CN110524549A - A kind of picture-drawing method based on mechanical arm and riveting gun, apparatus and system - Google Patents
A kind of picture-drawing method based on mechanical arm and riveting gun, apparatus and system Download PDFInfo
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- CN110524549A CN110524549A CN201910765928.1A CN201910765928A CN110524549A CN 110524549 A CN110524549 A CN 110524549A CN 201910765928 A CN201910765928 A CN 201910765928A CN 110524549 A CN110524549 A CN 110524549A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 3
- 239000003973 paint Substances 0.000 abstract description 2
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- 238000004891 communication Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a kind of picture-drawing methods based on mechanical arm and riveting gun, apparatus and system；The method includes receiving target image and carry out gray proces and binary conversion treatment acquisition bianry image to target image, wherein includes to drawing image main body, to include several image subject pixels in drawing image main body in bianry image；Bianry image is stored in grid identical with work carrier size；Wherein, the corresponding pixel of each grid in grid；Work carrier is for showing the carrier to drawing works；According to the position of each image subject pixel within a grid, control has the mechanical arm of riveting gun, carries out nailing in the corresponding position of work carrier, obtains to drawing works；Wherein, the corresponding rivet of each image subject pixel.It can be improved the three-dimensional sense of paint by implementing the embodiment of the present invention.
Description
Technical field
The present invention relates to automatic drawing techniques field more particularly to a kind of picture-drawing method based on mechanical arm and riveting gun,
Apparatus and system.
Background technique
Drawing collects its delicate observation ability, imaginal thinking capability, high efficient memory power, creative imagination power, abundant ability to express
In one, favored by people, more and more automatic drawing devices occur with the development of the times, but existing automatic drawing
Device or drawing method hold paintbrush by mechanical arm and are drawn on painting canvas or drawing paper, works effect plane, although carrying side
Just, but it is a lack of three-dimensional sense.
Summary of the invention
The embodiment of the present invention provides a kind of picture-drawing method based on mechanical arm and riveting gun, apparatus and system, passes through rivet
It draws a picture, improves the three-dimensional sense of paint.
One embodiment of the invention provides a kind of picture-drawing method based on mechanical arm and riveting gun, comprising: receives target image
And gray proces and binary conversion treatment acquisition bianry image are carried out to the target image, wherein include in the bianry image
It is described to include several image subject pixels in drawing image main body to drawing image main body；
The bianry image is stored in grid identical with work carrier size；Wherein, each lattice in the grid
The corresponding pixel of son；The work carrier is for showing the carrier to drawing works；
According to position of each image subject pixel in the grid, control has the mechanical arm of riveting gun, described
The corresponding position of work carrier carries out nailing, obtains described to drawing works；Wherein, each described image subject pixel point is corresponding
One rivet.
Further, the position according to each image subject pixel in the grid, control is with riveting gun
Mechanical arm carries out nailing in the corresponding position of the work carrier, obtain it is described to drawing works, specifically:
By the line number of the grid, control the mechanical arm and moved line by line on the work carrier, and be moved to
Nailing is carried out when the described image subject pixel corresponding position of point, until all on the work carrier and described image main body picture
The corresponding position of vegetarian refreshments all nailings finish, and obtain described to drawing works.
Further, it is calculated by the following formula the gray value of each pixel in the target image, carries out gray proces,
Obtain gray level image；
F (i, j)=0.30R (i, j)+0.59G (i, j)+0.11B (i, j)；
Wherein f (i, j) is gradation conversion function, and i, j represent a pixel in the position of two-dimensional space vector, i.e., i-th
Row, jth column；R (i, j) is the i-th row, the R value in the rgb color mode of the pixel of jth column；G (i, j) is the i-th row, jth column
Pixel rgb color mode in G value；B (i, j) is the i-th row, the B value in the rgb color mode of the pixel of jth column.
Further, binary conversion treatment is carried out to the gray level image in the following manner and obtains the bianry image:
Each pixel gray value in the gray level image is calculated, and gray value is greater than or equal to the first preset threshold
The gray value of pixel be set as 255, gray value be less than to the gray value setting 0 of the pixel of first preset threshold；
The pixel for being 255 by gray value, as described image subject pixel point.
It further, further include that the gray value of described image subject pixel point is mapped as 1.
