CN116100985A - Method applied to drawing by nails - Google Patents
Method applied to drawing by nails Download PDFInfo
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- CN116100985A CN116100985A CN202310108651.1A CN202310108651A CN116100985A CN 116100985 A CN116100985 A CN 116100985A CN 202310108651 A CN202310108651 A CN 202310108651A CN 116100985 A CN116100985 A CN 116100985A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44D—PAINTING OR ARTISTIC DRAWING, NOT OTHERWISE PROVIDED FOR; PRESERVING PAINTINGS; SURFACE TREATMENT TO OBTAIN SPECIAL ARTISTIC SURFACE EFFECTS OR FINISHES
- B44D2/00—Special techniques in artistic painting or drawing, e.g. oil painting, water painting, pastel painting, relief painting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/001—Texturing; Colouring; Generation of texture or colour
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a method applied to drawing nails, which comprises the steps of inputting pictures and converting the input images; performing data conversion to obtain binary number groups with the same number of rows and columns; calculating a nailing gun path according to the read and analyzed binary number groups by a single-chip microcomputer; calculating mechanical arm motion data according to the nail gun path data; according to the movement data of the mechanical arm, the stepping motor driver controls the corresponding stepping motor to move; when the movement of the stepping motor reaches the movement result, the information is returned to the single-chip microcomputer after reversing the RAMPS1.4 expansion board from the stepping motor driver; the single-chip microcomputer controls the relay after the movement result returns, and is communicated with the nailing gun through the relay to realize nailing; judging whether the nail drawing is finished or not, if yes, entering a motor for resetting, and ending; if not, returning to and circularly executing the steps, and displaying the pictures processed by the dithering algorithm in the form of nails to realize the production of the real objects.
Description
Technical Field
The invention relates to a method for drawing by application, in particular to a method for drawing by nails, which belongs to the field of nail drawing creation methods based on a dithering algorithm.
Background
The dithering algorithm is to make the user see colors that do not actually exist on the screen by mixing the colors. The normal dithering is that the binary image formed by dithering the gray image can simulate the gray change of the original image, so that the human eyes can feel the continuous gray change.
Early dithering techniques replaced a gray scale pixel in the original image with an array of black and white dots, with the number of white dots reflecting the gray scale level of the pixel, essentially in space. With the expansion of applications, this technology has been applied to the display of color digital images.
At present, a method for drawing a real object based on a dithering algorithm does not exist.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method for drawing nails, which has the technical characteristics of simple processing of input pictures, outputting corresponding nail pictures and the like.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
a method for painting with nails, the painting method comprising the steps of:
step 1: inputting a picture, wherein the aspect ratio of the picture is 1:1, color mode 8 bit and above RGB image;
step 2: converting the input image using an algorithm to become a binary gray scale image;
the step of converting the input image by using the algorithm comprises the following steps:
1) Converting the color image into a gray image by using an image graying processing algorithm;
2) Converting the converted gray level image into a binary gray level image by using a dithering algorithm;
step 3: performing data conversion on the binary gray image obtained in the step 2 to obtain a binary group with the same number of rows and columns;
step 4: reading and analyzing the obtained binary number group by a single-chip microcomputer; calculating a nailing gun path according to the read and analyzed binary number groups by a single-chip microcomputer;
the calculation of the nailing gun path needs to preset a canvas margin n1, wherein the canvas margin n1 is the distance between the edge of the canvas and the first nailing point, the step distance of the mechanical arm is constant n2, the nailing gun path is calculated in a coordinate form according to the binary number set in the step 3, and the calculation result is nailing gun path data; wherein the canvas is a nailing panel;
step 5: calculating mechanical arm motion data according to the nail gun path data through a RAMPS1.4 expansion board connected with the single-chip microcomputer, wherein the mechanical arm motion data comprises driving parameters of a stepping motor;
step 6: according to the motion data of the mechanical arm, the RAMPS1.4 expansion board controls the corresponding stepping motor to move by connecting with a stepping motor driver;
step 7: when the movement of the stepping motor reaches the movement result, the information is returned to the single-chip microcomputer after reversing the RAMPS1.4 expansion board from the stepping motor driver;
step 8: the single-chip microcomputer controls the relay after the movement result returns, and is communicated with the nailing gun through the relay to realize nailing;
step 9: judging whether the nail drawing is finished or not, if so, entering a step 10; if not, returning to and circularly executing the steps 4-8;
step 10: and resetting the motor and ending.
