CN109993810B - Intelligent sketch drawing method and device, storage medium and terminal equipment - Google Patents
Intelligent sketch drawing method and device, storage medium and terminal equipment Download PDFInfo
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- CN109993810B CN109993810B CN201910208256.4A CN201910208256A CN109993810B CN 109993810 B CN109993810 B CN 109993810B CN 201910208256 A CN201910208256 A CN 201910208256A CN 109993810 B CN109993810 B CN 109993810B
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Abstract
The invention discloses an intelligent sketch drawing method, which comprises the following steps: s1, acquiring an image of a painting object through an acquisition device; s2, carrying out gray scale processing on the painting object image through an algorithm to obtain a gray scale image; s3, taking the center of the gray image as a starting point of spiral structure drawing, and establishing a spiral line by outwards and gradually winding the spiral line by a polar coordinate equation until each point in the gray image is contained; s4, dividing the gray value into a plurality of gray intervals, and setting drawing path drawing times for each interval; s5, calculating the drawing times of the interval to which the gray value of each point of the spiral line corresponds to the point of the gray image; s6, dividing adjacent points with the same painting times into a section, and dividing the spiral line into a plurality of groups of painting paths according to the painting times of each point of the spiral line to obtain a spiral structure drawing path of a painting image; and S7, generating an electrical processing signal according to the spiral structure drawing path, and controlling the mechanical arm to draw.
Description
Technical Field
The invention relates to the field of robot painting, in particular to an intelligent sketch painting method, device, storage medium and terminal equipment.
Background
Along with the development of science and technology, the application field of intelligent robots is more and more wide, intelligent robots are also widely applied in life, and robots capable of drawing pictures are welcomed by people.
Sketching is the earliest drawing form historically occurring by humans, and is also the oldest art language; sketching can be used for expressing things in the visual world in the modes of single-color lines or painting faces, and can also be used for expressing ideas, concepts, attitudes, emotions, fantasies, symbolizes and even abstract forms; therefore, the painting robot should also have such a unique charm-expressing sketch painting capability in painting skill.
In the prior art, the painting robot directly recognizes image lines to paint after obtaining painting images, but the images contain bright and dark surfaces, some lines need to be darkened, and some lines need to be light, so that the reality of the images is supported; in the drawing method in the prior art, the drawing with the same color intensity is directly carried out, and the obtained result is lack of realism.
Disclosure of Invention
The invention provides an intelligent sketch drawing method, device, storage medium and terminal equipment, which are used for solving the technical problem that a drawing robot in the prior art directly recognizes image lines to draw, drawing according to the brightness and darkness of an image and the required color, further realizing the increase of the sense of reality of mechanical sketch and enhancing the drawing effect.
In order to solve the technical problems, an embodiment of the present invention provides an intelligent sketch drawing method, including:
acquiring an image of a painting object through an acquisition device;
carrying out gray scale processing on the painting object image through an algorithm to obtain a gray scale image;
taking the center of the gray image as a starting point of spiral structure drawing, and establishing a spiral line by outwards and gradually winding the spiral line by a polar coordinate equation until each point in the gray image is contained;
dividing the gray value into a plurality of gray intervals, and setting drawing path drawing times for each interval;
calculating the drawing times of the interval of the gray value of each point of the spiral line corresponding to the point of the gray image;
dividing adjacent points with the same painting times into a section, and dividing the spiral line into a plurality of groups of painting paths according to the painting times of each point of the spiral line to obtain a spiral structure drawing path of a painting image;
and generating an electrical processing signal according to the spiral structure drawing path, and controlling the mechanical arm to draw.
Preferably, before the capturing of the image of the painting object by the capturing device, the method further includes: and arranging a light-emitting source above the painting object so as to make the acquired image clearer.
Preferably, the algorithm for gray scale processing is a weighted average method formula.
Preferably, the formula of the weighted average method is specifically as follows: f (i, j) =0.30r (i, j) +0.59G (i, j) +0.11B (i, j), where i, j represent the position of a pixel in a two-dimensional space vector, i.e.: ith row, jth column.
Preferably, the polar equation is an archimedes spiral polar equation: r=a+bθ, where θ is the polar angle, a is the distance from the start point to the polar coordinate, and b is the value that the radius coordinate r increases with each increase in the unit angle of the spiral.