On the basis of above method item embodiment, present invention correspondence provides device item embodiment；
One embodiment of the invention, which provides, a kind of makees picture device based on mechanical arm and riveting gun, comprising:
Target image processing module, image storage module and works drafting module；
Wherein, the target image processing module, for receiving target image and being carried out at gray scale to the target image
Reason and binary conversion treatment obtain bianry image, wherein include to drawing image main body, the figure to be drawn in the bianry image
As including several image subject pixels in main body；
Described image memory module, for being stored in the bianry image in grid identical with work carrier size；
Wherein, the corresponding pixel of each grid in the grid；The work carrier is for showing the carrier to drawing works；
The works drafting module, for the position according to each image subject pixel in the grid, control is had
The mechanical arm of riveting gun carries out nailing in the corresponding position of the work carrier, obtains described to drawing works；Wherein, each
Described image subject pixel point corresponds to a rivet.
On the basis of above-mentioned apparatus item and method item embodiment, system entries embodiment is provided:
One embodiment of the invention provides a kind of system of drawing a picture based on mechanical arm and riveting gun, including above-mentioned apparatus item reality
It applies and picture device, mechanical arm and riveting gun is made based on mechanical arm and riveting gun described in example；The riveting gun is arranged in the machine
On tool arm；
It is described that picture device is made based on mechanical arm and riveting gun, for receiving target image and being carried out to the target image
Gray proces and binary conversion treatment obtain bianry image, wherein include in the bianry image to drawing image main body, it is described to
It include several image subject pixels in drawing image main body；
The bianry image is stored in grid identical with work carrier size；Wherein, each lattice in the grid
The corresponding pixel of son；The work carrier is for showing the carrier to drawing works；
According to position of each image subject pixel in the grid, control has the mechanical arm of riveting gun, described
The corresponding position of work carrier carries out nailing, obtains described to drawing works；Wherein, each described image subject pixel point is corresponding
One rivet.
It is had the following beneficial effects: by implementing the embodiment of the present invention
The picture-drawing method based on mechanical arm and riveting gun that the embodiment of the invention provides a kind of, after obtaining target image,
Image procossing is carried out to target image, and is stored in grid identical with work carrier size, according to grid and work carrier
Corresponding relationship, control have riveting gun mechanical arm, will be with image subject pixel pair in target image on work carrier
Answer position, carry out nailing, thus obtain that a width is made of rivet to drawing works so that the works drawn have three-dimensional sense,
More expressive force.
Detailed description of the invention
Fig. 1 is a kind of process signal for picture-drawing method based on mechanical arm and riveting gun that one embodiment of the invention provides
Figure.
Fig. 2 is a kind of structural representation for making picture device based on mechanical arm and riveting gun that one embodiment of the invention provides
Figure.
Fig. 3 is using the picture-drawing method provided in an embodiment of the present invention based on a mechanical arm and riveting gun drawing generated
The nearly state effect picture of works.
Fig. 4 is using the picture-drawing method provided in an embodiment of the present invention based on a mechanical arm and riveting gun drawing generated
The remote state effect picture of works.
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.
As shown in Figure 1, a kind of picture-drawing method based on mechanical arm and riveting gun that one embodiment of the invention provides, comprising:
Step S101: receiving target image and carries out gray proces to the target image and binary conversion treatment obtains two-value
Image, wherein include in the bianry image to drawing image main body, it is described to include several image masters in drawing image main body
Body image vegetarian refreshments；
Step S102: the bianry image is stored in grid identical with work carrier size；Wherein, the grid
In the corresponding pixel of each grid；The work carrier is for showing the carrier to drawing works
Step S103: according to position of each image subject pixel in the grid, control has the machinery of riveting gun
Arm carries out nailing in the corresponding position of the work carrier, obtains described to drawing works；Wherein, each described image main body
Pixel corresponds to a rivet.
For step S101, specifically, receiving the target image from terminal device, terminal device herein can be
Mobile phone terminal, the hardware devices such as terminal, plate or other touch screens；The target image, which can be, is stored in advance in end
The shooting that can also there is the camera of terminal device to be implemented in end equipment and obtain.
Gray proces are carried out to target image first after obtaining target image, obtain the gray level image of target image and each
Pixel gray value.Through gray proces, the texture feature information of image can't be influenced, and each pixel only needs a gray scale
Value can indicate, substantially increase image processing efficiency.Specifically according to the weighted mean method of gray proces, each picture of image is calculated
Vegetarian refreshments gray value, value range are 0-255.
