CN106651988A - Automatic drawing system for face line paint - Google Patents
Automatic drawing system for face line paint Download PDFInfo
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- CN106651988A CN106651988A CN201610896460.6A CN201610896460A CN106651988A CN 106651988 A CN106651988 A CN 106651988A CN 201610896460 A CN201610896460 A CN 201610896460A CN 106651988 A CN106651988 A CN 106651988A
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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
- G06T11/20—Drawing from basic elements, e.g. lines or circles
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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
- G06T11/60—Editing figures and text; Combining figures or text
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
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Abstract
The invention discloses an automatic drawing system for a face line paint. The system is composed of an image acquisition module, a data processing control module, and a robot drawing module. The image acquisition module is used for collecting an image in front of the module. The data processing control module connected with the image acquisition module is used for extracting a face image from the image collected by the image acquisition module and generating a face image line paint, for receiving a text inputted by an external input device, converting the inputted text into an art word image, and converting the art word image into an art word line paint, and for controlling the robot drawing module to complete drawing of the face image line paint and the art word line paint. The robot drawing module connected with the data processing control module is used for drawing the generated face image line paint and the art word line paint under control of the data processing control module.
Description
Technical field
The invention belongs to artistic creation field, more particularly to a kind of automatic Plotting System of face stick figure.
Background technology
In prior art, using robot drawing human-face portrait painting, basic process be all by collected by camera facial image,
Facial contour is extracted by edge detection algorithm, then the profile for extracting corresponding arrow is generated into through trajectory planning algorithm
Amount point diagram is sent to industrial robot controller, then completes drafting of the robot to face portrait painting.And at present Germany's karr this
Lu E cities art and medium technique center robot laboratory are completed to the automatic of portrait portrait painting using six shaft mechanical arms
Draw, but the requirement of the method light to external world is very high, and also the face portrait painting drawn only includes face information, does not include
Other information related to drawn people.
The content of the invention
(1) technical problem to be solved
Based on problem above, the present invention proposes a kind of automatic Plotting System of face stick figure, for solving prior art
In light is had high demands, only comprising face not comprising word corresponding with face problem.
(2) technical scheme
The present invention proposes a kind of automatic Plotting System of face stick figure, so as to being capable of control machine under common photoenvironment
Device people completes the drafting of the face stick figure to gathering, and the drafting of characters in a fancy style is completed on the face stick figure completed.
A kind of automatic Plotting System of face stick figure, including data processing and control module and robot drawing module, its
In：
Data processing and control module, for extracting facial image from the image comprising face, and facial image is changed
Into face stick figure, it is additionally operable to the word corresponding with face of receives input and converts thereof into characters in a fancy style；
Robot drawing module, is connected with the data processing module, in the control of data processing and control module
Under the face stick figure and characters in a fancy style are drawn.
Further, the automatic Plotting System of face stick figure also includes image capture module, and for collection face is included
Image.
Further, image capture module is in general camera, industrial camera, visible image capturing head and near-infrared camera
Any one.
Further, data processing and control module includes：
Image detection module：For detecting and extract described image acquisition module collection facial image；
Stick figure generation module：For the facial image that described image detection module is extracted to be converted into face stick figure；
It is additionally operable to receive the word of external input device input, and by the text conversion into characters in a fancy style；
Robot control module：For controlling the drafting of the robot drawing module.
Further, image detection module is carried out when facial image is detected to the individual human face in image or multiple faces
Detection.
Further, into characters in a fancy style it is first by text conversion into characters in a fancy style image, then by characters in a fancy style by the text conversion
Image is converted into characters in a fancy style stick figure.
Further, the stick figure generation module is extracted to facial image and being converted to for characters in a fancy style image using lines
Algorithm converts the image into stick figure.
Further, the lines extraction algorithm directly converts the image into stick figure, or by image through image algorithm
Stick figure is converted to after process.
Further, the stick figure generation module is additionally operable to encode face stick figure and characters in a fancy style stick figure.
Further, the face stick figure and characters in a fancy style stick figure be encoded to it is arbitrary in polar plot and coordinate point diagram
Kind, it is encoded to standard with what robot can be received and parsed through.
Further, the robot control module, is additionally operable to receive the decode face stick figure and characters in a fancy style stick figure
Coding, and the robot drawing module is controlled according to decoded information.
Further, the robot drawing module is Multi-shaft mechanical arm or intelligent robot.
Further, the robot drawing module installs as needed different types of paintbrush and configuration is various sizes of
Drawing.
(3) beneficial effect
The invention has the advantages that：
1st, the automatic Plotting System of face stick figure proposed by the present invention, can control robot under common photoenvironment
Complete the drafting of the face stick figure to gathering.
2nd, the automatic Plotting System of face stick figure proposed by the present invention, using stick figure extraction algorithm face lines are completed
Draw and characters in a fancy style stick figure conversion so that the face stick figure drawn is clear and continuous edge；And can complete simultaneously
The drafting of characters in a fancy style corresponding with drawn people.
Description of the drawings
Fig. 1 is a kind of composition schematic diagram of the automatic Plotting System of face stick figure provided in an embodiment of the present invention；
A kind of connection diagram of the automatic Plotting System each several part of face stick figure that Fig. 2 is provided for the present invention；
Fig. 3 is face stick figure design sketch provided in an embodiment of the present invention；
Fig. 4 is characters in a fancy style design sketch provided in an embodiment of the present invention；
Fig. 5 is the face stick figure and characters in a fancy style design sketch that robot provided in an embodiment of the present invention is completed.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
It should be pointed out that to the description of concrete structure and description order be only the explanation to specific embodiment in this part, no
Should be regarded as having any restriction effect to protection scope of the present invention.Additionally, embodiment in the case of not conflicting, in this part
And the feature in embodiment can be mutually combined.
The invention provides a kind of automatic Plotting System of face stick figure.It constitutes schematic diagram as shown in figure 1, should be certainly
Dynamic drawing system includes data processing and control module and robot drawing module, wherein：
Data processing and control module, for extracting facial image from the image comprising face, and facial image is changed
Into face stick figure, it is additionally operable to the word corresponding with face of receives input and converts thereof into characters in a fancy style；
Robot drawing module, is connected with the data processing module, in the control of data processing and control module
Under the face stick figure and characters in a fancy style are drawn.
Further, the automatic Plotting System of face stick figure also includes image capture module, and for collection face is included
Image.Image capture module is any one in general camera, industrial camera, visible image capturing head and near-infrared camera, with
Meet the image gathered under common photoenvironment and can guarantee that face detection module can detect clear face for standard.
Wherein data processing and control module includes：
Image detection module：For detecting and extract described image acquisition module collection facial image；
Stick figure generation module：For the facial image that described image detection module is extracted to be converted into face stick figure；
It is additionally operable to receive the word of external input device input, and by the text conversion into characters in a fancy style.
Robot control module：For controlling the drafting of the robot drawing module.
Wherein image detection module is detected when facial image is detected to the individual human face in image or multiple faces.
Extract facial image be from original image through detection algorithm detect intercepted after face comprising hair, face, ears
And the image of neck, reduce the requirement to image capture environment.Wherein image detection module when facial image is detected, preferentially
From the face that image collecting device is nearest in detection image, by arranging different parameters, plurality of human faces detection is also capable of achieving.
Wherein stick figure generation module by the text conversion into characters in a fancy style be first by text conversion into characters in a fancy style image,
Again characters in a fancy style image is converted into characters in a fancy style stick figure.Calculation is extracted using lines to facial image and being converted to for characters in a fancy style image
Facial image and characters in a fancy style image are converted to facial image stick figure and characters in a fancy style stick figure by method.Lines extraction algorithm directly will
Facial image and characters in a fancy style image are converted to face stick figure and characters in a fancy style stick figure, or by facial image and characters in a fancy style image Jing
Cross after image algorithm is processed and be converted to face stick figure and characters in a fancy style stick figure.Stick figure generation module is additionally operable to face lines
Draw and characters in a fancy style stick figure is encoded, it is encoded to any one in polar plot and coordinate point diagram, can be received with robot
And parse be encoded to standard.
Wherein, robot control module is additionally operable to receive the decode the coding of face stick figure and characters in a fancy style stick figure, and
The robot drawing module is controlled according to decoded information.
Further, the robot drawing module is Multi-shaft mechanical arm or intelligent robot.Robot drawing module root
According to needing to install different types of paintbrush and the various sizes of drawing of configuration.
The connection diagram of the automatic Plotting System each several part of face stick figure proposed by the present invention is as shown in Fig. 2 data
Processing and control module 2 is connected with image capture module 1, for the image comprising face of the collection of detection image acquisition module 1, and
Extract facial image therein.Data processing and control module 2 is also connected with robot drawing module 3, for controlling robot
Drafting module 3 completes the drafting of face stick figure and characters in a fancy style stick figure.
Embodiment
As shown in figure 1, a kind of automatic Plotting System of face stick figure of the present embodiment proposition, including image collecting device,
Data processing control device and robot drawing device, the annexation between each device is as shown in Fig. 2 wherein：
Image capture module, for image of the collection in front of this module；
Data processing and control module, including three modules：Image detection module, for gathering and extracts image capture module
The image comprising face of collection；Stick figure generation module, for the facial image conversion adult for extracting image detection module
Face stick figure, is additionally operable to receive the word of external input device input, and by the text conversion into characters in a fancy style image, then by skill
Art word image is converted into characters in a fancy style stick figure；It is additionally operable to encode face stick figure and characters in a fancy style；Robot control module,
For receiving the decode the coding of face stick figure and characters in a fancy style stick figure, and robot drafting module is controlled according to decoded information
Drafting.
Robot drawing module, draws according to the control of robot control module to the face stick figure for being generated,
And finally carrying out the drafting of characters in a fancy style stick figure.
Each device of the automatic Plotting System of the face stick figure for proposing to the present embodiment individually below is carried out specifically
It is bright.
In the present embodiment, adopt resolution ratio for 640 × 480 pixels visible image capturing head as image capture module.Profit
An image is gathered with image capture module, and by the extraneous input through keyboard word corresponding with drawn people, the present embodiment
Word by taking the name of drawn people as an example.
In the present embodiment, from a six shaft mechanicals arm as robot drawing device.1st, the maximal rate of 2 axles is
337.5 °/s, the maximal rate of 3 axles is 324 °/s, and the maximal rate of 4 axles is 440 °/s, and the maximal rate of 5,6 axles is 450 °/s；
Repetitive positioning accuracy is ± 0.04mm；The largest motion scope of 1 axle is ± 155deg, the largest motion scope of 2 axles is+135～-
35deg, the largest motion scope of 3 axles is+200～-35deg, and the largest motion scope of 4 axles is ± 200deg, and the maximum of 5 axles is transported
Dynamic scope is ± 115deg, and the largest motion scope of 6 axles is ± 359deg；Operating temperature is 0～40 DEG C, and working relative humidity is 20%
～80%, without condensation.Drawing pencil is installed on the shaft mechanical arm of here six, the drawing paper of A4 sizes is configured.
The workflow of system described in the present embodiment is as follows：
S1, the image to gathering from image capture module carry out Image semantic classification：Gray-scale map conversion, image denoising, equilibrium
Change etc., then face is detected from pretreated image using NPD Face datections algorithm, preset and only detect a face, and
Extract the facial image for detecting.
S2, the facial image to extracting generate stick figure, the face that embodiment is extracted through stick figure generating algorithm
The design sketch of stick figure is as shown in Figure 3.
S3, the name to being input into produce the art signatures image of corresponding form, the skill of embodiment with default art form
Art word design sketch by art signatures image as shown in figure 4, be converted into characters in a fancy style stick figure again.
Herein it should be noted that face stick figure and characters in a fancy style stick figure are all black and white binary image.
S4, the conversion that vector point is carried out to face stick figure and characters in a fancy style stick figure, convert the image into coordinate dot file,
And send the file to robot control module.
S5, robot control module's decoding coordinate dot file, and control six shaft mechanical arms and complete face stick figure first
Draw, and finally completing the drafting to art signatures, implementation result figure such as Fig. 5 institutes are not.
Further, the wherein generation of face stick figure, using the direct conversion method of stick figure generating algorithm, will extract
The facial image for obtaining is carried out after gradation conversion, in gray level image, the life of stick figure is carried out using ETF algorithms
Into.The method and step of ETF is as follows：
S2.1, first to gray level image using Sobel operators generate gradient map；
S2.2, the edge vertical with gradient direction is asked tangentially to scheme for gradient map；
S2.3, in t0The iteration of 2～3 times is carried out according to equation below in (x)：
In formula, Ω (x) is the neighborhood of x, and k is neighborhood number, and r is the radius of neighbourhood；
ws(x, y) is space weight, is calculated by equation below：
wm(x, y) is gradient weight, is calculated by equation below：
In formula, g (z) represents the gradient magnitude at z, and the gradient magnitude is through normalization.
wd(x, y) is direction weight, is calculated by equation below：
wd(x, y)=| tcur(x)·tcur(y)|
In formula, t (z) represent at z through normalized tangent vector, and
After the iteration of 2～3 times, finally give the edge through optimizing and tangentially scheme.
S2.4, using FDoG algorithms to the edge for finally giving tangentially scheme calculate its continuous stick figure.The method of FDoG is such as
Under：
Edge according to being previously obtained tangentially is schemed, and uses cxS () represents the integral curve centered on x, s is arc length, due to x
For the central point of curve, then c is metx(0)=x.Along curve cxMobile, the every bit on curve has and cxVertical line
ls, in lsOn apply an one-dimensional filtering device f, filter frame to be calculated with formula below：
Wherein, lsT () represents lsT points on line segment, it is assumed that lsWith cxCentered on (s), then ls(0)=cx(s), I (ls
(t)) represent in lsInput image value on (t) point.Wave filter f in formula, it is as follows using the filtering based on difference of Gaussian
Formula：
In formula, GσRepresent Gaussian function of the variance for σ, such as following formula：
σ in formulas=1.6 σc, therefore, once given σc, you can determine σS。
F (s) is along cxIt is cumulative：
The σ that user givesmThe size of S is determined, once it is determined that H (x), determines the image lines of black and white using following formula
Draw：
In formula, τ is the threshold value that scope is [0,1],For final output image.
The continuous stick figure of face is finally given by above step.
By input the word corresponding with facial image initially with characters in a fancy style transfer algorithm by text conversion for art
Word image, is converted into characters in a fancy style stick figure with the method for generating facial image stick figure by characters in a fancy style image afterwards.
It should be noted that the automatic Plotting System of the face stick figure based on robot proposed by the present invention, not only may be used
For the drafting of described face stick figure, it can also be used to the drafting of other stick figures.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only the specific embodiment of the present invention, be not limited to the present invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in the protection of the present invention
Within the scope of.
Claims (13)
1. a kind of automatic Plotting System of face stick figure, including data processing and control module and robot drawing module, wherein：
Data processing and control module, for extracting facial image from the image comprising face, and facial image conversion is grown up
Face stick figure, is additionally operable to the word corresponding with face of receives input and converts thereof into characters in a fancy style；
Robot drawing module, is connected with the data processing module, for right under the control of data processing and control module
The face stick figure and characters in a fancy style are drawn.
2. the automatic Plotting System of face stick figure as claimed in claim 1, it is characterised in that also including IMAQ mould
Block, for image of the collection comprising face.
3. the automatic Plotting System of face stick figure as claimed in claim 2, it is characterised in that described image acquisition module is
In general camera, industrial camera, visible image capturing head and near-infrared camera any one.
4. the automatic Plotting System of face stick figure as claimed in claim 1, it is characterised in that the data processing and control mould
Block includes：
Image detection module：For detecting and extract described image acquisition module collection facial image；
Stick figure generation module：For the facial image that described image detection module is extracted to be converted into face stick figure；Also use
In the word for receiving external input device input, and by the text conversion into characters in a fancy style；
Robot control module：For controlling the drafting of the robot drawing module.
5. the automatic Plotting System of face stick figure as claimed in claim 4, it is characterised in that described image detection module exists
Facial image is detected when detecting to the individual human face in image or multiple faces.
6. the automatic Plotting System of face stick figure as claimed in claim 4, it is characterised in that by text conversion Cheng Yi
Art word is, first by text conversion into characters in a fancy style image, then characters in a fancy style image to be converted into characters in a fancy style stick figure.
7. the automatic Plotting System of face stick figure as claimed in claim 6, it is characterised in that the stick figure generation module
Stick figure is converted the image into using lines extraction algorithm to facial image and being converted to for characters in a fancy style image.
8. the automatic Plotting System of face stick figure as claimed in claim 7, it is characterised in that the lines extraction algorithm is straight
Connect and convert the image into stick figure, or image is converted into stick figure after image algorithm process.
9. the automatic Plotting System of face stick figure as claimed in claim 6, it is characterised in that the stick figure generation module
It is additionally operable to encode face stick figure and characters in a fancy style stick figure.
10. the automatic Plotting System of face stick figure as claimed in claim 9, it is characterised in that the face stick figure and
Characters in a fancy style stick figure be encoded in polar plot and coordinate point diagram any one.
The automatic Plotting System of 11. face stick figures as claimed in claim 10, it is characterised in that the robot controls mould
Block, is additionally operable to receive the decode the coding of face stick figure and characters in a fancy style stick figure, and controls the machine according to decoded information
People's drafting module.
The automatic Plotting System of 12. face stick figures as claimed in claim 1, it is characterised in that the robot drawing mould
Block is Multi-shaft mechanical arm or intelligent robot.
The automatic Plotting System of 13. face stick figures as claimed in claim 12, it is characterised in that the robot drawing mould
Block, installs as needed different types of paintbrush and the various sizes of drawing of configuration.
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| CN201610896460.6A CN106651988A (en) | 2016-10-13 | 2016-10-13 | Automatic drawing system for face line paint |
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|---|---|---|---|
| CN201610896460.6A CN106651988A (en) | 2016-10-13 | 2016-10-13 | Automatic drawing system for face line paint |
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| CN108858228A (en) * | 2018-07-20 | 2018-11-23 | 深圳信息职业技术学院 | Multi-functional clap of one kind is picture drawing robot |
| CN109324651A (en) * | 2018-10-23 | 2019-02-12 | 深圳市盛世智能装备有限公司 | A kind of camera shooting picture system and control method |
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| CN109712215A (en) * | 2018-11-19 | 2019-05-03 | 武汉库柏特科技有限公司 | A kind of wire frame drawing drawing method and system based on robot |
| CN111168676A (en) * | 2020-01-08 | 2020-05-19 | 浙江省北大信息技术高等研究院 | Mechanical arm hand-eye cooperation painting method and device, painting robot and medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108230238A (en) * | 2017-12-22 | 2018-06-29 | 苏州灵猴机器人有限公司 | Robot human face sketch system and its drawing practice |
| CN108858228A (en) * | 2018-07-20 | 2018-11-23 | 深圳信息职业技术学院 | Multi-functional clap of one kind is picture drawing robot |
| CN109324651A (en) * | 2018-10-23 | 2019-02-12 | 深圳市盛世智能装备有限公司 | A kind of camera shooting picture system and control method |
| CN109348122A (en) * | 2018-10-23 | 2019-02-15 | 深圳市盛世智能装备有限公司 | For imaging image processing method, system, equipment and the storage medium of picture machine |
| CN109712215A (en) * | 2018-11-19 | 2019-05-03 | 武汉库柏特科技有限公司 | A kind of wire frame drawing drawing method and system based on robot |
| CN109712215B (en) * | 2018-11-19 | 2023-06-23 | 武汉库柏特科技有限公司 | Robot-based line block diagram drawing method and system |
| CN111168676A (en) * | 2020-01-08 | 2020-05-19 | 浙江省北大信息技术高等研究院 | Mechanical arm hand-eye cooperation painting method and device, painting robot and medium |
| CN111168676B (en) * | 2020-01-08 | 2021-06-15 | 杭州未名信科科技有限公司 | Mechanical arm hand-eye cooperation painting method and device, painting robot and medium |
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Application publication date: 20170510 |
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| RJ01 | Rejection of invention patent application after publication |