KR101380596B1 - Meal assistance robot using a camera - Google Patents

Abstract

A meal assistance robot using a camera is disclosed. A camera unit for photographing an upper surface of the tableware to generate a tableware image; An image processor configured to extract a boundary area of the tableware image generated by the camera unit to generate a tableware border image; The generated tableware border image is compared with a plurality of stored reference tableware border images to determine whether the generated tableware border image is the same as the reference tableware border image, and the generated tableware border image is the reference tableware border image. A registration determining unit that registers the generated tableware border image as a new reference tableware border image when it is different from each other; And an information storage unit for storing the plurality of reference table boundary images, wherein the robot for helping the elderly, the sick, the disabled, and the like needs the food, and recognizes the exact location and composition of the tableware and provides the correct food when the meal is assisted. To accurately determine the location of the service provider, there is an effect that can determine whether there is food left in the tableware.

Description

Meal assistance robot using a camera}

The present invention relates to a robot, and more particularly to a meal aid robot using a camera.

As the electronics industry develops, robots are used to replace humans in various fields. For example, various robots have been developed and used in modern society, such as industrial robots for producing products, medical robots for operating the human body, and service robots for performing simple services. In addition, various mechanisms for assisting meals of the elderly, the patient, the disabled and the like are implemented and used by the robot.

Meal assistant robot is a robot that helps the user to eat easily by scooping food and delivering it to the user's mouth. The related art, as disclosed in US Patent Publication No. US2009 / 0104004, consists of a support, a food container, a cutlery capable of raising food, and a mechanism part capable of moving food near the mouth.

However, according to the related art, a procedure for registering a location, a form, and a structure of a tableware used by a meal assisting robot is not presented, and a function of providing food to a user accurately is not presented.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

The present invention provides a meal assistance robot using a camera for recognizing the exact position and composition of the tableware robot for helping the elderly, patients, persons with a disability, such as disabled.

In addition, the present invention provides a meal assistance robot using a camera that can accurately determine the location of the service provider to provide accurate food when meal assistance, and whether there is food left in the tableware.

The technical problems other than the present invention can be easily understood from the following description.

According to an aspect of the invention, the camera unit for imaging the upper surface of the tableware to generate a tableware image; An image processor configured to extract a boundary area of the tableware image generated by the camera unit to generate a tableware border image; The generated tableware border image is compared with a plurality of stored reference tableware border images to determine whether the generated tableware border image is the same as the reference tableware border image, and the generated tableware border image is the reference tableware border image. A registration determining unit that registers the generated tableware border image as a new reference tableware border image when it is different from each other; And an information storage unit for storing the plurality of reference tableware boundary images.

The image processor may extract a boundary area of the tableware image by using brightness differences among pixel values of the tableware image.

In addition, the registration determination unit may generate the same table signal indicating that the same tableware when the generated tableware border image is the same as the reference tableware border image.

In addition, the present embodiment is a robot arm coupled to the handle of the spoon at one end; And an arm controller for controlling the robot arm to move the food receiving portion of the spoon on which the food is placed, to the prestored position information corresponding to the mouth position of the food ingestor, wherein the camera unit captures the face of the food ingestor. The image processor may generate the face boundary image by extracting a boundary region of the face image generated by the camera unit, and then generate position information corresponding to the mouth position.

In addition, the present embodiment is to determine the food to determine the different portions as the food by comparing the tableware image containing the food generated by the camera photographing the tableware containing the food while the food intake of the food intake the meal. Including a portion, the arm control unit may control the robot arm to move the food container of the spoon to the determined food.

In addition, the embodiment further comprises a voice recognition unit for recognizing the voice corresponding to the food intake order of the food intake, the cancer control unit corresponding to the recognized voice of the food receiving portion of the spoon coupled to the robot arm The food may be raised and the food container of the spoon may be moved to previously stored location information corresponding to the mouth location of the food intake user.

