CN109727299A - A kind of control mechanical arm combines the method drawn a picture, electronic equipment and storage medium - Google Patents
A kind of control mechanical arm combines the method drawn a picture, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a kind of control mechanical arms to combine the method drawn a picture, comprising the following steps: obtaining step: obtaining the pictorial image drawn on drawing paper；It calculates step: calculating the similarity value of all template images in the pictorial image and template database；Completion step: the maximum template image of similarity value with pictorial image is chosen, and mechanical arm is controlled according to the template image, completion is carried out to the drawing on drawing paper.The present invention also provides a kind of electronic equipment and computer readable storage medium.Control mechanical arm of the invention combines the image that the method drawn a picture is not completed by obtaining user, to carry out template matching, to realize the completion of drawing, the integrality of works is improved, and it can more intuitively be interacted with user by way of mechanical arm, promote the interactivity of drawing.
Description
Technical field
The present invention relates to a kind of drawing techniques fields more particularly to a kind of control mechanical arm to combine the method drawn a picture, electronics
Equipment and storage medium.
Background technique
Currently, in recent years, with specialization and networking that the fine arts learn, more and more parents, which are that child's selection is online, to be learned
The mode of habit saves the road two-way time attended class under line, while can also arrange learning tasks at any time.However, passing through network school
Learning terminal carries out fine arts study, and most teaching method is all that child is allowed to copy ready-made fixation paint, Huo Zheguan
See that the drawing teaching process video of teacher learns, there is no select according to practical Painting Object needs, or for student
Any scenery carry out the form of specified teaching of drawing a picture, for specifying the drawing of object to teach mode, the more deep body of child can be allowed
The form of expression of the interested Painting Object in drawing can be arrived, however if instructs to teach completely one by one by a large amount of teachers
It learns, the manpower and time cost of investment are too high, but such teaching pattern has hard demand.And existing there is no very
Good mode has relatively good demonstration mode to drawing completion.
Summary of the invention
For overcome the deficiencies in the prior art, combine one of the objects of the present invention is to provide a kind of control mechanical arm and draw a picture
Method, be able to achieve mechanical arm control drawing completion.
The second object of the present invention is to provide a kind of electronic equipment, is able to achieve mechanical arm and controls drawing completion.
The third object of the present invention is to provide a kind of computer readable storage medium, is able to achieve mechanical arm control and paints
Completion.
An object of the present invention adopts the following technical scheme that realization:
A method of control mechanical arm, which is combined, draws a picture, comprising the following steps:
Obtaining step: the pictorial image drawn on drawing paper is obtained；
It calculates step: calculating the similarity value of all template images in the pictorial image and template database；
Completion step: the maximum template image of similarity value with pictorial image is chosen, and according to the template image control
Mechanical arm processed carries out completion to the drawing on drawing paper.
Further, further comprising the steps of with to pictorial image before calculating step after the obtaining step
Reason:
Gray processing step: gray processing is carried out to pictorial image and is calculated to obtain gray level image；
Binarization step: binary conversion treatment is carried out to obtain bianry image to the gray level image.
Further, it in the gray processing step, is carried out at gray scale by pictorial image of the weighted mean method to user
Reason.
Further, the binarization step specifically includes the following steps:
Judge whether the gray value of any one pixel in the gray level image is greater than first threshold, if so, by institute
The gray value for stating any one pixel is updated to the first setting gray value, if it is not, by the gray scale of any one pixel
Value is updated to the second setting gray value, to obtain the bianry image；Wherein, the first threshold is institute in the gray level image
There is the average gray of pixel, that is to say first threshold=(1 gray value of pixel+...+pixel n gray value)/n；Its
In, n represents pixel sum in gray level image.
Further, the calculating step specifically includes the following steps:
Pictorial image is carried out similarity with the template image in template database to compare；
According to Euclidean distance algorithm calculate pictorial image and image slices vegetarian refreshments in template image between any two at a distance from；
The similarity of pictorial image and template image is calculated according to similarity formula.
