Motor control method, device and system of hair clipper

Abstract

The invention relates to the field of communication, in particular to a motor control method, device and system for a hair clipper, and the method can recognize the distribution of hair features of a haircut object, predict the moving path of the hair clipper according to the motion of operating the hair clipper by a user, determine the feature change of hair passed by the hair clipper during moving, and control the hair clipper according to the feature change. The load change of the motor of the hair clipper is predicted according to the characteristic change when the hair clipper moves, so that the motor parameters corresponding to each section of the moving path can be planned in advance, and when the hair clipper reaches the corresponding section, the hair clipper is automatically controlled to operate according to the planned operating parameters of the hair clipper in the section; according to the invention, a barber does not need to carry out real-time manual parameter adjustment, so that the accuracy of motor parameter adjustment is ensured, manual operation is reduced, and the efficiency of parameter adjustment is improved.

Description

Technical Field

[0001] The present invention relates to the field of communications, and in particular to a motor control method, device and system for a hair clipper. Background Art

[0002] When a barber uses a hair clipper to cut hair, he needs to adjust the motor parameters of the hair clipper to adapt to cutting hair at different positions. However, the current method for adjusting the motor parameters of a hair clipper is mainly gear switching, but a hair clipper usually has only 2-3 gears, and the motor parameters of each gear are fixed, which makes the adjustment space of the motor parameters very limited. In addition, this adjustment requires manual adjustment by the barber, which is very dependent on the barber's experience, easily resulting in large adjustment errors, and the adjustment efficiency is low. Summary of the Invention

[0003] Based on this, it is necessary to provide a motor control method, device and system for a hair clipper to address the above problems.

[0004] The embodiment of the present invention is implemented as follows: a method for controlling a motor of a hair clipper is provided, the method comprising: S1: Collect an image of the target area to be trimmed and identify the hair features at each position in the target area in the image; S2: Map the target area into a two-dimensional plane and mark the hair features on the two-dimensional plane; S3: Identify the user's action of operating the hair clipper to predict the movement path of the hair clipper on a two-dimensional plane; S4: determining characteristic changes of the hair that the hair clipper passes through on a two-dimensional plane based on the movement path and the marked hair characteristics; S5: Retrieving a prediction model of the torque load of the hair clipper to predict the load change of the hair clipper motor when it moves according to the characteristic change of the hair; S6: planning the motor parameters corresponding to each section of the moving path according to the load change; S7: When the hair clipper passes through any section of the moving path, the motor is controlled to operate according to corresponding motor parameters.

[0005] In one embodiment, the present invention provides a motor control device for a hair clipper, the device comprising: An acquisition module is used to acquire an image of the target area to be trimmed and identify hair features at various locations in the target area in the image; A first processing module is used to map the target area into a two-dimensional plane and mark hair features on the two-dimensional plane; a second processing module, configured to recognize an action of a user operating the hair clipper to predict a moving path of the hair clipper on a two-dimensional plane; a third processing module for determining, on a two-dimensional plane, characteristic changes of the hair that the hair clipper passes through when the hair clipper moves, based on the movement path and the marked hair characteristics; a fourth processing module, configured to retrieve a prediction model of the torque load of the hair clipper to predict a load change of the motor of the hair clipper when the motor moves according to a characteristic change of the hair; A fifth processing module, configured to plan motor parameters corresponding to each section of the moving path according to load changes; The control module is used to control the motor to operate according to corresponding motor parameters when the hair clipper passes through any section of the moving path.

[0006] In one embodiment, the present invention provides a motor control system for a hair clipper, the system comprising: Hair clippers, with built-in motors; Hair feature collection equipment, used for collecting hair features; A visual device for recognizing the user's actions in operating the hair clipper; The computer device communicates with the hair feature acquisition device, the visual device and the motor in the hair clipper, and is used to execute the motor control method of the hair clipper.

