CN112192576A - Mechanical arm Chinese character writing control method - Google Patents
Mechanical arm Chinese character writing control method Download PDFInfo
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- CN112192576A CN112192576A CN202011178460.5A CN202011178460A CN112192576A CN 112192576 A CN112192576 A CN 112192576A CN 202011178460 A CN202011178460 A CN 202011178460A CN 112192576 A CN112192576 A CN 112192576A
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- mechanical arm
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Document Processing Apparatus (AREA)
Abstract
The invention provides a Chinese character writing control method for a mechanical arm, which comprises the following steps: s10, editing the stroke structure of the Chinese character, and adding the edited stroke structure of the Chinese character into a stroke library; s20, calling corresponding Chinese character stroke structures from the stroke library according to the Chinese characters to be written, and splicing the corresponding Chinese character stroke structures into the Chinese characters to be written; and S30, sending the Chinese characters to be written to the mechanical arm and controlling the mechanical arm to write calligraphy. When the mechanical arm Chinese character writing control method is used for writing Chinese characters, the method is not limited to the existing characters in the character library, and a user can write any characters required by the user according to the edited Chinese character stroke structure in the stroke library, so that the functions of mechanical arm writing equipment are enriched.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a Chinese character writing control method for a mechanical arm.
Background
At present, in the application market of mechanical arms, products for simulating the traditional Chinese calligraphy art by using mechanical arm writing equipment also appear. Although the existing mechanical arm writing equipment can write a lot of Chinese characters, most of the mechanical arm writing equipment adopts a mode of teaching or inputting specific characters in advance to write.
If the control strategy is used for writing, the mechanical arm can only write fixed characters according to the debugged character database, and the function of the mechanical arm on the use level is too single, so that the calligraphy creation with characteristics is inconvenient.
Disclosure of Invention
The invention mainly aims to provide a mechanical arm Chinese character writing control method to solve the technical problem of single function caused by the fact that mechanical arm writing equipment in the prior art can only call fixed characters from a database for writing.
In order to achieve the above object, the present invention provides a method for controlling chinese character writing on a mechanical arm, comprising: s10, editing the stroke structure of the Chinese character, and adding the edited stroke structure of the Chinese character into a stroke library; s20, calling corresponding Chinese character stroke structures from the stroke library according to the Chinese characters to be written, and splicing the corresponding Chinese character stroke structures into the Chinese characters to be written; and S30, sending the Chinese characters to be written to the mechanical arm and controlling the mechanical arm to write calligraphy.
In one embodiment, in S20, after the corresponding chinese character stroke structures are spliced into the chinese character to be written, the chinese character to be written is stored in the word stock; in S30, the chinese character to be written is retrieved from the word stock before the chinese character to be written is sent to the robot arm and the robot arm is controlled to perform handwriting writing.
In one embodiment, there are a plurality of chinese characters to be written, and in S30, the chinese characters to be written are retrieved from the word stock and then arranged in the workspace.
In one embodiment, controlling the robotic arm to perform handwriting writing in S30 includes: calculating the motion trail information of the mechanical arm according to the position information of the Chinese characters to be written in the working space; and controlling the mechanical arm to finish writing the Chinese characters according to the motion trail information.
In one embodiment, at S30, the controlling the robot arm to perform handwriting writing further comprises: determining the relative position relationship between the paper and the mechanical arm; and calculating the motion trail information according to the relative position relation and the position information of the Chinese characters needing to be written in the working space.
In one embodiment, editing the Chinese character stroke structure in S10 includes: the stroke structure of the Chinese character is recorded by a handwriting input mode.
In one embodiment, editing the Chinese character stroke structure in S10 includes: the stroke structure of the Chinese character is extracted by a character splitting mode.