Preferably, the calculating the number of times of drawing the interval to which the gray value of each point of the spiral line corresponds to the point of the gray image includes:
when a point of a drawing object in the gray level image is positioned on the spiral line, setting the drawing times of the point corresponding to the spiral line according to the drawing times corresponding to the gray level value interval of the point;
when the point of the drawing object in the gray level image is positioned between the spiral lines, respectively making horizontal and vertical tangential lines on the point and the spiral line adjacent to the point to obtain an intersection point corresponding to the adjacent spiral line of the point, judging the spiral line to which the point belongs according to the principle of nearby, and setting the drawing times of the corresponding point of the spiral line according to the description times corresponding to the gray level value interval of the point;
when the same point of the spiral line corresponds to a plurality of points of the drawing object in the gray level image, the drawing times of the points corresponding to the spiral line are set according to the highest drawing times of the points.
Preferably, the collecting device comprises a mobile phone with a camera, a tablet personal computer or a computer.
The embodiment of the invention also provides an intelligent sketch drawing device, which comprises:
the acquisition module is used for acquiring an image of a painting object;
the gray processing module is used for carrying out gray processing on the painting object image through an algorithm to obtain a gray image;
the spiral construction module is used for constructing a spiral line by taking the center of the gray image as a starting point of spiral structure drawing and outwards and gradually winding the spiral line by a polar coordinate equation until each point in the gray image is contained;
the dividing module is used for dividing the gray value into a plurality of gray intervals and setting drawing path drawing times for each interval;
the calculation module is used for calculating the drawing times of the interval to which the gray value of each point of the spiral line corresponds to the point of the gray image;
the path module is used for dividing adjacent points with the same painting times into a section, dividing the spiral line into a plurality of groups of painting paths according to the painting times of each point of the spiral line, and obtaining a spiral structure drawing path of a painting image;
and the drawing module is used for generating an electrical processing signal according to the spiral structure drawing path and controlling the mechanical arm to draw.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program; wherein the computer program, when run, controls a device on which the computer-readable storage medium resides to perform the intelligent sketch painting method as claimed in any one of the above.
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the intelligent sketch drawing method according to any one of the above when executing the computer program.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
drawing is carried out according to the light and shade surface of the image and the required color depth degree, gray processing is carried out on the image, a spiral line is established, drawing times and drawing paths are set according to gray values on the spiral line, the technical problem that a drawing robot in the prior art directly recognizes image lines to draw is solved, the sense of reality of mechanical sketch is increased, and the drawing effect is enhanced.
Drawings
Fig. 1: the method is a flow diagram of the steps of the method in the embodiment of the invention;
fig. 2: a schematic diagram is constructed for the spiral line in the embodiment of the invention;
fig. 3: the method is a mechanical sketch drawing effect chart in the embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a preferred embodiment of the present invention provides an intelligent sketch drawing method, which includes:
s1, acquiring an image of a painting object through an acquisition device;
preferably, before the capturing of the image of the painting object by the capturing device, the method further includes: and arranging a light-emitting source above the painting object so as to make the acquired image clearer.
S2, carrying out gray scale processing on the painting object image through an algorithm to obtain a gray scale image;
preferably, the algorithm for gray scale processing is a weighted average method formula.
Preferably, the formula of the weighted average method is specifically as follows: f (i, j) =0.30r (i, j) +0.59G (i, j) +0.11B (i, j), where i, j represent the position of a pixel in a two-dimensional space vector, i.e.: ith row, jth column.
S3, taking the center of the gray image as a starting point of spiral structure drawing, and establishing a spiral line by outwards and gradually winding the spiral line by a polar coordinate equation until each point in the gray image is contained;
preferably, the polar equation is an archimedes spiral polar equation: r=a+bθ, where θ is the polar angle, a is the distance from the start point to the polar coordinate, and b is the value that the radius coordinate r increases with each increase in the unit angle of the spiral.