[0007] The present invention provides a motor control method for a hair clipper, comprising the steps of collecting an image of a target area to be trimmed, identifying hair features at various locations in the target area in the image; mapping the target area into a two-dimensional plane, and marking the hair features on the two-dimensional plane; identifying the user's operation of the hair clipper to predict a moving path of the hair clipper on the two-dimensional plane; determining characteristic changes of the hair that the hair clipper passes through on the two-dimensional plane according to the moving path and the marked hair features; retrieving a prediction model for the torque load of the hair clipper to predict load changes of the hair clipper's motor when it moves according to the characteristic changes of the hair; planning motor parameters corresponding to various sections of the moving path according to the load changes; and calculating the load change of the hair clipper when the hair clipper passes through any section of the moving path. In the present application, the distribution of hair characteristics of the haircut object can be identified first, and then the moving path of the hair clipper can be predicted according to the action of the user operating the hair clipper, and the characteristic changes of the hair passed by the hair clipper when the hair clipper moves can be determined, so as to predict the load changes of the hair clipper motor when the hair clipper moves according to the characteristic changes, so that the motor parameters corresponding to each section of the moving path can be planned in advance, and when the hair clipper reaches the corresponding section, the hair clipper is automatically controlled to run with the planned operating parameters of the hair clipper in the section, without the need for the barber to perform real-time manual parameter adjustment, which not only ensures the accuracy of the motor parameter adjustment, but also reduces manual operation and improves the efficiency of parameter adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1is a flow chart of a motor control method for a hair clipper provided in one embodiment; Figure 2 A diagram illustrating an application environment of a motor control method for a hair clipper provided in one embodiment; Figure 3 A schematic diagram of a center point of a cutter head in a motor control method for a hair clipper provided in one embodiment; Figure 4 A rectangular area schematic diagram of a motor control method for a hair clipper provided in one embodiment; Figure 5 A schematic diagram of a module flow chart of a motor control device for a hair clipper provided in one embodiment; Figure 6 FIG. 1 is a block diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0009] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0010] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script without departing from the scope of the present invention.

[0011] like Figure 1 As shown, in one embodiment, a motor control method for a hair clipper is provided, the method comprising: S1: Collect an image of the target area to be trimmed and identify the hair features at each position in the target area in the image; S2: Map the target area into a two-dimensional plane and mark the hair features on the two-dimensional plane; S3: Identify the user's action of operating the hair clipper to predict the movement path of the hair clipper on a two-dimensional plane; S4: determining characteristic changes of the hair that the hair clipper passes through on a two-dimensional plane based on the movement path and the marked hair characteristics; S5: Retrieving a prediction model of the torque load of the hair clipper to predict the load change of the hair clipper motor when it moves according to the characteristic change of the hair; S6: planning the motor parameters corresponding to each section of the moving path according to the load change; S7: When the hair clipper passes through any section of the moving path, the motor is controlled to operate according to corresponding motor parameters.

[0012] In this embodiment, if Figure 2 As shown, the method is executed in a computer device, which can be an independent physical server or terminal, or a server cluster composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage, and CDN. The computer device is connected to a hair feature collection device and a visual device. The hair feature collection device can send the collected hair features to the computer device, and the computer device can recognize the user's operation of a hair clipper through the visual device. The hair clipper can be an electric clipper, and the motor in the hair clipper is controlled by the computer device, which can control the rotation parameters of the motor of the hair clipper. In this embodiment, the user is a barber; the visual device can be a high-definition camera, and the number of visual devices can be one or more, which is not limited here; the target area is the area where the hair is distributed; the hair feature acquisition device can be a scalp detector, and the barber can use the scalp detector probe to scan the target area where the hair of the hairdresser is located to obtain a scanned image; scanning methods include close-range scanning (1-2 cm from the scalp) and long-range scanning (20-40 cm from the scalp). The image acquired by the long-range scanning can show the entire head of the hairdresser, thereby determining the overall scope of the target area and identifying the length of each position in the target area (if some positions cannot be identified due to occlusion, the barber can move the hair before identification); the image acquired by the close-range scanning can show the scalp and hair roots, and thus the hair density and hair diameter of the scalp at that location can be identified; in this embodiment, the target area can be divided into a number of unit areas (for example, a square area with a side length of 1 cm), each unit area corresponding to a position, and identifying the hair features of each position in the target area in the image is to identify the hair features of each unit area; In this embodiment, since the head of the haircut subject is three-dimensional, the target area in the scanned image is also three-dimensional (i.e., the scanned target area is a curved surface). To facilitate image and data analysis, this embodiment maps the target area in the image into a two-dimensional plane. Specifically, the point cloud coordinates of each position point in the target area are identified in the scanned image, and three-dimensional modeling software (such as Blender) is used to generate a three-dimensional curved surface corresponding to the target area based on the point cloud coordinates. The three-dimensional curved surface is then unfolded into a two-dimensional plane using the UV unfolding function of the three-dimensional modeling software. In this embodiment, when the barber pushes the hair clipper along the moving path, the computer device can monitor the position reached by the hair clipper (with emphasis on monitoring the cutter head) in real time through the sensory device (specifically, which section in the moving path), and then automatically control the hair clipper to operate with the planned operating parameters of the hair clipper in that section.

