KR102606832B1 - Method and system for performing copy drawing using robotic instrument - Google Patents

Abstract

In the copy drawing method using a robot mechanism performed by the robot copy drawing system according to an embodiment of the present invention, (a) an image including a first drawing on which at least one design of pictures and characters is drawn from a user terminal receiving; (b) acquiring pixel information of the image based on coordinate information within the image; (c) determining a plurality of points constituting the design; (d) setting a second drawing to be drawn by the robotic mechanism by copying the design, and performing drawing on the second drawing by the robotic mechanism based on the plurality of determined points.

Description

Copy drawing method and system using robotic mechanism {METHOD AND SYSTEM FOR PERFORMING COPY DRAWING USING ROBOTIC INSTRUMENT}

The present invention relates to a copy drawing method using a robot mechanism, and more specifically, to a copy drawing method that uses a robot mechanism to identically draw text and pictures written by a user on paper or an application.

The International Federation of Robotics (IFR) predicted that the size of the global industrial robot market in 2020 would be approximately 17 trillion won. In addition, it is predicted to grow steadily by more than 6% annually from 2021 to 2024. Due to the 4th Industrial Revolution, the development and field application of smart factories is increasing, and industrial robots are playing a large role at the center.

They are used as robot vacuum cleaners in homes, serving robots in restaurants, courier delivery robots in smart buildings, and medical supply delivery robots in hospitals. Robots are no longer unfamiliar and are permeating our daily lives.

And the robot art field in the professional service robot field is also showing rapid growth. The conventional robot art field was a technology that enabled robots to recognize, extract, and draw outlines or outlines. However, it has the disadvantage of being limited in scope and requiring a well-equipped working environment.

Accordingly, there is a need for technology to capture previously created pictures or text as a photographic image or create a digital image using an application and then draw using a robot arm or robot mechanism.

The present invention is intended to solve the problems of the prior art described above, and performs copy drawing using a robotic mechanism such as a robot arm based on a photographic image of a picture or text or a digital image created using an application. We would like to provide a way to do this.

However, the technical challenge that this embodiment aims to achieve is not limited to the technical challenges described above, and other technical challenges may exist.

As a technical means for achieving the above-mentioned technical problem, in the copy drawing method using a robot mechanism performed by the robot copy drawing system according to the first embodiment of the present invention, (a) at least one of the pictures and characters from the user terminal Receiving an image including a first drawing on which one or more designs are drawn; (b) acquiring pixel information of the image based on coordinate information within the image; (c) determining a plurality of points constituting the design; (d) setting a second drawing to be drawn by the robotic mechanism by copying the design, and performing drawing on the second drawing by the robotic mechanism based on the plurality of determined points.

Additionally, the image is a photographic image of the first drawing on which the design is drawn.

Additionally, step (b) includes: b-1) identifying a boundary area of the first drawing within the image; and b-2) cutting out the first drawing within the image based on the boundary area and resetting the coordinate information.

In addition, step (c) includes c-1) applying grayscale to the first drawing; and c-2) Among the plurality of points constituting the design, points having a gray value higher than a preset threshold in the first drawing to which grayscale is applied are displayed in black, and gray values less than the preset threshold are displayed in black. It includes the step of displaying points in white.

In addition, step (d) includes d-1) resizing or converting pixel information of the image to the size of the second drawing and resetting the coordinate information; d-2) generating a copy drawing path of the robot mechanism based on the reset coordinate information and the plurality of points; and d-3) copy-drawing the design along the path.

Additionally, in step d-1), the shape of the second drawing is changed so that the length of the remaining side of the second drawing is set to match the length of the smaller side of the size of the second drawing.

Additionally, the image is a digital image including a picture or text created using a touch function in an application installed on the user terminal.

Additionally, the image includes a handwriting space predefined by the user terminal or the application.

In addition, step (c) includes configuring a data set by identifying coordinates of points constituting the design within the handwriting space, and the data set includes data identification information, stroke order, and configuring the design. It includes coordinate values and discrimination values of the points, and the stroke order is data related to the order of drawing the design.

Additionally, the robotic mechanism is in the form of a robot arm.

