CN109087371B - Method and system for controlling robot portrait - Google Patents
Method and system for controlling robot portrait Download PDFInfo
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- CN109087371B CN109087371B CN201810778689.9A CN201810778689A CN109087371B CN 109087371 B CN109087371 B CN 109087371B CN 201810778689 A CN201810778689 A CN 201810778689A CN 109087371 B CN109087371 B CN 109087371B
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a method and a system for controlling robot portrait, wherein the method comprises the following steps: acquiring a color image of a to-be-imaged, and performing color region division on the color image by adopting a preset HSV color model so as to acquire a plurality of color regions; acquiring contour coordinates of each color region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring color block contour information on the first coordinate system; and planning an image path of the robot in a first coordinate system by combining the color block outline information and the corresponding color information, and controlling a mechanical arm of the robot to perform an image according to the image path. According to the invention, a plurality of color areas are obtained through the HSV color model, the contour coordinates of the color areas are mapped onto the first coordinate system, and then the robot is controlled to draw images on the first coordinate system according to the contour information of the color blocks, so that the color images are obtained, the requirements of people on drawing the color images of the robot are met, and the method can be widely applied to the field of robot control.
Description
Technical Field
The invention relates to the field of robot control, in particular to a method and a system for controlling robot portrait.
Background
With the development of technology, robots are becoming more powerful and widely used. Today, with very developed photographic technology, a lot of people are still enthusiastic for street portraits, and with rising living cost and decreasing portrait demands, street portrait painters are getting smaller and smaller, and portrait robots can draw photos into portraits, which is in compliance with trend, and robots are not only comparable to manual creation in the art field, but also have own styles. However, most robots can only draw black and white images according to binary images, but cannot draw colored pictures, so that the requirements of people on the portrait of the portrait robot cannot be met.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a method capable of controlling a robot to draw a color image.
It is another object of the present invention to provide a system capable of controlling a robot to draw a color image.
The technical scheme adopted by the invention is as follows:
a method of controlling a robot representation, comprising the steps of:
s1, acquiring a color image of a to-be-imaged, and dividing color areas of the color image by adopting a preset HSV color model so as to acquire a plurality of color areas;
s2, acquiring contour coordinates of each color region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring color block contour information on the first coordinate system;
s3, planning an image path of the robot in the first coordinate system by combining the color block outline information and the corresponding color information, and controlling a mechanical arm of the robot to perform an image according to the image path.
Further, the preset HSV color model is an HSV color space including a plurality of color subspaces, and is specifically obtained through the following steps:
performing color space division processing on the HSV color space according to the tone to obtain a plurality of color subspaces; wherein each color subspace corresponds to a hue.
Further, the step S1 specifically includes the following steps:
after a color image of the image to be imaged is obtained, the color image is compressed;
sequentially acquiring HSV of pixel points of a color image; HSV includes brightness, hue, and saturation, among others;
judging a color subspace to which the pixel point belongs according to the color tone of the pixel point, and assigning the color tone of the color subspace to the color tone of the pixel point;
on a color image, connected pixel points of the same tone are connected into a color region, thereby obtaining a plurality of color regions.
Further, the saturation of the HSV color space is divided into a plurality of saturation sections on average, and the step S2 includes the steps of:
acquiring contour coordinates of each color region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring color block contour information on the first coordinate system;
judging a saturation section to which the pixel points belong according to the saturation of the pixel points in the same color area, and connecting the connected pixel points belonging to the same saturation section into a density area;
acquiring contour coordinates of each density region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring density contour information;
and obtaining the saturation of the pixel points of the same density region, calculating the average saturation, and obtaining the drawing line density of the density region by combining the average saturation and a preset corresponding relation.
Further, the color information includes a hue, and the step S3 specifically includes the following steps:
sequentially controlling the robot to move to a corresponding position according to the color block outline information, and selecting the color of the painting brush of the robot according to the color information;
the method comprises the steps of combining density profile information, line drawing density and preset line drawing shapes to plan an image path of a robot in a first coordinate system;
the robot is controlled to perform the image according to the image path until the image is completed.
Further, the preset drawing line shape is a straight line drawing line and/or a curve drawing line.
Further, when a straight line drawing is selected as the drawing shape, an image path is planned by:
in the same density region, acquiring a first path by combining density profile information, preset vector acquisition and preset mechanical arm movement sequence;
sequentially combining the previous linear path with the line drawing density to obtain the next linear path until the density area is planned;
the last straight line path is parallel to the next straight line path.