In addition, the embodiment further comprises a mode processing unit for performing a plurality of modes in accordance with the content of the recognized voice, the information storage unit may store the partitioned area of the food plate and the food accommodated in the area correspondingly. .

Here, the plurality of modes is a semi-automatic mode in which the cancer control unit puts food corresponding to the recognized voice in the food container of the spoon, when the voice indicates the type of food, the cancer control unit in the food container of the spoon In the automatic mode for raising food in a preset order to the plurality of modes, when the voice indicates a direction, the arm control unit controls the robot arm to move the food container of the spoon in a direction corresponding to the recognized voice. It may include a manual mode.

In addition, the present embodiment is a robot arm coupled to the handle of the spoon at one end; And an arm controller for controlling the robot arm to move the food receiving portion of the spoon on which the food is placed to pre-stored position information corresponding to the mouth position of the food intake user, wherein the camera unit is attached around the mouth of the food intake user. The infrared tape or the ultraviolet tape may be photographed to generate position information corresponding to the mouth position.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

In the meal assistance robot using a camera according to the present invention, the robot for helping the elderly, the patient, the disabled, and the need for meal assistance recognizes the exact position and composition of the tableware and accurately determines the position of the service provider to provide accurate foods during meal assistance. And, there is an effect that can determine whether there is food left in the tableware.

1 is a block diagram of a meal assistance robot using a camera according to an embodiment of the present invention.
2 is a view showing a tableware image generated by the meal assistance robot using a camera according to an embodiment of the present invention.
3 is a view showing a food location identification point generated by the meal assistance robot using a camera according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The term " part, "" module," " means, "or the like, which is described in the specification, refers to a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software .

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 is a block diagram of a meal assistance robot using a camera according to an embodiment of the present invention. Referring to FIG. 1, the tableware registration device 100, the camera unit 110, the image processing unit 120, the registration determination unit 130, the menu selection unit 140, the information storage unit 150, and the controller 160 ) Is shown.

This embodiment is characterized in that the position, form, and structure of the tableware used by the meal assisting robot are registered in a database using a camera to identify and provide types of food according to the position when the meal assisting robot provides food.

The camera unit 110 photographs the upper surface of the tableware to generate a tableware image. The camera unit 110 is a means for capturing an image and may generate a digital image file.

The image processor 120 extracts a boundary area of the tableware image generated by the camera unit 110 to generate a tableware border image. The image processor 120 may extract the boundary area of the tableware image by using a difference between at least one of brightness, saturation, and color among the pixel values of the tableware image. The difference may be determined using a predetermined threshold. In other words, the boundary region of each dish of the tableware image may have different properties of the pixel value than the non-boundary region. It can be determined by the pixel of the area.

The registration determination unit 130 compares the generated tableware border image with a plurality of stored reference tableware border images to determine whether the generated tableware border image is the same as the reference tableware border image, and the generated tableware border image is a reference. If it is different from the tableware border image, the created tableware border image is registered as a new reference tableware border image. In this case, the registration determination unit 130 may generate a differential table signal indicating that the generated tableware border image is different from the reference tableware border image.

In addition, the registration determination unit 130 may generate the same table signal indicating that the same tableware when the generated tableware border image is the same as the reference tableware border image.

The present exemplary embodiment may further include a signal output unit configured to output an expression signal corresponding to the differential table signal or the same table signal. The signal output unit may output a result of determining whether to register using a means such as sound, text, image, color, and vibration. For example, when registering a new tableware, the signal output unit outputs a new tableware registration message or specifies a specific table. When the sound is determined to be an existing dish, the signal output unit may output an unregisterable message or may output a different sound (second sound) than the above-described sound.

The menu selection unit 140 is a means for selecting entry and release into the dish registration mode. That is, when the user tries to register a new tableware, the user may enter the registration mode through the menu selection unit 140. When the meal assistance robot according to the present embodiment enters the registration mode, the standby mode of the camera unit 110 described above is started, and the image processing unit 120 extracts the boundary area of the tableware image generated by the camera unit 110. Can be prepared for operation.