Further, the Euclidean distance algorithmic formula isWherein, x, y are that n dimension is empty
Between two points；It is then the distance of two o'clock in plane as n=2；Similarity formula are as follows:
Further, in the obtaining step: being provided with anchor point on the drawing paper, and the anchor point is set to drawing paper
Four edges.
Further, the completion step specifically includes following sub-step:
The maximum template image of similarity value with pictorial image is chosen, and is shown by display module；
Completion content is generated according to the completion instruction received, the completion content includes drawing path and the path that colors in；
Completion is carried out to the drawing on drawing paper according to completion content-control mechanical arm.
The second object of the present invention adopts the following technical scheme that realization:
A kind of electronic equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, the processor are realized when executing the computer program one described in any one of one of the object of the invention
Kind control mechanical arm combines the method drawn a picture.
The third object of the present invention adopts the following technical scheme that realization:
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Realize that a kind of control mechanical arm as described in any one of one of the object of the invention combines the method drawn a picture when row.
Compared with prior art, the beneficial effects of the present invention are:
Control mechanical arm of the invention combines the image that the method drawn a picture is not completed by obtaining user, to carry out template
Matching, with realize drawing completion, improve the integrality of works, and by way of mechanical arm can more intuitively with
User interacts, and promotes the interactivity of drawing.
Detailed description of the invention
Fig. 1 is that the control mechanical arm of embodiment one combines the flow chart for the method drawn a picture.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Embodiment one
Product form of the invention is a kind of child drawing learning robot, by needing to learn in application end App selection
Or after the painting of demonstration, system control drawing mechanical arm carries out drawing demonstration on drawing paper, and passes through App into drawing row step
It is rapid to explain, it specifically includes:
It freely paints module, user opens App of the invention using mobile phone or plate, and freedom of entry is painted in App
Drawing freely create in module, progress, is completed after painting by lines, the operations such as tint, and is painted road according to the generation of the lines of drawing
Diameter colors in path according to Area generation of tinting, and according to obtaining drawing path and the coordinates measurement electric treatment signal that colors in, control are drawn
It draws mechanical arm and the clamping of paintbrush switching device and switches corresponding paintbrush and paint is depicted as picture in kind on drawing paper.
Drawing teaching module, user carries out drawing study using mobile phone or tablet computer installation App and guides, built-in in App
Template for child drawing teaching；After user selects the template for needing to learn, system is pressed from both sides according to template content-control mechanical arm
It holds paintbrush and carries out drawing demonstration；Each template includes multiple drawing steps and corresponding explanation video when demonstrating；Mechanical arm into
User can choose pause and playback during the drawing demonstration and explanation video playing of each step of row, and mechanical arm has been demonstrated currently
Also it can suspend waiting after the painting process of step；The control system ability starter motor after the explanation video of next step starts to play
Tool arm carries out the drawing demonstration of corresponding step.If user selects to watch repeatedly in a certain step, then the drawing demonstration of the step is silent
Recognize and only carries out once.User, which can also select repeatedly to watch in setting to correspond to, allows mechanical arm to repeat to demonstrate.
Common authoring module, user open App of the invention using mobile phone or plate, and common creation is entered in App
Module can choose both of which and be painted jointly: 1, electronic edition is drawn on App, system can prompt user first to carry out arbitrarily
Creation drawing, system carry out completion then according to painting and complete content of drawing a picture jointly；2, it paints, passes through on drawing paper
After camera obtains the painting of user, system compares the drawing template pre-established, generates the content of completion part, obtains
The pictorial image created jointly is simultaneously shown to user's preview on the screen, while the drawing paper that drawing paper is placed into drawing station being consolidated
Positioning is set, and system generates drawing path according to the pictorial image content of completion part, and control system is according to drawing coordinates measurement
Electric treatment signal controlling machine tool arm clamping paintbrush carries out completion drawing on drawing paper, completes common creation drawing.In the present embodiment
Middle emphasis is described in detail for the 2nd point.
As shown in Figure 1, present embodiments providing a kind of control mechanical arm combines the method drawn a picture, comprising the following steps:
S1: the pictorial image drawn on drawing paper is obtained；Anchor point is provided on the drawing paper, and the anchor point is set to
Four edges of drawing paper.The pictorial image that user is obtained by the way that the camera above table easel is arranged in is mainly to be here
Raw image data is acquired, can further be completed to the other information of image after getting these data
Processing.
