CN109993810A - A kind of intelligence sketch drawing method, device, storage medium and terminal device - Google Patents
A kind of intelligence sketch drawing method, device, storage medium and terminal device Download PDFInfo
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- CN109993810A CN109993810A CN201910208256.4A CN201910208256A CN109993810A CN 109993810 A CN109993810 A CN 109993810A CN 201910208256 A CN201910208256 A CN 201910208256A CN 109993810 A CN109993810 A CN 109993810A
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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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- 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
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- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention discloses a kind of intelligent sketch drawing methods, comprising: S1 obtains the image of Painting Object by acquisition device；S2 carries out gray proces to the Painting Object image by algorithm, obtains gray level image；S3 is curled up by the outside from coil to coil of polar equation using the starting point that the center of the gray level image is painted as helical structure and is established helix, until each point in the gray level image is included；Gray value is divided into multiple gray scale intervals by S4, describes number for each section setting drawing path；S5, calculate the helix each pair of point answer the gray level image point the affiliated section of gray value description number；The consecutive points of same drawing number are divided into one section by S6, according to the drawing number of each point of the helix, the helix are divided into multiple groups drawing path, obtains the helical structure drawing path of pictorial image；S7 generates electric treatment signal according to the helical structure drawing path, and control mechanical arm is painted.
Description
Technical field
The present invention relates to robot painting field more particularly to a kind of intelligent sketch drawing method, device, storage medium and
Terminal device.
Background technique
With the development of science and technology, intelligent robot is more and more extensive with field, also widely used in life
Intelligent robot, and the robot that can be drawn a picture, also will be welcomed by the people.
Sketch is the form of painting occurred earliest in human history, and most ancient artistic speech；Sketch can use list
Colo(u)r streak item or smearing show things in the intuitive world at modes such as faces, can also express thoughts, is concept, attitude, emotion, unreal
Think, signify even abstract form；Therefore, auto-portrait robot should also have the element of this distinct performance glamour on painting skill
Retouch painting ability.
Auto-portrait robot in the prior art is all that Direct Recognition image lines are painted after obtaining pictorial image, still
Include light and shade in image, there are part lines to need color burn, there are part lines to need color light, just set off in this way
The sense of reality of image out；And method for drafting in the prior art is the identical drafting of direct progress color dynamics, obtained result
It is a lack of the sense of reality.
Summary of the invention
The present invention provides a kind of intelligent sketch drawing method, device, storage medium and terminal devices, to solve existing skill
The technical issues of auto-portrait robot Direct Recognition image lines in art are painted, thus according to the light and shade of image and required
Shade degree is drawn, and then realizes the sense of reality for increasing mechanical sketch, enhances painting effect.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of intelligent sketch drawing methods, comprising:
The image of Painting Object is obtained by acquisition device；
Gray proces are carried out to the Painting Object image by algorithm, obtain gray level image；
Using the starting point that the center of the gray level image is painted as helical structure, is curled up and built by the outside from coil to coil of polar equation
Vertical helix, until each point in the gray level image is included；
Gray value is divided into multiple gray scale intervals, describes number for each section setting drawing path；
Calculate the helix each pair of point answer the gray level image point the affiliated section of gray value description number；
The consecutive points of same drawing number are divided into one section, according to the drawing number of each point of the helix, by institute
It states helix and is divided into multiple groups drawing path, obtain the helical structure drawing path of pictorial image；
Electric treatment signal is generated according to the helical structure drawing path, control mechanical arm is painted.
Preferably, before the image for obtaining Painting Object by acquisition device, further includes: drawn described
It draws and light emitting source is set above object, so that the image obtained is apparent.
Preferably, the algorithm for carrying out gray proces is weighted mean method formula.
Preferably, the weighted mean method formula specifically: f (i, j)=0.30R (i, j)+0.59G (i, j)+
0.11B (i, j), wherein i, j represent a pixel in the position of two-dimensional space vector, it may be assumed that the i-th row, jth column.
Preferably, the polar equation is the polar equation formula of Archimedes spiral: r=a+b θ, wherein θ
For polar angle degree, a is starting point to polar distance, and b corresponds to increased therewith for the every increase unit angle radial coordinate r of helix
Numerical value.
