A nail art lamp and a nail art lamp control method

Abstract

The present application relates to a nail lamp and a control method. The method comprises: collecting hand data or nail data, determining a nail area according to the collected hand data or nail data, obtaining the coordinates of a target position according to the nail area; moving a mobile unit to the target position according to the coordinates of the target position; and starting a curing unit to irradiate the target position after the mobile unit moves to the target position. The method can convert the data detected by the sensor into the coordinates of the robot coordinate system according to the relationship between the sensor coordinate system and the robot coordinate system when curing the nail glue, accurately identify the target position representing the nail area, and only require less energy to generate UV light when the nail lamp is running to achieve good results, thereby improving the efficiency of using UV light in the nail lamp, saving energy, and being suitable for wide use.

Description

Technical Field

[0001] The present application relates to the technical field of nail art tools, and in particular to a nail art lamp and a method for controlling the nail art lamp. Background Art

[0002] During the manicure process, a nail lamp is needed to cure the nail polish. The existing nail lamps, whether they are UV lamp tubes or LED lamps, generally have a structure in which multiple UV light sources are installed on the inner wall of an open cavity, so that the UV light emitted by the UV light source can cover the entire cavity more evenly to achieve better curing effect and efficiency. When the hand that needs to cure the nail polish is inserted into the cavity, it will be covered by the UV light as a whole. After a period of UV light exposure, the nail polish will be cured.

[0003] Because the entire back of the hand is covered by UV rays, the skin tends to darken easily. Especially for users who frequently do manicures, the back of the hand is obviously darker due to frequent exposure to UV rays. The common practice in the nail industry is to give customers special gloves so that only the nail part of the hand is exposed. However, this method is cumbersome, there are various inconveniences in putting on and taking off gloves, and the user experience is not good. So many users have greatly reduced the number of times they do manicures just because they are afraid of getting darker.

[0004] In order to achieve a uniform curing effect, the UV lamp needs to cover the entire cavity of the nail lamp evenly, but the range of use is only the nails coated with nail polish. Because the effective irradiation area is relatively small, the energy utilization efficiency is very low; and because all the UV lamps in the nail lamp chamber are in working state, the heat generated will also make the customer's hands feel hot, and the function of the nail lamp is not smart enough. Summary of the invention

[0005] Based on this, it is necessary to provide a nail lamp and a nail lamp control method to address the above technical problems, so as to improve the efficiency and utilization rate of the nail lamp irradiation.

[0006] In a first aspect, the present application provides a nail art lamp, comprising:

[0007] A supporting unit, used for connecting the moving unit;

[0008] A control unit, used for controlling the detection unit, the moving unit and the curing unit;

[0009] A detection unit, used to collect hand data or nail data, determine a nail area according to the collected hand data or nail data, and determine the coordinates of a target position according to the nail area;

[0010] A moving unit, used for moving to a target position according to the coordinates of the target position;

[0011] The curing unit is used to start the curing unit to irradiate the target position when the moving unit moves to the target position.

[0012] The detection unit, the moving unit, the curing unit and the supporting unit make the nail lamp form a whole, and the positions of the detection unit, the moving unit, the curing unit and the supporting unit are not limited in this application. The supporting unit can be in any form such as a bracket, a shell, etc.

[0013] In one embodiment, the mobile unit comprises:

[0014] A base, the base being arranged on the supporting unit;

[0015] A mechanical arm, wherein a first end of the mechanical arm is arranged on the base, and a second end of the mechanical arm is connected to the curing unit.

[0016] The curing unit is connected to the mobile unit and follows the mobile unit to move to the target position for curing. The curing unit works at a fixed point and does not operate on areas that do not require curing, thereby improving the efficiency and energy utilization of the nail lamp.

[0017] In one embodiment, the robot arm is a single-axis or multi-axis robot arm. The robot arm can achieve translation of any number of axes, or different structures such as translation plus swing, as long as the direction of the curing unit can be controlled. When the robot arm is a two-axis robot arm, the two-axis robot arm can swing along two orthogonal directions. Since the hand is not in a plane, the use of a two-axis robot arm can accurately confirm the target position.