[0013] In the present application, the distribution of hair characteristics of the haircut object can be identified first, and then the moving path of the hair clipper can be predicted according to the user's action of operating the hair clipper, and the characteristic changes of the hair passed by the hair clipper when moving can be determined, so as to predict the load changes of the hair clipper motor when the hair clipper moves according to the characteristic changes, so that the motor parameters corresponding to each section of the moving path can be planned in advance, and when the hair clipper reaches the corresponding section, the hair clipper is automatically controlled to operate with the planned operating parameters of the hair clipper in the section, without the need for the barber to perform real-time manual parameter adjustment, which not only ensures the accuracy of the motor parameter adjustment, but also reduces manual operation and improves the efficiency of parameter adjustment.

[0014] As a preferred embodiment, the hair features include length, density, and diameter; identifying the hair features at each location in the target area of ​​the image includes, for each hair feature, identifying a feature value range of the hair feature at each location; Labeling hair features on a 2D plane includes: For each hair feature, a feature layer is generated that overlaps with the target area, where the shape and size of the feature layer are the same as the two-dimensional plane; For each feature layer, the feature layer is divided into a plurality of feature blocks according to the distribution of the feature value range of the corresponding hair feature, wherein the feature value range in each feature block is the same; The feature value range of each feature block is marked on the feature block.

[0015] In this embodiment, the effect of hair characteristics on the load is staged, that is, the changes in the load caused by hair characteristics within a certain characteristic value range are roughly the same, and only when the range is crossed will the load be significantly changed. Based on this, several characteristic value ranges are preset for each hair characteristic. For example, for hair density, 60-70 hairs / cm is set. 2 70~80 pieces / cm 2 ,…,140~150 pieces / cm 2 , when the hair density of more than 70% of a unit area in the target area falls within the same density range, such as 70-80 hairs / cm 2 , then the hair density range of this unit area can be considered to be 70~80 hairs / cm 2; In this way, the characteristic value ranges of all unit areas of the target area can be obtained, that is, the distribution of the characteristic value ranges can be obtained; for each characteristic value range, the unit areas with the same characteristic value range are identified, and the areas corresponding to these unit areas are identified on the corresponding feature layer, that is, the feature blocks corresponding to the characteristic value range on the feature layer are obtained (it may be a continuous area or multiple discrete areas, which change according to the actual distribution of the characteristic value range). According to this method, multiple feature blocks of the feature layer can be determined.

[0016] like Figure 3 As shown, as a preferred embodiment, identifying the user's action of operating the hair clipper to predict the movement path of the hair clipper on a two-dimensional plane includes: S31: Identify whether the user places the hair clipper on the hair of the haircut object; S32: If yes, identify the direction of the hair clipper's blade head and the position of the center point of the blade head on the hair; S33: Mark a position point corresponding to the center point of the tool head on the two-dimensional plane, and generate a straight line extending to the boundary of the target area along the direction corresponding to the tool head with the position point as the starting point to obtain a moving path.

[0017] The predicted movement path is the movement path of the hair clipper when the user pushes it once; S8: After step S7, the user completes a single push of the hair clipper, and the user's action of operating the hair clipper continues to be identified to predict the new movement path of the hair clipper, and steps S4 to S8 are repeated until the user completes the haircut.

[0018] In this embodiment, the hair clipper can be an electric clipper, and its blade has a certain width. The edge line of the blade can be regarded as a straight line, and the center point of the blade is the center point of the straight line. Furthermore, since the two-dimensional plane is obtained by unfolding the three-dimensional surface corresponding to the target area in the image, a corresponding position point can be found for each point in the target area on the two-dimensional plane, so that the position point of the center point of the blade on the two-dimensional plane can be determined. In addition, the orientation of the blade is perpendicular to the straight line where the center point is located. A vector corresponding to the orientation of the blade can be generated at the center point, and the relative position of the vector and the target area can be identified. Based on the relative position, a corresponding vector can be generated on the two-dimensional plane, and the direction of the vector is the direction corresponding to the orientation of the blade. In addition, the barber usually pushes the hair clipper along a straight line, so the predicted moving path is also a straight line.