Preferably, each pair of point for calculating the helix answers the gray value institute of the point of the gray level image
Belong to the description number in section, comprising:
When the point of Painting Object in the gray level image is located on the helix, then according to the gray value interval pair of the point
That answers describes the description number of the corresponding point of number setting helix；
When the point of Painting Object in the gray level image is between helix, then to the point and the spiral adjacent with the point
Line makees horizontal vertical tangent line respectively, obtain with crosspoint corresponding on the neighboring spiral, which is judged according to nearby principle
Affiliated helix, further according to the description number of the corresponding description number setting helix corresponding points of gray value interval of the point；
When the same point of the helix has corresponded to multiple points of Painting Object in the gray level image, then in multiple points
It is highest to describe number to set the description number of helix corresponding points.
Preferably, the acquisition device includes mobile phone, camera, tablet computer or computer with camera.
The embodiment of the invention also provides a kind of intelligent sketch picture-drawing devices, comprising:
Acquisition module, for obtaining the image of Painting Object；
Gradation processing module obtains gray level image for carrying out gray proces to the Painting Object image by algorithm；
Spiral constructs module, and the starting point for being painted using the center of the gray level image as helical structure passes through polar coordinates
The outside from coil to coil of equation, which curls up, establishes helix, until each point in the gray level image is included；
Division module is described secondary for gray value to be divided into multiple gray scale intervals for each section setting drawing path
Number；
Computing module, each pair of point for calculating the helix answer the affiliated area of gray value of the point of the gray level image
Between description number；
Path module, for the consecutive points of same drawing number to be divided into one section, according to each point of the helix
The helix is divided into multiple groups drawing path, obtains the helical structure drawing path of pictorial image by drawing number；
Module of painting controls mechanical arm and is drawn for generating electric treatment signal according to the helical structure drawing path
It draws.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer readable storage medium includes
The computer program of storage；Wherein, where the computer program controls the computer readable storage medium at runtime
Equipment executes intelligent sketch drawing method as described in any one of the above embodiments.
The embodiment of the invention also provides a kind of terminal device, including processor, memory and it is stored in the storage
In device and it is configured as the computer program executed by the processor, the processor is real when executing the computer program
Existing intelligent sketch drawing method as described in any one of the above embodiments.
Compared with the prior art, the embodiment of the present invention has the following beneficial effects:
It is drawn according to the light and shade of image and required shade degree, by carrying out gray proces to image and building
Vertical helix, and number and drawing path are drawn according to the gray value setting on helix, solve drawing machine in the prior art
The technical issues of device people's Direct Recognition image lines are painted realizes the sense of reality for increasing mechanical sketch, enhances painting effect.
Detailed description of the invention
Fig. 1: for the method step flow diagram in the embodiment of the present invention；
Fig. 2: schematic diagram is constructed for the helix in the embodiment of the present invention；
Fig. 3: for the mechanical sketch painting effect figure in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, the preferred embodiment of the present invention provides a kind of intelligent sketch drawing method, comprising:
S1 obtains the image of Painting Object by acquisition device；
Preferably, before the image for obtaining Painting Object by acquisition device, further includes: drawn described
It draws and light emitting source is set above object, so that the image obtained is apparent.
S2 carries out gray proces to the Painting Object image by algorithm, obtains gray level image；
Preferably, the algorithm for carrying out gray proces is weighted mean method formula.
Preferably, the weighted mean method formula specifically: f (i, j)=0.30R (i, j)+0.59G (i, j)+
0.11B (i, j), wherein i, j represent a pixel in the position of two-dimensional space vector, it may be assumed that the i-th row, jth column.
S3 is revolved using the starting point that the center of the gray level image is painted as helical structure by the outside from coil to coil of polar equation
Around establishing helix, until each point in the gray level image is included；
Preferably, the polar equation is the polar equation formula of Archimedes spiral: r=a+b θ, wherein θ
For polar angle degree, a is starting point to polar distance, and b corresponds to increased therewith for the every increase unit angle radial coordinate r of helix
Numerical value.