Preferably, in step 2, the image graying algorithm obtains R, G, and B values of each pixel, and then calculates a gray value, and replaces the original R, G, and B values of the pixel with the gray value; the dithering algorithm is to make the user see colors that do not actually exist on the screen by mixing the colors.
Preferably, in step 3, in the binary gray scale image, only two colors of black and white exist; the data conversion method is to define the black pixel of the binary gray image as 1, define the white pixel as 0, and obtain the binary number group with the same number of rows and columns according to the number and the positions of the pixels of the binary gray image.
Preferably, the RAMPS1.4 expansion board is connected with two stepping motor drivers, the two stepping motor drivers are respectively connected with a Y-axis stepping motor and an X-axis stepping motor, the Y-axis stepping motor is connected with a nailing panel through a Y-axis mechanical arm, the X-axis stepping motor is connected with a nailing gun through an X-axis mechanical arm, the nailing gun is connected with a single-chip microcomputer through a relay, the stepping motor drivers realize the control of the moving position so as to ensure the nailing process, the nailing panel is used as a reference object, and the nailing gun moves in the X-axis plane and the Y-axis plane relative to the nailing panel.
Preferably, in step 8, setting 1 as the nailing point, 0 as the blank point, controlling current on-off to output nails by the single chip microcomputer according to the corresponding point, directly skipping the 0 point in the nailing process, normally working at the 1 point, taking a nailing panel as a reference object in the path, moving the nailing gun relative to the nailing panel in the X-axis and Y-axis planes, and outputting nails from top to bottom and from left to right sequentially.
Preferably, the image graying processing algorithm comprises an image graying processing algorithm based on human eye perception.
Preferably, the dithering algorithm is any one of an ordered dithering method, a Floyd-Steinberg dithering method and a Jarvis dithering method.
Preferably, the single-chip microcomputer is an Arduino Mega2560 development board, and the single-chip microcomputer and the RAMPS1.4 expansion board transmit information through an SPI communication protocol.
Preferably, the type of the stepper motor driver is A4988, and the stepper motor driver is connected with the stepper motor through a control circuit.
Preferably, the nail gun is connected with the single-chip microcomputer through a control circuit.
The beneficial effects are that: for the prior art, the image processed by the dithering algorithm can be presented in the form of nails, and the image processing method is real object production processed technically.
Drawings
Fig. 1 is a flow chart of the present invention.
FIG. 2 is a diagram of an embodiment of the present invention for calculating the path of a nail gun in a binary array.
FIG. 3 is a graph of an embodiment of the calculation of the path of the nail gun in the 5*5 binary array of example 1.
Fig. 4 is a schematic circuit structure of the present invention.
Detailed Description
The invention will be further illustrated with reference to the accompanying drawings 1-4 of the specification, but the invention is not limited to the following examples.
The invention relates to a method for applying a dithering algorithm to nail painting, by which simple processing of an input picture and outputting of a corresponding nail painting can be realized.
The electronic components to which the present invention relates include, but are not limited to, a single-chip microcomputer (Arduino Mega2560 development board), a ram ps1.4 expansion board (RepRap Arduino Mega Pololu Shield 1.4), a stepper motor driver (including, but not limited to a 4988), and the like.
Description of components:
1. the single-chip microcomputer is also called a single-chip microcomputer, and is a microcomputer in which main computer functional components such as a Central Processing Unit (CPU), a Random Access Memory (RAM), a Read Only Memory (ROM), an input/output port (I/o) and the like are integrated on one integrated circuit chip.
