CN107116910A - Wall painting system and method - Google Patents

Wall painting system and method Download PDF

Info

Publication number
CN107116910A
CN107116910A CN201710486619.1A CN201710486619A CN107116910A CN 107116910 A CN107116910 A CN 107116910A CN 201710486619 A CN201710486619 A CN 201710486619A CN 107116910 A CN107116910 A CN 107116910A
Authority
CN
China
Prior art keywords
image
printing
inkjet
information
wall
Prior art date
Application number
CN201710486619.1A
Other languages
Chinese (zh)
Other versions
CN107116910B (en
Inventor
李福文
Original Assignee
深圳大普微电子科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳大普微电子科技有限公司 filed Critical 深圳大普微电子科技有限公司
Priority to CN201710486619.1A priority Critical patent/CN107116910B/en
Publication of CN107116910A publication Critical patent/CN107116910A/en
Application granted granted Critical
Publication of CN107116910B publication Critical patent/CN107116910B/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41JTYPEWRITERS; SELECTIVE PRINTING MECHANISMS, e.g. INK-JET PRINTERS, THERMAL PRINTERS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/005Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
    • B41J2/01Ink jet
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41JTYPEWRITERS; SELECTIVE PRINTING MECHANISMS, e.g. INK-JET PRINTERS, THERMAL PRINTERS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00Typewriters or selective printing or marking mechanisms, e.g. ink-jet printers, thermal printers characterised by the purpose for which they are constructed
    • B41J3/407Typewriters or selective printing or marking mechanisms, e.g. ink-jet printers, thermal printers characterised by the purpose for which they are constructed for marking on special material

Abstract

The invention discloses a wall painting system. An unmanned aerial vehicle with a painting device and a positioning system is used in the wall painting system, and matched with a projector, and the wall painting system comprises a photosensitive assembly used for collecting projected images, an image interception unit used for intercepting, analyzing and processing the projected images to acquire the image information, and an inkjet control unit used for controlling the painting device to apply coatings to target positions according to the image information. In the wall painting system disclosed by the invention, the unmanned aerial vehicle is matched with the projector, and the projected images and the image information are acquired directly, without a control center additionally arranged for transmitting the required painting images and coordinates thereof to the unmanned aerial vehicle after processing; the quick inkjet and drawing of wall advertisement are achieved, and the wall painting system has the advantages low manual input and small painted image error. At the same time, the invention also discloses a wall painting method which is simple and flexible in operation, and low in construction difficulty.

Description

墙体卩贫绘系统及方法 Jie poor painted wall system and method

技术领域 FIELD

[0001]本发明涉及喷涂装置和喷涂方法,尤其涉及一种墙体喷绘系统及方法。 [0001] The present invention relates to apparatus and a spray coating method, more particularly to a system and method for printing wall.

背景技术 Background technique

[0002]墙体广告的实现形式目前主要有显示和喷绘两种方式。 Realization [0002] wall advertising is currently the main display and printing in two ways. 其中,采用挂置于墙体上的电t屏幕显示广告具有广告内容丰富、更换方便的优点,但也存在着电子屏幕购置、维护成本商的缺点,高昂的购置和维护成本大大影响了该墙体广告形式的应用;而墙体广告采用喷绘形式则具有喷绘简单、价格低廉的特点,但目前喷绘形式的墙体广告主要采用人工在墙体喷绘实现,若制作巨幅墙体喷绘广告或者在高层建筑进行广告喷绘,则喷绘施工面临着喷绘图案施工难度大,工人劳动强度大的问题,这使得大型墙体广告目前难以通过喷绘实现,而这一问题也大大限制了墙体喷绘广告的发展。 Among them, the use of electricity placed on the hanging wall t-screen display ads with rich ad content, easy to replace advantages, but there are also electronic screen acquisition, maintenance cost's shortcomings, the high acquisition and maintenance costs greatly affect the wall advertising in the form of body applications; and the form of the wall advertising the use of inkjet printing with a simple, inexpensive features, but the main wall advertising printing forms of artificial realized in the wall inkjet, if making huge wall or inkjet advertising advertising inkjet high-rise buildings, construction facing the inkjet printing pattern construction difficult, high labor intensity of the problem, which makes the large wall advertising is difficult to achieve by printing, and this issue has greatly limited the development of inkjet advertising wall . ' '

[0003]鉴于此,有必要提供一种可解决上述缺陷的操作简单、人工投入小、施工难度小且工人劳动强度小的墙体喷绘系统及方法。 [0003] In view of this, there is a need for a simple solve the above drawbacks of operation, artificial small investment, and less construction difficulty small labor intensity wall inkjet systems and methods.

发明内容 SUMMARY

[0004]本发明所要解决的一个技术问题是提供一种操作简单、人工投入小、施工难度小且工人劳动强度小的墙体喷绘系统。 [0004] A technical problem to be solved by the present invention is to provide a simple, artificial small investment, and less construction difficulty small labor intensity wall inkjet system.

[0005] 本发明所要解决的另一个技术问题是提供一种操作简单、施工难度小且人工投入小的墙体喷绘方法。 [0005] Another technical problem to be solved by the present invention is to provide a simple, small and artificial construction difficulty into smaller wall inkjet method.

