CN109087371A - A kind of method and system of control robot portrait - Google Patents
A kind of method and system of control robot portrait Download PDFInfo
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- CN109087371A CN109087371A CN201810778689.9A CN201810778689A CN109087371A CN 109087371 A CN109087371 A CN 109087371A CN 201810778689 A CN201810778689 A CN 201810778689A CN 109087371 A CN109087371 A CN 109087371A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/001—Texturing; Colouring; Generation of texture or colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a kind of method and system of control robot portrait, wherein method is the following steps are included: obtain color image to be drawn a portrait, using preset hsv color model to color image progress color region division, to obtain multiple color regions；The profile coordinate of each color region is obtained, and after profile coordinate is mapped to the first coordinate system according to preset ratio, obtains the color lump profile information on the first coordinate system；In conjunction with color lump profile information and its corresponding colouring information planning robot in the portrait path of the first coordinate system, and drawn a portrait according to the mechanical arm of portrait path clustering robot.The present invention obtains multiple color regions by hsv color model, and the profile coordinate of color region is mapped on the first coordinate system, it draws a portrait on the first coordinate system further according to color lump profile information control robot, to obtain colored portrait, meet the requirement that people draw color image to portrait robot, can be widely applied to robot control field.
Description
Technical field
The present invention relates to robot control field more particularly to a kind of method and system of control robot portrait.
Background technique
With the development of science and technology, the function of robot is stronger and stronger, the application of robot is also more and more extensive.It is taking a picture
Technology very flourishing today still there are many people to be keen to street corner portrait, and as living cost rises and draw a portrait demand
Reduce, street corner portraitist is fewer and fewer, and photo can be drawn as drawing a portrait by robot of drawing a portrait, exactly go with the tide of historical development and on, and
And robot not only matches in excellence or beauty manual creation in world of art, but also has the style of oneself.But big multirobot now
Black white image can be drawn according to bianry image, and the colorful one picture can not be drawn, not be able to satisfy people in this way to portrait robot
The requirement of portrait.
Summary of the invention
In order to solve the above-mentioned technical problem, robot can be controlled the object of the present invention is to provide one kind draw colored portrait
Method.
It is a further object of the present invention to provide one kind can control the system that robot draws colored portrait.
The technical scheme adopted by the invention is that:
A method of control robot portrait, comprising the following steps:
S1, color image to be drawn a portrait is obtained, color region is carried out to color image using preset hsv color model and is drawn
Point, to obtain multiple color regions；
S2, the profile coordinate for obtaining each color region, and profile coordinate is mapped to the first coordinate according to preset ratio
After system, the color lump profile information on the first coordinate system is obtained；
S3, in conjunction with color lump profile information and its corresponding colouring information planning robot on the portrait road of the first coordinate system
Diameter, and drawn a portrait according to the mechanical arm of portrait path clustering robot.
Further, the preset hsv color model is the hsv color space comprising multiple color sub-spaces, specific logical
Cross following steps acquisition:
Color space division processing is carried out to hsv color space according to tone, to obtain multiple color sub-spaces；Wherein,
Each color sub-spaces correspond to a kind of tone.
Further, the step S1, specifically includes the following steps:
It obtains after the color image drawn a portrait, compression processing is carried out to color image；
Successively obtain the HSV of the pixel of color image；Wherein, HSV includes lightness, tone and saturation degree；
According to the tone of pixel judge pixel belonging to color sub-spaces, and by the tone assignment of the color sub-spaces
To the tone of pixel；
On color image, the pixel of connected same tone is connected into a color region, to obtain multiple face
Color region.
Further, the saturation degree in the hsv color space, which is averaged, is divided into multiple saturation degree sections, the step S2,
The following steps are included:
The profile coordinate of each color region is obtained, and profile coordinate is mapped to the first coordinate system according to preset ratio
Afterwards, the color lump profile information on the first coordinate system is obtained；
In same color region, according to the saturation degree of pixel judge pixel belonging to saturation degree section, and by phase
The pixel for belonging to same saturation degree section even is connected as a density area；
The profile coordinate of each density area is obtained, and profile coordinate is mapped to the first coordinate system according to preset ratio
Afterwards, density profile information is obtained；
The saturation computation average staturation of the pixel of same density area is obtained, and combines average staturation and presets
Corresponding relationship obtain the setting-out density of the density area.
Further, the colouring information includes tone, the step S3, specifically includes the following steps:
Robot is successively controlled according to color lump profile information and is moved to corresponding position, and machine is selected according to colouring information
The brush color of device people；
In conjunction with density profile information, setting-out density and it is preset setting-out shape planning robot the first coordinate system portrait
Path；
It is drawn a portrait according to portrait path clustering robot, until completing to draw a portrait.