In a preferred embodiment, the calculating of gray value is carried out by following weighted mean method formula:
F (i, j)=0.30R (i, j)+0.59G (i, j)+0.11B (i, j)；
Wherein f (i, j) is gradation conversion function, and i, j represent a pixel in the position of two-dimensional space vector, i.e., i-th
Row, jth column；R (i, j) is the i-th row, the R value in the rgb color mode of the pixel of jth column；G (i, j) is the i-th row, jth column
Pixel rgb color mode in G value；B (i, j) is the i-th row, the B value in the rgb color mode of the pixel of jth column.
After target image progress gray proces are obtained gray level image, further gray level image is carried out at binaryzation
Reason is chosen the gray level image being made of 256 brightness degrees by threshold value appropriate (the first preset threshold), become by 0 or
The 255 whole binary maps with local feature of reflection images, which become image simply, and data volume reduces, and can highlight
Objective contour out.For binary conversion treatment, each pixel value is determining according to threshold values is chosen: if pixel gray value is less than valve
Value, then the pixel is identified as 0, and black represents background；If pixel gray value is greater than or equal to threshold values, the pixel mark
Knowing is 255, and white represents object, i.e., above-mentioned image subject pixel.
It is specific: to calculate each pixel gray value in the gray level image, and gray value is greater than or equal to first
The gray value of the pixel of preset threshold is set as the 255, gray value by gray value less than the pixel of first preset threshold
Setting 0；
The pixel for being 255 by gray value, as described image subject pixel point.
In a preferred embodiment, above-mentioned first preset threshold is all pixels point gray value in above-mentioned gray level image
Average value.
Bianry image is converted gray images by above-mentioned processing；And the pixel for being 255 using gray value is as upper
Image subject pixel is stated, to extract the part for needing to draw in target image.
It due to 0 or 255 only two numbers, is but accommodated with 8 codings, significantly waste computer memory space.Therefore
In order to save the memory space of computer, in a preferred embodiment, the image subject pixel that can be 255 gray value
Point is mapped as 1, i.e., can indicate binary map with 1 coding.
A grid identical with work carrier size is generated for step S102, according to the size of work carrier, so as to
The corresponding relationship between grid and work carrier is kept, and each grid in the grid represents the pixel of an image；It needs
It is noted that the material that the work carrier can be embedded in plank, foamed plastics etc. with support rivet；
For step S103, specifically, by the mesh mapping into the work carrier；
By the line number of the grid, control the mechanical arm and moved line by line on the work carrier, and be moved to
Nailing is carried out when the described image subject pixel corresponding position of point, until all on the work carrier and described image main body picture
The corresponding position of vegetarian refreshments all nailings finish, and obtain described to drawing works.
Since the grid is the same size of work carrier, the position of each grid is in work carrier within a grid
On can find a corresponding position, i.e., position can be with work carrier within a grid for the pixel of each bianry image
In some position it is corresponding.
When being drawn, by mesh mapping into work carrier, according to the line number of grid, the mechanical arm is controlled in institute
It states and is moved line by line on work carrier, and carry out nailing when being moved to the described image subject pixel corresponding position of point, below
A specific example is enumerated to be illustrated:
When starting to draw, mechanical arm is connect with riveting gun, the former drives the mobile nailing of the latter.The mechanical arm is by hanging down
Straight rail and horizontal rail realize that direction is mobile up and down.The riveting gun carries rivet, and be powered triggering nailing, and power-off stops
Only nailing.Preferred riveting gun can use " sharp 1 5040 Series Pneumatic rivet machine gun ".
Based on image binary map, the mobile riveting gun default of mechanical arm rests on work carrier left end, and corresponding is grid
In the first column position of the first row, then moved horizontally by direction from left to right, be moved to drawing image vegetarian refreshments pair
Nailing is carried out when the position answered, until the needed drawing image vegetarian refreshments nailing for being located at the first row finishes, is corresponded on grid just
It is that the image subject pixel nailing of the first row grid in binary map is finished according to from left to right direction；
And then mechanical arm moves riveting gun and rests on work carrier the second row right end, and corresponding is that binary map is deposited
The second row last column position in grid is stored up, is moved horizontally according to direction from right to left, the character pixel of the second row grid
Point nailing finishes；And so on, from left to right direction is mobile for odd-numbered line, and direction is mobile from right to left for even number line, until image
All feature pixel nailings of binary map finish, and image is finally shown that on work carrier, realization is based on rivet form
The picture-drawing method of mechanical arm and riveting gun；
It can be understood that the method for above-mentioned nailing is only schematical, it is mobile to can control mechanical arm when at the beginning
Riveting gun rests on the right end of work carrier, then carries out nailing from right to left.At this point for odd-numbered line direction from right to left
Mobile, from left to right direction is mobile for even number line；
Furthermore nailing can not also be carried out by each row of grid, nailing can be carried out by each column, by from left to right or
Mode from right to left carries out nailing to each column one by one；
The terminal of nailing and the direction of starting point and nailing can according to actual needs, be adjusted in a practical situation, herein
Nailing direction refer to from left to right, from right to left, will not enumerate herein from top to bottom and/or from top to bottom.
