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Intelligent robot image drawing method and system

An intelligent robot and image rendering technology, applied in the field of image processing, can solve problems such as not being able to meet the high requirements of image rendering speed, and having no good solutions

Active Publication Date: 2016-10-26
深圳市智能机器人研究院
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  • Application Information

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Problems solved by technology

The existing robot drawing technology does not have a good solution for this, and cannot meet people's high requirements for image drawing speed

Method used

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  • Intelligent robot image drawing method and system
  • Intelligent robot image drawing method and system

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no. 1 example

[0142] Aiming at the disadvantages of weak robustness, insufficient reliability and accuracy, and long drawing time in the prior art, the present invention proposes a new robot drawing method to demonstrate the intelligence of the robot. In order to extract image features, the present invention proposes a feature extraction method based on a mixture of global binarization and local binarization techniques; An optimal path planning method is proposed to generate the optimal path for drawing a picture.

[0143] figure 2 It is the overall framework of the robot portrait system proposed by the present invention. Among them, the input image is a color photo taken by a camera. However, the drawn image is a black and white image, and the drawing process is time-consuming, so the drawn image should be as concise as possible. Therefore, features that can express the source image must be extracted. The features extracted by the present invention refer to some closed areas that can ...

no. 2 example

[0205] In order to verify the effect of the method of the present invention, the present invention proposes Figure 7 The experimental system shown is used for experimental verification. Such as Figure 7 As shown, the experimental system includes a camera and an ABB IRB120 industrial robot equipped with a marker pen. The markers are attached to the robot through a specially designed container that contains a spring that allows the markers to move more smoothly across the paper. The feature extraction and path planning algorithms are implemented using C#, and the corresponding programs run on a laptop.

[0206] The specific process of this embodiment is as follows:

[0207] (1) Feature extraction

[0208] The output of each step of feature extraction is as Figure 8 A-E are shown. Wherein, the source image A is a photo after face extraction using the OpenCV program; Figure 8 B and C are the results of local binarization and global binarization respectively, and the par...

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Abstract

The invention discloses an intelligent robot image drawing method and system. The method comprises the following steps: inputting a source image to be drawn; carrying out feature extraction on the source image through a mixed binaryzation image processing method to obtain a region to be filled of a robot; carrying out region segmentation and optimal path planning through a path optimization algorithm according to the region to be filled of the robot; and carrying out robot image drawing according to the obtained optimal drawing path. The source image is subjected to feature extraction through the mixed method based on local binarization and global binarization, and the method is high in robustness and reliable and accurate; and with the shortest total drawing time being a target, the region segmentation and optimal path planning are carried out through the improved path optimization algorithm, and thus the optimal drawing path of the robot is obtained, and the drawing time is shorter. The method can be widely applied to the field of picture processing.

Description

technical field [0001] The invention relates to the field of image processing, in particular to an image rendering method and system for an intelligent robot. Background technique [0002] Currently intelligent robots have become a hot research topic and are used in many industrial applications such as assembly, painting and grinding. With the continuous development of intelligent robot technology and drawing technology, robot drawing technology came into being. Robotic mapping technology uses industrial robots to paint images captured by cameras. Since the robot needs to be controlled in real time based on captured images, robot mapping techniques can demonstrate the robot's intelligence in response to a changing environment. [0003] In robot drawing technology, image feature extraction and drawing path determination are the two most important steps. Among the many current image feature extraction methods, the binary feature extraction method is a more commonly used met...

Claims

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Application Information

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IPC IPC(8): G06T11/00G06T11/40G06T7/00G06K9/38
CPCG06T11/00G06T11/40G06T2207/20221G06V10/28
Inventor 黄鑫龙方思雯毕胜陈和平席宁
Owner 深圳市智能机器人研究院
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