And it is supplied to the paper that the paper that user paints is customization herein, four angles are preset with positioning on paper
Point after the anchor point obtains image for camera, carries out angle correct to pictorial image according to the anchor point on drawing paper, this
Outside, when control system control mechanical arm is painted, pass through the displacement coordinate for the anchor point calculating machine arm that camera takes.
The main purpose that anchor point is arranged is to carry out positioning in order to facilitate mechanical arm to provide the foundation of a control of drawing, if do not used
Anchor point is easy to produce maloperation when then control mechanical arm.
It is further comprising the steps of after step S1:
S11: gray processing is carried out to pictorial image and is calculated to obtain gray level image；By weighted mean method to the drawing of user
Image carries out gray proces；Gray proces are carried out by pictorial image of the weighted mean method to user, pictorial image are presented black
Three kinds of color states of lime.Since each pixel color of color image is showed by tri- values of RGB, but gray processing
Next gray value is just only remained later, substantially increases treatment effeciency, and image texture can't be influenced after image gray processing
Characteristic information.It is gray processing processing weighted mean method formula: f (i, j)=0.30R (i, j)+0.59G (i, j)+0.11B below
(i,j)；Wherein, i, j represent a pixel in the position of grid matrix, i.e. the i-th row, jth column.According to above-mentioned formula, calculate
The gray value of each pixel of image, value range are 0-255, make image that black-white-gray state be presented.Carrying out gray processing processing is
In order to improve treatment effeciency, realized using different algorithms gray processing processing can, can not only use institute of the present invention
The weighted average value-based algorithm of explanation can also use the side of component method, maximum value process and mean value method etc. as gray proces
Formula.
S12: binary conversion treatment is carried out to obtain bianry image to the gray level image.The step S12 specifically: judgement
Whether the gray value of any one pixel is greater than first threshold in the gray level image, if so, will any one described pixel
The gray value of point is updated to the first setting gray value, sets if it is not, the gray value of any one pixel is updated to second
Gray value is determined, to obtain the bianry image；Wherein, the first threshold is the gray scale of all pixels point in the gray level image
Average value that is to say first threshold=(1 gray value of pixel+...+pixel n gray value)/n；Wherein, n represents gray level image
Middle pixel sum.
This step, which that is to say, carries out binary conversion treatment to user's pictorial image after gray proces.By calculating image pixel
The average value of point, to obtain threshold value；Then system is compared the gray value of each pixel with threshold value, if more than or wait
In threshold value, then 255 (whites) are assigned a value of；If being less than threshold value, it is assigned a value of 0 (black).By transfer function, it is mapped as 255
1, make user's original image that two kinds of color states of black and white be presented.It is most preferably assigned a value of 225 in fact or is assigned a value of 0, but
It is when concrete operations, as long as can also be by the way of it can obviously distinguish two kinds of colors.The one of binary conversion treatment
A purpose is also for the speed for further speeding up server process.Be the calculation formula of threshold value below: threshold value=pixel is flat
Mean value avg=(1 gray value of pixel+...+pixel n gray value)/n, wherein n representative image pixel sum.According to upper
Formula is stated, the binary value of each pixel of image is calculated, value range is 0 or 255, makes image that black and white state be presented.
S2: the similarity value of all template images in the pictorial image and template database is calculated；The step S2 tool
Body the following steps are included:
Pictorial image is carried out similarity with the template image in template database to compare；It is deposited in template database in advance
A large amount of template image is stored up, in this way when being matched, so that it may have than more rich resource and be called, work as deposit
Data volume it is enough more when, it can be made to obtain the image with the more close style of drawing of user.
According to Euclidean distance algorithm calculate pictorial image and image slices vegetarian refreshments in template image between any two at a distance from；In addition to
It, can be in a manner of further using Hamming distances, manhatton distance, Minkowski apart from scheduling algorithm using Euclidean distance algorithm
It carries out, as long as the distance of corresponding pixel points between any two can be calculated.