It may finally obtain being made of rivet, to drawing works, so that there is three-dimensional sense to drawing works, reach drawing
Works expressive force is strong, easy to carry, manufacturing process is simple and timesaving effect.Specific effect picture, as shown in Figures 3 and 4, figure
3 be the effect picture of nearly state, and Fig. 4 is the effect picture of remote state.
On the basis of above method item embodiment, correspondence provides device item embodiment:
As shown in Fig. 2, including as picture device based on mechanical arm and riveting gun another embodiment of the present invention provides a kind of
Target image processing module, image storage module and works drafting module；
Wherein, the target image processing module, for receiving target image and being carried out at gray scale to the target image
Reason and binary conversion treatment obtain bianry image, wherein include to drawing image main body, the figure to be drawn in the bianry image
As including several image subject pixels in main body；
Described image memory module, for being stored in the bianry image in grid identical with work carrier size；
Wherein, the corresponding pixel of each grid in the grid；The work carrier is for showing the carrier to drawing works；
The works drafting module, for the position according to each image subject pixel in the grid, control is had
The mechanical arm of riveting gun carries out nailing in the corresponding position of the work carrier, obtains described to drawing works；Wherein, each
Described image subject pixel point corresponds to a rivet.
It is understood that above-mentioned apparatus item embodiment be it is corresponding with the method for the present invention item embodiment, can be real
The picture-drawing method based on mechanical arm and riveting gun that the existing above-mentioned any one method item embodiment of the present invention provides.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The units/modules of explanation may or may not be physically separated, and the component shown as units/modules can be
Or it may not be physical unit/module, it can it is in one place, or may be distributed over multiple network units
On.Some or all of the modules therein can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.In addition,
In Installation practice attached drawing provided by the invention, the connection relationship between module indicates there is communication connection between them, specifically
It can be implemented as one or more communication bus or signal wire.
Those of ordinary skill in the art can understand and implement without creative efforts.It is described to show
It is merely intended to the example for making picture device based on mechanical arm and riveting gun, is not constituted to the work based on mechanical arm and riveting gun
The restriction of picture device may include perhaps combining certain components or different components than illustrating more or fewer components；
On the basis of above method item and device item embodiment, system entries embodiment is provided:
Another embodiment of the present invention provides a kind of system of drawing a picture based on mechanical arm and riveting gun, above-mentioned apparatus of the present invention
Picture device, mechanical arm and riveting gun are made based on mechanical arm and riveting gun described in embodiment；The riveting gun is arranged in institute
It states on mechanical arm；
It is described that picture device is made based on mechanical arm and riveting gun, for receiving target image and being carried out to the target image
Gray proces and binary conversion treatment obtain bianry image, wherein include in the bianry image to drawing image main body, it is described to
It include several image subject pixels in drawing image main body；
The bianry image is stored in grid identical with work carrier size；Wherein, each lattice in the grid
The corresponding pixel of son；The work carrier is for showing the carrier to drawing works；
According to position of each image subject pixel in the grid, control has the mechanical arm of riveting gun, described
The corresponding position of work carrier carries out nailing, obtains described to drawing works；Wherein, each described image subject pixel point is corresponding
One rivet.
It can be understood that above system item embodiment be it is corresponding with above method item and device item embodiment, can
To realize the picture-drawing method based on mechanical arm and riveting gun described in above-mentioned any one method item embodiment.