For details of the ram st 1.4 expansion board, please refer to the technical description of the prior art, the web page links: https:// wenku.baidu.com/view/dc67900f925f804d2b160b4e767f5acfa1c7839c.html? Wkts_ = 1676017692581, and https:// reprap. Org/wiki/ramps_1.4/zh_cn), the RAMPS1.4 expansion board is an Arduino expansion board with powerful upgrade capability and expanded modular design. It interfaces with the Arduino Mega platform, providing a large number of expansion interfaces including stepper motor driver interfaces.
3. Stepper motor drivers (including but not limited to a 4988) (refer to web pages for https:// wenku. Baidu. Com/view/dc67900f925f804d2b160b4e767f5acfa1c7839c. Html. When the stepper driver receives a pulse signal, it drives the stepper motor to rotate a fixed angle (referred to as a "pitch angle") in a set direction, with its rotation running step by step at the fixed angle. The angular displacement can be controlled by controlling the number of pulses, so that the aim of accurate positioning is fulfilled; meanwhile, the rotating speed and the acceleration of the motor can be controlled by controlling the pulse frequency, so that the purposes of speed regulation and positioning are achieved.
In order to realize simple processing of an input picture and outputting a corresponding nail painting, the invention provides a nail painting method based on a dithering algorithm, which comprises the following steps:
step 1: inputting a picture, wherein the aspect ratio of the picture is 1:1, color mode 8 bit and above RGB image;
step 2: the input image is converted by an algorithm, which comprises the steps of converting a color image into a gray image by an image graying processing algorithm, and then converting the converted gray image into a binary gray image by a dithering algorithm.
1) Image graying processing algorithm the image graying processing algorithm converts an arbitrary color image into a gray scale. The superimposed three primary colors of the color image are red, green and blue, and the primary colors are mixed in different proportions to produce other new colors. This set of primary color systems is often referred to as the "RGB color space", i.e., the color system that is combined from red (R) green (G) blue (B). When these three primary colors are superimposed in equal proportions, they become grey. In digital photography, computer-generated images, and colorimetry, a gray scale image is an image in which the value of each pixel is a single sample representing only a certain amount of light; that is, it carries only intensity information. The gray image is a black and white or gray monochromatic image, consisting entirely of shades of gray. The contrast ranges from the weakest black to the strongest white.
The basic steps of the image graying treatment are as follows: the R, G and B values of each pixel are obtained, then a gray scale algorithm is used for calculating a gray scale value, and the gray scale value is used for replacing the original R, G and B values of the pixel.
The image graying processing algorithm includes several kinds, including but not limited to image graying processing algorithm based on human eye perception (reference data algorithm 2-web page introduction based on human eye perception formula
https:// zhuanlan. Zhihu. Com/p/31840238). The human eye perceives different light to different extents. There are several color-discriminating cone-shaped photoreceptors in the human eye that are most sensitive to yellowish-green, and bluish-violet light, respectively. Although the cone cells in the eyeball do not have the highest sensitivity to the three colors of red, green and blue, the bandwidth of light perceived by the cone cells of naked eyes is large, and the three colors of photoreceptors can be independently stimulated by the red, green and blue. The human perception degree of red, green and blue three colors is as follows in sequence: green > Red > blue, such algorithms set a weight for each color according to the human perception of light, e.g., gray= (Red 0.299+green 0.587+blue 0.114)
2) Dithering algorithms (reference https:// en. Wikipedia. Org/wiki/Dither) dithering algorithms allow the user to see colors on the screen that are not actually present by mixing the colors. The normal dithering is that the binary image formed by dithering the gray image can simulate the gray change of the original image, so that the human eyes can feel the continuous gray change. Early dithering techniques replaced a gray scale pixel in the original image with an array of black and white dots, with the number of white dots reflecting the gray scale level of the pixel, essentially in space. With the expansion of applications, this technology has been applied to the display of color digital images.