By applying the technical scheme of the invention, because the strokes of the Chinese characters are relatively fixed, the stroke structure of the Chinese characters is firstly edited in S10, and the stroke library is perfected. And then, when the mechanical arm is needed to write the Chinese characters, calling the corresponding Chinese character stroke structures from the stroke library according to the Chinese characters to be written, and splicing the corresponding Chinese character stroke structures into the Chinese characters to be written. The Chinese characters needing to be written are generated by adopting the mode, the dependence on the character library can be reduced, and even if the existing character library does not contain some characters, the characters which are not contained in the character library can be generated by splicing the stroke structures of the Chinese characters. And finally, the Chinese characters needing to be written are sent to the mechanical arm, and the mechanical arm is controlled to write calligraphy, so that the characters meeting the requirements of the user can be written. Therefore, when the mechanical arm Chinese character writing control method is used for writing Chinese characters, the method is not limited to the existing characters in the character library, and a user can write any characters required by the user according to the stroke structure of the Chinese characters edited in the stroke library, so that the functions of mechanical arm writing equipment are enriched.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a flow chart of an embodiment of the mechanical arm chinese character writing control method according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In order to solve the technical problem of single function caused by the fact that mechanical arm writing equipment can only call fixed characters from a database for writing in the prior art, as shown in figure 1, the invention provides a mechanical arm Chinese character writing control method, which comprises the following steps:
s10, editing the stroke structure of the Chinese character, and adding the edited stroke structure of the Chinese character into a stroke library;
s20, calling corresponding Chinese character stroke structures from the stroke library according to the Chinese characters to be written, and splicing the corresponding Chinese character stroke structures into the Chinese characters to be written;
and S30, sending the Chinese characters to be written to the mechanical arm and controlling the mechanical arm to write calligraphy.
By applying the technical scheme of the invention, because the strokes of the Chinese characters are relatively fixed, the stroke structure of the Chinese characters is firstly edited in S10, and the stroke library is perfected. And then, when the mechanical arm is needed to write the Chinese characters, calling the corresponding Chinese character stroke structures from the stroke library according to the Chinese characters to be written, and splicing the corresponding Chinese character stroke structures into the Chinese characters to be written. The Chinese characters needing to be written are generated by adopting the mode, the dependence on the character library can be reduced, and even if the existing character library does not contain some characters, the characters which are not contained in the character library can be generated by splicing the stroke structures of the Chinese characters. And finally, the Chinese characters needing to be written are sent to the mechanical arm, and the mechanical arm is controlled to write calligraphy, so that the characters meeting the requirements of the user can be written. Therefore, when the mechanical arm Chinese character writing control method is used for writing Chinese characters, the method is not limited to the existing characters in the character library, and a user can write any characters required by the user according to the stroke structure of the Chinese characters edited in the stroke library, so that the functions of mechanical arm writing equipment are enriched.
As shown in fig. 1, more preferably, in S20, after the corresponding chinese character stroke structures are spliced into the chinese character to be written, the chinese character to be written is stored in the word stock; in S30, the chinese character to be written is retrieved from the word stock before the chinese character to be written is sent to the robot arm and the robot arm is controlled to perform handwriting writing. Therefore, after the Chinese characters are spliced, the character library can be improved, and the next Chinese character writing is more convenient.
Preferably, when there are a plurality of chinese characters to be written, in S30, after retrieving the chinese characters to be written from the word stock, the plurality of chinese characters to be written are arranged in the workspace, so that the typesetting style meeting the user' S needs can be written.
As shown in fig. 1, in S30, controlling the robot arm to perform handwriting writing includes: and calculating the motion trail information of the mechanical arm according to the position information of the Chinese characters to be written in the working space, and controlling the mechanical arm to finish writing the Chinese characters according to the motion trail information. More preferably, in order to make the control of the robot arm more accurate, in S30, the controlling the robot arm to perform handwriting writing further includes: and determining the relative position relationship between the paper and the mechanical arm, and finally calculating the motion trail information according to the relative position relationship and the position information of the Chinese characters to be written in the working space.
As shown in fig. 1, more preferably, in S20, after the corresponding chinese character stroke structures are spliced into the chinese character to be written, the chinese character to be written is stored in the word stock; in S30, the chinese character to be written is retrieved from the word stock before the chinese character to be written is sent to the robot arm and the robot arm is controlled to perform handwriting writing. Therefore, after the Chinese characters are spliced, the character library can be improved, and the next Chinese character writing is more convenient.
As an alternative embodiment, as shown in fig. 1, in S10, editing the chinese character stroke structure includes: the stroke structure of the Chinese characters is recorded in a handwriting input mode, and the implementation mode is suitable for importing the self writing style of the user. As other alternative embodiments, editing the stroke structure of the Chinese character comprises: the Chinese character stroke structure is extracted in a character splitting mode, and the implementation mode is suitable for importing the writing styles of other calligraphy, namely other writing styles can be copied according to limited characters.