[0006] 为解决上述技术问题,本发明采用如下所述的技术方案:一种墙体喷绘系统,使用于带有喷绘装置和定位系统的无人机,该墙体喷绘系统包括: [0006] In order to solve the above technical problems, according to the present invention provides the following technical solutions: A wall inkjet system using a printing apparatus and to a UAV with the positioning system, the inkjet wall system comprising:

[0007] 感光组件:用于根据投影机的投射图像的光源获取图像像素数组以采集投射图像; [0007] The photosensitive member: a pixel array for acquiring an image light source projecting an image of a projector to project an image capture;

[0008] 图像截取单元:用于对所述投射图像进行截取分析处理,获取图像信息; [0008] The image extraction unit: means for intercepting the projection image analysis processing, acquiring image information;

[0009] 喷墨控制单元:用于根据所述图像信息并结合定位系统获取的无人机实时位置, 控制喷绘装置将图像喷绘于目标位置处。 [0009] The ink jet control means: means for combination with the image information according to the real-time position location system of UAV acquired, the control means of inkjet printing in an image at the target location.

[0010] 其进一步技术方案为:所述投射图像包括喷绘图像及其坐标图像,所述图像信息包括图像像素信息及图像坐标信息;所述图像截取单元用于根据所述喷绘图像获取所述图像像素信息,并对所述坐标图像进行图文转换以获取所述图像坐标信息;所述喷墨控制单元用于根据所述图像像素信息及图像坐标信息,结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 [0010] further technical scheme: the projected image and the image coordinates of the image comprises printing said image information includes pixel information and the coordinate information of the image; the image extraction unit configured to acquire the image according to the printing image pixel information, and the coordinate converting graphic image to obtain the coordinate information of the image; control unit for the inkjet image according to the pixel information of the image and the coordinate information, in conjunction with the positioning system to obtain real-time position of the UAV the control means of inkjet printing in an image at the target location.

[0011] 其进一步技术方案为:所述喷墨控制单元包括: [0011] further technical scheme: the inkjet control means comprises:

[0012] 定位单元:用于根据所述图像坐标信息确定喷绘图像的目标位置及无人机的喷绘位置,并根据无人机的喷绘位置结合定位系统获得的无人机的实时位置调整无人机的位置; [0012] The positioning means: means for determining from the image information of the coordinate position of the target image and the drone inkjet printing position, combined with real-time position location system in accordance with the obtained inkjet UAV unmanned UAV position adjustment machine location;

[0013] 色彩处理单元:用于将所述图像像素信息从RGB或YUV转换成CMYK以获取色彩信息; [0013] Color processing unit: means for converting the image information from the RGB or YUV pixels into color information for CMYK;

[OOM]喷墨单元:用于根据所述色彩信息控制喷绘装置喷墨,将喷绘图像喷绘于目标位置。 [The OOM] inkjet unit: means for controlling the ink jet printing apparatus according to the color information, the inkjet printing to the target image position.

[0015]其进一步技术方案为:所述感光组件的接收端及所述喷绘装置的喷射端分别位于无人机的两端。 [0015] further technical scheme: a receiving end of said photosensitive member and said printing means at each end of the injection end of the UAV. 其中,感光组件的接收方向与喷绘装置的喷射方向相同。 Wherein, the same ejection direction and the reception direction of the photosensitive member of the printing apparatus.

[0016]其进一步技术方案为:所述感光组件为CMOS图像传感器或CCD图像传感器。 [0016] further technical scheme: said photosensitive member is a CMOS image sensor or a CCD image sensor.

[0017]为解决上述技术问题,本发明还提供了一种墙体喷绘方法,其包括以下步骤: [0017] In order to solve the above technical problem, the present invention also provides a method for printing wall, comprising the steps of:

[0018]步骤S11,根据投影机的投射图像的光源获取图像像素数组以采集投射图像| [0018] step S11, the acquired pixel array light source projecting an image of a projector to project an image acquisition |

[0019]步骤S12,对所述投射图像进行截取分析处理,获取图像信息; ' [0019] In step S12, the image projected interception analysis, acquiring image information; '

[0020]步骤S13,根据所述图像信息并结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 [0020] step S13, the image information according to the real-time position location and binding UAV system acquisition, the control means of inkjet printing in an image at the target location. ^ ^

[0021]其进一步技术方案为:所述投射图像包括喷绘图像及其坐标图像,所述步骤S12具体为:根据所述喷绘图像获取图像像素信息,并对所述坐标图像进行图文转换以获取图像坐标信息; [0021] further aspect of: projecting an image comprises printing the image coordinates of the image and the step S12: obtaining pixel information according to the printing image, and the coordinate conversion to obtain image graphic The image coordinate information;

[0022]所述步骤S13具体为:根据所述图像像素信息及图像坐标信息并结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 [0022] The step S13 specifically includes: information based on the image information and the image pixel coordinates in conjunction with real-time position location system of UAV acquired, the control means of inkjet printing in an image at the target location.

