CN110570480A - Sketch drawing method of drawing robot, electronic equipment and storage medium - Google Patents
Sketch drawing method of drawing robot, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN110570480A CN110570480A CN201910654828.1A CN201910654828A CN110570480A CN 110570480 A CN110570480 A CN 110570480A CN 201910654828 A CN201910654828 A CN 201910654828A CN 110570480 A CN110570480 A CN 110570480A
- Authority
- CN
- China
- Prior art keywords
- color
- gray
- painting
- robot
- square grid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Life Sciences & Earth Sciences (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Image Generation (AREA)
Abstract
The invention provides a sketch drawing method of a drawing robot, which comprises the following steps: gray level processing, gray level interval division, color clustering, square grid network establishment, curve path establishment and work drawing. The invention relates to an electronic device and a readable storage medium, which are used for executing a sketch drawing method of a drawing robot. When the painting robot is used for painting, the shape and the bright-dark surface relation of a painting object are reflected by clamping a line hooking pen or an automatic pencil through the mechanical arm, the bright-dark surface relation and the appearance outline of the painting object are reflected by orderly organizing lines with different lines, and a painting work with unique painting style is created, so that the robot has the painting creation capability, has good commercial value and has a good implementation effect.
Description
Technical Field
The invention relates to the technical field of image recognition, in particular to a sketch drawing method of a drawing robot, electronic equipment and a storage medium.
Background
Along with the development of science and technology, the application field of intelligent robots is more and more extensive, and intelligent robots are also widely applied in life, and robots capable of drawing are also popular among people.
Sketching is the earliest form of drawing to appear in human history, and is also the oldest artistic language. The sketch can express things in the visual world in the modes of single-color lines or painting surfaces and the like, and can also express ideas, concepts, attitudes, emotions, fantasy, symbols and even abstract forms. At present, in practical application, the painting robot is required to have the painting capability with unique charm in painting skill. Therefore, how to make the painting robot have painting capability and create a painting expression form with a unique style during painting becomes a problem to be solved urgently.
Disclosure of Invention
in order to overcome the defects of the prior art, one of the purposes of the invention is to provide a sketch drawing method for a drawing robot, so that the drawing robot has drawing capability and can create a drawing expression form with a unique style during drawing.
The invention provides a sketch painting method of a painting robot, which comprises the following steps:
Performing gray level processing, namely performing gray level processing on the drawing image to obtain a gray level image of the drawing image;
Dividing gray intervals, dividing gray values into a plurality of gray intervals, and setting a corresponding grid size for each gray interval;
Color clustering, namely performing color clustering combination on the color points of each gray level interval to obtain a color block area;
Establishing a square grid network, establishing the square grid network according to the grid size corresponding to the gray value interval of each color block area, and setting a connection point for each grid of the square grid network;
Establishing a curve path, namely establishing the curve path through the connection point of each square grid in the square grid network of each color block area and the connection point of the square grid network corresponding to the edge of each color block area;
And drawing works, generating an electrical processing signal according to the curve path, and controlling a mechanical arm to clamp a line-hooking pen or a mechanical pencil to draw through the electrical processing signal.
Further, in the gray processing step, a weighted average formula is used to perform gray processing on the painting image, and the weighted average formula is as follows:
f(i,j)＝0.30R(i,j)+0.59G(i,j)+0.11B(i,j)
wherein i is the number of rows of the pixel points in the two-dimensional space vector, j is the number of columns of the pixel points in the two-dimensional space vector, R (i, j) is the color value of the red channel at the point (i, j), G (i, j) is the color value of the green channel at the point (i, j), B (i, j) is the color value of the blue channel at the point (i, j), and f (i, j) is the gray value of the gray map at the point (i, j).
Further, in the step of dividing the gray scale interval, the corresponding grid size is set for each gray scale interval according to a rule that the color point increases from deep to light and the corresponding grid increases from small to large.
further, in the color clustering step, color clustering and merging are performed on the color points in each gray scale interval, and the color points are uniformly set as corresponding reference values.
Further, in the step of establishing a square grid network, the connection point is a central point of the square grid.
further, in the step of establishing the curved path, the curved path is established from top to bottom and from left to right according to the central point of each square in the square grid network of each color block region.