[0018] In one embodiment, the detection unit includes a sensor, and the sensor includes at least one of a camera, an ultrasonic sensor, a pressure-sensitive film, a TOF sensor, a 3D detection sensor, an infrared sensor, or a touch sensor.

[0019] The detection unit obtains hand data by detecting the hand area through the sensor, or directly obtains nail data by detecting the nail area through the sensor. The present application has no restrictions on the form and quantity of the sensor. Generally speaking, the more commonly used one is the camera. The hand image taken by the camera can quickly confirm the position of the nail and obtain the coordinate information of the nail area. The sensor can also use an ultrasonic sensor, a pressure-sensitive film, a TOF sensor, a 3D detection sensor, an infrared sensor or a touch sensor. The nail lamp is controlled according to the sensor induction start, and the nail area is confirmed after obtaining the hand data or nail data, and the coordinates of the target position are calculated according to the nail area. In order to improve the accuracy of the position detection of the detection unit, the sensors can also be used in combination, that is, the detection unit includes multiple sensors at the same time.

[0020] In one of the embodiments, the detection unit is arranged on the supporting unit.

[0021] Generally speaking, when the user puts his hand into the nail lamp, the detection unit is set above the hand. At this time, the detection unit is connected to the mobile unit to facilitate the acquisition of the coordinates of the target position. For nail lamps of various shapes, the detection unit can also be set at any position instead of above the hand to be detected. The calculation of the target position coordinates needs to be realized in combination with the positional relationship between the detection unit and the mobile unit.

[0022] In one embodiment, the curing unit includes a UV system or a focusing UV lamp. When the curing unit is a focusing UV lamp, it can be any form of focusing UV lamp such as a focusing UV lamp tube, a focusing UV LED lamp, etc. In order to achieve a better irradiation effect or to optimize the structure or production of the nail lamp, the curing unit can also be a UV system, which is a system composed of a UV lamp base and a movable reflector. The UV system can also be a fixed light source plus an optical fiber.

[0023] In a second aspect, the present application provides a method for controlling a nail lamp, the method comprising:

[0024] Collecting hand data or nail data, determining a nail area according to the collected hand data or nail data, and obtaining coordinates of a target position according to the nail area;

[0025] Move the mobile unit to the target position according to the coordinates of the target position;

[0026] When the moving unit moves to the target position, the curing unit is started to irradiate the target position.

[0027] The present application uses a sensor to detect hand data or nail data, and then confirms the nail area. When the robot arm of the control moving unit moves to the target position of the nail area, the curing unit is started to cure the nail polish. The target position is the position where the curing unit needs to irradiate, that is, the nail area of ​​the hand.

[0028] The curing unit of the embodiment of the present application does not irradiate without blind spots during operation, but only irradiates the target position, thereby improving the irradiation efficiency of the nail lamp. The curing unit is controlled by a robotic arm to cure only the nail area, without affecting other areas of the hand, and the utilization rate of the curing unit is very high.

[0029] In one embodiment, obtaining the coordinates of the target position according to the nail area includes:

[0030] The robot arm coordinate system and the sensor coordinate system are calibrated to be the same, and the coordinates of the nail area in the sensor coordinate system are obtained. The coordinates of the nail area in the sensor coordinate system are the coordinates of the target position;

[0031] or,

[0032] According to the relationship between the sensor coordinate system and the robot coordinate system, the coordinates of the nail area in the robot coordinate system are calculated through the coordinates of the nail area in the sensor coordinate system. The coordinates of the robot coordinate system are the coordinates of the target position. The nail lamp controls the curing unit to work at the specified position through the movement of the robot arm, and calibrates the robot coordinate system and the sensor coordinate system to be the same for the movement of the robot arm.

[0033] Alternatively, for ease of calculation, the relationship between the sensor coordinate system and the robotic arm coordinate system is obtained before the robotic arm obtains the target position coordinates, and the coordinates of the target position are converted according to the relationship between the two coordinate systems for movement of the robotic arm.