Further, the preset setting-out shape is that straight line draws lines and/or curve draws lines.
Further, when the shape selection straight line that draws lines draws lines, pass through following steps and plan portrait path:
In same density area, is obtained in conjunction with density profile information, default vector and preset mechanical arm is mobile sequentially
Obtain the first paths；
Upper linear path and setting-out density is successively combined to obtain lower linear path, until having planned the density region
Domain；
The upper linear path is parallel with lower linear path.
Further, when the shape trade-off curve that draws lines draws lines, pass through following steps and plan portrait path:
In same density area, according to first contour path of density profile acquisition of information；
A upper contour path and setting-out density is successively combined to obtain next contour path, until having planned the density region
Domain.
Further, step S1 is further comprising the steps of:
Judge whether the lightness of pixel is greater than preset value, if so, the lightness of the pixel is directly assigned a value of 1.
It is of the present invention another solution is that
A kind of system of control robot portrait, including division module, mapping block and control module；
The division module is for obtaining color image to be drawn a portrait, using preset hsv color model to color image
Color region division is carried out, to obtain multiple color regions；
The mapping block is used to obtain the profile coordinate of each color region, and profile coordinate is reflected according to preset ratio
After being mapped to the first coordinate system, the color lump profile information on the first coordinate system is obtained；
The control module is used in conjunction with the colouring information planning robot of color lump profile information and color region first
The portrait path of coordinate system, and drawn a portrait according to the mechanical arm of portrait path clustering robot.
The beneficial effects of the present invention are: the present invention divides color image by hsv color model, multiple face are obtained
Color region, and the profile coordinate of color region is mapped on the first coordinate system, robot is controlled further according to color lump profile information
It draws a portrait on the first coordinate system, to obtain colored portrait, meets the requirement that people draw color image to portrait robot.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of the method for control robot portrait of the present invention；
Fig. 2 is the path planning schematic diagram for selecting straight line setting-out；
Fig. 3 is the path planning schematic diagram of trade-off curve setting-out；
Fig. 4 is the structural block diagram for inventing a kind of system of control robot portrait.
Specific embodiment
Embodiment one
As shown in Figure 1, a kind of method of control robot portrait, comprising the following steps:
A1, color image to be drawn a portrait is obtained, color region is carried out to color image using preset hsv color model and is drawn
Point, to obtain multiple color regions.
Wherein, the preset hsv color model is the hsv color space comprising multiple color sub-spaces, especially by
Following steps obtain:
Color space division processing is carried out to hsv color space according to tone, to obtain multiple color sub-spaces；Wherein,
Each color sub-spaces correspond to a kind of tone.
HSV (Hue, Saturation, the Value) color space is three essential attributes according to color: tone
(Hue), saturation degree (Saturation) and lightness (Value) determine a kind of method of color.The model pair in hsv color space
Should a conical subset in cylindrical-coordinate system, the suitable form and aspect of the rounded bottom surface of cone, saturation degree is then from the center of circle to edge
Increase, lightness is then successively decreased from bottom edge to the vertex of a cone, and H, S, the value range of V are respectively 0≤V≤1,0≤S≤1,0≤H < 360.Circle
The top surface of cone corresponds to V=1, represents that color is brighter, and color H around the rotation angle of V axis by giving.Red is green corresponding to 0 ° of angle
Color corresponds to 120 ° of angle, and blue corresponds to 240 ° of angle.In hsv color model, each color and its complementary color are differed
180°.Saturation degree S value is from 0 to 1, so the radius of circular cone top surface is 1, the apex of circular cone, V=0 represents black, circular cone
End face center at S=0, V=1, represent white, the vertex from the end face center of circular cone to circular cone represents brightness gradually dark ash
Color, i.e., with the grey of different gray scales.There are also RGB color, HSI color space, HSL colors for other common color spaces
Space, HSB color space, YUV color space, Lab color space, XYZ color space, Ycc color space, CMYK color space
Deng.Relative to other color spaces, subjective understanding of the hsv color space closer to people to color meets visual face
Color continuity, distribution of color is substantially continuous, convenient for the division of subspace.In the present embodiment, using 12 hue circles
Hsv color space is divided into 12 color sub-spaces, 12 kinds of colors are respectively as follows: red, yellow, blue, orange, purple, green, red
Orange, yellow orange, yellowish green, bluish-green, royal purple and purple.
Step A1 specifically includes A11~A1:
A11, it obtains after the color image drawn a portrait, compression processing is carried out to color image.