S4, dividing the gray value into a plurality of gray intervals, and setting drawing path drawing times for each interval;
s5, calculating the drawing times of the interval to which the gray value of each point of the spiral line corresponds to the point of the gray image;
preferably, the calculating the number of times of drawing the interval to which the gray value of each point of the spiral line corresponds to the point of the gray image includes:
when a point of a drawing object in the gray level image is positioned on the spiral line, setting the drawing times of the point corresponding to the spiral line according to the drawing times corresponding to the gray level value interval of the point;
when the point of the drawing object in the gray level image is positioned between the spiral lines, respectively making horizontal and vertical tangential lines on the point and the spiral line adjacent to the point to obtain an intersection point corresponding to the adjacent spiral line of the point, judging the spiral line to which the point belongs according to the principle of nearby, and setting the drawing times of the corresponding point of the spiral line according to the description times corresponding to the gray level value interval of the point;
when the same point of the spiral line corresponds to a plurality of points of the drawing object in the gray level image, the drawing times of the points corresponding to the spiral line are set according to the highest drawing times of the points.
S6, dividing adjacent points with the same painting times into a section, and dividing the spiral line into a plurality of groups of painting paths according to the painting times of each point of the spiral line to obtain a spiral structure drawing path of a painting image;
and S7, generating an electrical processing signal according to the spiral structure drawing path, and controlling the mechanical arm to draw.
It should be appreciated that the acquisition device described in the above embodiments includes a cell phone with a camera, a tablet computer or a computer.
The present invention will be described in detail with reference to specific examples.
Step 1, shining at a position 45 degrees above the painting object, adjusting proper lamplight to enable the painting object to show a richer and more stereoscopic bright-dark relationship, and photographing the painting object through photographing equipment such as a mobile phone, a digital camera or a camera to obtain a painting image of the painting object.
And 2, carrying out gray scale processing on the painting image by using a weighted average method formula to obtain a gray scale image of the painting image.
Gray processing weighted average formula: wherein i and j represent the positions of a pixel point in a two-dimensional space vector, namely: ith row, jth column. According to the formula, the gray value of each pixel point of each image is calculated, and the range of the gray value is 0-255, so that the images are in black and white gray states.
Step 3, taking the center of the image as a starting point of the spiral structure drawing, and according to a polar coordinate equation of the Archimedes spiral: r=a+bθ, and the spiral is built up by winding around the drawing image in the counterclockwise direction until each point in the gray scale of the drawing image is included. The parameters in the equations are set according to the canvas size at the time of actual drawing and the object content in the image. When the polar angle θ=0, a is the distance from the origin to the polar origin. b is a value which is correspondingly increased along with the radius coordinate r of each unit angle of the spiral line, the distance between two adjacent curves is controlled by setting the value of the parameter b, and the spiral line is rotated by setting the value of the parameter a.
And 4, dividing the gray value of 0-255 into a plurality of gray intervals in advance, and setting drawing path drawing times for each interval. For example, a gradation value of 0 to 255 is divided into 5 sections in 50 sections: 0 to 50, 51 to 100, 101 to 150, 151 to 200, 201 to 255; the interval 0 to 50 is set to 9 times of drawing, the interval 51 to 100 is set to 7 times of drawing, the interval 101 to 150 is set to 5 times of drawing, the interval 151 to 200 is set to 3 times of drawing, and the interval 201 to 255 is set to 1 time of drawing.
Step 5, calculating the drawing times of the interval of the gray value of the point of the gray map corresponding to each point of the spiral line from the starting point, and default setting the drawing times of the spiral line to be 1 time; if the point of the drawing object in the gray level diagram is positioned on the spiral line, setting the drawing times of the point corresponding to the spiral line according to the drawing times corresponding to the gray level value interval of the point; if the point of the drawing object in the gray level diagram is positioned between the spiral lines, respectively making horizontal and vertical tangential lines on the point and the spiral line adjacent to the point to obtain an intersection point corresponding to the adjacent spiral line of the point, judging the spiral line to which the point belongs according to the principle of nearby, and setting the drawing times of the corresponding point of the spiral line according to the description times corresponding to the gray level value interval of the point; if the same point of the spiral line corresponds to a plurality of points of the drawing object in the gray scale, the drawing number of points corresponding to the spiral line is set at the highest drawing number of the plurality of points. The delineation of the spiral itself is 1 time without overlapping calculations.
Referring to fig. 2: A. b, C is the point of the drawing object in the gray scale of the drawing image, where A, C is located between the spirals and B is located on the spiral; a, b is an intersection point obtained by respectively making horizontal and vertical tangents to the point A and the spiral line adjacent to the point A; b, C is an intersection point obtained by respectively making horizontal and vertical tangents to the point C and the spiral line adjacent to the point C; according to the principle of nearby, points A and C all belong to the spiral line where point b is located.