[0034] In one of the embodiments, the nail lamp control method further includes: when the robotic arm moves to the target position and the curing unit is started to irradiate the target position, if the target position changes, the robotic arm moves to the changed target position. When applied, the hand position is not always stationary. When the hand position moves and changes, the new target position of the nail area after the change is obtained, and the robotic arm is moved to the new position. The robotic arm can track the nail area in real time, and the user can move freely in the working area of ​​the nail lamp without affecting the curing effect. In one of the embodiments, when obtaining the coordinates of the nail area in the sensor coordinate system, the nail area is first located in the hand data, and the coordinates of the center point of each nail area in the sensor coordinate system are calculated.

[0035] Since the nail has a certain area, each nail area is not a point value in the coordinate system, including a certain range, and the movement of the robot arm will have a certain deviation. After locating the nail area, confirm the center point of the nail area and obtain the coordinates of the center point of the nail area. At this time, the coordinates of the target position are the coordinates of the center point of the nail area. The robot arm moves according to the coordinates of the target position, which can achieve accurate movement and improve the accuracy of nail lamp curing. If the nail area exceeds the most energy-intensive area of ​​the curing unit, that is, the working area of ​​the curing unit, the robot arm can swing at high speed along the X-axis and Y-axis directions so that the working area of ​​the curing unit can cover the nail area.

[0036] After the user places his hand into the working area of ​​the nail lamp to activate its operation, the present application confirms the nail area based on the hand data sensed by the sensor, obtains the coordinates of the nail area in the robotic arm coordinate system based on the positional relationship between the sensor and the robotic arm, moves the robotic arm to the target position based on the obtained coordinate information, and then turns on the curing unit to cure the nail polish.

[0037] The nail lamp control method provided in the present application can accurately identify the nail part, and move and fix the curing unit UV lamp according to the target position coordinates. During operation, the UV light of the curing unit only covers the nail area. When using the nail lamp of the present application, other hand areas except the nails will not be irradiated when doing manicure, that is, they will not be tanned. The nail lamp of the present application is very simple to use. The user does not need to wear gloves or perform additional operations when using it. The use process is seamless. Just put your hands in the working area of ​​the nail lamp. No special cooperation is required, and there is no need to change the existing use habits of the nail lamp. It is very convenient to use.

[0038] The nail lamp provided by the present application can precisely control the UV illumination area, realize on-demand operation, and improve the utilization efficiency of the light. When the nail lamp is irradiating, only a relatively small amount of energy is needed to generate UV light to achieve a good effect, and it is no longer necessary to illuminate the entire nail lamp without any blind spots, which not only saves energy, but also avoids the temperature inside the nail lamp from rising, which makes the user feel uncomfortable during the lighting process, and objectively improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 This is a schematic diagram of the structure of a nail art lamp according to an embodiment;

[0041] Figure 2 This is a schematic diagram of the control structure framework of a nail lamp according to an embodiment;

[0042] Figure 3 A schematic diagram of the positions of a robotic arm and a camera according to an embodiment;

[0043] Figure 4 This is a flow chart of a method for controlling a nail lamp according to an embodiment;

[0044] Figure 5 (a) is a schematic diagram of a camera extracting hand data according to an embodiment. Figure 5 (b) is a schematic diagram of a camera extracting a nail area according to an embodiment;

[0045] Figure 6 A schematic diagram of calculating the center position of a nail according to an embodiment.

[0046] Description of reference numerals:

[0047] 1. Support unit; 2. Base; 3. Sensor; 4. Robotic arm; 5. Curing unit; 6. Control unit. DETAILED DESCRIPTION

[0048] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0050] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. Both the first element and the second element are elements, but they are not the same element.

[0051] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0052] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0053] See also Figure 1 , Figure 1 FIG. 1 shows a schematic diagram of the structure of a nail lamp in one embodiment of the present invention. An embodiment of the present invention provides a nail lamp, which includes a supporting unit 1, and the supporting unit 1 is used to connect the moving unit.