[0019] In this embodiment, during the haircutting process, the barber often needs to push the hair clipper with multiple blades to complete the haircut. The moving path identified in this embodiment is the moving path of one push. When the push is completed, a new moving path is identified again to adjust the motor parameters. This cycle is repeated until the barber is identified and the haircut is completed by closing the hair clipper.

[0020] like Figure 4 As shown, as a preferred embodiment, predicting the load change of the motor of the hair clipper when it moves according to the characteristic change of the hair includes: Generate n points between the starting point and the ending point of the moving path to obtain n+2 trajectory points, where the trajectory points include the starting point and the ending point, and the distance between any two adjacent trajectory points is the set length; At each trajectory point, a line segment is generated with the trajectory point as the center and perpendicular to the moving trajectory, wherein the length of the line segment is longer than the width of the hair clipper head; For every two adjacent line segments, connect the two ends of the line segments to obtain n+1 rectangular areas; For each rectangular area, determine the weighted average length, weighted average density, and weighted average diameter of the hair in the rectangular area based on the feature value ranges corresponding to each feature layer in the rectangular area; The torque load of the rectangular area is calculated based on the weighted average length, the weighted average density, the weighted average diameter, and a prediction model of the torque load.

[0021] In this embodiment, the rectangular area is the area enclosed by two adjacent line segments and the line connecting the two ends of the two line segments; the set length can be 1 cm, 2 cm or other values; each rectangular area is the area where the cutter head will fall during the movement, that is, the cutter head can cut the hair within the rectangular area; the length of the line segment can be 1 cm longer than the width of the hair clipper head, so that the area formed by the rectangular area is slightly larger than the area through which the cutter head passes during the movement of the electric clipper, to ensure that the cutter head can fall into the rectangular area even if a slight deviation occurs during the movement. Since the load change and the motor parameters are determined by the hair characteristics in the rectangular area, it can be ensured that the planned motor parameters are also applicable to the area actually passed by the cutter head when a slight deviation occurs.

[0022] As a preferred embodiment, determining the weighted average length, weighted average density, and weighted average diameter of the hair in the rectangular area according to the feature value range corresponding to each feature layer in the rectangular area includes: Identify the rectangular area on the feature layer corresponding to the length, identify the first sub-block belonging to each feature block in the rectangular area, and calculate the weighted average length of the hair in the rectangular area using the following formula: in, is the weighted average length, is the area of ​​the first sub-block of the i-th node, is the median of the characteristic value range of the i-th first sub-block, and l is the number of first sub-blocks; Identify the rectangular area on the feature layer corresponding to density, identify the second sub-blocks belonging to each feature block in the rectangular area, and calculate the weighted average density of hair in the rectangular area using the following formula: in, is the weighted average density, is the area of ​​the j-th second sub-block, is the median of the eigenvalue range of the j-th second sub-block, and m is the number of second sub-blocks; Identify the rectangular area on the feature layer corresponding to density, identify the third sub-block belonging to each feature block in the rectangular area, and calculate the weighted average diameter of the hair in the rectangular area using the following formula: in, is the weighted mean diameter, is the area of ​​the kth third sub-block, is the median of the eigenvalue range of the jth third sub-block, and n is the number of third sub-blocks.

[0023] The prediction model of torque load is as follows: in, is the torque load, and is the fitting coefficient.

[0024] In this embodiment, the unit of length is cm and the unit of density is root / cm 2 , the diameter unit is cm; since the framed area may cover multiple feature blocks, and each feature block only covers one local block (i.e., sub-block), the framed area includes several sub-blocks with different corresponding eigenvalues, so it is necessary to determine the weighted average eigenvalue of the framed area by weighted averaging; In this embodiment, is 0.02, is 0.005; the torque load prediction model is obtained by conducting multiple experiments in advance and fitting the experimental data; for example, multiple hair samples with different feature combinations (which can be wigs) are selected, and the samples are clipped with electric clippers to obtain the output torque that just cuts them. Then, the torque load is deduced based on the output torque and transmission efficiency, thereby obtaining the correspondence between multiple groups of hair sample features and torque loads, and then linear fitting is performed to obtain the torque load prediction model.