Further, in the step of establishing the curved path, the curved path is established from top to bottom and from left to right according to the center points of the squares in the square grid network corresponding to the edge of each color block area.
further, in the step of establishing a curved path, the curved path is a bezier curve.
an electronic device, comprising: a processor;
A memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing one of the above-described sketching robot sketch painting methods.
a computer-readable storage medium having stored thereon a computer program for execution by a processor of a sketching robot sketching method as described above.
compared with the prior art, the invention has the beneficial effects that:
The invention provides a sketch painting method of a painting robot, which comprises the following steps: performing gray level processing, namely performing gray level processing on the drawing image to obtain a gray level image of the drawing image; dividing gray intervals, dividing gray values into a plurality of gray intervals, and setting a corresponding grid size for each gray interval; color clustering, namely performing color clustering combination on the color points of each gray level interval to obtain a color block area; establishing a square grid network, establishing the square grid network according to the grid size corresponding to the gray value interval of each color block area, and setting a connection point for each grid of the square grid network; establishing a curve path, namely establishing the curve path through the connection point of each square grid in the square grid network of each color block area and the connection point of the square grid network corresponding to the edge of each color block area; and drawing works, generating an electrical processing signal according to the curve path, and controlling the mechanical arm to clamp a line-hooking pen or a mechanical pencil to draw through the electrical processing signal. The invention relates to an electronic device and a readable storage medium, which are used for executing a sketch drawing method of a drawing robot. When the painting robot is used for painting, the shape and the bright-dark surface relation of a painting object are reflected by clamping a line hooking pen or an automatic pencil through the mechanical arm, the bright-dark surface relation and the appearance outline of the painting object are reflected by orderly organizing lines with different lines, and a painting work with unique painting style is created, so that the robot has the painting creation capability, has good commercial value and has a good implementation effect.
the foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
Fig. 1 is a flow chart of a sketch painting method of a painting robot according to the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
A sketch painting method of a painting robot is shown in figure 1, and comprises the following steps:
Performing gray level processing, namely performing gray level processing on the drawing image to obtain a gray level image of the drawing image; specifically, a weighted average formula is adopted to perform gray level processing on the painting image, and the weighted average formula is as follows:
f(i,j)＝0.30R(i,j)+0.59G(i,j)+0.11B(i,j)
The method comprises the steps that i is the number of rows of pixel points in a two-dimensional space vector, j is the number of columns of the pixel points in the two-dimensional space vector, namely i and j represent the position of one pixel point in the two-dimensional space vector, the ith row and the jth column are provided, R (i, j) is the color value of a red channel at a point (i, j), G (i, j) is the color value of a green channel at the point (i, j), B (i, j) is the color value of a blue channel at the point (i, j), f (i, j) is the gray value of a gray scale image at the point (i, j), and the value range is 0-255.
Dividing gray scale intervals, dividing gray scale values of 0-255 into a plurality of gray scale intervals, setting corresponding grid size for each gray scale interval according to a rule that the color points increase from deep to light and corresponding grids increase from small to large, and setting specific grid size according to the color point distribution condition of different drawing images and the size of canvas. For example, dividing the gray values of 0-255 into 5 gray intervals by taking 50 as a segment: 0-50, 51-100, 101-150, 151-200 and 201-255, setting a square grid size with corresponding size for each gray scale interval to establish a square grid network, setting the square grid size of each gray scale interval according to a rule that color points of 0-255 are gradually increased from small to large in correspondence to squares from deep to light, wherein 0-50 is 5 pixels, 51-100 is 10 pixels, 101-150 is 20 pixels, 151-200 is 30 pixels and 201-255 is 50 pixels, and the square grid size can also be adjusted according to the finally obtained painting effect.
color clustering, namely performing normalization processing on the gray level map according to the gray level values, and performing color clustering combination on the color points of each gray level interval to obtain a color block area; specifically, color clustering and merging of color points in each gray scale interval are uniformly set as corresponding reference values, for example, color clustering and merging of color points in a gray scale interval of 0 to 50 are uniformly set as 50, color clustering and merging of color points in a gray scale interval of 51 to 100 are uniformly set as 100, color clustering and merging of color points in a gray scale interval of 101 to 150 are uniformly set as 150, color clustering and merging of color points in a gray scale interval of 151 to 200 are uniformly set as 200, and color clustering and merging of color points in a gray scale interval of 201 to 255 are uniformly set as 255.