Gray value is divided into multiple gray scale intervals by S4, describes number for each section setting drawing path；
S5, calculate the helix each pair of point answer the gray level image point the affiliated section of gray value description time
Number；
Preferably, each pair of point for calculating the helix answers the gray value institute of the point of the gray level image
Belong to the description number in section, comprising:
When the point of Painting Object in the gray level image is located on the helix, then according to the gray value interval pair of the point
That answers describes the description number of the corresponding point of number setting helix；
When the point of Painting Object in the gray level image is between helix, then to the point and the spiral adjacent with the point
Line makees horizontal vertical tangent line respectively, obtain with crosspoint corresponding on the neighboring spiral, which is judged according to nearby principle
Affiliated helix, further according to the description number of the corresponding description number setting helix corresponding points of gray value interval of the point；
When the same point of the helix has corresponded to multiple points of Painting Object in the gray level image, then in multiple points
It is highest to describe number to set the description number of helix corresponding points.
The consecutive points of same drawing number are divided into one section by S6, will according to the drawing number of each point of the helix
The helix is divided into multiple groups drawing path, obtains the helical structure drawing path of pictorial image；
S7 generates electric treatment signal according to the helical structure drawing path, and control mechanical arm is painted.
It should be understood that acquisition device described in above embodiments includes mobile phone, camera, plate electricity with camera
Brain or computer.
Below with reference to specific embodiment, the present invention is described in detail.
Step 1,45 degree of position polishings above Painting Object adjust suitable light and Painting Object are made to show level
Abundant, more three-dimensional relationship between light and dark, takes pictures to Painting Object by capture apparatus such as mobile phone, digital camera or cameras, obtains
The pictorial image of Painting Object.
Step 2 carries out gray proces to pictorial image using weighted mean method formula, obtains the grayscale image of pictorial image.
Gray proces weighted mean method formula: where i, j represent a pixel in the position of two-dimensional space vector, it may be assumed that
I-th row, jth column.According to above-mentioned formula, the gray value of each pixel of each image is calculated, value range is 0-255, makes image
Black-white-gray state is all presented.
Step 3, the starting point painted using the center of image as helical structure, according to the polar equation of Archimedes spiral
Formula: r=a+b θ, counterclockwise outside from coil to coil, which curls up, establishes helix, until each point packet in pictorial image grayscale image
Until inside.Each ginseng in equation is set according to the contents of object in the canvas size and image when actually painting
Number.As polar angle θ=0, a is distance of the starting point to polar origin.B be the every increase unit angle radial coordinate r of helix with
The increased numerical value of correspondence, the distance between adjacent two curves are controlled by the value of setup parameter b, pass through setup parameter a
Value rotate helical.
0~255 gray value is divided into multiple gray scale intervals in advance by step 4, is retouched for each section setting drawing path
Draw number.For example, 0~255 gray value is divided into 5 sections with 50 for one section: 0~50,51~100,101~150,
151~200,201~255；By 0~50 section be set as describe 9 times, 51~100 sections be set as describe 7 times, 101~150
Section is set as describing 5 times, and 151~200 sections are set as describing 3 times, and 201~255 sections are set as describing 1 time.
Step 5, from the off, answers the affiliated interval computation of gray value of the point of grayscale image to retouch each pair of point of helix
Number is drawn, the description number of default setting helix is 1 time；If the point of Painting Object is located on helix in grayscale image,
According to the corresponding description number for describing the corresponding point of number setting helix of the gray value interval of the point；If drawn in grayscale image
The point of object is drawn between helix, then horizontal vertical tangent line is made to the point and the helix adjacent with the point respectively, is obtained
With crosspoint corresponding on the neighboring spiral, according to nearby principle judge the point belonging to helix, further according to the ash of the point
The description number of the corresponding description number setting helix corresponding points in angle value section；If the same point of helix has corresponded to gray scale
Multiple points of Painting Object in figure set the description number of helix corresponding points then with description number highest in multiple points.
The description 1 time of helix not superposition calculation itself.
Referring to Fig. 2: A, B, C are the points of the Painting Object in pictorial image grayscale image, wherein A, C between helix,
B is located on helix；A, b are to make the crosspoint that horizontal vertical tangent line obtains respectively to A point and the helix adjacent with A point；B, c
It is that the crosspoint that horizontal vertical tangent line obtains is made respectively to C point and the helix adjacent with C point；According to nearby principle, A point, C point
It belongs on the helix where b.