Further, when a curve is drawn by selecting a drawing shape, an image path is planned by:
acquiring a first contour path according to the density contour information in the same density region;
and sequentially combining the previous contour path with the line drawing density to acquire the next contour path until the density area is planned.
Further, step S1 includes the following steps:
judging whether the brightness of the pixel point is larger than a preset value, if so, directly assigning the brightness of the pixel point as 1.
The invention adopts another technical scheme that:
a system for controlling robot portraits comprises a dividing module, a mapping module and a control module;
the dividing module is used for acquiring a color image of the image to be imaged, and carrying out color region division on the color image by adopting a preset HSV color model so as to acquire a plurality of color regions;
the mapping module is used for obtaining the contour coordinates of each color area, mapping the contour coordinates to a first coordinate system according to a preset proportion, and obtaining color block contour information on the first coordinate system;
the control module is used for planning an image path of the robot in a first coordinate system by combining the color block outline information and the color information of the color area, and controlling a mechanical arm of the robot to perform an image according to the image path.
The beneficial effects of the invention are as follows: the invention divides the color image through the HSV color model to obtain a plurality of color areas, maps the contour coordinates of the color areas onto the first coordinate system, and controls the robot to image on the first coordinate system according to the contour information of the color blocks, thereby obtaining the color image and meeting the requirements of people on the color image of the image robot.
Drawings
FIG. 1 is a flow chart of steps of a method of controlling a robot representation of the present invention;
FIG. 2 is a schematic diagram of a path plan with selected straight line drawing;
FIG. 3 is a schematic diagram of a path plan for selecting a curved plot;
fig. 4 is a block diagram showing a system for controlling a robot portrait.
Detailed Description
Example 1
As shown in fig. 1, a method of controlling a robot representation includes the steps of:
a1, acquiring a color image of the image to be imaged, and dividing color areas of the color image by adopting a preset HSV color model so as to acquire a plurality of color areas.
The preset HSV color model is an HSV color space comprising a plurality of color subspaces, and is specifically obtained through the following steps:
performing color space division processing on the HSV color space according to the tone to obtain a plurality of color subspaces; wherein each color subspace corresponds to a hue.
The HSV (Value) color space is based on three basic attributes of color: a method of determining color from Hue (Hue), saturation (Saturation) and brightness (Value). The model of HSV color space corresponds to a conical subset in a cylindrical coordinate system, the circular bottom surface of the cone is quite hue, saturation is increased from the center to the edge, brightness is decreased from the bottom edge to the cone top, and the values of H, S and V are respectively 0-1, 0-360. The top surface of the cone corresponds to v=1, representing a brighter color, color H being given by the rotation angle around the V axis. Red corresponds to an angle of 0 °, green corresponds to an angle of 120 °, and blue corresponds to an angle of 240 °. In the HSV color model, each color differs from its complement by 180 °. The saturation S takes a value from 0 to 1, so that the radius of the top surface of the cone is 1, v=0 at the apex of the cone represents black, s=0 at the center of the top surface of the cone, v=1 represents white, and gray with gradually darker brightness, i.e. gray with different gray scales, is represented from the center of the top surface of the cone to the apex of the cone. Other commonly used color spaces are also RGB color space, HSI color space, HSL color space, HSB color space, YUV color space, lab color space, XYZ color space, ycc color space, CMYK color space, and the like. The HSV color space is closer to the subjective knowledge of colors than other color spaces, accords with visual color continuity, and is basically continuous in color distribution, thereby facilitating the division of subspaces. In this embodiment, the HSV color space is divided into 12 color subspaces by using twelve color rings, where the twelve colors are respectively: red, yellow, blue, orange, violet, green, red orange, yellow green, cyan, blue violet, and red violet.
The step A1 specifically comprises A11-A1:
a11, after the color image of the to-be-imaged is obtained, compressing the color image.
Since the pixel points of the color image which is not compressed are more and finer, and the area of a point of a pen point of the painting brush on the painting paper is far larger than the area of a pixel of the picture, the picture needs to be compressed to be the minimum unit of the area of the pen point, and in the example, the color image is subjected to layering processing after downsampling, so that the required color image is obtained.
A12, sequentially acquiring HSV of pixel points of the color image; HSV includes, among other things, brightness, hue, and saturation.
A13, judging a color subspace to which the pixel point belongs according to the color tone of the pixel point, and assigning the color tone of the color subspace to the color tone of the pixel point.