Dithering algorithms of the present application include, but are not limited to, ordered dithering, floyd-Steinberg dithering, jarvis dithering.
As exemplified by the Floyd-Steinberg dithering method (reference Floyd-Steinberg dithering https:// en. Wikipedia. Org/wiki/Floyd% E2%80%93 steinberg_dithering), this algorithm uses error diffusion to implement dithering, which means that it pushes (adds) the residual quantization error of a pixel to its neighboring pixels for later processing. It disperses according to distribution (map displayed as adjacent pixels): the algorithm scans the image from left to right, top to bottom, quantizing the pixel values one by one. Each time the quantization error is transferred to neighboring pixels without affecting the already quantized pixels. Thus, if some pixels have been rounded down, then the next pixel is more likely to be rounded up, so that on average, the quantization error is close to zero.
Step 3: and performing data conversion on the binary gray scale image. In a binary gray scale image, only two colors, black and white, are present. The algorithm of data conversion defines black pixels of the binary gray image as 1, defines white pixels as 0, and obtains binary groups with the same number of rows and columns according to the number and the positions of the pixels of the binary gray image;
step 4: a binary group obtained by converting the obtained binary gray image data;
step 5: reading and analyzing the obtained binary number group through a single-chip microcomputer (Arduino Mega2560 development board); nail gun path calculation was performed by a single chip microcomputer (Arduino Mega2560 development board) from the binary number set after reading and analysis.
The calculation of the nail gun path requires presetting a margin n1 of a canvas (i.e. a nailing panel), namely the distance between the edge of the canvas (i.e. the nailing panel) and the first nailing point, a constant n2 of the robotic arm step distance, and calculating the nail gun path in a coordinate form according to the binary number set in the step 5.
Example 1: 5*5 binary number groups in the following figures take the left upper corner edge of canvas (i.e. nailing panel) as the origin (0, 0), establish x and y coordinates according to the line number and column number and the set canvas (i.e. nailing panel) margin n1, the canvas margin n1 and the arm step constant n2, form a corresponding 0-1 coordinate system, and calculate the nailing gun path.
Step 6: the calculation result in the step 5 is the path data of the nailing gun; the ram s1.4 expansion board (RepRap Arduino Mega Pololu Shield 1.4) connected by a single chip microcomputer (Arduino Mega2560 development board) calculates the robot arm movement data from the gun path data.
The ram ps1.4 expansion board (RepRap Arduino Mega Pololu Shield 1.4) to which the single chip microcomputer (Arduino Mega2560 development board) is connected to a stepper motor driver (including but not limited to a 4988), and the stepper motor driver (including but not limited to a 4988) is connected to a stepper motor.
A single-chip microcomputer (Arduino Mega2560 development board) can combine corresponding Arduino libraries according to the path data of the nail gun to obtain corresponding mechanical arm motion data, namely driving parameters (such as revolution, time and the like) of the stepping motor.
Step 7: based on the robot arm motion data, this data may be transmitted to stepper motor drives (including but not limited to a 4988) via a ram ps1.4 expansion board (RepRap Arduino Mega Pololu Shield 1.4) to which a single chip microcomputer (Arduino Mega2560 development board) is connected;
step 8: when the stepper motor motion reaches the motion result, the information is returned to the single chip microcomputer (Arduino Mega2560 development board) after reversing the ram ps1.4 expansion board from the stepper motor driver (including but not limited to a 4988); specific: a stepping motor driver (A4988) connected with the RAMPS1.4 expansion board converts the mechanical arm motion data into an electric signal, provides driving current and controls the corresponding motor to move; see description of the driver (A4988)
https:// baijiahao.baidu.com/sild=174647665833279 & wfr=spider & for=pc.