It should be noted that the mechanical arm Chinese character writing control method of the present invention can be used for writing both hard-tipped writing and writing brush writing. It should be further noted that the method for controlling the writing of Chinese characters by the mechanical arm of the present invention can be programmed by Python, and can also be programmed by other assembly languages.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A mechanical arm Chinese character writing control method is characterized by comprising the following steps:
s10, editing the stroke structure of the Chinese character, and adding the edited stroke structure of the Chinese character into a stroke library;
s20, calling corresponding Chinese character stroke structures from the stroke library according to the Chinese characters to be written, and splicing the corresponding Chinese character stroke structures into the Chinese characters to be written;
and S30, sending the Chinese characters to be written to the mechanical arm and controlling the mechanical arm to write calligraphy.
2. The mechanical arm Chinese character writing control method as claimed in claim 1,
in the step S20, after the corresponding stroke structures of the Chinese characters are spliced into the Chinese characters to be written, the Chinese characters to be written are stored in a character library;
in S30, the chinese character to be written is retrieved from the word stock before the chinese character to be written is sent to the robot arm and the robot arm is controlled to perform handwriting writing.
3. The mechanical arm chinese character writing control method of claim 2, wherein there are a plurality of chinese characters to be written, and in S30, the chinese characters to be written are retrieved from the word stock and then arranged in a working space.
4. The mechanical arm Chinese character writing control method of claim 3, wherein in the step S30, controlling the mechanical arm to perform calligraphy writing comprises:
calculating the motion trail information of the mechanical arm according to the position information of the Chinese characters to be written in the working space;
and controlling the mechanical arm to finish writing Chinese characters according to the motion trail information.
5. The mechanical arm Chinese character writing control method of claim 4, wherein in the S30, controlling the mechanical arm to perform calligraphy writing further comprises:
determining the relative position relationship between the paper and the mechanical arm;
and calculating the motion trail information according to the relative position relation and the position information of the Chinese characters needing to be written in the working space.
6. The mechanical arm Chinese character writing control method of claim 1, wherein in the S10, editing the Chinese character stroke structure includes: the stroke structure of the Chinese character is recorded by a handwriting input mode.
7. The mechanical arm Chinese character writing control method of claim 1, wherein in the S10, editing the Chinese character stroke structure includes: the stroke structure of the Chinese character is extracted by a character splitting mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011178460.5A CN112192576A (en) | 2020-10-29 | 2020-10-29 | Mechanical arm Chinese character writing control method |
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| CN202011178460.5A CN112192576A (en) | 2020-10-29 | 2020-10-29 | Mechanical arm Chinese character writing control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055483A (en) * | 2021-09-30 | 2022-02-18 | 杭州未名信科科技有限公司 | Method, device, equipment and medium for writing Chinese characters based on mechanical arm |
| CN114919313A (en) * | 2022-04-05 | 2022-08-19 | 三峡大学 | Device and method for generating man-machine interaction font and writing characters |
| CN114925252A (en) * | 2022-05-31 | 2022-08-19 | 桂林电子科技大学 | Stroke recommendation method of calligraphy mechanical arm based on neighborhood |
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| CN111523622A (en) * | 2020-04-26 | 2020-08-11 | 重庆邮电大学 | Method for simulating handwriting by mechanical arm based on characteristic image self-learning |
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| CN107862024A (en) * | 2017-10-31 | 2018-03-30 | 广东小天才科技有限公司 | The learning method and electronic equipment of a kind of Chinese character |
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| CN114055483A (en) * | 2021-09-30 | 2022-02-18 | 杭州未名信科科技有限公司 | Method, device, equipment and medium for writing Chinese characters based on mechanical arm |
| CN114919313A (en) * | 2022-04-05 | 2022-08-19 | 三峡大学 | Device and method for generating man-machine interaction font and writing characters |
| CN114925252A (en) * | 2022-05-31 | 2022-08-19 | 桂林电子科技大学 | Stroke recommendation method of calligraphy mechanical arm based on neighborhood |
| CN114925252B (en) * | 2022-05-31 | 2024-03-19 | 桂林电子科技大学 | Stroke recommendation method of handwriting mechanical arm based on neighborhood |
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