A robot copy drawing system comprising: a communication module that transmits and receives information with a user terminal; memory for storing a copy drawing program; and a processor for executing the program, wherein the processor receives an image including a first drawing with at least one design selected from among pictures and characters from a user terminal, and processes the image based on coordinate information within the image. Acquire pixel information, determine a plurality of points constituting the design, set a second drawing for the robot mechanism to copy and draw the design, and based on the determined plurality of points, the robot mechanism and configured to control the robotic mechanism to perform drawing on the second drawing.

In addition, the image is a photographic image of the first drawing on which the design is drawn, or a digital image including a picture or text created using a touch function in an application installed on the user terminal.

The present invention is intended to solve the problems of the prior art described above, by capturing a picture or text as a photographic image or creating a digital image using an application, then recognizing the coordinates of the design and drawing using a robot arm or robot mechanism. can do.

1 is a structural diagram of a copy drawing method using a robot mechanism according to an embodiment of the present invention.
Figure 2 is a structural diagram of a copy drawing robot mechanism in a copy drawing method using a robot mechanism according to an embodiment of the present invention.
Figure 3 is a flowchart of a copy drawing method using a robot mechanism according to an embodiment of the present invention.
Figure 4 is a flowchart of a process in which a user terminal captures a photographic image and performs a copy drawing in a copy drawing method using a robot mechanism according to an embodiment of the present invention.
Figure 5 is a detailed flowchart of a partial process in which a user terminal captures a photographic image and makes a copy drawing in the copy drawing method using a robot mechanism according to an embodiment of the present invention.
Figure 6 is an example of identifying a boundary area of the first drawing and resetting coordinate information in an image of a copy drawing method using a robot mechanism according to an embodiment of the present invention.
Figure 7 is an exemplary diagram of the composition of a dataset of photographic images of a copy drawing method using a robotic mechanism according to an embodiment of the present invention.
Figure 8 is an exemplary diagram of image resizing and coordinate information resetting of the copy drawing method using a robot mechanism according to an embodiment of the present invention.
Figure 9 is an example of identifying a border area of a handwriting space and resetting coordinate information in the application of a copy drawing method using a robot mechanism according to an additional embodiment of the present invention.
Figure 10 is an exemplary diagram of a dataset configuration of an application of a copy drawing method using a robotic mechanism according to an additional embodiment of the present invention.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected," but also the case where it is "electrically connected" with another element in between. . Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

In this specification, 'part' includes a unit realized by hardware, a unit realized by software, and a unit realized using both. Additionally, one unit may be realized using two or more pieces of hardware, and two or more units may be realized using one piece of hardware. Meanwhile, '~ part' is not limited to software or hardware, and '~ part' may be configured to reside in an addressable storage medium or may be configured to reproduce one or more processors. Therefore, as an example, '~ part' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided within the components and 'parts' may be combined into a smaller number of components and 'parts' or may be further separated into additional components and 'parts'. Additionally, components and 'parts' may be implemented to regenerate one or more CPUs within a device or a secure multimedia card.

The “user terminal” mentioned below may be implemented as a computer or portable terminal that can connect to a server or other terminal through a network. Here, the computer is, for example, a laptop equipped with a web browser, a desktop, a laptop, a VR HMD (e.g., HTC VIVE, Oculus Rift, GearVR, DayDream, PSVR, etc.), etc. may include. Here, VR HMD is for PC (e.g. HTC VIVE, Oculus Rift, FOVE, Deepon, etc.), mobile (e.g. GearVR, DayDream, Storm Magic, Google Cardboard, etc.), and console (PSVR). Includes independently implemented Stand Alone models (e.g. Deepon, PICO, etc.). Portable terminals are, for example, wireless communication devices that ensure portability and mobility, including smart phones, tablet PCs, and wearable devices, as well as Bluetooth (BLE, Bluetooth Low Energy), NFC, RFID, and ultrasonic devices. , may include various devices equipped with communication modules such as infrared, WiFi, and LiFi. In addition, “network” refers to a connection structure that allows information exchange between nodes such as terminals and servers, including a local area network (LAN), a wide area network (WAN), and the Internet. (WWW: World Wide Web), wired and wireless data communication network, telephone network, wired and wireless television communication network, etc. Examples of wireless data communication networks include 3G, 4G, 5G, 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), WIMAX (World Interoperability for Microwave Access), Wi-Fi, Bluetooth communication, infrared communication, and ultrasound. This includes, but is not limited to, communication, Visible Light Communication (VLC), LiFi, etc.

