Visual Servoing Control Of Eating-aid Robot

Nowadays there's over 10 million people suffered from extremity disabilities, in which hand-disabilities account for a fairly large proportion. So it's virtual to help them to eat and drink without hands, and our research was concerned on this expecting improving their quality of life. We designed a new type of robot—eating-assist robot, which was controlled based on the head's gesture and voice recognition to help patients with hand-disabilities easier to get food.On the basis of analyzing the development in and out of our country, a general PC control programme which deserved mainly on image-recognition, supplemented by voice-recognition was put forward. Taking into account of the requirement of real-time, we selected OK_MC10A card as the PC hardware, which was suitable for the researching and engineering fields such as the industrial monitoring, multimedia compression and processing. We chose Sunplus 61 development board to provide voice recorder function library, which was seen as the streamline development- simulation - experimental board using Sunplus 16 bits MCU—SPCE061A as the core. It's easy to complete the voice recording if you are aware of the use of library functions.OpenCV was used as the development platform, the difference of color and background color on the face was used for general location, with utilizing the color space conversion, image binarization, morphological filtering and image marker, the facial features were finally got. Using three-step search method recognite the head's gesture.For controlling the robot by recognizing the gesture of head, we use VC++ MSComm component and OnComm case which can capture and detect the communication case automatically. By using RS232 agreement, the upper computer can communicate with lower computer Mega128, and then the robot controlled by face recognition was completed.Simultaneously PC control was schemed in voice recognition, and Sunplus SCM was chose for voice module. By training keywords like: "turn the table", " disk one"," disk two", "disk three", "reset", the robot was manipulated accurately.