[0023]其进一步技术方案为:所述步骤S13包括以下步骤: [0023] The technical scheme further comprises: the step S13 comprising the steps of:

[0024]步骤Sl:31,根据所述图像坐标信息确定喷绘图像的目标位置及无人机的喷绘位置,根据无人机的喷绘位置结合定位系统获得的无人机的实时位置调整无人机的位置,并将所述图像像素信息从RGB或YUV转换成CMYK以获取色彩信息; [0024] Step Sl: 31, determining the position of the target image and the drone inkjet printing image based on the coordinate position information obtained in conjunction with real-time position location system according UAV UAV adjusting the printing position of the UAV position, and the image pixel information is converted from CMYK to RGB or YUV to acquire color information;

[0025]步骤S132,根据所述色彩信息控制喷绘装置喷墨,将喷绘图像喷绘于目标位置。 [0025] step S132, the control information according to the color ink jet printing apparatus, the inkjet printing the image to the target position. [0026]本发明的有益技术效果在于:本发明提供的墙体喷绘系统,使用于带有喷绘装置和定位系统的无人机,所述墙体喷绘系统设有感光组件、图像截取单元及喷墨控制单元,配合投影机,可直接通过感光组件根据投影机的投射图像的光源获取图像像素数组,从而采集投射图像,并通过图像截取单元实时对投射图像进行截取分析处理,获得图像信息,从而利用无人机的定位系统进行定位喷墨绘制,以实现快速喷墨绘制墙体广告,该墙体喷绘系统的人工投入小,而且喷绘图像逼真、误差小。 [0026] Advantageous effects of the present invention is that: the wall system of the present invention provides printing, printing with the use of unmanned aerial vehicles apparatus and positioning system, the printing system is provided with wall photosensitive member, and image extraction unit spray the ink control unit, with the projector, can be obtained directly through the photosensitive member according to the light source projecting an image of a projector image pixel array to capture the projection image and the projection image taken analysis in real time by the image extraction unit, image information is obtained, so that UAV using a positioning system for positioning the ink jet drawing, in order to achieve fast inkjet drawing wall ads, the small artificial wall into the printing system, and printing the image fidelity, small error. 同时,本发明所提供的墙体喷绘方法操作简单,施工难度小,大大降低了施工人员的劳动强度。 Meanwhile, the printing process of the present invention, the wall is provided simple, less construction difficulty, greatly reducing the labor intensity of construction workers.

附图说明 BRIEF DESCRIPTION

[0027]图1是本发明墙体喷绘系统的原理框图。 [0027] FIG. 1 is a schematic block diagram of a printing system of the invention the wall.

[0028]图2是图1所示墙体喷绘系统的喷墨控制单元的原理框图。 [0028] FIG. 2 is a schematic block diagram of an ink jet printing system of the control unit of the wall shown in Fig.

[0029] 图3是本发明墙体喷绘方法的流程图。 [0029] FIG. 3 is a flowchart of a method of the present invention inkjet wall.

[0030] 图4是本发明墙体喷绘方法一具体实施例的流程图。 [0030] FIG. 4 is a printing method of the present invention is a wall flow diagram of a specific embodiment.

具体实施方式 Detailed ways

[0031] 为使本领域的普通技术人员更加清楚地理解本发明的目的、技术方案和优点,以下结合附图和实施例对本发明做进一步的阐述,附图中类似的组件标号代表类似的组件。 [0031] to enable one of ordinary skill in the art to more clearly understand the objectives, technical solutions, and advantages of the present invention, the following embodiments in conjunction with the accompanying drawings and further elaboration of the invention, the accompanying drawings in which like numerals represent like components assembly . 显然,以下将描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。 Obviously, the embodiments described below are merely part of embodiments of the present invention rather than all embodiments. 基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。 Based on the embodiments of the present invention, all other embodiments of ordinary skill in the art without any creative effort shall fall within the scope of the present invention.

[0032]参照图1,本发明提供的墙体喷绘系统10,使用于带有喷绘装置和定位系统的无人机,并与投影机相互配合,其中,所述墙体喷绘系统10包括感光组件11、图像截取单元12及喷墨控制单元13。 [0032] Referring to FIG 1, the wall system of the present invention provides a printing 10, for use in printing apparatus with the UAV and positioning systems, and in concert with the projector, wherein the wall system 10 includes a photosensitive member inkjet 11, the inkjet image extraction unit 12 and the control unit 13.

[0033]所述感光组件11用于根据投影机的投射图像的光源获取图像像素数组以采集投射图像;所述图像截取单元12用于对所述投射图像进行截取分析处理,获取图像信息;所述喷墨控制单元I3用于根据所述图像信息并结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 [0033] The photosensitive member 11 is configured to obtain an array of image pixels according to the light source projecting an image of a projector to project an image acquisition; the image extraction unit 12 for projecting the images taken analysis, acquiring image information; the said control means I3 for inkjet according to the real-time position of the UAV and the image information acquired in conjunction with the positioning system, the control means of inkjet printing in an image at the target location. 在本实施例中,所述感光组件11为CMOS图像传感器。 In the present embodiment, the photosensitive member 11 is a CMOS image sensor. 所述喷绘装置可采用现有技术中国专利CN101491795A公开的七彩喷绘装置;所述定位系统可采用现有技术的GPS全球定位系统,用于获取无人机的实时位置信息,此不赘述。 The inkjet printing apparatus may employ colorful prior art apparatus disclosed in Chinese Patent CN101491795A; the positioning system may employ a GPS global positioning system of the prior art for real-time position information acquisition UAV, are not repeated here.