First, the structure of a copy drawing system using a robot mechanism (hereinafter referred to as “robot copy drawing system”) according to an embodiment of the present invention will be described with reference to FIG. 1.

Referring to FIG. 1, the robot copy drawing system includes a user terminal 100 and a copy drawing robot mechanism 130, and although not shown in the drawing, it may additionally include a server including a communication module, memory, and processor. The server may be built into the user terminal 100 or the robot mechanism 130, or may exist separately. The server may operate in a cloud computing service model such as SaaS (Software as a Service), PaaS (Platform as a Service), or IaaS (Infrastructure as a Service), and may operate in a private cloud, public cloud, or It can be built in the same form as a hybrid cloud system.

The user terminal 100 may include a smartphone 110 and a tablet PC 120, but the user terminal 100 according to the present invention is not limited thereto. The user terminal 100 may be a smart device including a camera.

The user terminal 100 transmits an image with a design including pictures and characters for drawing to the server or the copy drawing robot device 130 using a communication network.

The copy drawing robot mechanism 130 receives an image containing a drawing including a picture and text from the user terminal 100 and performs copy drawing.

Referring to FIG. 2, the copy drawing robot mechanism 130 may include a communication module 131, a processor 132, and a memory 133. The functions of the communication module 131, processor 132, and memory 133 described below may be performed by the communication module, processor, and memory included in the above-described server or user terminal. That is, the communication module 131, processor 132, and memory 133 described below may be substantially the same as the communication module, processor, and memory included in the server or user terminal described above, respectively.

The communication module 131 can transmit and receive information with an external database or external device. Here, the external device may be the user terminal 100 described above. The communication module 131 may include a device including hardware and software necessary to transmit and receive signals such as control signals or data signals through wired or wireless connections with other network devices.

The communication module 131 is an image containing a drawing and text of the user terminal 100 through a communication network in the copy drawing program stored in the memory 133 provided by the processor 132 of the copy drawing robot mechanism 130. Delivered so that it can be linked.

The memory 133 stores at least one of information and data input to the communication module 131, information and data required for functions performed by the processor 132, and data generated according to execution of the processor 132. You can. The memory 133 should be interpreted as a general term for non-volatile storage devices that continue to retain stored information even when power is not supplied and volatile storage devices that require power to maintain stored information. Additionally, the memory 133 may perform the function of temporarily or permanently storing data processed by the processor 132. The memory 133 may include magnetic storage media or flash storage media in addition to volatile storage devices that require power to maintain stored information, but the scope of the present invention is not limited thereto. no.

The memory 133 stores the copy drawing program and links the image with the drawing including the picture and text received from the user terminal 100 through the processor 132 to the program. The name of the program is set for convenience of explanation, and the name itself does not limit the function of the program.

The processor 132 is configured to execute a program stored in the memory 133. The processor 132 may include various types of devices that control and process data. The processor 132 may refer to a data processing device built into hardware that has a physically structured circuit to perform functions expressed by codes or instructions included in a program. In one example, the processor 132 may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), or an FPGA ( It may be implemented in the form of a field programmable gate array, etc., but the scope of the present invention is not limited thereto.

The processor 132 is configured to perform detailed processes of the copy drawing method using the robot copy drawing system described in FIGS. 4 to 10 below.

Referring to FIG. 3, the copy drawing robot mechanism 130 receives the image when the user terminal 100 recognizes an image with a design including a picture and a letter (character) or writes and transmits it from an application (app) and Recognized as Y (or X, Y, Z) coordinates. The image recognized in this way is converted into the coordinate form of J1,...Jn, and copy drawing is performed on drawings such as paper and postcards to create a document.

Referring to FIG. 4, the process in which the user terminal 100 of the robot copy drawing system captures a photographic image and makes a copy drawing will be described in detail.

First, the robotic mechanism receives an image including the first drawing from the user terminal 100 (S410).

The user terminal 100 captures a first drawing on which at least one design of a picture or text (writing) is drawn with a camera and converts it into an image. At this time, the image becomes a photographic image. The copy drawing robot mechanism 130 may receive a photographic image taken by the user terminal 100 using a communication network.

Next, pixel information of the image is obtained based on the coordinate information in the image. (S420).

The process of acquiring pixel information of an image based on coordinate information within the image will be described in detail below with reference to (a) of FIG. 5.

Referring to (a) of FIG. 5, the process of acquiring pixel information of an image based on coordinate information within the image is as follows.