A14, connecting the connected pixel points with the same tone into a color area on the color image, thereby obtaining a plurality of color areas.
After the HSV color space is divided into a plurality of color subspaces, each color subspace has a corresponding interval range, for example, the range of the red color subspace is [0-30,0-1 ], and the hue of each color subspace is assigned to the hue of the pixel point when judging which color subspace the HSV [ H, S, V ] of each pixel point falls in. And finally, connecting the pixel values with the same tone value into a color region.
A2, acquiring contour coordinates of each color area, mapping the contour coordinates to a first coordinate system according to a preset proportion, and obtaining color block contour information on the first coordinate system.
After the profile coordinates are obtained and mapped to the first coordinate system according to a preset proportion, in this embodiment, the first coordinate system is the coordinates of the drawing paper, and the background of the drawing paper is white. And mapping the contour coordinates to drawing paper according to a preset reduction ratio, so as to obtain color block contour information on a first coordinate system.
Wherein the saturation of the HSV color space is divided into a plurality of saturation sections on average, and step A2 includes the following steps A21 to A24:
a21, acquiring contour coordinates of each color area, mapping the contour coordinates to a first coordinate system according to a preset proportion, and obtaining color block contour information on the first coordinate system.
A22, judging the saturation interval of the pixel points according to the saturation of the pixel points in the same color area, and connecting the connected pixel points belonging to the same saturation interval into a density area.
A23, acquiring contour coordinates of each density region, and mapping the contour coordinates to a first coordinate system according to a preset proportion to obtain density contour information.
A24, obtaining the saturation of the pixel points of the same density region, calculating average saturation, and obtaining the line drawing density of the density region by combining the average saturation and a preset corresponding relation.
In the method, the saturation of the image is reflected through the density of the drawn lines, if the saturation is high, the drawn lines are dense, and if the saturation is low, the drawn lines are sparse. Since the saturation of different pixels in the same color region is different, the invention equally divides the saturation [0,1] into a plurality of parts, for example, equally divides the saturation into 10 saturation regions, wherein the first saturation region is [0,0.1 ], the second saturation region is [0.1, 0.2) … …, and the tenth saturation region is [0.9,1]. And dividing a plurality of density areas according to the saturation of the pixel points. And acquiring the saturation of all pixel points in the same density region, calculating an average value, acquiring the average saturation, and acquiring the line drawing density of the density region according to the average saturation. The drawing line density is that the distance between every two images is larger, the distance between every two images is smaller, the relation between the average saturation and the drawing line density is preset, and the drawing line density can be obtained according to the average saturation.
A3, planning an image path of the robot in the first coordinate system by combining the color block outline information and the corresponding color information, and controlling a mechanical arm of the robot to perform an image according to the image path. The first coordinate system is a coordinate on the drawing paper.
Wherein, the step A3 comprises the steps A31 to A33:
a31, controlling the robot to move to the corresponding position according to the color block outline information in sequence, and selecting the painting brush color of the robot according to the color information.
A32, combining the density profile information, the line drawing density and a preset line drawing shape to plan an image path of the robot in the first coordinate system. The preset line drawing shape is a straight line drawing and/or a curve drawing.
A33, controlling the robot to perform the image according to the image path until the image is completed.
When the portrait path is planned, the portrait path can be planned by selecting straight line drawing lines or by adopting curve drawing lines. The representation path planning will now be explained in connection with fig. 2 and 3.
Referring to fig. 2, when a line is drawn in a line shape, the step of planning an image path is:
b1, in the same density region, acquiring a first path by combining density profile information, preset vector acquisition and preset mechanical arm movement sequence.
And B2, sequentially combining the previous linear path with the line drawing density to acquire the next linear path until the density area is planned. The last straight line path is parallel to the next straight line path.
In this embodiment, in the same density area, the preset moving sequence of the mechanical arm is from top to bottom, and the line drawing sequence is from left to right, that is, the line is drawn from left to right when a straight line is drawn, and after the line on the mechanical arm is drawn, the mechanical arm moves downwards to draw the line on the lower surface. The method comprises the steps of obtaining a first path by combining density contour information and a preset vector, wherein the density contour information comprises coordinate information of a density region contour, obtaining a coordinate of a point at the upper left corner of the density region contour according to a sequence rule of movement of a mechanical arm, and obtaining the first path by combining the obtained coordinate point and the preset vector. After the first path is acquired, the second path is acquired by combining the line density and the first path, and the second path can be acquired because the line density includes distance information of two adjacent paths. And sequentially combining the line drawing density and the previous path to acquire the next path until the density area is planned. As shown in fig. 2, the density of the drawn lines in the left density region is greater than that in the right density region, so that the straight paths in the left density region are more dense and the number of lines is greater. In the same color area, the saturation of the image is reflected through the density of the lines, so that the image is more vivid and image. In fig. 2, the angle of the preset vector is 0, so it is a horizontal straight line; by presetting the angle of the vector, oblique lines with different slopes can be obtained.
