CN220664069U - Meal separating system based on machine vision - Google Patents

Abstract

The utility model discloses a meal separating system based on machine vision, which comprises a workbench, a conveying belt and a manipulator, wherein the conveying belt and the manipulator are arranged on the side of the workbench, a visual control system for shooting image information of food placed on the workbench is arranged on the workbench, and the visual control system controls the manipulator to grab the food on the workbench onto a meal outlet plate on the conveying belt. The utility model provides a meal separating system based on machine vision, which controls a mechanical arm to automatically grasp food on a meal outlet plate through a vision control system, so that the meal outlet speed is effectively improved, direct contact between workers and the food is reduced, and the sanitation of the food is ensured.

Description

Meal separating system based on machine vision

Technical Field

The utility model relates to the technical field of dining table appliances, in particular to a dining system based on machine vision.

Background

The dining room in large enterprises and institutions, institutions and schools has large food supply and demand, and when catering service is provided, the traditional catering center adopts a manual distribution mode of staff in the dining room. By adopting a manual distribution mode of staff, the diners sequentially pass through the containers for containing the dishes which are arranged in a concentrated way. When dishes are more, hands are more, and the meal dividing amount is large, the manual meal dividing is easy to make mistakes and has low efficiency.

Disclosure of Invention

The utility model aims to provide a meal separating system based on machine vision, which controls a mechanical arm to automatically grasp food on a meal outlet plate through a vision control system, so that the meal outlet speed is effectively improved, direct contact between workers and the food is reduced, and the sanitation of the food is ensured.

In order to achieve the above purpose, the technical scheme provided by the utility model is as follows: a meal separating system based on machine vision comprises a workbench, a conveying belt and a manipulator, wherein the conveying belt and the manipulator are arranged on the side of the workbench, a vision control system for shooting image information of food placed on the workbench is arranged on the workbench, and the vision control system controls the manipulator to grab the food on the workbench onto a meal outlet plate on the conveying belt.

According to the technical scheme, the food needing to be divided is placed on the workbench, the food image is shot and processed through the visual control system, and the manipulator is controlled to grab the food on the workbench onto the dinner plate on the conveying belt, so that automatic meal delivery is completed; has the advantages of fast meal delivery, cleanness and sanitation.

The meal separating system based on the machine vision is characterized in that a meal storing plate is arranged on the workbench. The dinner storage plate is used for placing food to be eaten.

The vision control system comprises an image processing system, a camera, a light source and a sensor, wherein the sensor is arranged on a workbench surface, the light source and the camera are arranged on the workbench through a support, the light source and the camera are positioned above the dinner storage plate, and the image processing system receives images shot by the camera, processes the images and outputs instructions to control the action of the manipulator. The sensor is used for triggering the vision control system, the light source emits light when the brightness is insufficient to supplement the brightness so as to meet the requirements of camera cleaning and shooting, the camera shoots food on the dinner plate and feeds the shot picture back to the image processing system for processing, and the image processing system controls the mechanical arm to grab the food on the dinner plate onto the dinner plate.

The image processing system comprises an industrial personal computer, a display, a controller and an image processing module, wherein the industrial personal computer receives image information shot by a camera, the image processing module processes the image information and outputs a control instruction to the controller, the controller controls the action of a manipulator, and the display is used for displaying the image information and a processing result. The industrial personal computer is used for receiving the image signals shot by the camera, processing the image signals and sending the coordinate data to the controller, the controller controls the action of the manipulator, the manipulator is controlled to grab food on the dinner plate to the dinner plate, and the display is used for displaying image information to the staff to operate and select input instructions.

The mechanical vision-based meal separating system comprises a base, a first rotating arm, a second rotating arm and a third rotating arm, wherein the first rotating arm is rotatably connected to the base, the second rotating arm is rotatably connected with the first rotating arm, the third rotating arm is rotatably connected to the top end of the second rotating arm, and a gripper is rotatably arranged at the front end of the third rotating arm. The base, the first rotating arm, the second rotating arm and the third rotating arm are sequentially connected in a rotating mode, when the manipulator acts, the control gripper grabs food in the dinner storage plate and then lifts the food upwards, then the food is placed on the dinner outlet plate in the rotating direction finally, and the automatic dinner separating function is achieved.