[0025] As a preferred embodiment, the motor parameters include output torque and speed; each rectangular area corresponds to a section of the moving path; The motor parameters corresponding to each section of the moving path planned according to load changes include: For each rectangular area, the output torque corresponding to the rectangular area is determined by the following formula: in, is the output torque, is the transmission efficiency coefficient; The speed corresponding to the rectangular area is calculated using the following formula: in, is the rotation speed, is the output power of the motor.

[0026] In this embodiment, due to transmission losses, the transmission efficiency will be reduced. Therefore, the transmission efficiency coefficient needs to be considered when calculating the output torque. This coefficient can be 0.8, or other values, which are specifically determined according to the motor type of the hair clipper. Since the barber does not need to adjust the gear, the output power of the motor remains consistent. When the output power and output torque are known, the speed can be directly determined.

[0027] like Figure 5 As shown, in one embodiment, a motor control device for a hair clipper is provided, the device comprising: An acquisition module is used to acquire an image of the target area to be trimmed and identify hair features at various locations in the target area in the image; A first processing module is used to map the target area into a two-dimensional plane and mark hair features on the two-dimensional plane; a second processing module, configured to recognize an action of a user operating the hair clipper to predict a moving path of the hair clipper on a two-dimensional plane; a third processing module for determining, on a two-dimensional plane, characteristic changes of the hair that the hair clipper passes through when the hair clipper moves, based on the movement path and the marked hair characteristics; a fourth processing module, configured to retrieve a prediction model of the torque load of the hair clipper to predict a load change of the motor of the hair clipper when the motor moves according to a characteristic change of the hair; A fifth processing module, configured to plan motor parameters corresponding to each section of the moving path according to load changes; The control module is used to control the motor to operate according to corresponding motor parameters when the hair clipper passes through any section of the moving path.

[0028] The process of each module in the motor control device of the hair clipper provided in the embodiment of the present application realizing its own function can be specifically referred to the aforementioned Figure 1 The description of the illustrated embodiment will not be repeated here.

[0029] like Figure 2 As shown, in one embodiment, a motor control system for a hair clipper is provided, the system comprising: Hair clippers, with built-in motors; Hair feature collection equipment, used for collecting hair features; A visual device for recognizing the user's actions in operating the hair clipper; The computer device communicates with the hair feature acquisition device, the visual device and the motor in the hair clipper, and is used to execute the motor control method of the hair clipper.

[0030] In this embodiment, the computer device cooperates with the hair clipper, the hair feature acquisition device, and the visual device to first identify the distribution of the hair features of the haircut object, and then predict the movement path of the hair clipper based on the user's operation of the hair clipper, and determine the characteristic changes of the hair passed by the hair clipper when moving, so as to predict the load changes of the hair clipper's motor when the hair clipper moves based on the characteristic changes. In this way, the motor parameters corresponding to each section of the movement path can be planned in advance, and when the hair clipper reaches the corresponding section, the hair clipper is automatically controlled to operate with the planned operating parameters of the hair clipper in the section, without the need for the barber to perform real-time manual parameter adjustment, which not only ensures the accuracy of the motor parameter adjustment, but also reduces manual operation and improves the efficiency of parameter adjustment.

[0031] Figure 6 FIG. 1 shows an internal structure diagram of a computer device in one embodiment. Figure 6As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When executed by the processor, the computer program enables the processor to implement the motor control method for a hair clipper provided in an embodiment of the present invention. The internal memory may also store a computer program. When executed by the processor, the computer program enables the processor to implement the motor control method for a hair clipper provided in an embodiment of the present invention. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or may be a key, trackball, or touchpad provided on the computer device housing, or may be an external keyboard, touchpad, or mouse.

[0032] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present invention and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0033] In one embodiment, the motor control device of the hair clipper provided by the embodiment of the present invention can be implemented in the form of a computer program. The computer program can be used in Figure 6 The computer device shown in FIG. 1 is run on the computer device shown in FIG. The memory of the computer device can store various program modules constituting the motor control device of the hair clipper, such as, Figure 5 The computer program composed of the acquisition module, the first processing module, the second processing module, the third processing module, the fourth processing module, the fifth processing module, and the sixth processing module shown in the figure enables the processor to execute the steps of the motor control method of the hair clipper according to various embodiments of the present invention described in this specification.