First, the border area of the first drawing is identified within the image (S421). Next, the first drawing is cut out from the image based on the border area and the coordinate information is reset (S422).

Referring to FIG. 6, the procedure for identifying the boundary area of the first drawing and resetting coordinate information in the image performed by the robot copy drawing system will be described.

Referring to (a) of FIG. 6, it can be seen that the first drawing (paper) with a solid line drawn on a photo image with an HD resolution of 1280x720 was taken. At this time, the border area of the first drawing can be identified in the photo image. If the lower left corner is set as the reference point (0,0) and the coordinates of the four vertices are set to P1 to P4, each coordinate is (400,650). , (400,50), (1000,50) and (1000,650).

And by cutting the first drawing based on the identification information and the coordinates of P1 to P4, the first drawing can be obtained as shown in (b) of FIG. 6. At this time, one of the four vertices of the first drawing can be set as the reference (0,0), and the coordinates of the remaining three can be reset. In (b) of Figure 6, P2 is set as the standard, and if the coordinates for P1, P3, and P4 are reset based on P2, they can be (0,600), (600,0), and (600,600), respectively. And the coordinates of the solid line drawn in the first drawing can be set to A1,...,An, and from P2, which is the reference point, it can be seen that A1 is located at (100,250) and An is located at (400,450).

In this way, pixel information of the photo image can be obtained based on the coordinate information of P1 to P4 through processes S420 and S422. Additionally, a dataset can be constructed by identifying the coordinates of the points that make up the design in the photo image. The composition of the data set will be described later with reference to FIG. 7.

Then, a plurality of points constituting the design are determined (S430).

The process of determining the plurality of points constituting the design will be described in detail below with reference to (b) of FIG. 5.

Referring to (b) of FIG. 5, the process of determining the plurality of points constituting the design is as follows.

First, gray scale is applied to the first drawing (S431). Next, among the plurality of points constituting the design, in the first drawing to which grayscale is applied, the dots are displayed in black and white according to a preset threshold (S432).

Gray scale converts an arbitrary color image into gray scale. After applying gray scale to the first drawing, points with a gray value above a preset threshold are displayed in black, and points with a gray value below the preset threshold are displayed in black. Points with a value can be displayed in white.

With reference to FIG. 7, the procedure for constructing a dataset of photo images by the robot copy drawing system will be described.

A dataset constructed by identifying the coordinates of the points constituting the design in a photographic image may include data identification information, stroke order, coordinate values of the points constituting the design, and discrimination values.

Data identification information corresponds to the data type in FIG. 7 and may be assigned a number depending on the type. In Figure 7, photos are marked as "1" and applications are marked as "2".

When constructing a design, data numbers designate the order from the first point to the last point of the created picture or text. Referring to FIG. 5, A1 and An corresponding to both ends of the solid line may be composed of multiple points in the following order: A1, A2, A3,..., An. At this time, 1,2,3,...,n correspond to the data number.

Stroke order refers to the order in which the lines of a drawn picture or letter (character) are created when composing a design. In the case of photographic images, they can be marked as “None” because they are taken after the design is completed. The stroke order of the design created in the application will be described later with reference to FIG. 10.

The coordinate values of the points that make up the design correspond to the X and Y coordinates in FIG. 7, and referring to FIG. 5, they mean the X and Y coordinate values of A1,...,An. That is, the coordinate values from solid line A1 to An corresponding to data numbers 1 to n can be A1(100,250), A2(101,251), A3(102,252), ??, An(400,450).

As for the discrimination value, when, after applying gray scale, points with a gray value above a preset threshold are displayed in black in the drawing, and points with a gray value below the preset threshold are displayed in white, black is " 1", white can be written as "0".

Writing space

Then, the robot mechanism copies the design and sets a second drawing to be drawn, and the robot mechanism draws on the second drawing based on the plurality of determined points (S440).

The S440 process will be described in detail with reference to (c) of FIG. 5.

First, the pixel information of the image is resized to match the size of the second drawing and the coordinate information is reset (S441). Next, a copy drawing path of the robot mechanism is created based on the reset coordinate information and a plurality of points (S442). Then, the design is copied and drawn according to the path (S443).

With reference to FIG. 8, the image resizing and coordinate information resetting procedures of the robot copy drawing system will be described.