[0034]其中,在投影机将图像投射到墙面的时序上,投影机的投射图像包括墙体广告所需喷涂打印的喷绘图像及喷绘图像所需喷绘的区域位置的坐标图像,则不同时序上,投影机投射出不同的图像,分别为喷绘图像及坐标图像。 [0034] wherein, in the projector projecting an image onto the image area of ​​the coordinate position on the timing of the wall, the projector includes an image projection wall ads desired image printing and inkjet printing a desired print image spraying, the different timings , the projector projects a different image, respectively, and printing the image coordinates of the image. 所述喷绘图像为墙体广告的图像,坐标图像为标示有喷绘图像所需喷绘的位置坐标的图像,均由用户输入至投影机并在不同时序上通过投影机分别投射出来。 The inkjet image is a wall advertising image, the image coordinates of the image is marked with inkjet printing a desired position coordinates of the image, input by the user to the projector and projected in different timings, respectively, out of the projector.

[0035]所述感光组件11从投影机的投射图像的光源中获取图像像素数组,从而采集投射图像,根据投影机的投射光源,获得所述喷绘图像及坐标图像,并传送至所述图像截取单元12;所述图像截取单元12根据所述喷绘图像的图像像素数组获取图像像素信息,并对所述坐标图像利用图文转换技术将图形文字转换成纯文本的图像坐标信息供无人机定位使用, 同时,将所述图像像素信息及图像坐标信息传送至所述喷墨控制单元13;所述喷墨控制单元13用于根据所述图像像素信息及图像坐标信息并结合定位系统获取的无人机实时位置, 控制喷绘装置将图像喷绘于目标位置处。 [0035] The photosensitive member 11 acquires the image projected from a light source of a projector in the array of image pixels, so that a projected image acquisition, the projection light of the projector, and obtaining the image coordinates of the image printing, and transmits to the image taken unit 12; the image extraction unit 12 acquires the image information of the pixel array of image pixels according to the printing image, and the coordinates of the image using a graphic pattern conversion technique to convert the text into plain text image coordinate information for positioning UAV use, while the pixel coordinates of the image information and the information is transmitted to the control unit 13 of the ink jet; the inkjet control unit 13 according to the image information for the image information and the pixel coordinates of the positioning system in combination with the acquired non- HMI real-time position, the control means of inkjet printing in an image at the target location.

[0036]其中,所述图像截取单元12还用于对喷绘图像进行白平衡、自动曝光和自动对焦等图像处理;所述图像像素信息包括图像像素、像素色彩及像素亮度等信息。 [0036] wherein the image extraction unit 12 for printing an image white balance, auto exposure and auto focus image processing; the image pixel information comprises image pixels, the pixel color and brightness information of the pixel.

[0037] 参照图2,在某些实施例,例如本实施例中,所述喷墨控制单元13包括定位单元131、色彩处理单元132及喷墨单元133。 [0037] Referring to Figure 2, in some embodiments, for example, in the present embodiment, the ink jet unit 13 includes a positioning control unit 131, the color processing unit 132 and the ink jet unit 133.

[0038]其中,所述定位单元131用于根据所述图像坐标信息确定喷绘图像的目标位置及无人机的喷绘位置,并根据无人机的喷绘位置结合定位系统获得的无人机的实时位置调整无人机的位置;所述色彩处理单元132用于将所述图像像素信息从RGB或YUV转换成CMYK以获取色彩信息;所述喷墨单元133用于根据所述色彩信息控制喷绘装置喷墨,将喷绘图像喷绘于目标位置。 [0038] wherein the positioning unit 131 for determining a target position of the printing image and the position of the UAV inkjet image according to the coordinate information obtained in conjunction with the positioning system according to the UAV inkjet UAV position in real time position adjustment of the position of the UAV; the color processing unit 132 for converting the image information from the RGB or YUV pixels into color information for CMYK; unit 133 for controlling the inkjet printing device according to said color information inkjet, the inkjet printing the image to the target position.

[0039]所述定位单元131根据图像坐标信息确定喷绘图像的目标位置,建立目标位置中各图像坐标信息与无人机的喷绘位置坐标的对应关系,确定无人机的喷绘位置,并结合所述定位系统获得的无人机的实时位置坐标数据对无人机的飞行位置进行修正,以确保无人机的飞行位置与所述目标位置的图像坐标信息对应的无人机喷绘位置一致。 [0039] The positioning unit 131 determines the coordinates of the image information of the target printing position of the image, establishing a corresponding relationship printing position coordinates of each position of the target image and the coordinate information of the UAV, determining the printing position of the UAV and binding real-time position of said positioning system coordinate data obtained UAV UAV flying position is corrected to ensure a consistent image coordinates of UAV flight position and the target position information corresponding to the printing position of the UAV. 所述色彩处理单元132还用于对转换的图像像素信息进行锐化处理,以获得更为精确的色彩信息,使得喷绘出来的图像逼真且误差小。 The color processing unit 132 is further configured to convert the image pixel information sharpening, to obtain a more accurate color information, so that the printing out of the image fidelity and little error.

[0040]其中,所述目标位置根据所述坐标图像转换所得的图像坐标信息而获得,是喷绘图像需喷绘在墙体的位置;无人机的喷绘位置为当喷绘图像位于目标位置时,无人机对应所在的位置。 [0040] wherein, the target position is obtained based on the image information of the image coordinates of the obtained coordinate transformation, is inkjet printing for an image at the position of the wall; UAV position to inkjet printing when the image is located at the target position, no corresponding to the location of the man-machine.