Establishing a square grid network, establishing the square grid network according to the grid size corresponding to the gray value interval of each color block area, and setting a connection point for each grid of the square grid network, wherein the connection point is the central point of the grid.
establishing a curve path, namely establishing the curve path through the connection point of each square grid in the square grid network of each color block area and the connection point of the square grid network corresponding to the edge of each color block area; because the connection point is the central point of the square grid, the step of establishing the curve path specifically comprises the following steps: and respectively establishing a curve path from top to bottom and from left to right according to the central point of each square grid in the square grid network of each color block area, and respectively establishing a curve path from top to bottom and from left to right according to the central point of the square grid network corresponding to the edge of each color block area, wherein the curve path is a Bezier curve.
and drawing the works, generating electric processing signals according to the curve path, and controlling the mechanical arm to clamp a line-hooking pen or a mechanical pencil to draw through the electric processing signals to finish the drawing works.
an electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the above-mentioned one sketching robot sketch painting method.
a computer-readable storage medium having stored thereon a computer program for execution by a processor of a sketching robot for sketching drawings as described above.
The invention provides a sketch painting method of a painting robot, which comprises the following steps: performing gray level processing, namely performing gray level processing on the drawing image to obtain a gray level image of the drawing image; dividing gray intervals, dividing gray values into a plurality of gray intervals, and setting a corresponding grid size for each gray interval; color clustering, namely performing color clustering combination on the color points of each gray level interval to obtain a color block area; establishing a square grid network, establishing the square grid network according to the grid size corresponding to the gray value interval of each color block area, and setting a connection point for each grid of the square grid network; establishing a curve path, namely establishing the curve path through the connection point of each square grid in the square grid network of each color block area and the connection point of the square grid network corresponding to the edge of each color block area; and drawing works, generating an electrical processing signal according to the curve path, and controlling the mechanical arm to clamp a line-hooking pen or a mechanical pencil to draw through the electrical processing signal. The invention relates to an electronic device and a readable storage medium, which are used for executing a sketch drawing method of a drawing robot. When the painting robot is used for painting, the shape and the bright-dark surface relation of a painting object are reflected by clamping a line hooking pen or an automatic pencil through the mechanical arm, the bright-dark surface relation and the appearance outline of the painting object are reflected by orderly organizing lines with different lines, and a painting work with unique painting style is created, so that the robot has the painting creation capability, has good commercial value and has a good implementation effect.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. A sketch painting method of a painting robot is characterized by comprising the following steps:
Performing gray level processing, namely performing gray level processing on the drawing image to obtain a gray level image of the drawing image;
Dividing gray intervals, dividing gray values into a plurality of gray intervals, and setting a corresponding grid size for each gray interval;
Color clustering, namely performing color clustering combination on the color points of each gray level interval to obtain a color block area;
Establishing a square grid network, establishing the square grid network according to the grid size corresponding to the gray value interval of each color block area, and setting a connection point for each grid of the square grid network;
Establishing a curve path, namely establishing the curve path through the connection point of each square grid in the square grid network of each color block area and the connection point of the square grid network corresponding to the edge of each color block area;
And drawing works, generating an electrical processing signal according to the curve path, and controlling a mechanical arm to clamp a line-hooking pen or a mechanical pencil to draw through the electrical processing signal.
2. A drawing robot sketch drawing method as claimed in claim 1, wherein: in the gray processing step, a weighted average formula is adopted to perform gray processing on the painting image, and the weighted average formula is as follows:
f(i,j)＝0.30R(i,j)+0.59G(i,j)+0.11B(i,j)
wherein i is the number of rows of the pixel points in the two-dimensional space vector, j is the number of columns of the pixel points in the two-dimensional space vector, R (i, j) is the color value of the red channel at the point (i, j), G (i, j) is the color value of the green channel at the point (i, j), B (i, j) is the color value of the blue channel at the point (i, j), and f (i, j) is the gray value of the gray map at the point (i, j).