The beneficial effects obtained by the utility model are as follows: the method comprises the steps that a visual control system is adopted to analyze food in a dinner plate, the food is processed through an image processing system, the image processing system generates image data, the food and the like are classified and coordinate identified, a control instruction is output to a controller through an image processing module, and the controller starts and controls a manipulator to grab the food on the dinner plate onto a dinner plate; the automatic food grabbing machine can automatically grab food and divide meals, replaces manual work, effectively avoids mistakes and improves meal output speed, and is grabbed by a manipulator, so that people are prevented from contacting the food, and the food is kept clean and sanitary.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a vision control system in accordance with an embodiment of the present utility model;

FIG. 3 is a schematic diagram of an image processing system according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a manipulator according to an embodiment of the present utility model;

fig. 5 is a schematic structural view of another embodiment of the manipulator according to the present utility model.

Reference numerals illustrate: the automatic dinner plate feeding device comprises a workbench 1, a dinner plate storage 11, a conveying belt 2, a dinner plate discharging 21, a manipulator 3, a base 31, a first rotating arm 32, a second rotating arm 33, a third rotating arm 34, a gripper 35, a first mounting groove 36, a second mounting groove 37, a visual control system 4, a camera 42, a light source 43, a sensor 44, a bracket 45, an image processing system 41, an industrial personal computer 411, a display 412, a controller 413 and an image processing module 414.

Detailed Description

The utility model is further described below with reference to the drawings and the detailed description.

As shown in fig. 1 to 5, a meal separating system based on machine vision comprises a workbench 1, a conveyor belt 2 and a manipulator 3, wherein the conveyor belt 2 and the manipulator 3 are arranged on the side of the workbench 1, a vision control system 4 for shooting image information of food placed on the workbench 1 is arranged on the workbench 1, and the vision control system 4 controls the manipulator 3 to grab the food on the workbench 1 onto a meal outlet plate 21 on the conveyor belt 2. The work table 1 is provided with a dinner plate storage 11.

The vision control system 4 comprises an image processing system 41, a camera 42, a light source 43 and a sensor 44, wherein the sensor 44 is arranged on the surface of the workbench 1, the light source 43 and the camera 42 are arranged on the workbench 1 through a bracket 45, the light source 43 and the camera 42 are positioned above the dinner storage plate 11, when the dinner storage plate 11 is arranged above the sensor 44, the vision control system 4 is triggered, the camera 42 shoots food images on the dinner storage plate 11 and transmits the image information to the image processing system 41, and the image processing system 41 receives the images shot by the camera 42, processes the images and outputs instructions to control the action of the manipulator 3. The manipulator 3 grabs and moves the food on the dinner storage plate 11 to the dinner outlet plate 21, so that the purpose of dividing the dinner is achieved.

The image processing system 41 includes an industrial personal computer 411, a display 412, a controller 413 and an image processing module 414, wherein the industrial personal computer 411 receives the image information shot by the camera 42, the image processing module 414 processes the image information and outputs a control instruction to the controller 413, the controller 413 controls the action of the manipulator 3, and the display 412 is used for displaying the image information and the processing result.

The manipulator 3 includes base 31, first rocking arm 32, second rocking arm 33 and third rocking arm 34, and first rocking arm 32 rotatable coupling is on base 31, and second rocking arm 33 and first rocking arm 32 rotatable coupling, third rocking arm 34 rotatable coupling are at the top of second rocking arm 33, and the front end rotatable of third rocking arm 34 is equipped with tongs 35. The base 31 is used as a structural support of the manipulator, the first rotating arm 32 can rotate relative to the axial lead of the base 31, a first mounting groove 36 is formed in the top end of the first rotating arm 32, the second rotating arm 33 can rotate in the first mounting groove 36, a second mounting groove 37 is formed in the top end of the second rotating arm 33, and the third rotating arm 34 can rotate in the second mounting groove 37. The cooperation of the first rotating arm 32, the second rotating arm 33 and the third rotating arm 34 realizes the positioning of the hand grip 35, so that the hand grip 35 grips food when being positioned above the dinner plate 11 and is used for placing food when being positioned on the dinner plate 21.