The similarity of pictorial image and template image is calculated according to similarity formula.Wherein, the Euclidean distance is calculated
Method formula isWherein, x, y are two points of n-dimensional space；It is then two in plane as n=2
The distance of point；Similarity formula are as follows:
Treated user's pictorial image is carried out similarity with the material image in preset template library to compare, according to Europe
Family name's distance algorithm, the distance of system-computed image slices vegetarian refreshments between any two, to calculate in user's original image and preset template library
Material image compare similarity, system is according to similarity calculation as a result, according to sorting from high to low, to template material database figure
As being arranged.Wherein, apart from smaller, similarity is bigger.
S3: the maximum template image of similarity value with pictorial image is chosen, and according to the template image to control machine
Tool arm carries out completion to the drawing on drawing paper.The step S3 specifically includes the following steps:
The maximum template image of similarity value with pictorial image is chosen, and is shown by display module；It will be similar
Content of the highest template material correspondence image of angle value as completion part, the drawing design that combination user's original image is created jointly
Picture is shown to user's preview on the screen.In addition to showing that similarity is highest, first five highest width figure of similarity can also be shown
As being selected to user, because what the selected not necessarily user of machine was thought, it, can to more selections are come out
To allow user to have the right further selected, so that the interactivity between user and robot is more preferable.When user is selected
It waits, clicks confirmation, this confirmation instruction that is to say that completion instructs.
Completion content is generated according to the completion instruction received, the completion content includes drawing path and the path that colors in；
According to the content images of completion part, Extracting contour generates contour path；Each color lump is extracted, according to color lump position and in advance
If angle and length computation rule, generation color in path.Such as the rule in the path that colors in are as follows: unify the angle according to 45 degree,
5% length of the length of long sides of each external minimum rectangle of color lump generates the path that colors in inside tiling color lump.Here it draws
When making increasingly complex image by the way of, fairly simple mode can be directly used also to carry out, directly draw
Corresponding lines；Can also using more preferably, using lines with color in two kinds and combine by the way of, the interior of drafting can be made
Hold more lively.
Completion is carried out to the drawing on drawing paper according to completion content-control mechanical arm.According to drawing path and color in path,
And reference point on drawing paper generates electric treatment signal, controls mechanical arm and paintbrush switching device, clamping paintbrush is drawn being placed on
It draws and carries out completion drawing on the drawing paper on platform, complete common creation drawing.
Control mechanical arm of the invention combines the image that the method drawn a picture is not completed by obtaining user, to carry out template
Matching, with realize drawing completion, improve the integrality of works, and by way of mechanical arm can more intuitively with
User interacts, and promotes the interactivity of drawing.
Compared with traditional drawing product/tool, present invention has the advantage that operating procedure it is simple, it is time saving save worry, avoid
A series of drawing setting of very complicateds；User's drawing finishes, and the similar image that terminal is shown remains the line of user's original image
Feature is managed, the otherness for reducing example diagram and user's original image is more clearly drawn to realize user+system combined effect drawn a picture
Lead user's drawing；Drawing input/display terminal be not specifically limited, can be the daily mobile phone generally used of user, drawing boards,
Computer etc., reduce user uses threshold, improves the ease of use of user.
Control mechanical arm of the invention combines the image that the method drawn a picture is not completed by obtaining user, to carry out template
Matching, with realize drawing completion, improve the integrality of works, and by way of mechanical arm can more intuitively with
User interacts, and promotes the interactivity of drawing.
Embodiment two
Embodiment two discloses a kind of electronic equipment, which includes processor, memory and program, wherein locating
One or more can be used in reason device and memory, and program is stored in memory, and is configured to be executed by processor,
When processor executes the program, realize that a kind of control mechanical arm of embodiment one combines the method drawn a picture.The electronic equipment can be with
It is a series of electronic equipment of mobile phone, computer, tablet computer etc..