Step 9: a single-chip microcomputer (Arduino Mega2560 development board) controls the relay after the movement result returns and communicates with the nailing gun for nailing;
as shown in FIG. 2, wherein 1 is a nailing point, 0 is a blank point, and a single chip microcomputer (Arduino Mega2560 development board) controls current on-off nailing according to the corresponding point. The nailing process directly skips the 0 point position (blank point position) and works normally at the 1 point position (nailing point position). The nailing machine moves relative to the nailing panel on the X-axis and Y-axis planes by taking the nailing panel as a reference object along the path, and nails are sequentially discharged from top to bottom and from left to right.
As shown in fig. 2, the nailed panel was used as a reference, and nails were nailed at a, b, c, d, e, f, g, h, i, j in the order of (0, 0) →a→b→c→d→e→f→g→ (0, 0). The nail gun starts from an origin (0, 0), firstly passes through a (n1+0×n2 ), moves along an X axis by 4×n2 distance after the nail is discharged, then reaches b (n1+4×n2, n1+0×n2), moves along a Y axis by 4×n2 distance after the nail is discharged, moves along an X axis by-2×n2 distance, reaches c (n1+2×n2, n1+1×n2), and so on, reaches j points, and then finishes drawing, and resets the nail gun to the origin (0, 0).
Step 10: judging whether the nail drawing is finished or not, if yes, entering a step 11; if not, returning to and circularly executing the steps 5-9;
step 11: and resetting the motor and ending. See flow chart 1.
According to the nail painting method based on the dithering algorithm, a single-chip microcomputer (Arduino Mega2560 development board) and a RAMPS1.4 expansion board transmit information through a SPI (Serial Peripheral Interface) communication protocol.
According to the nail painting method based on the dithering algorithm, a stepping motor driver (including but not limited to A4988) is connected with a stepping motor through a control circuit.
According to the nail painting method based on the dithering algorithm, the stepping motor is connected with the mechanical arm through the mechanical structure, the mechanical structure is a conventional linkage structure, and the mechanical structure assists the mechanical arm structure driven by the motor; as for the mechanical structure of the mechanical arm, the large top panel and the nailing gun, which is a structure such as a conventional connecting rod, the mechanical structure is not an essential technical feature of the present application, and the mechanical structure is not described in detail, and based on the technical scheme of the present application, a person skilled in the art can perform conventional substitution.
According to the nail drawing method based on the dithering algorithm, the X-axis mechanical arm and the Y-axis mechanical arm are respectively connected with the nailing gun and the nailing panel, and the positions of the X-axis mechanical arm and the Y-axis mechanical arm are controlled to ensure that the nailing panel is taken as a reference object in the nailing process, and the nailing gun moves in an X-axis plane and a Y-axis plane relative to the nailing panel.
According to the nail painting method based on the dithering algorithm, a nail gun connected to a mechanical arm is connected with a single-chip microcomputer (Arduino Mega2560 development board) through a control circuit, and the control circuit is a conventional circuit.
According to the nail painting method based on the dithering algorithm, a single-chip microcomputer (Arduino Mega2560 development board) controls a relay to control on-off of a circuit, and a nailing gun is correspondingly communicated with nailing; the completion of nail drawing was judged by a single chip microcomputer (Arduino Mega2560 development board).
Finally, it should be noted that the invention is not limited to the above embodiments, but that many variants are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.