[0041] RGB及YUV均为发光源的颜色表现模式,其中,目前的显示器的颜色投射表现模式大部分采用RGB模式,而欧洲电视系统的颜色投射表现模式采用YUV模式。 [0041] RGB and YUV color appearance pattern are made of light, wherein the color appearance pattern projection most current display mode in RGB, and the color of the projection patterns exhibit European television system using a YUV mode. CMYK模式是印刷色彩模式,针对印刷媒介,以将图像印刷成型。 CMYK color printing mode is the mode for the print medium to print an image formed. 在图像印刷喷涂过程中,使用CMYK模式可精确还原图像色彩,避免直接利用RGB模式或YUV模式印刷图像而产生的色差,降低喷绘图像的误差,使得喷绘图像更逼真。 In the image printing spraying process, using the CMYK color model can accurately reproduce the image, avoiding the direct use of color mode printing RGB or YUV image pattern generated, to reduce the error in the printing image, so that a more realistic image printing.

[0042]在其他实施例中,所述喷绘装置可包括喷嘴及涂料管,所述喷嘴通过涂料管与地面上设置的涂料桶连接,所述涂料桶包括混合装置,涂料桶中的涂料通过混合装置混合后沿涂料管进入喷嘴,通过喷嘴将涂料喷涂在墙体上形成喷绘图像,其他结构和功能均与本实施例相同。 [0042] In other embodiments, the printing and coating apparatus may include a nozzle tube, the nozzle connected by a pipe with a coating provided on the ground the paint bucket, said bucket comprising a mixing apparatus, coating the paint bucket by mixing after entering the mixing device along the paint tube nozzle, the spray coating is formed by printing an image on the wall of the nozzle, the other structures and functions are the same as the present embodiment. 根据CMYK模式,所述涂料桶设置为四个,分别装有青色、品红色、黄色及黑色四色涂料,根据所述图像像素信息将涂料桶内涂料按照不同比例通过管道传送至混合装置中混合,以获取喷绘图像中包含的所有颜色,混合后的涂料通过涂料管运送至喷绘装置中,通过喷嘴喷涂于墙体上。 The CMYK mode, the paint bucket to four, respectively, with cyan, magenta, yellow and black four-color paint, the paint bucket pipe coating according to the image transmitted through the pixel information in different proportions to the mixing apparatus to get all the color, inkjet printing device included in the image conveyed to the mixed paint through the paint tube, sprayed through a nozzle onto the wall.

[0043] 在某些实施例,例如本实施例中,所述感光组件11的接收端及所述喷绘装置的喷射端分别位于无人机的两端。 [0043] In certain embodiments, for example, in the present embodiment, the photosensitive receiving end and discharge end of the assembly 11 of the printing apparatus are located at both ends of the drone. 其中,感光组件11的接收方向与喷绘装置的喷射方向相同,实现获取图像信息与喷绘操作的实时进行,节省喷绘时间,操作更加简洁便利。 Wherein receiving the same direction of the ejection direction of inkjet apparatus 11 of the photosensitive member, to realize real-time image information acquired printing operation, saves printing time, more simple and convenient operation.

[0044]基于上述设计,所述墙体喷绘系统使用于带有喷绘装置及定位系统的无人机,配合投影机,可直接采集获取投射图像,利用所述墙体喷绘系统的图像截取单元直接获取喷绘图像的图像像素信息及坐标图像的图像坐标信息,利用定位单元根据所述图像坐标信息确定图像的目标位置,建立目标位置中各图像坐标信息与无人机的喷绘位置坐标的对应关系,结合定位系统获得的无人机实时位置信息,修正无人机的飞行位置,以确保无人机所处的位置与所述目标位置对应的无人机喷绘位置一致,从而更加方便直接地进行墙体喷绘, 无需额外设置用于检测喷绘区域的测绘工具,并能够适应各种墙体表面,增强了所述墙体喷绘系统的实用性,同时喷绘过程快速简便,人工投入小,而且喷绘图像逼真、误差小。 [0044] Based on the above design, the wall with the inkjet printing system is used for the UAV system and positioning apparatus, with the projector, the projection image can be collected directly acquired by the image extraction unit wall system directly inkjet acquiring coordinate information of the image printing image information and the image pixel coordinates of the image, using the positioning unit determines the position of the target image according to the image coordinate information, establishing a corresponding relationship printing position coordinates of each target position in the image coordinate information UAV UAV real-time position information obtained in conjunction with the positioning system, the position correction UAV flight, UAV to ensure a position which corresponds to the target position coincides with the position of the UAV printing, and thus more easily be performed directly wall inkjet body, without additional mapping means is provided for detecting the printing area, and can adapt to the wall surface, to enhance the usefulness of the wall of the printing system, printing process while quick and easy, artificial small investment, and lifelike images inkjet error small.

[0045]当然,在本发明的其他实施例中,所述感光组件11可为CCD图像传感器,其余结构和功能均与本实施例相同。 [0045] Of course, in other embodiments of the present invention, the photoreceptor 11 may be a CCD image sensor assembly, the remaining structures and functions are the same as the present embodiment.

[0046]参照图3和图4,本发明实施例还提供了一种墙体喷绘方法,该墙体喷绘方法可基于上述墙体喷绘系统进行,该方法为: [0046] Referring to FIGS. 3 and 4, embodiments of the present invention further provides a method of printing the wall, the wall can be carried out based on the inkjet method Wall inkjet system, the method:

[0047]步骤S11,根据投影机的投射图像的光源获取图像像素数组以采集投射图像。 [0047] step S11, the acquired pixel array light source of a projector projecting an image to the projection image acquisition.