The information storage unit 150 stores a plurality of reference table border images. The registration determining unit 130 may directly register the generated tableware border image as the new reference tableware border image in the information storage unit 150 when the tableware border image generated as described above is different from the standard tableware border image.

The controller 160 may operate the camera unit 110, the image processor 120, the registration determiner 130, the menu selection unit 140, and the information storage unit 150 to interoperate with each other. Control each function to perform.

In addition, according to another embodiment, the camera unit 110 generates a face image by capturing the face of the food intake, the image processing unit 120 extracts the boundary area of the face image generated by the camera unit 110 to face After generating the boundary image, location information corresponding to the mouth location may be generated.

That is, the camera unit 110 generates a face image by capturing a face of a food intake user in real time, and the image processor 120 extracts a boundary region of the face image generated by the camera unit 110 to generate a face boundary image. After that, location information corresponding to the mouth location may be generated. The image processor 120 may recognize the boundary area positioned at the lower end of the face line as the mouth.

The image processor 120 may extract a boundary area of the face image by using a difference between at least one of brightness, saturation, and color among pixel values of the face image. As described above, the difference may be determined using a predetermined threshold. In other words, the boundary area of the face image may have different properties of the pixel value than the non-boundary area. Therefore, if the pixel values of consecutive pixels differ by more than a threshold value by using this property, the corresponding pixel is divided into pixels of the boundary area. Can be determined by

In this case, the meal assistance robot has a robot arm to which the handle of the spoon is coupled at one end, and an arm controller for controlling the robot arm to move the food container of the spoon on which the food is placed to the prestored position information corresponding to the mouth position of the food intake user. It may further include. The robot arm of the present embodiment can move not only a spoon but also various eating tools such as a fork and a cup corresponding to the mouth position of the food intake.

According to this embodiment, the meal assistance robot has an advantage of providing food to the food intake mouth so that the food intake user can conveniently eat food after identifying the location of the food intake mouth by the camera.

Further, according to another embodiment, the infrared or ultraviolet tape may be attached to the food intake face, particularly around the mouth, to easily determine the food intake mouth position. That is, the camera may be photographed using an infrared or ultraviolet tape, and the location of the mouth of the food intake may be found by using the threshold of contrast. In this case, the camera may be an infrared camera or an ultraviolet camera.

According to this embodiment, if the position of the mouth is different for each person or the camera recognition rate is low, there is a feature that can determine the mouth position of the food intake by a simple method more effectively, quickly and accurately.

In addition, according to another embodiment, the meal aid robot compares the tableware image containing the food produced by the camera unit 110 by photographing the tableware containing the food while eating a different portion compared to the reference table border image The food determination unit may further include a food discrimination unit. In this case, the arm control unit may control the robot arm to move the food container of the spoon to the determined food.

According to this embodiment, it is possible to automatically determine whether food remains in the tableware and provide the remaining food to the food intake user.

2 is a view showing a table image generated by the meal aid robot using a camera according to an embodiment of the present invention, Figure 3 is a food location identification point generated by the meal aid robot using a camera according to an embodiment of the present invention Figure is a diagram.

Referring to FIG. 2, the camera unit 110 generates a tableware image 200 by photographing a tableware in a tableware registration mode. Here, the tableware is a bowl containing food in sections and may be referred to as a plate.

Referring to FIG. 3, the table arrangement diagram 300 includes a first side dish bowl 310, a second side dish bowl 320, a third side dish bowl 330, a fourth side dish bowl 340, a rice bowl 350, Soup bowl 360, each side dish may be divided into four subsections.

According to the related art, the position of the rice or the side of the side dishes must be manually recognized for each dish through teaching, but according to the present embodiment, each portion of the dish is automatically recognized through the camera unit 110 to teach the teaching point. Can be generated. That is, the registration determination unit 130 recognizes the upper bowl, for example, four bowls as a side dish, the lower left bowl as a rice bowl, and the lower right bowl as a soup bowl in each reference table boundary image. I can recognize it.