[0034] For example, Figure 6 The computer device shown can be Figure 5 The acquisition module in the motor control device of the hair clipper shown executes step S1; the computer device can execute step S2 through the first processing module; the computer device can execute step S3 through the second processing module; the computer device can execute step S4 through the third processing module; the computer device can execute step S5 through the fourth processing module; the computer device can execute step S6 through the fifth processing module; and the computer device can execute step S7 through the control module.

[0035] In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are performed: S1: Collect an image of the target area to be trimmed and identify the hair features at each position in the target area in the image; S2: Map the target area into a two-dimensional plane and mark the hair features on the two-dimensional plane; S3: Identify the user's action of operating the hair clipper to predict the movement path of the hair clipper on a two-dimensional plane; S4: determining characteristic changes of the hair that the hair clipper passes through on a two-dimensional plane based on the movement path and the marked hair characteristics; S5: Retrieving a prediction model of the torque load of the hair clipper to predict the load change of the hair clipper motor when it moves according to the characteristic change of the hair; S6: planning the motor parameters corresponding to each section of the moving path according to the load change; S7: When the hair clipper passes through any section of the moving path, the motor is controlled to operate according to corresponding motor parameters.

[0036] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor performs the following steps: S1: Collect an image of the target area to be trimmed and identify the hair features at each position in the target area in the image; S2: Map the target area into a two-dimensional plane and mark the hair features on the two-dimensional plane; S3: Identify the user's action of operating the hair clipper to predict the movement path of the hair clipper on a two-dimensional plane; S4: determining characteristic changes of the hair that the hair clipper passes through on a two-dimensional plane based on the movement path and the marked hair characteristics; S5: Retrieving a prediction model of the torque load of the hair clipper to predict the load change of the hair clipper motor when it moves according to the characteristic change of the hair; S6: planning the motor parameters corresponding to each section of the moving path according to the load change; S7: When the hair clipper passes through any section of the moving path, the motor is controlled to operate according to corresponding motor parameters.

[0037] It should be understood that, although the various steps in the flow chart of each embodiment of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps. Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0038] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0039] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A motor control method for a hair clipper, characterized in that: The method comprises: S1: Collect an image of the target area to be trimmed and identify the hair features at each position in the target area in the image; S2: Map the target area into a two-dimensional plane and mark the hair features on the two-dimensional plane; S3: Identify the user's action of operating the hair clipper to predict the movement path of the hair clipper on a two-dimensional plane; S4: determining characteristic changes of the hair that the hair clipper passes through on a two-dimensional plane based on the movement path and the marked hair characteristics; S5: Retrieving a prediction model of the torque load of the hair clipper to predict the load change of the hair clipper motor when it moves according to the characteristic change of the hair; S6: planning the motor parameters corresponding to each section of the moving path according to the load change; S7: When the hair clipper passes through any section of the moving path, the motor is controlled to operate according to corresponding motor parameters.

2. The method according to claim 1, characterized in that Hair features include length, density, and diameter; identifying hair features at various locations in a target area of ​​an image includes, for each hair feature, identifying a range of characteristic values ​​of the hair feature at each location; Labeling hair features on a 2D plane includes: For each hair feature, a feature layer is generated that overlaps with the target area, where the shape and size of the feature layer are the same as the two-dimensional plane; For each feature layer, the feature layer is divided into a plurality of feature blocks according to the distribution of the feature value range of the corresponding hair feature, wherein the feature value range in each feature block is the same; The feature value range of each feature block is marked on the feature block.

3. The method according to claim 2, characterized in that Recognizing the user's action of operating a hair clipper to predict the movement path of the hair clipper on a two-dimensional plane includes: S31: Identify whether the user places the hair clipper on the hair of the haircut object; S32: If yes, identify the direction of the hair clipper's blade head and the position of the center point of the blade head on the hair; S33: Mark a position point corresponding to the center point of the tool head on the two-dimensional plane, and generate a straight line extending to the boundary of the target area along the direction corresponding to the tool head with the position point as the starting point to obtain a moving path.