Referring to fig. 3, when a curve is drawn by selecting a drawing shape, the steps of planning an image path are:
and C1, acquiring a first contour path according to the density contour information in the same density region.
And C2, sequentially combining the previous contour path and the line drawing density to acquire the next contour path until the density area is planned.
The density profile information includes coordinate information of the density area profile, and a path of the density area profile can be obtained based on the coordinate information, the path is used as a first profile path, and a second profile path is obtained by combining the first profile path and the drawing line density, and the second profile path can be obtained because the drawing line density includes distance information of a previous profile path and a next profile path. And sequentially combining the previous contour path with the line drawing density to acquire the next contour path until the density area is planned. As shown in fig. 3, the greater the line density, the smaller the distance between circles, reflecting the greater the saturation of the image, and since the line density of the left-hand density region is greater than that of the right-hand density region, the straight paths of the left-hand density region are denser and the number of lines is greater. The average saturation ranges from 0 to 1, and when the average saturation is 1, the whole density region is drawn with the drawn lines, and when the average saturation is closer to 0, the drawn lines in the density region are fewer. In fig. 3, the contour of the density region is circular, so the resulting contour path is also circular, and when the contour of the density region is irregularly shaped, then the contour path is irregularly shaped.
In the process of planning a path, straight line drawing or curve drawing can be selected independently, and two kinds of drawing can be selected alternately, so that when the portrait needs particularly dense color, the two kinds of drawing can be used simultaneously.
According to the method, a color image is divided through an HSV color model, a plurality of color areas are obtained, the contour coordinates of the color areas are mapped onto a first coordinate system, and then the robot is controlled to take images on the first coordinate system according to the contour information of the color blocks, so that the color image is obtained. In addition, the saturation of the portrait is reflected by the density of the drawn lines, so that the stereoscopic impression of the image can be presented, the drawn image is more vivid, and the requirements of people on the painting of the portrait robot on the color image are greatly met.
Example two
On the basis of the first embodiment, the step S1 further includes the following steps:
judging whether the brightness of the pixel point is larger than a preset value, if so, directly assigning the brightness of the pixel point as 1.
When the brightness of the pixel value in the image is larger than the preset value, the color is dark, and the brightness of the pixel point is directly assigned to be 1 and is represented by black. The preset value may be 0.5 to 0.9, and in this embodiment, the preset value is 0.8. The brightness is processed by the method, so that the image is more tensioned and more vivid.
Example III
Referring to fig. 4, a system for controlling a robot representation includes a partitioning module, a mapping module, and a control module;
the dividing module is used for acquiring a color image of the image to be imaged, and carrying out color region division on the color image by adopting a preset HSV color model so as to acquire a plurality of color regions;
the mapping module is used for obtaining the contour coordinates of each color area, mapping the contour coordinates to a first coordinate system according to a preset proportion, and obtaining color block contour information on the first coordinate system;
the control module is used for planning an image path of the robot in a first coordinate system by combining the color block outline information and the color information of the color area, and controlling a mechanical arm of the robot to perform an image according to the image path.
According to the system, the HSV color model is used for dividing the color image to obtain a plurality of color areas, the contour coordinates of the color areas are mapped onto the first coordinate system, and then the robot is controlled to draw images on the first coordinate system according to the contour information of the color blocks, so that the color images are obtained, and the requirements of people on drawing the color images of the robot are met.
The system for controlling the robot portrait can execute the method for controlling the robot portrait provided by the embodiment of the method, can execute the steps of any combination of the embodiment of the method, and has the corresponding functions and beneficial effects.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.