The meal assistance robot according to the present embodiment may provide food intake to the food intake by using a spoon of the robot arm to recognize the food in each bowl.

Unlike the above-described technology, when operating a new plate that is not registered without a camera, each time a new plate is used, teaching is required to register the plate separately to the meal assistant robot. Without this task, the meal assistant robot will not know how many side dishes are on the plate, where the side dishes, rice, or soup will be, and the spoons, forks, and tongs attached to the robot arm will have no side dishes or rice. A side dish may be picked up between portions, for example, a side dish without a side dish or a side dish without a side dish. In addition, since the size is different for each plate, if you do not register separately, there is a problem that you can not pick up or recall the side dishes, rice, soup.

In addition, when using a new plate that recognizes the plate using the camera unit and is not currently registered, the meal assistant robot outputs a menu asking whether to recognize and register the current plate as a new plate, and the user selects registration. In this case, the registration result may be output to a predetermined displayer, for example, information on a recognized plate registered on the LCD screen. In this case, the meal assistance robot may include selection means for selecting whether to register, for example, a selection button and a displayer for outputting various information, for example, an LCD.

Here, the meal assistance robot may recognize the lower left block as a bowl for rice, and the lower right block as a bowl for soup or washing water. In addition, the upper block may be set to a plurality of side dishes as described above. In addition, the interior of each bowl may be divided into a predetermined lower section, for example, as shown, the rice bowl may be divided into 12 equal parts, and the side dish bowls may be divided into four equal parts from the top to the bottom.

In addition, when using a registered plate without using a camera unit, information about which plate is used can be stored in the meal assistance robot. For example, each time the food plate used is changed, the food plate currently used in the environment setting menu of a meal assistance robot is set which plate among registered plates.

In addition, when the meal plate is recognized through the camera unit and the registered plate is used, the meal assistance robot may indicate a plate to be used for the communication channel and / or the display unit, and may operate according to the registration information of the plate.

For example, the meal assistant robot can move in three modes: automatic, manual and semi-automatic mode, and if it is automatic, Bob-> Side dish 1-1-> Rice-> Side dish 2-1-> Bob-> Side dish 3 -1-> Bob-> Dish 1-2-> Bob-> Dish 2-2-> Bob-> Dish 3-2-> Bob-> Dish 1-3-> Bob-> Dish 2-3-> Bob -> Side dish 3-3-> Bob-> Side dish 1-4-> Rice-> Side dish 2-4-> Bob-> Side dish 3-4. In this case, the order of the side dishes provided may be determined, and the time interval for providing the rice and the side dishes may be adjusted. The meal assistance robot of the present embodiment may include a predetermined means, for example, a button or a joystick for increasing or decreasing the time interval in order to adjust the time interval for providing rice and side dishes.

In addition, when the meal assistance robot is manual, the order of providing the side dishes and rice is not determined, and the order of providing each food and the time interval for providing the food may be selected by the user.

In addition, when the meal assistance robot is semi-automatic, certain functions may be automatically operated, and other functions may be manually operated. For example, by manually selecting the type of side dish or rice to be eaten, the meal assistance robot may provide food according to a preset order and interval time to provide the selected food.

In addition, according to another embodiment, a voice recognition unit for recognizing a voice corresponding to a food providing sequence of a user, that is, a food intake or a robot manager may be implemented. That is, the voice recognition unit may recognize the voice of the food intake or the robot manager and recognize the specific voice by comparing the corresponding content with the prestored voice content. In this case, the cancer control unit may raise the food corresponding to the recognized voice to the food container of the spoon coupled to the robot arm and move the food container of the spoon to the mouth position of the food intake.

In this case, various modes of recognizing and processing a voice may be implemented. For this purpose, the present embodiment may further include a mode processor configured to perform a plurality of modes corresponding to the contents of the recognized voice. In this case, the information storage unit 150 may store the partitioned area of the plate and the food accommodated in each area.

