parameters of the robotic arm 3 via the robotic arm communication control module 6, setting the maximum speed and acceleration to 30% to ensure smooth movement. Computer 2 establishes a connection with the extrusion device 4 through the extrusion device control module 5, completing 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 operating temperatures of the heating rod and thermistor 9. Simultaneously, computer 2 establishes a WebSocket server via the robotic arm network port 12, awaiting connection from the tablet computer 1 with the APP installed.

[0103] Upon receiving touch data from tablet 1 equipped with the app, computer 2 first performs a coordinate system transformation, mapping the screen coordinates to the workspace coordinate system of robotic arm 3. During the user's drawing process, the system continuously collects the transformed coordinate points to form a trajectory sequence. When the drawing is detected to be complete, computer 2 processes the collected trajectory points, calculates the complete Cartesian path through robotic arm communication control module 6, and performs trajectory smoothing optimization to ensure the reachability of the motion path of robotic arm 3 and connecting component 8.

[0104] Computer 2 analyzes the planned trajectory, calculates the motion parameters of robotic arm 3 and the required syrup extrusion volume of extrusion device 4. To ensure synchronization, the system controls the movement of robotic arm 3 through robotic arm communication control module 6, and simultaneously controls stepper motor 7 to drive extrusion screw 10 for precise extrusion through extrusion device control module 5. During this process, the end effector 11 of robotic arm drives extrusion device 4 to move stably through connector 8, while heating rod and thermistor 9 continuously maintain the syrup temperature within the optimal operating range.

[0105] The system's anomaly handling mechanism in servo control mode includes:

[0106] 1) Communication anomaly handling: Monitor 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 robotic arm's network port 12;

[0107] 2) Handling motion anomalies: Monitor the motion status of robotic arm 3 and connector 8 to ensure the positional accuracy of robotic arm end effector 11.

[0108] 3) Hardware anomaly handling: Monitor the working status of the extrusion device control module 5 and the robotic arm communication control module 6, as well as the temperature control anomalies 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 existing sugar painting robots that use preset patterns, this invention allows users to draw patterns independently through a tablet APP, which greatly enhances 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, no longer limited to a few fixed preset patterns, which better meets the diverse needs of different users. It is especially suitable for scenarios such as parent-child interaction and folk experience activities, and can fully stimulate people's interest in sugar painting and their enthusiasm for the inheritance of traditional culture.

[0111] (2) In view of the problem of insufficient degrees of freedom of existing robotic arms, the control robotic arm algorithm of the present invention, combined with MOVEIT, can make fuller use of the performance of the robotic arm, accurately calculate the motion path of each joint, so that the robotic arm can move flexibly in space and realize high-quality drawing of complex patterns and delicate lines, such as drawing human figures with rich details and exquisite flower patterns, which greatly improves the artistic expression and ornamental value of sugar painting, and also expands the range of patterns that sugar painting robots can draw.

[0112] (3) Compared with the method of reading user images using a vision system, the method of drawing and reading images using a tablet APP in this invention not only reduces equipment costs and system construction complexity, but is also not affected by external ambient light, image quality fluctuations and other factors. It can stably and accurately obtain the pattern information drawn by the user and control the robotic arm to draw, which improves the reliability and efficiency of the entire sugar painting production process and reduces drawing errors caused by inaccurate image recognition.

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

[0114] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... 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 via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute an intelligent sugar painting production 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 based on 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; and 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 to achieve accurate drawing of the sugar painting pattern on a preset plane.

[0115] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0116] On the other hand, the present invention also provides a computer program product, which includes a computer program that 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 methods. The method 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 based on 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; and 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 realize the drawing of an accurate sugar painting pattern on a preset plane.

[0117] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the intelligent sugar painting production method provided by the above methods. The method 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 based on 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; and 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 an accurate sugar painting pattern on a preset plane.