In the practice of the present utility model, the camera 42 takes a certain number of pictures according to the variety of foods; the image information photographed by the camera 42 is received by the image processing system 41, and is processed by an image processing module 414 integrally mounted on the industrial personal computer 411. The image processing module 414 invokes classification of the food and identification of coordinates according to the actual meal demand, and then converts the identified coordinates into manipulator coordinates, which are sent to the controller 413 along with food classification data.

The controller 413 drives the manipulator 3 to act according to the received instruction, and picks up food through a system preset instruction; when the manipulator 3 acts, the gripper 35 is moved to the upper part of the workbench 1 by rotating the first rotating arm 32; the position of the gripper 35 is further adjusted by tilting the gripper 35 forward by the rotation of the second rotating arm 33 relative to the first rotating arm 32; by rotating the third swivel arm 34 relative to the second swivel arm 33, the control grip 35 is moved down towards the dish 11, thereby gripping the food at the corresponding position on the dish 11. After the food is grabbed by the grabber 35, the third rotating arm 34 rotates reversely, so that the grabber 35 grabs the food and leaves the dinner plate 11 upwards; the second rotating arm 33 rotates reversely to enable the grip 35 to lean backwards, the position of the grip 35 is further adjusted, the first rotating arm 32 rotates reversely, and the grip 35 after grabbing food is rotated to the position above the dinner plate 21 on the conveying belt 2; and the food is placed in the dinner plate 21 by the hand grip 35 through the cooperation of the second rotating arm 33 and the third rotating arm 34, so that the food is placed at the appointed position of the dinner plate 21 by the manipulator 3.

In summary, the present utility model has been described and illustrated in the specification, and has been made into practical samples and tested for multiple uses, and from the effect of the use test, it can be proved that the present utility model can achieve its intended purpose, and the practical value is undoubted. The above embodiments are only for illustrating the present utility model, and are not to be construed as limiting the utility model in any way, and any person having ordinary skill in the art will realize that equivalent embodiments of partial changes and modifications can be made by using the disclosed technology without departing from the scope of the technical features of the present utility model.

Claims (5)

1. A machine vision based meal distribution system, characterized in that: the automatic food taking machine comprises a workbench (1), a conveying belt (2) and a manipulator (3), wherein the conveying belt (2) and the manipulator (3) are arranged on the side of the workbench (1), a visual control system (4) for shooting image information of food placed on the workbench (1) is arranged on the workbench (1), and the visual control system (4) controls the manipulator (3) to grab the food on the workbench (1) onto a dinner plate (21) on the conveying belt (2).

2. The machine vision based meal distribution system according to claim 1, wherein: the workbench (1) is provided with a dinner plate (11).

3. The machine vision based meal distribution system according to claim 1, wherein: the vision control system (4) comprises an image processing system (41), a camera (42), a light source (43) and a sensor (44), wherein the sensor (44) is arranged on the surface of the workbench (1), the light source (43) and the camera (42) are arranged on the workbench (1) through a bracket (45), the light source (43) and the camera (42) are positioned above the dinner plate (11), and the image processing system (41) receives an image shot by the camera (42), processes the image and outputs instructions to control the manipulator (3) to act.

4. A machine vision based meal distribution system according to claim 3, characterized in that: the image processing system (41) comprises an industrial personal computer (411), a display (412), a controller (413) and an image processing module (414), wherein the industrial personal computer (411) receives image information shot by the camera (42), the image processing module (414) processes the image information and outputs a control instruction to the controller (413), the controller (413) controls the action of the manipulator (3), and the display (412) is used for displaying the image information and a processing result.

5. The machine vision based meal distribution system according to any one of claims 1 to 4, wherein: the manipulator (3) comprises a base (31), a first rotating arm (32), a second rotating arm (33) and a third rotating arm (34), wherein the first rotating arm (32) is rotatably connected to the base (31), the second rotating arm (33) is rotatably connected with the first rotating arm (32), the third rotating arm (34) is rotatably connected to the top end of the second rotating arm (33), and a gripper (35) is rotatably arranged at the front end of the third rotating arm (34).