In more detail, the plurality of modes may be classified into semi-automatic mode, automatic mode, and manual mode. For example, the semi-automatic mode may be a mode in which the cancer controller raises the food corresponding to the voice recognized by the food container of the spoon when the voice indicates the type of food. For example, in a semi-automatic mode, when the user speaks "side dishes 1", "rice", "water", etc., the cancer control unit moves the spoon food receiving unit to each food location stored in the information storage unit 150. Can be.

The automatic mode may be a mode in which the arm controller raises food in a predetermined order in the food container of the spoon. The preset order of food to be provided may be stored in the information storage unit 150. In addition, in the automatic mode, when the user says the words "bap", "side dish", "next", etc., the cancer control unit accepts the food of the spoon so that food is provided in a preset order corresponding to the word "next". You can move wealth.

In addition, the manual mode may be a mode in which the arm controller controls the robot arm to move the spoon food receiving portion in a direction corresponding to the recognized voice when the voice indicates a direction. For example, in manual mode, if the user says "up", "down", "left", "right", "stop", "up", "down", "left", "right" The controller may move the food container in response to the corresponding voice.

The mode processor may further include a mode selector (not shown) for the user to select any one of the plurality of modes. The mode selector may be implemented in various shapes such as a button shape and a switch shape.

In addition, the mode selector may be implemented through voice recognition as described above. In this case, when the user speaks a specific mode, the mode selector may recognize the voice and start a mode corresponding to the voice.

In addition, the meal assistance robot according to the present embodiment may be operated according to the remaining mode for processing the remaining. For example, there may be food left in each bowl or a different place in the process of recalling a meal or side dish to assist meals. The remaining mode is a mode for floating left food and providing it to a food user. to be. In Remnant mode, a spoon of robotic arms can scrape all parts of each bowl to float food, or a fork or tongs of robotic arms can pick up all parts of each bowl in turn to raise food and provide it to the food consumer. .

In addition, according to another embodiment, in order to ensure various functions and added scalability in the future, the above-described communication protocols for each board of the robot may be commonly used. That is, the packet according to the present embodiment starts with two bytes of 0xff and 0xff, and may be composed of a transmission / reception ID address, an instruction, data, and a checksum for detecting a transmission error thereof.

For example, Table 1 is a packet received at the input device, and Table 2 is a packet to which the input device responds. Here, the input device may be an input device for controlling the above-described robot.

Packets received at input device 0 One 2 3 4 5 6 7 Header0 Header1 id Length command address Received bytes check sum 0xFF 0xFF 10 3 2 0 2 ed

As shown in Table 1, the packet received by the input device may be configured as follows.

checksum = buf [2] + buf [3] + buf [4] + buf [5] + buf [6];

checksum = (INT8U) (~ checksum &0x00ff);

Packets sent from the input device 0 One 2 3 4 5 6 7 stx stx id len error switch sel value check sum 0xFF 0xFF 10 4 0 x x x

As shown in Table 2, a packet transmitted from an input device may be configured as follows.

checksum = buf [2] + buf [3] + buf [4] + buf [5] + buf [6];

checksum = (INT8U) (~ checksum &0x00ff);

In this case, only when the main board requests the corresponding input device, the current value of the input device (button, joystick, sensor, etc.) may be output as a packet.

In addition, a specific operation method for a meal assistance robot using a camera according to an embodiment of the present invention, a common platform technology such as embedded system, O / S, communication protocol, interface standardization technology such as I / O interface, actuator, battery, camera Details of parts standardization technology such as sensors and the like will be omitted since it is obvious to those skilled in the art.

The operation method of the meal assisting robot using the camera according to the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. That is, the recording medium may be a computer-readable recording medium having recorded thereon a program for causing a computer to execute the steps described above.

The computer readable medium may include a program command, a data file, a data structure, etc. alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as a hard disk, a floppy disk and a magnetic tape, optical recording media such as CD-ROM and DVD, magnetic recording media such as a floppy disk Optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

The medium may be a transmission medium such as an optical or metal line, a wave guide, or the like, including a carrier wave for transmitting a signal designating a program command, a data structure, or the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention.