User of the present invention need to only pass an image at the terminal, and program will carry out at gray proces and binaryzation image
Reason, obtains bianry image；Save mesh and each image subject pixel based on bianry image, are pressed by mechanical arm and riveting gun
Sequence and direction according to setting, are drawn on image on drawing board with rivet form, realize drawing a picture based on mechanical arm and riveting gun
Method.Compared with previous picture-drawing method, the present invention combines image and rivet, and works have three-dimensional sense, and visual effect is novel
Interesting and expressive force is strong, solves that traditional drawing is stiff stiff and deficiency without texture；Each row/column of the realization procedural details to image
On pixel, precision of drawing a picture is improved；Realize that equipment collaboration uses mechanical arm and riveting gun, operating principle is simple and quick, improves
It draws a picture efficiency.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (7)
1. a kind of picture-drawing method based on mechanical arm and riveting gun characterized by comprising
It receives target image and gray proces and binary conversion treatment acquisition bianry image is carried out to the target image, wherein institute
State in bianry image include to drawing image main body, it is described to include several image subject pixels in drawing image main body；
The bianry image is stored in grid identical with work carrier size；Wherein, each grid pair in the grid
Answer a pixel；The work carrier is for showing the carrier to drawing works；
According to position of each image subject pixel in the grid, control has the mechanical arm of riveting gun, in the works
The corresponding position of carrier carries out nailing, obtains described to drawing works；Wherein, each described image subject pixel point is one corresponding
Rivet.
2. the picture-drawing method based on mechanical arm and riveting gun as described in claim 1, which is characterized in that described according to each image
Position of the subject pixel point in the grid, control has the mechanical arm of riveting gun, in the corresponding position of the work carrier
Carry out nailing, obtain it is described to drawing works, specifically:
By the line number of the grid, control the mechanical arm and moved line by line on the work carrier, and be moved to it is described
Nailing is carried out when the corresponding position of image subject pixel, until all with described image subject pixel point on the work carrier
Corresponding position all nailings finish, and obtain described to drawing works.
3. the picture-drawing method based on mechanical arm and riveting gun as described in claim 1, which is characterized in that pass through following formula meter
The gray value of each pixel in the target image is calculated, gray proces are carried out, obtains gray level image；
F (i, j)=0.30R (i, j)+0.59G (i, j)+0.11B (i, j)；
Wherein f (i, j) is gradation conversion function, and i, j represent a pixel in the position of two-dimensional space vector, i.e. the i-th row, the
J column；R (i, j) is the i-th row, the R value in the rgb color mode of the pixel of jth column；G (i, j) is the i-th row, the pixel of jth column
G value in the rgb color mode of point；B (i, j) is the i-th row, the B value in the rgb color mode of the pixel of jth column.
4. the picture-drawing method based on mechanical arm and riveting gun as claimed in claim 3, which is characterized in that right in the following manner
The gray level image carries out binary conversion treatment and obtains the bianry image:
Each pixel gray value in the gray level image is calculated, and gray value is greater than or equal to the picture of the first preset threshold
The gray value of vegetarian refreshments is set as 255, gray value is less than to the gray value setting 0 of the pixel of first preset threshold；
The pixel for being 255 by gray value, as described image subject pixel point.
5. the picture-drawing method based on mechanical arm and riveting gun as claimed in claim 4, which is characterized in that further include the figure
As the gray value of subject pixel point is mapped as 1.
6. a kind of make picture device based on mechanical arm and riveting gun, which is characterized in that deposited including target image processing module, image
Store up module and works drafting module；
Wherein, the target image processing module, for receive target image and to the target image carry out gray proces and
Binary conversion treatment obtain bianry image, wherein include in the bianry image to drawing image main body, it is described to drawing image master
It include several image subject pixels in body；
Described image memory module, for being stored in the bianry image in grid identical with work carrier size；Wherein,
The corresponding pixel of each grid in the grid；The work carrier is for showing the carrier to drawing works；
The works drafting module, for the position according to each image subject pixel in the grid, control has rivet
The mechanical arm of rifle carries out nailing in the corresponding position of the work carrier, obtains described to drawing works；Wherein, each described
Image subject pixel corresponds to a rivet.
7. a kind of system of drawing a picture based on mechanical arm and riveting gun, which is characterized in that including being based on machine as claimed in claim 6
Tool arm and riveting gun make picture device, mechanical arm and riveting gun；The riveting gun is arranged on the mechanical arm；
It is described that picture device is made based on mechanical arm and riveting gun, for receiving target image and carrying out gray scale to the target image
Processing and binary conversion treatment obtain bianry image, wherein include in the bianry image to drawing image main body, it is described wait draw
It include several image subject pixels in image subject；
The bianry image is stored in grid identical with work carrier size；Wherein, each grid pair in the grid
Answer a pixel；The work carrier is for showing the carrier to drawing works；
According to position of each image subject pixel in the grid, control has the mechanical arm of riveting gun, in the works
The corresponding position of carrier carries out nailing, obtains described to drawing works；Wherein, each described image subject pixel point is one corresponding
Rivet.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116100985A (en) * | 2023-02-14 | 2023-05-12 | 浙江理工大学 | Method applied to drawing by nails |
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