When calculating description number, drawing for A, B, C is calculated separately out according to the corresponding default gray scale interval of the gray value of A, B, C point
It draws path and describes number.For example, the section that the gray value of A is 35, corresponding 0~50 is to describe 9 times；The gray value of B is 70, corresponding
51~100 sections are to describe 7 times；The gray value of C is 220, and corresponding 201~255 sections are to describe 1 time, then sets helix pair
When should put description number, B point is described 7 times, and b point is described 9 times.
The consecutive points of same drawing number are divided into one section, according to spiral each point by step 6, from the off
Helix is divided into multiple groups drawing path, obtains the helical structure drawing path of pictorial image by drawing number.
Step 7 generates electric treatment signal according to helical structure drawing path, and control mechanical arm is painted, and obtains machinery
Sketch map is as shown in Figure 3.
Correspondingly, the embodiment of the invention also provides a kind of intelligent sketch picture-drawing devices, comprising:
Acquisition module, for obtaining the image of Painting Object；
Gradation processing module obtains gray level image for carrying out gray proces to the Painting Object image by algorithm；
Spiral constructs module, and the starting point for being painted using the center of the gray level image as helical structure passes through polar coordinates
The outside from coil to coil of equation, which curls up, establishes helix, until each point in the gray level image is included；
Division module is described secondary for gray value to be divided into multiple gray scale intervals for each section setting drawing path
Number；
Computing module, each pair of point for calculating the helix answer the affiliated area of gray value of the point of the gray level image
Between description number；
Path module, for the consecutive points of same drawing number to be divided into one section, according to each point of the helix
The helix is divided into multiple groups drawing path, obtains the helical structure drawing path of pictorial image by drawing number；
Module of painting controls mechanical arm and is drawn for generating electric treatment signal according to the helical structure drawing path
It draws.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer readable storage medium includes
The computer program of storage；Wherein, where the computer program controls the computer readable storage medium at runtime
Equipment executes intelligent sketch drawing method described in any of the above-described embodiment.
The embodiment of the invention also provides a kind of terminal device, the terminal device includes processor, memory and deposits
The computer program executed by the processor is stored up in the memory and is configured as, the processor is executing the meter
Intelligent sketch drawing method described in any of the above-described embodiment is realized when calculation machine program.
Preferably, the computer program can be divided into one or more module/units (such as computer program, meter
Calculation machine program), one or more of module/units are stored in the memory, and are executed by the processor, with
Complete the present invention.One or more of module/units can be and can complete the series of computation machine program of specific function and refer to
Section is enabled, the instruction segment is for describing implementation procedure of the computer program in the terminal device.
The processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc., general processor can be microprocessor or the processor is also possible to any conventional processing
Device, the processor are the control centres of the terminal device, utilize each of terminal device described in various interfaces and connection
A part.
The memory mainly includes program storage area and data storage area, wherein program storage area can store operation system
Application program needed for system, at least one function etc., data storage area can store related data etc..In addition, the memory can
To be high-speed random access memory, nonvolatile memory, such as plug-in type hard disk, intelligent memory card (Smart can also be
Media Card, SMC), secure digital (Secure Digital, SD) card and flash card (Flash Card) etc. or described deposit
Reservoir is also possible to other volatile solid-state parts.
It should be noted that above-mentioned terminal device may include, but it is not limited only to, processor, memory, those skilled in the art
Member is appreciated that above-mentioned terminal device is only example, does not constitute the restriction to terminal device, may include more or less
Component, perhaps combine certain components or different components.
In conclusion the present invention provides a kind of intelligent sketch drawing methods, according to the light and shade of image and required color
Depth degree is drawn, and by carrying out gray proces to image and establishing helix, and is set according to the gray value on helix
It sets and draws number and drawing path, solve the technology that auto-portrait robot Direct Recognition image lines in the prior art are painted
Problem realizes the sense of reality for increasing mechanical sketch, enhances painting effect.