In addition, each of the above-described components may be embodied as one physically adjacent component or may be implemented as a different component. In the latter case, each component can be controlled to be located adjacent to or in a different zone. In this case, the present invention can include a separate control means or control room for controlling each component to control each component in a wired or wireless manner You may.

In the above description, the respective components and / or functions described in the embodiments may be combined and combined, and those skilled in the art will understand that the present invention It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

100: tableware registration device 110: camera unit
120: image processing unit 130: registration determination unit
140: menu selection unit 150: information storage unit
160: control unit 200: tableware image
300: tableware arrangement 310: first side dish
320: second side dishes 330: third side dishes
340: fourth side dish bowl 350: rice bowl
360: soup bowl

Claims (12)

A camera unit for photographing an upper surface of the tableware to generate a tableware image;
An image processor configured to extract a boundary area of the tableware image generated by the camera unit to generate a tableware border image;
The generated tableware border image is compared with a plurality of stored reference tableware border images to determine whether the generated tableware border image is the same as the reference tableware border image, and the generated tableware border image is the reference tableware border image. A registration determining unit that registers the generated tableware border image as a new reference tableware border image when it is different from each other; And
And an information storage unit for storing the plurality of reference tableware boundary images.
The method according to claim 1,
The camera unit is a meal assistance robot, characterized in that for imaging a single plate or a plurality of plate.
The method according to claim 1,
And the image processor extracts a boundary area of the tableware image by using brightness differences among pixel values of the tableware image.
The method according to claim 1,
And the registration determining unit generates the same tableware signal indicating that the tableware is the same when the generated tableware border image is the same as the reference tableware border image.
The method according to claim 1,
Robot arm to which the handle of the spoon is coupled to one end; And
And controlling the robot arm to move the food container of the spoon on which the food is placed to a prestored position information corresponding to the mouth position of the food intake user,
The camera unit generates a face image by capturing a face of a food intake user, and the image processor generates a face boundary image by extracting a boundary area of the face image generated by the camera unit, and generates position information corresponding to the mouth position. Meal assistant robot, characterized in that.
The method of claim 5,
And a food discrimination unit for discriminating different portions as food by comparing the tableware image containing food generated by photographing the tableware containing the food while the food intake is being eaten by the camera unit to the reference table boundary image.
And the arm controller controls the robot arm so that the food container of the spoon moves to the determined food.
The method of claim 5,
Further comprising a voice recognition unit for recognizing the voice corresponding to the food providing order of the food intake,
The arm control unit raises food corresponding to the recognized voice to the food receiving unit of the spoon coupled to the robot arm and moves the food receiving unit of the spoon to prestored position information corresponding to the mouth position of the food intake user. Meal Assistant Robot.
The method of claim 7,
Further comprising a mode processing unit for performing a plurality of modes in accordance with the content of the recognized voice,
And the information storage unit stores the partitioned area of the tableware and food stored in the area in correspondence with each other.
The method of claim 8,
And the plurality of modes includes a semi-automatic mode in which the cancer control unit raises food corresponding to the recognized voice to the food container of the spoon when the voice indicates the type of food.
The method of claim 8,
The plurality of modes is a meal assistance robot, characterized in that the arm control includes an automatic mode for raising food in a predetermined order in the food receiving portion of the spoon.
The method of claim 8,
The plurality of modes may include a manual mode in which the arm controller controls the robot arm to move the food container of the spoon in a direction corresponding to the recognized voice when the voice indicates a direction. robot.
The method according to claim 1,
Robot arm to which the handle of the spoon is coupled to one end; And
And controlling the robot arm to move the food container of the spoon on which the food is placed to a prestored position information corresponding to the mouth position of the food intake user,
And the camera unit photographs an infrared tape or an ultraviolet tape attached around a mouth of a food intake user to generate position information corresponding to the mouth position.

Images