[0118] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0119] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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: The drawing terminal is equipped with an application program that allows users to draw sugar painting patterns and perform real-time motion control, and transmits real-time coordinate data to a computing device. A computing device, communicatively connected to the drawing terminal, is used to receive real-time coordinate data of the drawn sugar painting pattern, run relevant algorithms based on the real-time coordinate data, and control the robotic arm. The computing device includes: an image data processing unit, used to preprocess the received drawing pattern in autonomous drawing mode, extract the outline point information of the pattern and map it to the workspace of the robotic arm; and a follow-up control unit, used to receive real-time coordinate data and perform coordinate system transformation in follow-up control mode, and generate control commands based on the transformation results and send them to the robotic arm communication control module. The robotic arm is communicatively connected to the computing device and is used to drive the extrusion device to move in spatial position to draw sugar painting patterns after receiving the first control command from the computing device. An extrusion device, installed at the end of the robotic arm, includes a heating block, an extrusion chamber, and an extrusion screw, used to extrude syrup to draw sugar painting patterns. The extrusion screw is driven by a stepper motor to rotate and extrude the syrup. A stepper motor, connected to the extrusion device, is used to drive the extrusion screw to rotate; The extrusion device control module is connected to the computing device and the extrusion device. It dynamically adjusts the speed of the stepper motor according to the trajectory characteristics and real-time movement speed of the robotic arm, and monitors the syrup flow rate in real time based on the speed of the stepper motor. It also dynamically adjusts the speed of the stepper motor according to the real-time monitored syrup temperature data and syrup flow rate data. The robotic arm communication and control module is connected to the computing device and the robotic arm. It is used for communication and control of the robotic arm. In the autonomous drawing mode, it receives complete motion control commands. In the follow-up control mode, it receives real-time position commands. It converts the received Cartesian space trajectory points into joint space motion commands and controls the robotic arm to perform corresponding movements. A connector for connecting the robotic arm to the extrusion device.

2. The intelligent sugar painting system according to claim 1, characterized in that, The computing device further includes a temperature monitoring unit for real-time monitoring of the temperature data of the heating block and controlling the syrup temperature based on the temperature data.

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

4. The intelligent sugar painting system according to claim 1, characterized in that, The extrusion device control module communicates with the stepper motor, heating rod, and thermistor via a bus. It uses a proportional-integral-derivative (PID) algorithm to achieve precise temperature control and adjusts the heating power through a pulse width modulation (PWM) signal to control the predetermined extrusion amount.

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

6. A method for making intelligent sugar paintings based on the intelligent sugar painting system according to any one of claims 1-5, characterized in that, include: The user interface of the drawing terminal receives the sugar painting pattern input by the user; Obtain image data or real-time coordinate data based on the sugar painting pattern; Based on the image data or real-time coordinate data, relevant algorithms are run to generate the motion trajectory and speed control commands of the robotic arm; The robotic arm is controlled to move according to the motion trajectory and the speed control command; 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. Based on the monitoring results, the syrup extrusion speed of the extrusion device is controlled to achieve accurate sugar painting patterns on the preset plane.

7. The intelligent sugar painting method according to claim 6, characterized in that, The step of running relevant algorithms based on the image data or real-time coordinate data to generate the motion trajectory and speed control commands for the robotic arm specifically includes: In autonomous drawing mode, the system receives image data generated after the user completes the pattern drawing on the drawing terminal, extracts the contours of the image data, maps the extracted contour points to the workspace of the robotic arm, and generates the motion trajectory and speed control instructions of the robotic arm. In follow-up control mode, the system receives real-time drawing operations from the user on the drawing terminal, transmits the touch coordinate data to the computing device in real time, maps and transforms the received coordinate data, converts the screen coordinates into the workspace coordinates of the robotic arm, and determines the motion trajectory and speed control commands of the robotic arm based on the transformed coordinates.

8. The intelligent sugar painting production method according to claim 6, characterized in that, The real-time monitoring of the temperature and syrup flow rate of the extrusion device, and the control of the syrup extrusion speed based on the monitoring results, specifically includes: Temperature data of the extrusion unit is monitored in real time using temperature sensors; Based on the temperature data, the temperature of the heating rod is controlled using a PID algorithm. The extrusion device is controlled to rotate the extrusion screw under the drive of a stepper motor to extrude syrup, and the flow rate of the syrup is monitored in real time based on the rotation speed of the stepper motor; Based on real-time monitored temperature and syrup flow data, the control module dynamically adjusts the stepper motor speed.

9. The intelligent sugar painting production method according to claim 6, characterized in that, The drawing terminal and the computing device are connected via WebSocket communication. The robotic arm communication control module establishes a WebSocket communication connection with the computing device through the robotic arm's network port.

10. 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, it implements the intelligent sugar painting method as described in any one of claims 6 to 9.

Images