[0048]步骤S12,对所述投射图像进行截取分析处理,获取图像信息。 [0048] step S12, the projected image analysis processing interception, acquires the image information.

[0049]所述投射图像包括喷绘图像及其坐标图像,所述喷绘图像及其坐标图像均由投影机投射,步骤S12具体为:根据所述喷绘图像的图像像素数组获取图像像素信息,并对所述坐标图像进行图文转换以获取图像坐标信息。 [0049] The projected image comprises printing the image coordinates and image coordinates of the image and printing the image projected by the projector, the step S12: obtaining image information of the pixel array of image pixels according to the printing image, and converting image coordinates of the graphic image to obtain the coordinate information.

[0050] 步骤S13,根据所述图像信息并结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 [0050] step S13, the image information according to the real-time position location and binding UAV system acquisition, the control means of inkjet printing in an image at the target location.

[0051] 继续参照图4,进一步地,所述图像信息包括图像像素信息及图像坐标信息,步骤S13具体为:步骤S131,根据所述图像坐标信息确定图像的目标位置及无人机的喷绘位置, 根据无人机的喷绘位置结合定位系统获得的无人机的实时位置,调整无人机的飞行位置, 开将所还图像像素信息从RGB或YUV转换成CMYK以获取色彩信息。 [0051] With continued reference to FIG. 4, further, the image information includes pixel information and the coordinate information of the image, in step S13 specifically is: step S131, and determines the target position of the image based on the position of the UAV inkjet image coordinate information , inkjet UAV position location system in conjunction with real-time position is obtained according to the UAV, UAV flight position adjustment, the further apart the image pixel information is converted from CMYK to RGB or YUV to acquire color information.

[0052] 据步骤S12获取的图像坐标信息确定喷绘图像的目标位置,建立目标位置中各图像坐标信息与无人机的喷绘位置坐标的对应关系,确定无人机的喷绘位置,结合定位系统获彳^的无人机的实时位置信息,修正无人机的飞行位置以确保无人机的所处位置与所述目标位置对应的无人机喷绘位置一致;将所述图像像素信息从RGB或YUV转换成CMYK以获取色彩信息;CMYK模式是最佳打印模式,RGB模式或YUV模式尽管色彩丰富,但不能完全打印出来,将RGB或YUV转换成CMYK可避免喷绘时的色彩损失,减少色彩误差;转换同时还需对转换得到的色彩信息进行锐化处理,以获得更精确的色彩信息,使得喷绘出来的图像逼真且误差小。 [0052] According to the image acquired in step S12 determines coordinate information of the target printing position of the image, establishing a corresponding relationship printing position coordinates of the target position in the image coordinate information of each UAV, the UAV printing position, in conjunction with the positioning system is eligible real-time location information of the left foot ^ UAV, UAV flight correction in order to ensure consistent location of the position of the UAV with the target position corresponding to the printing position of the UAV; image pixel information from the RGB or YUV conversion into color information for CMYK; CMYK print mode is the best mode, mode RGB or YUV color mode despite abundant, but not completely printed, converted into RGB or YUV color loss can be avoided when the CMYK printing, color error reduction ; conversion is also required for converting the color information obtained sharpening, to obtain a more accurate color information, so that the printing out of the image fidelity and little error.

[0053]步骤S132,根据所述色彩信息控制喷绘装置喷墨,将喷绘图像喷绘于目标位置。 [0053] step S132, the control information according to the color ink jet printing apparatus, the inkjet printing the image to the target position. 根据步骤S131确定的目标位置及无人机的喷绘位置调整后的无人机的飞行位置,按照所述色彩信息控制喷绘装置喷墨。 The UAV flight position after the target position and the printing position adjustment of the UAV determined in step S131, the color information in accordance with a control ink-jet printing apparatus.

[0054]基于上述墙体喷绘方法步骤,本发明墙体喷绘方法操作简单,施工难度小,大大降低了施工人员的劳动强度。 [0054] Based on the above-described inkjet method steps wall, the wall of the present invention printing method is simple, small difficulty of construction, greatly reduces the labor intensity of construction workers.

[0055]综上所述,本发明提供的墙体喷绘系统及方法,该墙体喷绘系统使用于带有喷绘装置及定位系统的无人机,通过与投影机的相互配合,无需额外的控制中心对喷绘图像及其喷绘区域进行接收传输处理,通过设置感光组件直接获取投影机的投射图像,接收喷绘图像及其坐标图像,利用图像截取单元获取喷绘图像的图像像素信息及坐标图像的图像坐标信息;利用喷墨控制单元的定位单元以修正无人机的位置,无需额外设置用于检测喷绘区域的测绘工具,并能够适应各种墙体表面,增强了所述墙体喷绘系统的实用性;通过喷墨控制单元的色彩处理单元将图像像素信息从RGB或YUV转换成CMYK以获取色彩信息,减少喷绘的色彩误差;所述墙体喷绘系统直接利用投影机与无人机的配合,使得图像的获取与喷绘可同时进行,喷绘过程对无人机飞行位置的修正更为方便 [0055] In summary, wall inkjet systems and methods provided by the invention, the wall with the inkjet printing system is used for the UAV system and positioning apparatus, by cooperating with the projector, without additional control inkjet printing the image on the center area and receives a transmission process, the photosensitive member provided directly acquired by the projected image of the projector, and the image coordinates of the image receiving printing, using the image extraction unit acquires the image coordinates of the image pixel coordinates in the image information and the image inkjet information; using an ink jet control means to correct the positioning unit positions the UAV, for detecting printing without additional mapping tools area, and can adapt to the wall surface, to enhance the usefulness of the wall system inkjet ; pixel information converted by the image processing unit color ink jet control unit or YUV from RGB to CMYK color information for reducing the color printing error; the wall system directly with inkjet projector and UAV, such that acquisition and image printing can be performed simultaneously, amendments to the inkjet process more convenient location UAV flight 捷,可实现快速喷绘,提高系统的喷绘效率。 Czech Republic, for fast printing, inkjet improve the efficiency of the system. 同时,本发明提供的墙体喷绘方法操作简单、人工投入小,施工难度小,大大降低了工人的劳动强度。 Meanwhile, the present invention provides a method of printing the wall is a simple operation, labor input, small difficulty of construction, greatly reduces the labor intensity.