Due to having not gone through the color image after compression processing, pixel is more and tiny, because the pen tip of paintbrush exists
Some areas on drawing paper are far longer than the area of picture pixels, so need picture compression minimum unit to be pen tip area,
In this example, rear layered shaping down-sampled to color image is taken, thus color image required for obtaining.
The HSV of A12, the successively pixel of acquisition color image；Wherein, HSV includes lightness, tone and saturation degree.
A13, according to the tone of pixel judge pixel belonging to color sub-spaces, and by the tone of the color sub-spaces
It is assigned to the tone of pixel.
A14, on color image, the pixel of connected same tone is connected into a color region, to obtain more
A color region.
After hsv color space is divided into multiple color sub-spaces, each color sub-spaces have corresponding interval range,
For example the range of red color sub-spaces is [0-30,0-1,0-1], judges which the HSV [H, S, V] of each pixel falls in
The tone of the color sub-spaces is then assigned to the tone of pixel by color sub-spaces.Finally by the identical pixel value of tone value
It is linked to be a color region.
A2, the profile coordinate for obtaining each color region, and profile coordinate is mapped to the first coordinate according to preset ratio
After system, the color lump profile information on the first coordinate system is obtained.
After getting profile coordinate, and after profile coordinate is mapped to the first coordinate system according to preset ratio, in this implementation
In example, first coordinate system is drawing paper coordinate, and the drawing paper background is white.By profile coordinate according to preset diminution ratio
It is mapped on drawing paper, to obtain the color lump profile information on the first coordinate system.
Wherein, the saturation degree in the hsv color space, which is averaged, is divided into multiple saturation degree sections, and step A2 includes following
Step A21~A24:
A21, the profile coordinate for obtaining each color region, and profile coordinate is mapped to the first coordinate according to preset ratio
After system, the color lump profile information on the first coordinate system is obtained.
A22, in same color region, according to the saturation degree of pixel judge pixel belonging to saturation degree section, and
The connected pixel for belonging to same saturation degree section is connected as a density area.
A23, the profile coordinate for obtaining each density area, and profile coordinate is mapped to the first coordinate according to preset ratio
After system, density profile information is obtained.
A24, obtain same density area pixel saturation computation average staturation, and combine average staturation and
Preset corresponding relationship obtains the setting-out density of the density area.
In the methods of the invention, the saturation degree of image is reacted by the density of setting-out, if saturation degree is high, is drawn lines
Lines are with regard to close, if saturation degree is low, the lines to draw lines are just dredged.Due in same color region, the saturation of different pixels
Spend different, saturation degree [0,1] is equally divided into more parts by the present invention, for example is equally divided into 10 saturation degree sections, and first full
With degree section be [0,0.1), second saturation degree section be [0.1,0.2) ... the tenth saturation degree section is [0.9,1].Root
Several density areas are divided according to the saturation degree of pixel.The saturation degree of pixel all in same density area is obtained, and
After calculating average value, average staturation is obtained, the setting-out density of the density area is obtained according to average staturation.The setting-out is close
The distance between degree i.e. two portraits, setting-out density is bigger, then the distance between portrait is smaller two-by-two, pre-sets average saturation
The relationship of degree and setting-out density can get setting-out density according to average staturation.
A3, in conjunction with color lump profile information and its corresponding colouring information planning robot on the portrait road of the first coordinate system
Diameter, and drawn a portrait according to the mechanical arm of portrait path clustering robot.First coordinate system is the coordinate on drawing paper.
Wherein, step A3 includes step A31~A33:
A31, it robot is successively controlled according to color lump profile information is moved to corresponding position, and selected according to colouring information
Select the brush color of robot.
A32, in conjunction with density profile information, setting-out density and preset setting-out shape planning robot in the first coordinate system
Portrait path.The preset setting-out shape is that straight line draws lines and/or curve draws lines.
A33, it is drawn a portrait according to portrait path clustering robot, until completing to draw a portrait.
When path is drawn a portrait in planning, straight line setting-out can be selected to plan, can also be drawn lines using curve to plan.Now tie
Fig. 2 and Fig. 3 is closed portrait path planning is explained.
Reference Fig. 2 plans the step of drawing a portrait path when the shape selection straight line that draws lines draws lines are as follows:
B1, in same density area, obtained in conjunction with density profile information, default vector and the movement of preset mechanical arm be suitable
Sequence obtains the first paths.
B2, upper linear path and setting-out density is successively combined to obtain lower linear path, until having planned that this is close
Spend region.The upper linear path is parallel with lower linear path.
In the present embodiment, in same density area, the default mobile sequence of mechanical arm for from top to bottom, setting-out it is suitable
Sequence be by left-to-right, i.e., picture straight line when draw lines from left to right, after painting line above, mechanical arm moves down, and draws following line.