When the drawing times are calculated, the drawing path drawing times of A, B, C are respectively calculated according to the preset gray scale interval corresponding to the gray scale value of A, B, C points. For example, the gradation value of a is 35, and the interval corresponding to 0 to 50 is 9 depictions; the gray value of B is 70, and the corresponding interval of 51-100 is drawn 7 times; when the gradation value of C is 220 and the drawing number of points corresponding to the spiral line is set 1 time for the interval 201 to 255, the drawing number of points corresponding to the spiral line is 7 times and the drawing number of points corresponding to the B point is 9 times.
And 6, starting from a starting point, dividing adjacent points with the same drawing times into a section, and dividing the spiral line into a plurality of groups of drawing paths according to the drawing times of each spiral point to obtain a spiral structure drawing path of the drawing image.
And 7, generating an electrical processing signal according to the spiral structure drawing path, and controlling the mechanical arm to draw, so as to obtain a mechanical sketch as shown in fig. 3.
Correspondingly, the embodiment of the invention also provides an intelligent sketch drawing device, which comprises:
the acquisition module is used for acquiring an image of a painting object;
the gray processing module is used for carrying out gray processing on the painting object image through an algorithm to obtain a gray image;
the spiral construction module is used for constructing a spiral line by taking the center of the gray image as a starting point of spiral structure drawing and outwards and gradually winding the spiral line by a polar coordinate equation until each point in the gray image is contained;
the dividing module is used for dividing the gray value into a plurality of gray intervals and setting drawing path drawing times for each interval;
the calculation module is used for calculating the drawing times of the interval to which the gray value of each point of the spiral line corresponds to the point of the gray image;
the path module is used for dividing adjacent points with the same painting times into a section, dividing the spiral line into a plurality of groups of painting paths according to the painting times of each point of the spiral line, and obtaining a spiral structure drawing path of a painting image;
and the drawing module is used for generating an electrical processing signal according to the spiral structure drawing path and controlling the mechanical arm to draw.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program; wherein the computer program, when executed, controls a device in which the computer readable storage medium is located to perform the intelligent sketch drawing method according to any of the above embodiments.
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the intelligent sketch drawing method in any embodiment when executing the computer program.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program) stored in the memory and executed by the processor to perform the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the terminal device.
The processor may be a central processing unit (Central Processing Unit, CPU), or may be other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc., or the general purpose processor may be a microprocessor, or any conventional processor, which is the control center of the terminal device, that connects the various parts of the terminal device using various interfaces and lines.
The memory mainly includes a program storage area, which may store an operating system, an application program required for at least one function, and the like, and a data storage area, which may store related data and the like. In addition, the memory may be a high-speed random access memory, a nonvolatile memory such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like, or may be other volatile solid-state memory devices.
It should be noted that the above-mentioned terminal device may include, but is not limited to, a processor, a memory, and those skilled in the art will understand that the above-mentioned terminal device is merely an example, and does not constitute limitation of the terminal device, and may include more or fewer components, or may combine some components, or different components.
In summary, the invention provides an intelligent sketch drawing method, which draws according to the brightness and darkness of an image and the required color depth, processes gray scale of the image, establishes a spiral line, sets drawing times and drawing paths according to gray scale values on the spiral line, solves the technical problem that a drawing robot in the prior art directly recognizes image lines to draw, realizes the increase of the sense of reality of mechanical sketch, and enhances the drawing effect.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.