Claims (8)
1. A method of controlling a robot representation, comprising the steps of:
s1, acquiring a color image of a to-be-imaged, and dividing color areas of the color image by adopting a preset HSV color model so as to acquire a plurality of color areas; the preset HSV color model is an HSV color space comprising a plurality of color subspaces;
s2, acquiring contour coordinates of each color region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring color block contour information on the first coordinate system;
s3, planning an image path of the robot in a first coordinate system by combining the color block outline information and the corresponding color information, and controlling a mechanical arm of the robot to perform an image according to the image path;
the HSV color model is specifically obtained through the following steps:
performing color space division processing on the HSV color space according to the tone to obtain a plurality of color subspaces; wherein each color subspace corresponds to a hue;
the saturation of the HSV color space is divided into a plurality of saturation intervals on average, and the step S2 includes the steps of:
acquiring contour coordinates of each color region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring color block contour information on the first coordinate system;
judging a saturation section to which the pixel points belong according to the saturation of the pixel points in the same color area, and connecting the connected pixel points belonging to the same saturation section into a density area;
acquiring contour coordinates of each density region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring density contour information;
and obtaining the saturation of the pixel points of the same density region, calculating the average saturation, and obtaining the drawing line density of the density region by combining the average saturation and a preset corresponding relation.
2. The method of controlling a robot portrait according to claim 1, wherein said step S1 specifically includes the steps of:
after a color image of the image to be imaged is obtained, the color image is compressed;
sequentially acquiring HSV of pixel points of a color image; HSV includes brightness, hue, and saturation, among others;
judging a color subspace to which the pixel point belongs according to the color tone of the pixel point, and assigning the color tone of the color subspace to the color tone of the pixel point;
on a color image, connected pixel points of the same tone are connected into a color region, thereby obtaining a plurality of color regions.
3. The method of controlling a robot portrait according to claim 2, wherein said color information includes a hue, and said step S3 specifically includes the steps of:
sequentially controlling the robot to move to a corresponding position according to the color block outline information, and selecting the color of the painting brush of the robot according to the color information;
the method comprises the steps of combining density profile information, line drawing density and preset line drawing shapes to plan an image path of a robot in a first coordinate system;
the robot is controlled to perform the image according to the image path until the image is completed.
4. A method of controlling a robot representation according to claim 3, in which the predetermined line drawing shape is a straight line drawing and/or a curved line drawing.
5. The method of controlling a robot representation according to claim 4, wherein when a straight line drawing is selected for the drawing shape, a representation path is planned by:
in the same density region, acquiring a first path by combining density profile information, preset vector acquisition and preset mechanical arm movement sequence;
sequentially combining the previous linear path with the line drawing density to obtain the next linear path until the density area is planned;
the last straight line path is parallel to the next straight line path.
6. The method of controlling a robot representation according to claim 4, wherein when drawing a line shape selection curve, a representation path is planned by:
acquiring a first contour path according to the density contour information in the same density region;
and sequentially combining the previous contour path with the line drawing density to acquire the next contour path until the density area is planned.
7. The method of controlling a robot representation according to any of the claims 2-6, characterized in that step S1 further comprises the steps of:
judging whether the brightness of the pixel point is larger than a preset value, if so, directly assigning the brightness of the pixel point as 1.
8. The system for controlling the robot portrait is characterized by comprising a dividing module, a mapping module and a control module;
the dividing module is used for acquiring a color image of the image to be imaged, and carrying out color region division on the color image by adopting a preset HSV color model so as to acquire a plurality of color regions; the preset HSV color model is an HSV color space comprising a plurality of color subspaces;
the mapping module is used for obtaining the contour coordinates of each color area, mapping the contour coordinates to a first coordinate system according to a preset proportion, and obtaining color block contour information on the first coordinate system;
the control module is used for planning an image path of the robot in a first coordinate system by combining the color block outline information and the color information of the color area, and controlling a mechanical arm of the robot to perform an image according to the image path;
the HSV color model is specifically obtained through the following steps:
performing color space division processing on the HSV color space according to the tone to obtain a plurality of color subspaces; wherein each color subspace corresponds to a hue;
the saturation of the HSV color space is divided into a plurality of saturation intervals on average, and the mapping module is specifically configured to:
acquiring contour coordinates of each color region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring color block contour information on the first coordinate system;
judging a saturation section to which the pixel points belong according to the saturation of the pixel points in the same color area, and connecting the connected pixel points belonging to the same saturation section into a density area;
acquiring contour coordinates of each density region, mapping the contour coordinates to a first coordinate system according to a preset proportion, and acquiring density contour information;
and obtaining the saturation of the pixel points of the same density region, calculating the average saturation, and obtaining the drawing line density of the density region by combining the average saturation and a preset corresponding relation.
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