Particular embodiments described above has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present invention
Range.It particularly points out, to those skilled in the art, all within the spirits and principles of the present invention, that is done any repairs
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of intelligence sketch drawing method characterized by comprising
The image of Painting Object is obtained by acquisition device；
Gray proces are carried out to the Painting Object image by algorithm, obtain gray level image；
Using the starting point that the center of the gray level image is painted as helical structure, is curled up by the outside from coil to coil of polar equation and establish spiral shell
Spin line, until each point in the gray level image is included；
Gray value is divided into multiple gray scale intervals, describes number for each section setting drawing path；
Calculate the helix each pair of point answer the gray level image point the affiliated section of gray value description number；
The consecutive points of same drawing number are divided into one section, according to the drawing number of each point of the helix, by the spiral shell
Spin line is divided into multiple groups drawing path, obtains the helical structure drawing path of pictorial image；
Electric treatment signal is generated according to the helical structure drawing path, control mechanical arm is painted.
2. intelligence sketch drawing method as described in claim 1, which is characterized in that paint in described obtained by acquisition device
Before the image of object, further includes: light emitting source is set above the Painting Object, so that the image obtained is apparent.
3. intelligence sketch drawing method as described in claim 1, which is characterized in that the algorithm for carrying out gray proces is to add
Weight average method formula.
4. intelligence sketch drawing method as claimed in claim 3, which is characterized in that the weighted mean method formula specifically: f
(i, j)=0.30R (i, j)+0.59G (i, j)+0.11B (i, j), wherein i, j represent a pixel in two-dimensional space vector
Position, it may be assumed that the i-th row, jth column.
5. intelligence sketch drawing method as described in claim 1, which is characterized in that the polar equation is Archimedes's spiral shell
The polar equation formula of line: r=a+b θ, wherein θ is polar angle degree, and a is starting point to polar distance, and b is the every increase of helix
Unit angle radial coordinate r corresponds to increased numerical value therewith.
6. intelligence sketch drawing method as described in claim 1, which is characterized in that each point for calculating the helix
The description number in the affiliated section of gray value of the point of the corresponding gray level image, comprising:
When the point of Painting Object in the gray level image is located on the helix, then the gray value interval according to the point is corresponding
Describe the description number of the corresponding point of number setting helix；
When the point of Painting Object in the gray level image is between helix, then to the point and the helix minute adjacent with the point
Do not make horizontal vertical tangent line, obtain with crosspoint corresponding on the neighboring spiral, which is judged according to nearby principle belonging to
Helix, further according to the description number of the corresponding description number setting helix corresponding points of gray value interval of the point；
When the same point of the helix has corresponded to multiple points of Painting Object in the gray level image, then with highest in multiple points
Description number set the description numbers of helix corresponding points.
7. intelligence sketch drawing method as described in claim 1, which is characterized in that the acquisition device includes having camera
Mobile phone, camera, tablet computer or computer.
8. a kind of intelligence sketch picture-drawing device characterized by comprising
Acquisition module, for obtaining the image of Painting Object；
Gradation processing module obtains gray level image for carrying out gray proces to the Painting Object image by algorithm；
Spiral constructs module, and the starting point for being painted using the center of the gray level image as helical structure passes through polar equation
Outside from coil to coil, which curls up, establishes helix, until each point in the gray level image is included；
Division module describes number for gray value to be divided into multiple gray scale intervals for each section setting drawing path；
Computing module, each pair of point for calculating the helix answer the affiliated section of gray value of the point of the gray level image
Describe number；
Path module, for the consecutive points of same drawing number to be divided into one section, according to the drawing of each point of the helix
The helix is divided into multiple groups drawing path, obtains the helical structure drawing path of pictorial image by number；
Module of painting controls mechanical arm and paints for generating electric treatment signal according to the helical structure drawing path.
9. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium includes the calculating of storage
Machine program；Wherein, the equipment where the computer program controls the computer readable storage medium at runtime executes such as
The described in any item intelligent sketch drawing methods of claim 1~7.
10. a kind of terminal device, which is characterized in that including processor, memory and store in the memory and matched
It is set to the computer program executed by the processor, the processor is realized when executing the computer program as right is wanted
Seek 1~7 described in any item intelligent sketch drawing methods.