The first paths are obtained in conjunction with density profile information and default vector, include density area profile in the density profile information
Coordinate information obtains the coordinate of one point in the upper left corner of density area profile according to the mobile sequence rule of mechanical arm, described pre-
If vector includes directional information, the first paths are obtained in conjunction with the coordinate points of acquisition and default vector.Obtaining the first paths
Afterwards, in conjunction with setting-out density and the first paths obtain the second paths because setting-out density include two adjacent paths away from
From information, it is possible to obtain the second paths.Setting-out density and a upper paths is successively combined to obtain next paths, until
The density area is planned.As shown in Fig. 2, density area on the right of the setting-out density ratio of the density area on the left side is big, so
The straight line path of left side density area more crypto set, item number are more.In same color region, reflected by the density of lines
The saturation degree of image keeps image more life-like and vivid.In Fig. 2, the angle for presetting vector is 0, so being a horizontal straight line；
By presetting the angle of vector, the oblique line of available Different Slope.
The step of drawing a portrait path is planned when the shape trade-off curve that draws lines draws lines referring to Fig. 3 are as follows:
C1, in same density area, according to first contour path of density profile acquisition of information.
C2, a upper contour path and setting-out density is successively combined to obtain next contour path, until having planned that this is close
Spend region.
Density profile information includes the coordinate information of density area profile, according to the available density area wheel of coordinate information
Wide path, the route obtain the second profile road as first contour path, in conjunction with first contour path and setting-out density
Diameter, because setting-out density contains the range information in last round of wide path and next contour path, it is possible to obtain the second wheel
Wide path.A upper contour path and setting-out density is successively combined to obtain next contour path, until having planned the density region
Domain.As shown in figure 3, setting-out density is bigger, and it is round smaller with the distance between circle, reflect that the saturation degree of image is bigger, because of the left side
Density area is big on the right of the setting-out density ratio of density area, so the straight line path of left side density area more crypto set, item number
More.The range of average staturation is [0-1], when average staturation value is 1, is equivalent to entire density area and all draws
Setting-out, when average staturation value is closer to 0, the setting-out in density area is fewer.In Fig. 3, the profile of density area is
Circle, so obtained contour path is also circle, when the profile of density area is irregular shape, then contour path
It is exactly irregular shape.
During planning path, straight line setting-out or trade-off curve setting-out both can have individually been selected, it can also be with cross selection
Two kinds of setting-outs, this can be drawn lines simultaneously using two kinds when portrait needs especially dense color color.
The above method divides color image by hsv color model, obtains multiple color regions, and by color
The profile coordinate in region is mapped on the first coordinate system, is drawn on the first coordinate system further according to color lump profile information control robot
Picture, to obtain colored portrait.Additionally by the saturation degree of the density reaction portrait of setting-out, the three-dimensional sense of image can be presented,
Keep the image drawn more life-like, greatly meets and meet the requirement that people draw color image to portrait robot.
Embodiment two
On the basis of example 1, step S1 is further comprising the steps of:
Judge whether the lightness of pixel is greater than preset value, if so, the lightness of the pixel is directly assigned a value of 1.
When the lightness of the pixel value in image is greater than preset value, illustrate that the color is dark color, then the indirect assignment pixel
The lightness of point is assigned a value of 1, and is indicated with black.The preset value can be 0.5~0.9, and in the present embodiment, preset value is
0.8.Lightness is handled by the above method, keeps image more tensioned, image is more life-like.
Embodiment three
Referring to Fig. 4, a kind of system of control robot portrait, including division module, mapping block and control module；
The division module is for obtaining color image to be drawn a portrait, using preset hsv color model to color image
Color region division is carried out, to obtain multiple color regions；
The mapping block is used to obtain the profile coordinate of each color region, and profile coordinate is reflected according to preset ratio
After being mapped to the first coordinate system, the color lump profile information on the first coordinate system is obtained；
The control module is used in conjunction with the colouring information planning robot of color lump profile information and color region first
The portrait path of coordinate system, and drawn a portrait according to the mechanical arm of portrait path clustering robot.
Above system divides color image by hsv color model, obtains multiple color regions, and by color
The profile coordinate in region is mapped on the first coordinate system, is drawn on the first coordinate system further according to color lump profile information control robot
Picture meets the requirement that people draw color image to portrait robot to obtain colored portrait.
