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Meal assisting robot based on image processing and meal taking method thereof

A technology of image processing and robotics, applied in the field of robotics, can solve the problems of labor and trouble for people with upper limb disabilities, and achieve the effect of improving the net meal rate

Active Publication Date: 2021-07-23
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0002]Eating is a basic need of human beings. For normal people, this thing that is repeated every day is very strenuous and difficult for most people with upper limb disabilities. trouble

Method used

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  • Meal assisting robot based on image processing and meal taking method thereof
  • Meal assisting robot based on image processing and meal taking method thereof
  • Meal assisting robot based on image processing and meal taking method thereof

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Experimental program
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Embodiment 1

[0053] figure 1 It is the overall workflow of this embodiment. image 3 Figure 4 respectively figure 1 Workflow diagram for meal retrieval for solid and colloidal foods as shown in . figure 2 It is a schematic diagram of the overall structure of this embodiment. The above working mode of spoon and chopsticks integrated holding and picking and opening and closing are as follows: Image 6 , Figure 7 shown. Figure 5 It is the plate and the food in the plate, after image processing at the top view angle, and the image after edge detection and recognition. The following will focus on the image processing-based meal picking method of this embodiment, including determining the robot's eating position and posture, controlling the two working modes of the spoon, and improving the clean meal rate.

[0054] The food image processing and detection system is mainly composed of camera, embedded development board, display and other components. In addition to the necessary hardwar...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a meal assisting robot based on image processing and a meal taking method thereof. Images of dinner plates and food are identified on the basis of an image processing method, edge detection is carried out on top views of the dinner plates and the food to judge the state of the food, and meanwhile, fuzzy processing is carried out on a three-dimensional image of a meal taking area to form a three-dimensional shape curved surface graph to judge the volume distribution of the food; two working modes of a spoon and chopstick integrated mechanical claw are controlled according to different states and volume distribution of the food in the dinner plates. The meal taking position and posture of the spoon and chopstick integrated mechanical claw in different meal taking modes can be controlled, and meanwhile, the function of adjusting the position angle of the food in the dinner plates is achieved, so that the meal cleaning rate is increased.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a meal-assisting robot based on image processing and a meal-taking method thereof. Background technique [0002] Eating is a basic need of human beings. This thing that is repeated every day for normal people is very laborious and troublesome for most people with upper limb disabilities. At present, the number of disabled people in China is increasing. Due to the background of aging society, this growth will continue for a long time to come. People with disabilities have many difficulties in everyday life. Especially for people with upper limb disabilities, self-feeding may be a luxury. They can only rely on other people to feed them. Therefore, a meal assistant robot is designed to help people with disabilities or muscular dystrophy who cannot complete self-feeding. Action people are very necessary. [0003] With the development of the Handy1 service robot robot i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00G05D1/02A47G23/00
CPCB25J11/009G05D1/0251G05D1/0221G05D1/0276A47G23/00
Inventor 岳一鹏王岚张立勋李琰林凌杰师凯奇孙嘉泽黄文韬
Owner HARBIN ENG UNIV
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