Embodiment three
Embodiment three discloses a kind of computer readable storage medium, and the storage medium is for storing program, and the journey
When sequence is executed by processor, realize that a kind of control mechanical arm of embodiment one combines the method drawn a picture.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed in method provided by any embodiment of the invention
Relevant operation.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions use so that an electronic equipment
(can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
It is worth noting that, in the above-mentioned embodiment based on content update notice device, included each unit and mould
Block is only divided according to the functional logic, but is not limited to the above division, and is as long as corresponding functions can be realized
It can；In addition, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection model being not intended to restrict the invention
It encloses.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of control mechanical arm combines the method drawn a picture, which comprises the following steps:
Obtaining step: the pictorial image drawn on drawing paper is obtained；
It calculates step: calculating the similarity value of all template images in the pictorial image and template database；
Completion step: the maximum template image of similarity value with pictorial image is chosen, and machine is controlled according to the template image
Tool arm carries out completion to the drawing on drawing paper.
2. a kind of control mechanical arm as described in claim 1 combines the method drawn a picture, which is characterized in that after obtaining step
It is further comprising the steps of to handle pictorial image before calculating step:
Gray processing step: gray processing is carried out to pictorial image and is calculated to obtain gray level image；
Binarization step: binary conversion treatment is carried out to obtain bianry image to the gray level image.
3. a kind of control mechanical arm as claimed in claim 2 combines the method drawn a picture, which is characterized in that walked in the gray processing
In rapid, gray proces are carried out by pictorial image of the weighted mean method to user.
4. a kind of control mechanical arm as claimed in claim 2 combines the method drawn a picture, which is characterized in that the binarization step
Specifically includes the following steps:
Judge whether the gray value of any one pixel in the gray level image is greater than first threshold, if so, described will appoint
The gray value of a pixel of anticipating is updated to the first setting gray value, if it is not, more by the gray value of any one pixel
It is new to set gray value for second, to obtain the bianry image；Wherein, the first threshold is all pictures in the gray level image
The average gray of vegetarian refreshments that is to say first threshold=(1 gray value of pixel+...+pixel n gray value)/n；Wherein, n generation
Pixel sum in table gray level image.
5. a kind of control mechanical arm as described in claim 1 combines the method drawn a picture, which is characterized in that the calculating step tool
Body the following steps are included:
Pictorial image is carried out similarity with all template images in template database to compare；
The distance between image slices vegetarian refreshments in pictorial image and template image is calculated according to Euclidean distance algorithm；
The similarity of pictorial image and template image is calculated according to similarity formula.
6. a kind of control mechanical arm as claimed in claim 5 combines the method drawn a picture, which is characterized in that the Euclidean distance is calculated
Method formula isWherein, x, y are two points of n-dimensional space；It is then two in plane as n=2
The distance of point；Similarity formula are as follows:
7. a kind of control mechanical arm as described in any one of claim 1-6 combines the method drawn a picture, which is characterized in that institute
It states in obtaining step: being provided with anchor point on the drawing paper, and the anchor point is set to four edges of drawing paper.
8. a kind of control mechanical arm as claimed in claim 7 combines the method drawn a picture, which is characterized in that the completion step tool
Body includes following sub-step:
The maximum template image of similarity value with pictorial image is chosen, and is shown by display module；
Completion content is generated according to the completion instruction received, the completion content includes drawing path and the path that colors in；
Completion is carried out to the drawing on drawing paper according to completion content-control mechanical arm.
9. a kind of electronic equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any one of claim 1-8 institute when executing the computer program
A kind of control mechanical arm stated combines the method drawn a picture.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program
Realize that a kind of control mechanical arm as described in claim 1-8 any one combines the method drawn a picture when being executed by processor.
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| CN111168676A (en) * | 2020-01-08 | 2020-05-19 | 浙江省北大信息技术高等研究院 | Mechanical arm hand-eye cooperation painting method and device, painting robot and medium |
| CN111168676B (en) * | 2020-01-08 | 2021-06-15 | 杭州未名信科科技有限公司 | Mechanical arm hand-eye cooperation painting method and device, painting robot and medium |
| CN114926563A (en) * | 2022-07-18 | 2022-08-19 | 广州中望龙腾软件股份有限公司 | Automatic graph supplementing method and device and storage medium |
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Application publication date: 20190507 |