Research on face detection algorithms of auxiliary feeding manipulator based on openMV

LIU Zuoshi; XU Zhiliang; ZHANG Ping

doi:10.13873/J.1000-9787(2021)01-0039-03

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Research on face detection algorithms of auxiliary feeding manipulator based on openMV

更新时间：2025-09-11

- Research on face detection algorithms of auxiliary feeding manipulator based on openMV
- Vol. 40, Issue 1, Pages: 39-41+45(2021)
- 作者机构：
  
  江西理工大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2021)01-0039-03
  CLC： TP241;TP391.41
- Published：2021
- 稿件说明：
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[1]刘祚时,许志良,张平.基于OpenMV辅助进食机械手人脸检测算法研究[J].传感器与微系统,2021,40(01):39-41+45.

LIU Zuoshi, XU Zhiliang, ZHANG Ping. Research on face detection algorithms of auxiliary feeding manipulator based on openMV[J]. 2021, 40(1): 39-41+45.
[1]刘祚时,许志良,张平.基于OpenMV辅助进食机械手人脸检测算法研究[J].传感器与微系统,2021,40(01):39-41+45. DOI： 10.13873/J.1000-9787(2021)01-0039-03.

LIU Zuoshi, XU Zhiliang, ZHANG Ping. Research on face detection algorithms of auxiliary feeding manipulator based on openMV[J]. 2021, 40(1): 39-41+45. DOI： 10.13873/J.1000-9787(2021)01-0039-03.

摘要

针对手脚不便的老人或者上体截肢的特殊人群用餐问题

提出了基于机器视觉的辅助进食机械手设计方案。针对系统的设计需求

分析了基于Haar特征Adaboost人脸检测分类器的组织结构以及检测原理

结合基于视觉的目标追踪比例—积分—微分（PID）控制算法

利用其响应快鲁棒性强等特点

有效实现人脸移动的追踪要求。最后通过辅助进食调试

机械手能够完成对人脸的检测和辅助进食工作

达到了预期的控制效果。

Abstract

Aiming at the the problem of feeding for the elderly or the upper limb amputees

a design scheme of feeding assistant manipulator based on machine vision is proposed.Aiming at the design requirement of the system

the structure and detection principle of Adaboost face detection classifier based on Haar feature are analyzed

and the visual-based object tracking proportional-integral-differential（PID） control algorithm is combined to make use of its features of fast response and strong robustness

effective realize requirement of face tracking.Finally

the manipulator can complete the detection of the human face and feeding-assistant work through feedingassistant debugging

and achieve the desired control effect.

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references

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基于几何特征与新Haar特征的人脸检测算法 [J]. 糜元根,陈丹驰,季鹏. 传感器与微系统 . 2017(02)

基于弱分类器调整的多分类Adaboost算法 [J]. 杨新武,马壮,袁顺. 电子与信息学报 . 2016(02)

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Robust Real-Time Face Detection [J] . Paul Viola,Michael J. Jones. International Journal of Computer Vision . 2004 (2)

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