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| CN110453395A (en) * | 2019-07-19 | 2019-11-15 | 广东智媒云图科技股份有限公司 | A kind of intelligent robot embroidering method, electronic equipment, storage medium |
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| CN110570480A (en) * | 2019-07-19 | 2019-12-13 | 广东智媒云图科技股份有限公司 | Sketch drawing method of drawing robot, electronic equipment and storage medium |
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| CN111161373A (en) * | 2019-12-09 | 2020-05-15 | 北京理工大学 | Drawing method based on sine curve gray scale display |
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| CN112192563A (en) * | 2020-08-28 | 2021-01-08 | 珠海市一微半导体有限公司 | Painting control method and chip of intelligent painting robot and intelligent painting robot |
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| CN110453395B (en) * | 2019-07-19 | 2021-04-09 | 广东智媒云图科技股份有限公司 | Intelligent robot embroidery method, electronic equipment and storage medium |
| CN110555894A (en) * | 2019-07-19 | 2019-12-10 | 广东智媒云图科技股份有限公司 | Intelligent robot painting method, electronic equipment and storage medium |
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| CN110453395A (en) * | 2019-07-19 | 2019-11-15 | 广东智媒云图科技股份有限公司 | A kind of intelligent robot embroidering method, electronic equipment, storage medium |
| CN110570480B (en) * | 2019-07-19 | 2023-03-24 | 广东智媒云图科技股份有限公司 | Sketch drawing method of drawing robot, electronic equipment and storage medium |
| CN110555894B (en) * | 2019-07-19 | 2023-03-07 | 广东智媒云图科技股份有限公司 | Intelligent robot painting method, electronic equipment and storage medium |
| CN110490853A (en) * | 2019-08-13 | 2019-11-22 | 广东智媒云图科技股份有限公司 | Three-dimensional needle method for making picture, device, equipment and storage medium |
| CN110490853B (en) * | 2019-08-13 | 2022-02-11 | 广东智媒云图科技股份有限公司 | Method, device and equipment for manufacturing three-dimensional needle painting and storage medium |
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| CN110626112A (en) * | 2019-10-24 | 2019-12-31 | 上海鸣展多媒体科技有限公司 | Method and equipment for automatically generating and processing winding picture |
| CN110626112B (en) * | 2019-10-24 | 2021-04-13 | 上海鸣展多媒体科技有限公司 | Method and equipment for automatically generating and processing winding picture |
| CN111161373A (en) * | 2019-12-09 | 2020-05-15 | 北京理工大学 | Drawing method based on sine curve gray scale display |
| CN111161373B (en) * | 2019-12-09 | 2022-06-03 | 北京理工大学 | Drawing method based on sine curve gray scale display |
| CN111047671B (en) * | 2019-12-24 | 2023-05-16 | 成都来画科技有限公司 | Method for optimizing drawing path of hand-drawn picture and storage medium |
| CN111047671A (en) * | 2019-12-24 | 2020-04-21 | 成都来画科技有限公司 | Optimization method of drawing path of hand-drawn picture and storage medium |
| CN111015671B (en) * | 2019-12-30 | 2022-03-08 | 南京埃斯顿机器人工程有限公司 | Planning method for planar spiral line polishing track of robot |
| CN111015671A (en) * | 2019-12-30 | 2020-04-17 | 南京埃斯顿机器人工程有限公司 | Planning method for planar spiral line polishing track of robot |
| CN112192563A (en) * | 2020-08-28 | 2021-01-08 | 珠海市一微半导体有限公司 | Painting control method and chip of intelligent painting robot and intelligent painting robot |
| CN112192563B (en) * | 2020-08-28 | 2021-08-24 | 珠海市一微半导体有限公司 | Painting control method and chip of intelligent painting robot and intelligent painting robot |
| CN112192562B (en) * | 2020-08-28 | 2021-08-24 | 珠海市一微半导体有限公司 | Drawing guiding method and chip of intelligent drawing robot and intelligent drawing robot |
| CN112192562A (en) * | 2020-08-28 | 2021-01-08 | 珠海市一微半导体有限公司 | Drawing guiding method and chip of intelligent drawing robot and intelligent drawing robot |
| WO2022166896A1 (en) * | 2021-02-05 | 2022-08-11 | 北京字跳网络技术有限公司 | Video generation method and apparatus, and device and readable storage medium |
| CN116100985A (en) * | 2023-02-14 | 2023-05-12 | 浙江理工大学 | Method applied to drawing by nails |
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