[0056]以上所述仅为本发明的优选实施例,而非对本发明做任何形式上的限制。 [0056] The above are only preferred embodiments of the present invention, do not form any limitation of the present invention. 本领域的技术人员可在上述实施例的基础上施以各种等同的更改和改进,凡在权利要求范围内所做的等同变化或修饰,均应落入本发明的保护范围之内。 One skilled in the art may be applied on the basis of the above-described embodiments of the various equivalent modifications and improvements, all equivalent changes or modifications made within the scope of the claims, should fall within the scope of the present invention.

Claims (8)

1. 一种墙体喷绘系统,使用于带有喷绘装置和定位系统的无人机,其特征在于,所述墙体喷绘系统包括有: 感光组件:用于根据投影机的投射图像的光源获取图像像素数组以采集投射图像; 图像截取单元:用于对所述投射图像进行截取分析处理,获取图像信息; 喷墨控制单元:用于根据所述图像信息并结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 A wall inkjet system using a printing apparatus and to a UAV with the positioning system, characterized in that the wall inkjet system comprising: photosensitive member: The light source for obtaining a projected image of the projector image pixel array to acquire an image projection; image extraction unit: means for intercepting the projection image analysis processing, acquiring image information; inkjet control unit: based on said image information for the UAV in conjunction with real-time positioning system acquisition position, the control means of inkjet printing in an image at the target location.
2. 如权利要求1所述的墙体喷绘系统,其特征在于,所述投射图像包括喷绘图像及其坐标图像,所述图像信息包括图像像素信息及图像坐标信息;所述图像截取单元用于根据所述喷绘图像获取所述图像像素信息,并对所述坐标图像进行图文转换以获取所述图像坐标信息;所述喷墨控制单元用于根据所述图像像素信息及图像坐标信息,结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 2. The wall of the printing system of claim 1, wherein said projected image and the image coordinates of the image comprises printing said image information includes pixel information and the coordinate information of the image; means for intercepting the image the inkjet image acquiring the pixel information of the image, and the coordinate converting graphic image to obtain the coordinate information image; a control unit for the inkjet image information based on the pixel information and image coordinates, binding acquiring real-time positioning system UAV position, the control means of inkjet printing in an image at the target location.
3. 如权利要求2所述的墙体喷绘系统,其特征在于,所述喷墨控制单元包括: 定位单元:用于根据所述图像坐标信息确定喷绘图像的目标位置及无人机的喷绘位置,并根据无人机的喷绘位置结合定位系统获得的无人机的实时位置调整无人机的位置; 色彩处理单元:用于将所述图像像素信息从RGB或YUV转换成CMYK以获取色彩信息; 喷墨单元:用于根据所述色彩信息控制喷绘装置喷墨,将喷绘图像喷绘于目标位置。 3. The wall of the printing system of claim 2, wherein said ink jet control unit comprises: positioning means: means for determining the image coordinates of the target information based on the printing position of the printing image and the position of the UAV and printing UAV position location system in conjunction with real-time position drone obtained according to adjust the position of the UAV; color processing unit: pixel information for the image from RGB to CMYK or YUV color information to obtain ; inkjet unit: means for controlling the ink jet printing apparatus according to the color information, the inkjet printing to the target image position.
4. 如权利要求1所述的墙体喷绘系统,其特征在于,所述感光组件的接收端及所述喷绘装置的喷射端分别位于无人机的两端。 4. The wall of the printing system of claim 1, wherein said photosensitive component receiving end and discharge end of said printing means at each end of the UAV.
5.如权利要求1所述的墙体喷绘系统,其特征在于,所述感光组件为CMOS图像传感器或C⑶图像传感器。 5. The wall of the printing system of claim 1, wherein said photosensitive member is a CMOS image sensor or an image sensor C⑶.
6.—种墙体喷绘方法,其特征在于,所述喷绘方法包括以下步骤: 步骤S11,根据投影机的投射图像的光源获取图像像素数组以采集投射图像; 步骤S12,对所述投射图像进行截取分析处理,获取图像信息; 步骤S13,根据所述图像信息并结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 6.- kinds of inkjet wall, characterized in that said printing method comprising the following steps: step S11, the acquired pixel array light source projecting an image of a projector to project an image acquisition; step S12, the image projection intercept analysis, acquiring image information; step S13, the image information according to the real-time position location and binding UAV system acquisition, the control means of inkjet printing in an image at the target location.
7.如权利要求6所述的墙体喷绘方法,其特征在于,所述投射图像包括喷绘图像及其坐标图像,所述步骤S12具体为:根据所述喷绘图像获取图像像素信息,并对所述坐标图像进行图文转换以获取图像坐标信息; 所述步骤S13具体为:根据所述图像像素信息及图像坐标信息并结合定位系统获取的无人机实时位置,控制喷绘装置将图像喷绘于目标位置处。 7. The method of claim 6 inkjet wall claim, wherein said image comprises a projection image and coordinates of the image printing, the step S12: obtaining pixel information according to the printing image, and the said coordinate converting graphic image to acquire image coordinate information; step S13 specifically is: the pixel information from the image and coordinate information of the image in conjunction with real-time position location system UAV acquired, the control means of inkjet printing the image on the target position.
8.如权利要求7所述的墙体喷绘方法,其特征在于,所述步骤S13包括以下步骤: 步骤S131,根据所述图像坐标信息确定喷绘图像的目标位置及无人机的喷绘位置,根据无人机的喷绘位置结合定位系统获得的无人机的实时位置调整无人机的位置,并将所述图像像素信息从RGB或YUV转换成CMYK以获取色彩信息; 步骤S132,根据所述色彩信息控制喷绘装置喷墨,将喷绘图像喷绘于目标位置。 8. The method of claim 7 inkjet wall claim, wherein the step S13 includes the following steps: Step S131, the target position of the printing image is determined and the position of the UAV inkjet image according to the coordinate information, in accordance with printing UAV position location system in conjunction with real-time position obtained UAV UAV position adjustment, and the image pixel information is converted from CMYK to RGB or YUV to acquire color information; step S132, according to the color information control means inkjet printing, the inkjet printing the image to the target position.
CN201710486619.1A 2017-06-23 2017-06-23 Wall inkjet system and method CN107116910B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710486619.1A CN107116910B (en) 2017-06-23 2017-06-23 Wall inkjet system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710486619.1A CN107116910B (en) 2017-06-23 2017-06-23 Wall inkjet system and method