Claims (9)
1. An intelligent sketch drawing method is characterized by comprising the following steps:
acquiring an image of a painting object through an acquisition device;
carrying out gray scale processing on the painting object image through an algorithm to obtain a gray scale image;
taking the center of the gray image as a starting point of spiral structure drawing, and establishing a spiral line by outwards and gradually winding the spiral line by a polar coordinate equation until each point in the gray image is contained;
dividing the gray value into a plurality of gray intervals, and setting drawing path drawing times for each interval;
calculating the drawing times of the interval of the gray value of each point of the spiral line corresponding to the point of the gray image; when a point of a drawing object in the gray level image is positioned on the spiral line, setting the drawing times of the point corresponding to the spiral line according to the drawing times corresponding to the gray level value interval of the point; when the point of the drawing object in the gray level image is positioned between the spiral lines, respectively making horizontal and vertical tangential lines on the point and the spiral line adjacent to the point to obtain an intersection point corresponding to the adjacent spiral line of the point, judging the spiral line to which the point belongs according to the principle of nearby, and setting the drawing times of the corresponding point of the spiral line according to the description times corresponding to the gray level value interval of the point; when the same point of the spiral line corresponds to a plurality of points of the drawing object in the gray level image, setting the drawing times of the points corresponding to the spiral line according to the highest drawing times in the plurality of points;
dividing adjacent points with the same painting times into a section, and dividing the spiral line into a plurality of groups of painting paths according to the painting times of each point of the spiral line to obtain a spiral structure drawing path of a painting image;
and generating an electrical processing signal according to the spiral structure drawing path, and controlling the mechanical arm to draw.
2. The intelligent sketch painting method according to claim 1, further comprising, before the image of the painting object is acquired by the collecting device: and arranging a light-emitting source above the painting object so as to make the acquired image clearer.
3. The intelligent sketch drawing method according to claim 1, wherein the algorithm for performing gray scale processing is a weighted average method formula.
4. The intelligent sketch drawing method according to claim 3, wherein the formula of the weighted average method is specifically as follows: f (i, j) =0.30r (i, j) +0.59G (i, j) +0.11B (i, j), where i, j represent the position of a pixel in a two-dimensional space vector, i.e.: ith row, jth column.
5. The intelligent sketch drawing method of claim 1, wherein the polar coordinate equation is an archimedes spiral polar coordinate equation: r=a+bθ, where θ is the polar angle, a is the distance from the start point to the polar coordinate, and b is the value that the radius coordinate r increases with each increase in the unit angle of the spiral.
6. The intelligent sketch drawing method of claim 1, wherein the collection device comprises a mobile phone with a camera, a tablet computer or a computer.
7. An intelligent sketch painting device, which is characterized by comprising:
the acquisition module is used for acquiring an image of a painting object;
the gray processing module is used for carrying out gray processing on the painting object image through an algorithm to obtain a gray image;
the spiral construction module is used for constructing a spiral line by taking the center of the gray image as a starting point of spiral structure drawing and outwards and gradually winding the spiral line by a polar coordinate equation until each point in the gray image is contained;
the dividing module is used for dividing the gray value into a plurality of gray intervals and setting drawing path drawing times for each interval;
the calculation module is used for calculating the drawing times of the interval to which the gray value of each point of the spiral line corresponds to the point of the gray image; when a point of a drawing object in the gray level image is positioned on the spiral line, setting the drawing times of the point corresponding to the spiral line according to the drawing times corresponding to the gray level value interval of the point; when the point of the drawing object in the gray level image is positioned between the spiral lines, respectively making horizontal and vertical tangential lines on the point and the spiral line adjacent to the point to obtain an intersection point corresponding to the adjacent spiral line of the point, judging the spiral line to which the point belongs according to the principle of nearby, and setting the drawing times of the corresponding point of the spiral line according to the description times corresponding to the gray level value interval of the point; when the same point of the spiral line corresponds to a plurality of points of the drawing object in the gray level image, setting the drawing times of the points corresponding to the spiral line according to the highest drawing times in the plurality of points;
the path module is used for dividing adjacent points with the same painting times into a section, dividing the spiral line into a plurality of groups of painting paths according to the painting times of each point of the spiral line, and obtaining a spiral structure drawing path of a painting image;
and the drawing module is used for generating an electrical processing signal according to the spiral structure drawing path and controlling the mechanical arm to draw.
8. A computer readable storage medium, wherein the computer readable storage medium comprises a stored computer program; wherein the computer program, when run, controls a device in which the computer-readable storage medium resides to perform the intelligent sketch painting method as claimed in any one of claims 1-6.
9. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the intelligent sketch drawing method as claimed in any one of claims 1-6 when executing the computer program.
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| 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 |
| 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 |
| 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 |
| 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 |
| CN110570497B (en) * | 2019-08-19 | 2023-06-13 | 广东智媒云图科技股份有限公司 | Drawing method and device based on layer superposition, terminal equipment and storage medium |
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| 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 |
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