3. a drawing robot sketch drawing method as claimed in claim 1, wherein: in the step of dividing the gray scale interval, the corresponding grid size is set for each gray scale interval according to the rule that the color point increases from deep to light and the corresponding grid increases from small to large.
4. a drawing robot sketch drawing method as claimed in claim 1, wherein: in the color clustering step, color clustering and merging are carried out on the color points of each gray level interval, and the color points are uniformly set as corresponding reference values.
5. a drawing robot sketch drawing method as claimed in claim 1, wherein: in the step of establishing the square grid network, the connection point is the central point of the square grid.
6. A sketching method by a painting robot as claimed in claim 5, characterized in that: in the step of establishing the curve path, the curve path is established from top to bottom and from left to right according to the central point of each square in the square grid network of each color block area.
7. a drawing robot sketch drawing method as claimed in claim 6, wherein: in the step of establishing the curve path, the curve path is established from top to bottom and from left to right according to the center points of the squares in the square grid network corresponding to the edge of each color block area.
8. a drawing robot sketch drawing method as claimed in claim 7, wherein: in the step of establishing the curve path, the curve path is a bezier curve.
9. An electronic device, characterized by comprising: a processor;
A memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for carrying out the method of any one of claims 1-8.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method according to any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910654828.1A CN110570480B (en) | 2019-07-19 | 2019-07-19 | Sketch drawing method of drawing robot, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910654828.1A CN110570480B (en) | 2019-07-19 | 2019-07-19 | Sketch drawing method of drawing robot, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110570480A true CN110570480A (en) | 2019-12-13 |
| CN110570480B CN110570480B (en) | 2023-03-24 |
Family
ID=68772849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910654828.1A Active CN110570480B (en) | 2019-07-19 | 2019-07-19 | Sketch drawing method of drawing robot, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110570480B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016515A (en) * | 2019-12-19 | 2020-04-17 | 广东智媒云图科技股份有限公司 | Method for automatically drawing through robot, method and device for automatically embroidering |
| 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 |
| 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 |
| 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 |
| CN113326819A (en) * | 2021-08-02 | 2021-08-31 | 佛山隆深机器人有限公司 | Robot sketch drawing method and device and robot workbench |
| CN117474820A (en) * | 2023-10-12 | 2024-01-30 | 书行科技(北京)有限公司 | Image processing method, device, electronic equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120288188A1 (en) * | 2011-05-09 | 2012-11-15 | Canon Kabushiki Kaisha | Image processing apparatus, image processing method, and computer-readable medium |
| CN104123741A (en) * | 2014-06-24 | 2014-10-29 | 小米科技有限责任公司 | Method and device for generating human face sketch |
| CN106652009A (en) * | 2016-11-18 | 2017-05-10 | 中山大学 | Color sketch simulation method |
| CN107492129A (en) * | 2017-08-17 | 2017-12-19 | 西安电子科技大学 | Non-convex compressed sensing optimal reconfiguration method with structuring cluster is represented based on sketch |
| CN109523603A (en) * | 2018-10-24 | 2019-03-26 | 广东智媒云图科技股份有限公司 | A kind of drawing method based on texturing methods or types of texture strokes style, device, terminal device and storage medium |
| CN109978964A (en) * | 2019-03-19 | 2019-07-05 | 广东智媒云图科技股份有限公司 | A kind of image formation method, device, storage medium and terminal device |
| CN109993810A (en) * | 2019-03-19 | 2019-07-09 | 广东智媒云图科技股份有限公司 | A kind of intelligence sketch drawing method, device, storage medium and terminal device |
-
2019
- 2019-07-19 CN CN201910654828.1A patent/CN110570480B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120288188A1 (en) * | 2011-05-09 | 2012-11-15 | Canon Kabushiki Kaisha | Image processing apparatus, image processing method, and computer-readable medium |