Claims (10)
1. A method for drawing a picture by using nails is characterized in that the drawing method comprises the following steps:
step 1: inputting a picture, wherein the aspect ratio of the picture is 1:1, color mode 8 bit and above RGB image;
step 2: converting the input image using an algorithm to become a binary gray scale image;
the step of converting the input image by using the algorithm comprises the following steps:
1) Converting the color image into a gray image by using an image graying processing algorithm;
2) Converting the converted gray level image into a binary gray level image by using a dithering algorithm;
step 3: performing data conversion on the binary gray image obtained in the step 2 to obtain a binary group with the same number of rows and columns;
step 4: reading and analyzing the obtained binary number group by a single-chip microcomputer; calculating a nailing gun path according to the read and analyzed binary number groups by a single-chip microcomputer;
the calculation of the nailing gun path needs to preset a canvas margin n1, wherein the canvas margin n1 is the distance between the edge of the canvas and the first nailing point, the step distance of the mechanical arm is constant n2, the nailing gun path is calculated in a coordinate form according to the binary number set in the step 3, and the calculation result is nailing gun path data; wherein the canvas is a nailing panel;
step 5: calculating mechanical arm motion data according to the nail gun path data through a RAMPS1.4 expansion board connected with the single-chip microcomputer, wherein the mechanical arm motion data comprises driving parameters of a stepping motor;
step 6: according to the motion data of the mechanical arm, the RAMPS1.4 expansion board controls the corresponding stepping motor to move by connecting with a stepping motor driver;
step 7: when the movement of the stepping motor reaches the movement result, the information is returned to the single-chip microcomputer after reversing the RAMPS1.4 expansion board from the stepping motor driver;
step 8: the single-chip microcomputer controls the relay after the movement result returns, and is communicated with the nailing gun through the relay to realize nailing;
step 9: judging whether the nail drawing is finished or not, if so, entering a step 10; if not, returning to and circularly executing the steps 4-8;
step 10: and resetting the motor and ending.
2. A method for painting with nails according to claim 1, characterized in that: in step 2, the image graying processing algorithm is to obtain the R, G, B values of each pixel and calculate a gray value, and replace the original R, G, B values of the pixel with the gray value; the dithering algorithm is to make the user see colors that do not actually exist on the screen by mixing the colors.
3. A method for painting with nails according to claim 1 or 2, characterized in that: in the step 3, only two colors of black and white exist in the binary gray scale image; the data conversion method is to define the black pixel of the binary gray image as 1, define the white pixel as 0, and obtain the binary number group with the same number of rows and columns according to the number and the positions of the pixels of the binary gray image.
4. A method for painting with nails according to claim 3, characterized in that: the RAMPS1.4 expansion board is connected with two stepping motor drivers, the two stepping motor drivers are respectively connected with a Y-axis stepping motor and an X-axis stepping motor, the Y-axis stepping motor is connected with a nailing panel through a Y-axis mechanical arm, the X-axis stepping motor is connected with a nailing gun through the X-axis mechanical arm, the nailing gun is connected with a single-chip microcomputer through a relay, the stepping motor drivers realize the control of the moving position so as to ensure the nailing process, the nailing panel is used as a reference object, and the nailing gun moves in an X-axis plane and a Y-axis plane relative to the nailing panel.
5. A method for painting with nails according to claim 4, characterized in that: in the step 8, setting 1 as a nailing point position, 0 as a blank point position, controlling current on-off to output nails by the single chip microcomputer according to the corresponding point position, directly skipping over the 0 point position in the nailing process, normally working at the 1 point position, taking a nailing panel as a reference object on the path, moving the nailing gun relative to the nailing panel on the X-axis and Y-axis planes, and outputting nails from top to bottom and from left to right sequentially.
6. A method for painting with nails according to claim 1, characterized in that: the image graying processing algorithm comprises an image graying processing algorithm based on human eye perception.
7. A method for painting with nails according to claim 1, characterized in that: the dithering algorithm is any one of an ordered dithering method, a Floyd-Steinberg dithering method and a Jarvis dithering method.
8. A method for painting with nails according to claim 1, characterized in that: the single-chip microcomputer is a development board of Arduino Mega2560, and the single-chip microcomputer and the RAMPS1.4 expansion board transmit information through an SPI communication protocol.
9. A method for painting with nails according to claim 1, characterized in that: the model of the stepping motor driver is A4988, and the stepping motor driver is connected with the stepping motor through a control circuit.
10. A method for painting with nails according to claim 1, characterized in that: the nail gun is connected with the single-chip microcomputer through a control circuit.
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