Referring to FIG. 8, you can see (a) in FIG. 8 where one solid line is drawn on a plane with a size of 600x600 in pixels. At this time, (a) of FIG. 8 may be the first drawing in steps S410 to S440. And, if the second drawing to be drawn by the copy drawing robot mechanism 130 is set to 148x210 in millimeters (mm) and resizing (a) of Figure 8, the plane of size 600x600 in pixels is resized to 148x148 in millimeters (mm). It can be applied as shown in (b) of Figure 8.

At this time, the coordinates of D1 and Dn, which are both ends of the solid line in (a) of Figure 8, are (30,70) and (107,177), and in (b) of Figure 8, D1 is the same as (30,70), Dn can be reset to (100,170). This is because the width of the first drawing in (a) of FIG. 8 is larger than the width of 148 mm in the second drawing, so it is resized and reduced, and the X and Y coordinates can be reset in proportion to the reduced size. Since (a) in Figure 8 has a square shape with a pixel size of 600x600, it can be located in the center with the upper and lower parts separated by 31 mm from (b) in Figure 8, which has a rectangular shape. However, the location is not limited to the center.

In step S441, a path is created as coordinates from the reset coordinates D1(30,70) and Dn(100,170) to D1, D2,...,Dn, and copy drawing is performed in the second drawing along the path. At this time, the copy drawing robot mechanism 130 may be in the form of a robot arm.

The user terminal 100 of the robot copy drawing system of the present invention can perform copy drawing by creating a digital image including a picture or text using the touch function of the application. At this time, the image may include a handwriting space predefined by the user terminal or application.

Referring to FIG. 9, when a digital image including a picture or text is created within the handwriting space of the robot copy drawing system application, the process of identifying the boundary area of the digital image and resetting the coordinate information in the robot copy drawing system is described. Let me explain.

Referring to (a) of FIG. 9, it can be seen that the writing space within the application is 2000x1200 on the tablet PC 120 with a resolution of 2388x1688. At this time, the application can identify the border area of the handwriting space.

And by cutting the handwriting space based on the identified boundary area, the handwriting space can be obtained as shown in (b) of Figure 9. At this time, two solid lines drawn in (b) of FIG. 9 can be seen. Additionally, you can set any one of the four vertices of the handwriting space as the reference (0,0) and reset the coordinates of the remaining three points. In Figure 9(b), the bottom left is set as the standard, and the coordinates of the solid lines drawn in the writing space based on the bottom left are A11, A1n, A21, and A2n, and the respective coordinates are (1,400,300), (1, It can be reset to 1600,900), (2,600,900) and (2,1500,500).

In this way, pixel information can be obtained based on the coordinate information of the handwriting space within the application. Additionally, a dataset can be constructed by identifying the coordinates of the points that make up the design in the handwriting space. The composition of the data set will be described later with reference to FIG. 10.

With reference to FIG. 10, the procedure for configuring a dataset in the application of the robot copy drawing system will be described.

A dataset constructed by identifying the coordinates of the points that make up the design in the handwriting space within the application may include data identification information, stroke order, coordinate values and discrimination values of the points that make up the design.

Data identification information corresponds to the data type in FIG. 10 and may be assigned a number depending on the type. In Figure 10, photos are marked as “1” and applications are marked as “2.”

When constructing a design, data numbers designate the order from the first point to the last point of the created picture or text. Referring to FIG. 9 below, A11 and A1n corresponding to both ends of the solid line are composed of multiple points in the order of A11, A12, A13,..., A1n, and A21 and A2n are A21, A22, A23, ..., one solid line can be composed of multiple points in the order A2n. At this time, 11,12,13,...,1n and 21,22,23,..,2n correspond to data numbers.

Stroke order refers to the order in which the lines of a drawn picture or letter (character) are created when composing a design. In the case of applications, if the numbers are determined in the order of 1, 2, 3,..., n according to the order in which the design is created, the first digit of the data number corresponds to the stroke order.

The coordinate values of the points that make up the design correspond to the X and Y coordinates in FIG. 10, and referring to FIG. 9, A11,... It means the X, Y coordinate values of A1n and A21,...,A2n. In other words, the coordinate values from solid line A11 to A1n corresponding to data numbers 11 to 1n are A11(1,400,300),... , A1n(1,1600,900). Additionally, the coordinate values from solid line A21 to A2n corresponding to data numbers 21 to 2n are A21(2,600,900),... , A2n(1,1500,500). At this time, 1 and 2 at the beginning of each coordinate correspond to the stroke order.