Publications (2)

Publication Number Publication Date
CN107116910A true CN107116910A (en) 2017-09-01
CN107116910B CN107116910B (en) 2018-10-26

Family

ID=59719463

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710486619.1A CN107116910B (en) 2017-06-23 2017-06-23 Wall inkjet system and method

Country Status (1)

Country Link
CN (1) CN107116910B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108466483A (en) * 2018-03-22 2018-08-31 西北工业大学 Movable planar painting system
CN108749339A (en) * 2018-05-14 2018-11-06 北京华科恒润智能科技有限公司 Wall body colored drawing printing method and device and wall body colored drawing machine

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4371893A (en) * 1979-09-11 1983-02-01 Rabeisen Andre J Video communication system allowing graphic additions to the images communicated
CN2202051Y (en) * 1994-01-17 1995-06-28 于君 Pattern drawer
CN206884482U (en) * 2017-06-23 2018-01-16 深圳大普微电子科技有限公司 Wall body jetting system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4371893A (en) * 1979-09-11 1983-02-01 Rabeisen Andre J Video communication system allowing graphic additions to the images communicated
CN2202051Y (en) * 1994-01-17 1995-06-28 于君 Pattern drawer
CN206884482U (en) * 2017-06-23 2018-01-16 深圳大普微电子科技有限公司 Wall body jetting system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108466483A (en) * 2018-03-22 2018-08-31 西北工业大学 Movable planar painting system
CN108749339A (en) * 2018-05-14 2018-11-06 北京华科恒润智能科技有限公司 Wall body colored drawing printing method and device and wall body colored drawing machine

Also Published As

Publication number Publication date
CN107116910B (en) 2018-10-26

Similar Documents

Publication Publication Date Title
EP1628259B1 (en) Automatic keystone distortion correction using a part of edges of a screen
US20120219699A1 (en) Graphical application system
US8234578B2 (en) Networked gesture collaboration system
US20060152680A1 (en) Method for creating brightness filter and virtual space creation system
CN102647449B (en) Photographing method based on intelligent cloud service, the mobile terminal apparatus and
WO2011118903A1 (en) Augmented reality systems
US8083422B1 (en) Handheld tattoo printer
CN1122402C (en) Method and apparatus for automatic electronic replacing billboard in video image
EP1627338B1 (en) Marking of large surfaces with visual presentations
US8717361B2 (en) Method for generating orthophoto image
CN104322052B (en) Or three-dimensional objects for real-time mixing the composite film camera and computer generated video feed system
EP1443775A2 (en) Correction of a projected image based on a reflected image
WO2007105205A3 (en) Three-dimensional sensing using speckle patterns
NZ551818A (en) Method and apparatus for creating an image on an article, and printed article
US7826089B2 (en) Image processing method, program, computer readable information recording medium, image processing apparatus and image forming apparatus
CN104203584A (en) Method for printing an object
EP1087327A3 (en) Interactive display presentation system
EP1335612A3 (en) Projection apparatus using spatial light modulator
CA2137661A1 (en) Ink Jet Printer
TW200517761A (en) Projector apparatus, inclination angle obtaining method, and projection image correction method
WO2007096893A3 (en) Range mapping using speckle decorrelation
DE10202553A1 (en) A method of applying paint or varnish
CA2429880A1 (en) Collaborative pointing devices
WO2002013136A3 (en) Method and system for matching a surface color
CN103317846B (en) Graphics applications

Legal Events

Date Code Title Description
PB01
SE01
GR01