| CN104123741A (en) * | 2014-06-24 | 2014-10-29 | 小米科技有限责任公司 | Method and device for generating human face sketch |
| CN106652009A (en) * | 2016-11-18 | 2017-05-10 | 中山大学 | Color sketch simulation method |
| CN107492129A (en) * | 2017-08-17 | 2017-12-19 | 西安电子科技大学 | Non-convex compressed sensing optimal reconfiguration method with structuring cluster is represented based on sketch |
| CN109523603A (en) * | 2018-10-24 | 2019-03-26 | 广东智媒云图科技股份有限公司 | A kind of drawing method based on texturing methods or types of texture strokes style, device, terminal device and storage medium |
| CN109978964A (en) * | 2019-03-19 | 2019-07-05 | 广东智媒云图科技股份有限公司 | A kind of image formation method, device, storage medium and terminal device |
| CN109993810A (en) * | 2019-03-19 | 2019-07-09 | 广东智媒云图科技股份有限公司 | A kind of intelligence sketch drawing method, device, storage medium and terminal device |
Non-Patent Citations (2)
| Title |
|---|
| 吴仕超等，: "基于图像层级的机器素描研究", 《计算机系统应用》 * |
| 杨维等，: "基于三菱工业机械手的绘画机器人", 《装备制造技术》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016515A (en) * | 2019-12-19 | 2020-04-17 | 广东智媒云图科技股份有限公司 | Method for automatically drawing through robot, method and device for automatically embroidering |
| 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 |
| 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 |
| 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 |
| 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 |
| CN113326819A (en) * | 2021-08-02 | 2021-08-31 | 佛山隆深机器人有限公司 | Robot sketch drawing method and device and robot workbench |
| CN113326819B (en) * | 2021-08-02 | 2021-11-05 | 佛山隆深机器人有限公司 | Robot sketch drawing method and device and robot workbench |
| CN117474820A (en) * | 2023-10-12 | 2024-01-30 | 书行科技(北京)有限公司 | Image processing method, device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110570480B (en) | 2023-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110570480B (en) | Sketch drawing method of drawing robot, electronic equipment and storage medium | |
| CN110555894B (en) | Intelligent robot painting method, electronic equipment and storage medium | |
| CN109800864B (en) | Robot active learning method based on image input | |
| CN109993810B (en) | Intelligent sketch drawing method and device, storage medium and terminal equipment | |
| CN109523603B (en) | Drawing method and device based on chap style, terminal equipment and storage medium | |
| CN101339606B (en) | Human face critical organ contour characteristic points positioning and tracking method and device | |
| CN110355754A (en) | Robot eye system, control method, equipment and storage medium | |
| CN104966320B (en) | A kind of pattern-painting automatic generation method based on three rank Bezier curves | |
| CN104899563A (en) | Two-dimensional face key feature point positioning method and system | |
| CN109816730A (en) | Workpiece grabbing method, apparatus, computer equipment and storage medium | |
| CN105868797A (en) | Network parameter training method, scene type identification method and devices | |
| CN111702772B (en) | Automatic upper surface guiding and gluing method and system | |
| CN108908399B (en) | Robot hand-eye calibration method based on concentric ring template | |
| CN110453395B (en) | Intelligent robot embroidery method, electronic equipment and storage medium | |
| CN112070782A (en) | Method and device for identifying scene contour, computer readable medium and electronic equipment | |
| CN104598872A (en) | Face comparison method, apparatus and face recognition method, system | |
| CN111062331A (en) | Mosaic detection method and device for image, electronic equipment and storage medium | |
| JP2017111816A (en) | Object division method and device | |
| CN114777792A (en) | Path planning method and device, computer readable medium and electronic equipment | |
| CN110570497A (en) | Drawing method and device based on layer superposition, terminal equipment and storage medium | |
| CN114548362A (en) | Deep learning knowledge distillation method and system based on frequency domain supervision | |
| CN114029952A (en) | Robot operation control method, device and system | |
| CN117037062A (en) | Target object grabbing method, system, electronic equipment and storage medium | |
| Lam et al. | Stroke trajectory generation experiment for a robotic Chinese calligrapher using a geometric brush footprint model | |
| CN115953465A (en) | Three-dimensional visual random grabbing processing method based on modular robot training platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |