Cited By
View all- S GC S RA S A(2023)An Exploration of The Recent Advancements in Drawing Robot TechnologyAdvances in Intelligent Systems and Technologies10.53759/aist/978-9914-9946-4-3_2(10-18)Online publication date: 18-Aug-2023
Research on Drawing Robot Based on Image Edge Detection
Authors: 
Feng Liu, Lixin Cao, Zibo Sun, Zheng LiAuthors Info & Claims
Pages 6 - 11
Abstract
This paper selects the outer contour method to describe the image's features and uses industrial robots to draw. Based on the minimum description length, the Gaussian filter in the Canny operator is improved adaptively to ensure edge recognition accuracy. To highlight the primary contour in the process of drawing the image, delete the small areas. We propose an edge thinning algorithm to avoid drawing the same contour twice and obtain the edges with single-pixel width. The broken contours are connected to reduce the time of lifting the pen when the robot is drawing. To avoid contour tracking error resulting in incomplete image rendering, removing the burr points in the image.
Finally, we use Robotstudio simulation software and ABB IRB1200 robot to simulate and experiment with the obtained contour image. The results show that the proposed method can effectively filter out noise and irrelevant details. We realize the goal of edge thinning and improve the integrity of each section contour. Reduce the number of robot lift pens, and improve the efficiency of drawing.
References
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S. Jain, P. Gupta, V. Kumar and K. Sharma, "A force-controlled portrait drawing robot," 2015 IEEE International Conference on Industrial Technology (ICIT), Seville, Spain, 2015, pp. 3160-3165.https://doi.org/10.1109/ICIT.2015.7125564.
[2]
S. Calinon, J. Epiney and A. Billard, "A humanoid robot drawing human portraits," 5th IEEE-RAS International Conference on Humanoid Robots, 2005., Tsukuba, Japan, 2005, pp. 161-166.https://doi.org/10.1109/ICHR.2005.1573562.
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Jun Zeng(2011).Image edge detection and its application (Ph.D. Dissertation, Huazhong University of Science and Technology).https://kns.cnki.net/KCMS/detail/detail.aspx?dbname=CDFD1214&filename=1012268018.nh.
[4]
Liu, T., Improved Canny Algorithm for Edge Detection of Core Image. The Open automation and control systems journal, 2015. 6(1): p. 426-432.https://doi.org/10.2174/1874444301406010426
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Kuang, T., Zhu, Q. and Sun, Y. (2011), "Edge detection for highly distorted images suffering Gaussian noise based on improve Canny algorithm", Kybernetes, Vol. 40 No. 5/6, pp. 883-893. https://doi.org/10.1108/03684921111142430
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Shan Xue(2011).Research on image conprofile extraction and matching technology of groove cutting robot (Master's Thesis, Harbin Engineering University).https://kns.cnki.net/KCMS/detail/detail.aspx?dbname=CMFD201801&filename=1018074292.nh.
[7]
J. Canny, "A Computational Approach to Edge Detection," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. PAMI-8, no. 6, pp. 679-698, Nov. 1986. https://doi.org/10.1109/TPAMI.1986.4767851.
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G Gomez. Local Smoothness in terms of Variance: the Adaptive Gaussian Filter. In Majid Mirmehdi and Barry Thomas, editors, Proceedings of the British Machine Conference, pages 82.1-82.10. BMVA Press, September 2000. https://doi.org/10.5244/C.14.82.
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Rony Zatzarinni, Ayellet Tal, and Ariel Shamir. 2009. Relief analysis and extraction. In ACM SIGGRAPH Asia 2009 papers (SIGGRAPH Asia '09). Association for Computing Machinery, New York, NY, USA, Article 136, 1–9. https://doi.org/10.1145/1661412.1618482.
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Published In
August 2021
278 pages
ISBN:9781450390453
DOI:10.1145/3483845
Copyright © 2021 ACM.
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Published: 22 October 2021
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CCRIS'21
CCRIS'21: 2021 2nd International Conference on Control, Robotics and Intelligent System
August 20 - 22, 2021
Qingdao, China
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View all- S GC S RA S A(2023)An Exploration of The Recent Advancements in Drawing Robot TechnologyAdvances in Intelligent Systems and Technologies10.53759/aist/978-9914-9946-4-3_2(10-18)Online publication date: 18-Aug-2023
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