4. The method according to claim 3, characterized in that The predicted movement path is the movement path of the hair clipper when the user pushes it once; S8: After step S7, the user completes a single push of the hair clipper, and the user's action of operating the hair clipper continues to be identified to predict the new movement path of the hair clipper, and steps S4 to S8 are repeated until the user completes the haircut.

5. The method according to claim 3, characterized in that Predicting the load changes of the hair clipper's motor when it moves based on the changes in hair characteristics includes: Generate n points between the starting point and the ending point of the moving path to obtain n+2 trajectory points, where the trajectory points include the starting point and the ending point, and the distance between any two adjacent trajectory points is the set length; At each trajectory point, a line segment is generated with the trajectory point as the center and perpendicular to the moving trajectory, wherein the length of the line segment is longer than the width of the hair clipper head; For every two adjacent line segments, connect the two ends of the line segments to obtain n+1 rectangular areas; For each rectangular area, determine the weighted average length, weighted average density, and weighted average diameter of the hair in the rectangular area based on the feature value ranges corresponding to each feature layer in the rectangular area; The torque load of the rectangular area is calculated based on the weighted average length, the weighted average density, the weighted average diameter, and a prediction model of the torque load.

6. The method according to claim 5, characterized in that Determining the weighted average length, weighted average density, and weighted average diameter of the hair in the rectangular area according to the feature value ranges corresponding to each feature layer in the rectangular area includes: Identify the rectangular area on the feature layer corresponding to the length, identify the first sub-block belonging to each feature block in the rectangular area, and calculate the weighted average length of the hair in the rectangular area using the following formula: in, is the weighted average length, is the area of ​​the first sub-block of the i-th node, is the median of the characteristic value range of the i-th first sub-block, and l is the number of first sub-blocks; Identify the rectangular area on the feature layer corresponding to density, identify the second sub-blocks belonging to each feature block in the rectangular area, and calculate the weighted average density of hair in the rectangular area using the following formula: in, is the weighted average density, is the area of ​​the j-th second sub-block, is the median of the eigenvalue range of the j-th second sub-block, and m is the number of second sub-blocks; Identify the rectangular area on the feature layer corresponding to density, identify the third sub-block belonging to each feature block in the rectangular area, and calculate the weighted average diameter of the hair in the rectangular area using the following formula: in, is the weighted mean diameter, is the area of ​​the kth third sub-block, is the median of the eigenvalue range of the jth third sub-block, and n is the number of third sub-blocks.

7. The method according to claim 6, characterized in that The prediction model of torque load is as follows: in, is the torque load, and is the fitting coefficient.

8. The method according to claim 7, characterized in that Motor parameters include output torque and speed; each rectangular area corresponds to a section of the moving path; The motor parameters corresponding to each section of the moving path planned according to load changes include: For each rectangular area, the output torque corresponding to the rectangular area is determined by the following formula: in, is the output torque, is the transmission efficiency coefficient; The speed corresponding to the rectangular area is calculated using the following formula: in, is the rotation speed, is the output power of the motor.

9. A motor control device for a hair clipper, characterized in that: The device comprises: An acquisition module is used to acquire an image of the target area to be trimmed and identify hair features at various locations in the target area in the image; A first processing module is used to map the target area into a two-dimensional plane and mark hair features on the two-dimensional plane; a second processing module, configured to recognize an action of a user operating the hair clipper to predict a moving path of the hair clipper on a two-dimensional plane; a third processing module for determining, on a two-dimensional plane, characteristic changes of the hair that the hair clipper passes through when the hair clipper moves, based on the movement path and the marked hair characteristics; a fourth processing module, configured to retrieve a prediction model of the torque load of the hair clipper to predict a load change of the motor of the hair clipper when the motor moves according to a characteristic change of the hair; A fifth processing module, configured to plan motor parameters corresponding to each section of the moving path according to load changes; The control module is used to control the motor to operate according to corresponding motor parameters when the hair clipper passes through any section of the moving path.

10. A motor control system for a hair clipper, characterized in that: The system comprises: Hair clippers, with built-in motors; Hair feature collection equipment, used for collecting hair features; A visual device for recognizing the user's actions in operating the hair clipper; A computer device communicates with a hair feature acquisition device, a visual device, and a motor in a hair clipper, and is used to execute the motor control method for a hair clipper as described in any one of claims 1 to 8.

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