A kind of system of control robot portrait of the present embodiment, can be performed one kind provided by embodiment of the present invention method
The method for controlling robot portrait, any combination implementation steps of executing method embodiment have the corresponding function of this method
And beneficial effect.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of method of control robot portrait, which comprises the following steps:
S1, color image to be drawn a portrait is obtained, color region division is carried out to color image using preset hsv color model,
To obtain multiple color regions；
S2, the profile coordinate for obtaining each color region, and after profile coordinate is mapped to the first coordinate system according to preset ratio,
Obtain the color lump profile information on the first coordinate system；
S3, in conjunction with color lump profile information and its corresponding colouring information planning robot in the portrait path of the first coordinate system, and
It is drawn a portrait according to the mechanical arm of portrait path clustering robot.
2. a kind of method of control robot portrait according to claim 1, which is characterized in that the preset HSV face
Color model is the hsv color space comprising multiple color sub-spaces, is obtained especially by following steps:
Color space division processing is carried out to hsv color space according to tone, to obtain multiple color sub-spaces；Wherein, each
Color sub-spaces correspond to a kind of tone.
3. a kind of method of control robot portrait according to claim 2, which is characterized in that the step S1, specifically
The following steps are included:
It obtains after the color image drawn a portrait, compression processing is carried out to color image；
Successively obtain the HSV of the pixel of color image；Wherein, HSV includes lightness, tone and saturation degree；
According to the tone of pixel judge pixel belonging to color sub-spaces, and the tone of the color sub-spaces is assigned to picture
The tone of vegetarian refreshments；
On color image, the pixel of connected same tone is connected into a color region, to obtain multiple color areas
Domain.
4. a kind of method of control robot portrait according to claim 3, which is characterized in that the hsv color space
Saturation degree be averaged and be divided into multiple saturation degree sections, the step S2, comprising the following steps:
The profile coordinate of each color region is obtained, and after profile coordinate is mapped to the first coordinate system according to preset ratio, is obtained
Obtain the color lump profile information on the first coordinate system；
In same color region, according to the saturation degree of pixel judge pixel belonging to saturation degree section, and by be connected
The pixel for belonging to same saturation degree section is connected as a density area；
The profile coordinate of each density area is obtained, and after profile coordinate is mapped to the first coordinate system according to preset ratio, is obtained
Obtain density profile information；
It obtains the saturation computation average staturation of the pixel of same density area, and combines average staturation and preset right
Answer the setting-out density of the Relation acquisition density area.
5. a kind of method of control robot portrait according to claim 4, which is characterized in that the colouring information includes
Tone, the step S3, specifically includes the following steps:
Robot is successively controlled according to color lump profile information and is moved to corresponding position, and robot is selected according to colouring information
Brush color；
In conjunction with density profile information, setting-out density and preset setting-out shape planning robot on the portrait road of the first coordinate system
Diameter；
It is drawn a portrait according to portrait path clustering robot, until completing to draw a portrait.
6. a kind of method of control robot portrait according to claim 5, which is characterized in that the preset setting-out shape
Shape is that straight line draws lines and/or curve draws lines.
7. a kind of method of control robot portrait according to claim 6, which is characterized in that when setting-out shape selection is straight
When line drawing line, portrait path is planned by following steps:
In same density area, is obtained in conjunction with density profile information, default vector and the mobile sequence of preset mechanical arm obtains
First paths；
Upper linear path and setting-out density is successively combined to obtain lower linear path, until having planned the density area；
The upper linear path is parallel with lower linear path.
8. a kind of method of control robot portrait according to claim 6, which is characterized in that when setting-out shape selection is bent
When line drawing line, portrait path is planned by following steps:
In same density area, according to first contour path of density profile acquisition of information；
A upper contour path and setting-out density is successively combined to obtain next contour path, until having planned the density area.
9. according to a kind of method of the described in any item control robot portraits of claim 3-8, which is characterized in that step S1 is also
The following steps are included:
Judge whether the lightness of pixel is greater than preset value, if so, the lightness of the pixel is directly assigned a value of 1.
10. a kind of system of control robot portrait, which is characterized in that including division module, mapping block and control module；
The division module carries out color image for obtaining color image to be drawn a portrait, using preset hsv color model
Color region divides, to obtain multiple color regions；
The mapping block is used to obtain the profile coordinate of each color region, and profile coordinate is mapped to according to preset ratio
After first coordinate system, the color lump profile information on the first coordinate system is obtained；
The control module is used in conjunction with the colouring information planning robot of color lump profile information and color region in the first coordinate
The portrait path of system, and drawn a portrait according to the mechanical arm of portrait path clustering robot.
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| CN111062993A (en) * | 2019-12-12 | 2020-04-24 | 广东智媒云图科技股份有限公司 | Color-merged drawing image processing method, device, equipment and storage medium |
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