[0054] A control unit 6, used to control the detection unit, the moving unit and the curing unit 5;

[0055] A detection unit, used to collect hand data or nail data, determine a nail area according to the collected hand data or nail data, and obtain the coordinates of a target position according to the nail area;

[0056] A moving unit, used for moving to a target position according to the coordinates of the target position;

[0057] The curing unit 5 is used to start the curing unit 5 to irradiate the target position when the moving unit moves to the target position.

[0058] The nail lamp disclosed in the embodiment of the present application confirms the nail area through the sensor of the detection unit, moves the curing unit 5 to the target position through the moving unit, and then starts to irradiate the target position to achieve the curing of the nail polish. The target position is the position that the curing unit 5 needs to irradiate, that is, the nail area of ​​the hand. In order to improve the working efficiency and energy utilization of the nail lamp and avoid energy waste, the curing unit 5 of the embodiment of the present application does not irradiate without dead angles during operation, but only irradiates the target position, which can not only achieve accurate irradiation, but also save energy and be energy-saving and environmentally friendly.

[0059] In one embodiment, the mobile unit includes a base 2 and a mechanical arm 4, the base 2 is connected to the supporting unit 1, the first end of the mechanical arm 4 is arranged on the base, and the second end of the mechanical arm is connected to the curing unit 5. The detection unit, the mobile unit, the curing unit and the supporting unit 1 make the nail lamp form a whole, and the positions of the detection unit, the mobile unit, the curing unit and the supporting unit 1 are not limited in this application.

[0060] like Figure 1 As shown, the detection unit, the moving unit and the curing unit 5 are all arranged on the nail lamp supporting unit 1.

[0061] In one embodiment, the control unit 6 is arranged together with other nail lamp components so that the nail lamp forms a whole.

[0062] When the nail lamp is in operation, the detection unit detects the hand position or the nail position and obtains the coordinates of the target position according to the nail area. The control unit 6 sends the coordinates of the target position to the mechanical arm 4 of the mobile unit, and the mechanical arm 4 is controlled by the control unit 6 to move to the target position on the base 2 of the mobile unit. The curing unit 5 is used to cure the nail polish by irradiating UV light.

[0063] Taking into account the setup cost and the low requirement for accuracy, the detection unit can also achieve the technical effect of this embodiment by estimating the hand position. The implementation principle of the detection unit's estimation of the hand position and the nail position is similar to the detection unit's detection of the hand position and the nail position, which will not be repeated here.

[0064] In one embodiment, the sensor 3 of the detection unit is a camera, and the hand data obtained by the camera when detecting the hand area is the image data of the hand. The control unit 6 confirms the finger area and the nail area according to the hand image data obtained by the detection unit, and obtains the coordinates of the target position according to the nail area. The control unit 6 controls the robot arm 4 to move on the base 2 according to the received coordinates of the target position, and starts the curing unit 5 when the robot arm 4 moves to the target position.

[0065] In one embodiment, when the sensor 3 of the detection unit is a camera, the camera can also directly obtain nail data, that is, nail image data. The control unit 6 confirms the nail area according to the nail image data obtained by the detection unit, and obtains the coordinates of the target position according to the nail area. The control unit 6 controls the robot arm 4 to move on the base 2 according to the received coordinates of the target position. When the robot arm 4 moves to the target position, the curing unit 5 is started.

[0066] See also Figure 2 , Figure 2 A schematic diagram of the control structure framework of a nail art lamp in an embodiment of the present invention is shown. Figure 1 The control unit 6 includes a main controller and a robot arm controller, such as Figure 2 As shown, the main controller is connected to the camera, the robot arm controller and the curing unit 5 respectively, and the curing unit 5 is Figure 2 The focusing UV LED shown, the robotic arm controller is connected to the robotic arm 4 , the main controller is used to control the camera, the robotic arm controller and the curing unit 5 , and the robotic arm controller is used to control the robotic arm 4 .

[0067] The main controller is connected to the camera via a USB interface, receives image data acquired by the USB camera, and calibrates the image data acquired by the camera.