As for the discrimination value, after applying the gray scale, points with a gray value above the preset threshold are displayed in black in the drawing, and points with a gray value below the preset threshold are displayed in white. Black is “ “1”, white can be written as “0”.

Writing space

The robot copy drawing method described so far can also be implemented in the form of a recording medium containing instructions executable by a computer, such as a program module executed by a computer. Computer-readable media can be any available media that can be accessed by a computer and includes both volatile and non-volatile media, removable and non-removable media. Additionally, computer-readable media may include all computer storage media. Computer storage media includes both volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data.

Although the methods and systems of the present invention have been described with respect to specific embodiments, some or all of their components or operations may be implemented using a computer system having a general-purpose hardware architecture.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention. do.

100: User terminal 110: Smartphone
120: Tablet PC 130: Copy drawing robot mechanism
131: Communication module 132: Processor
133: memory

Claims (12)

In a copy drawing method using a robot mechanism performed by a robot copy drawing system,
(a) receiving an image including a first drawing on which at least one design of pictures and characters is drawn from a user terminal;
(b) acquiring pixel information of the image based on coordinate information within the image;
(c) determining a plurality of points constituting the design;
(d) setting a second drawing to be drawn by the robotic mechanism by copying the design, and performing drawing on the second drawing by the robotic mechanism based on the determined plurality of points,
The image above is,
It is a photographic image taken of the first drawing on which the design is drawn, or a digital image including a picture or text created using a touch function in an application installed on the user terminal,
In step (b),
b-1) identifying a boundary area of the first drawing within the image; and
b-2) cutting out the first drawing from the image based on the boundary area and resetting the coordinate information,
In step (d),
d-1) resizing the pixel information of the image to fit the size of the second drawing and resetting the coordinate information;
d-2) generating a copy drawing path of the robot mechanism based on the reset coordinate information and the plurality of points; and
d-3) comprising the step of copy-drawing the design according to the path,
In step d-1), the shape of the second drawing is changed so that the length of the remaining side of the second drawing is set to match the length of the smaller side of the size of the second drawing,
Copy drawing method using a robotic mechanism. delete delete According to claim 1,
In step (c),
c-1) applying grayscale to the first drawing; and
c-2) Among the plurality of points constituting the design, points having a gray value greater than a preset threshold in the first drawing to which grayscale is applied are displayed in black, and points having a gray value less than the preset threshold are displayed in black. Including the step of displaying the dots in white,
Copy drawing method using a robotic mechanism. delete delete delete According to clause 1,
The image includes a handwriting space predefined by the user terminal or the application,
Copy drawing method using a robotic mechanism. According to clause 8,
In step (c),
It includes the step of configuring a data set by identifying the coordinates of the points that make up the design within the handwriting space,
The data set includes data identification information, stroke order, coordinates and discrimination values of the points constituting the design,
The stroke order is data regarding the order of drawing the design,
Copy drawing method using a robotic mechanism. According to claim 1,
The robot mechanism is in the form of a robot arm,
Copy drawing method using a robotic mechanism. ◈Claim 11 was abandoned upon payment of the setup registration fee.◈ In the robot copy drawing system,
A communication module that transmits and receives information with a user terminal;
memory for storing a copy drawing program; and
Includes a processor for executing the program,
The processor receives an image including a first drawing on which at least one design of pictures and characters is drawn from a user terminal, obtains pixel information of the image based on coordinate information in the image, and configures the design. The robot mechanism determines a plurality of points, sets a second drawing to be drawn by the robot mechanism by copying the design, and causes the robot mechanism to draw on the second drawing based on the determined plurality of points. is configured to control,
The image above is,
A photographic image of the first drawing on which the design is drawn, or,
It is a digital image containing a picture or text created using the touch function in an application installed on the user terminal,
The processor,
Identifying a border area of the first drawing within the image area,
Cutting out the first drawing within the image based on the boundary area and resetting the coordinate information,
Resize the pixel information of the image to fit the size of the second drawing and reset the coordinate information,
Generate a copy drawing path of the robot mechanism based on the reset coordinate information and the plurality of points,
Copy drawing the design according to the path,
Changing the shape of the second drawing so that the length of the remaining side of the second drawing is set to match the length of the smaller side of the size of the second drawing,
Robot copy drawing system. delete

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