[0068] The main controller is connected to the robotic arm controller via the serial port. The main controller confirms the finger area and nail area based on the hand image data obtained by the camera. The camera obtains the coordinates of the target position based on the nail area. The main controller sends the coordinate information of the target position to the robotic arm controller via the serial port. The robotic arm controller controls the robotic arm 4 to move to the target position on the base 2 based on the received coordinate information of the target position.

[0069] The main controller is connected to the curing unit 5 via PWM (Pulse Width Modulation, pulse width modulation technology), and the main controller controls the start or shut down of the curing unit 5, wherein the start includes the realization of any brightness.

[0070] There is no restriction on the specific connection method between the main controller and the connection objects such as the camera, the robot arm controller and the curing unit 5, and in actual application, it can also be customized and adjusted according to the connection objects.

[0071] See also Figure 3 , Figure 3 FIG. 4 shows a schematic diagram of the positions of the mechanical arm 4 and the camera 3 according to an embodiment of the present invention. Figure 3 As shown, the robot arm 4 is a two-axis structure, and the two-axis robot arm means that the robot arm 4 can swing along two orthogonal directions. Since the hand is not in a plane, the use of a two-axis robot arm can accurately confirm the target position.

[0072] In one embodiment, the robot arm 4 can also be a multi-axis or single-axis robot arm 4, that is, the robot arm 4 can realize translation of any number of axes, or different structures such as translation plus swing, as long as the direction of UV light irradiation of the curing unit 5 can be controlled.

[0073] In one embodiment, the sensor 3 of the detection unit may also be of other types, and the sensor 3 is used to sense and start the control of the nail lamp, obtain hand data or nail data, and then confirm the nail area, and calculate the coordinates of the target position according to the nail area. The form of the detection unit sensor 3 is not limited, and at least one of an ultrasonic sensor, a pressure-sensitive film, a TOF sensor, a 3D detection sensor, an infrared sensor, or a touch sensor can be used.

[0074] The coordinates of the target position are obtained according to the nail area, and the robot arm coordinate system and the sensor coordinate system are calibrated to be the same, so that the robot arm 4 can move to the target position according to the hand data and the nail area obtained by the sensor 3. The coordinates of the nail area in the sensor coordinate system are the coordinates of the target position. The nail lamp controls the curing unit 5 to work at the specified position through the movement of the robot arm 4, and calibrates the robot arm coordinate system and the sensor coordinate system to be the same for the movement of the robot arm 4.

[0075] In one embodiment, the coordinates of the target position are obtained according to the nail area, based on the relationship between the sensor coordinate system and the robot coordinate system, and the coordinates of the nail area in the robot coordinate system are calculated through the coordinates of the nail area in the sensor coordinate system, and the coordinates of the robot coordinate system are the coordinates of the target position. For the convenience of calculation, the relationship between the sensor coordinate system and the robot coordinate system is obtained before the robot controller obtains the coordinates of the target position, and the coordinates of the target position are converted according to the relationship between the two coordinate systems for the movement of the robot 4. At this time, the robot coordinate system and the camera coordinate system do not need to be calibrated and overlapped, but the target position coordinates are calculated through the relationship between the sensor coordinate system and the camera coordinate system. The coordinates of the image data obtained by the camera are converted by calculation in the control unit 6, as long as the robot 4 can be moved to the target position.

[0076] In one embodiment, the detection unit is disposed on the support unit 1. Generally speaking, when the user extends the hand into the working area of ​​the nail lamp, the detection unit is disposed above the hand, and the detection unit can be connected to the mobile unit at this time. Under this structure, the coordinate acquisition and calculation of the target position are simple. For nail lamps of various shapes, the detection unit can also be disposed at any position instead of above the hand to be detected, and the calculation of the target position coordinates needs to be realized in combination with the positional relationship between the detection unit and the mobile unit.

[0077] The control unit 6 obtains the positional relationship between the detection unit and the mobile unit mechanical arm 4, and then confirms the relationship between the detection unit coordinate system and the mobile unit mechanical arm coordinate system. The detection unit detects or estimates the target position through calculation to obtain the coordinates of the target position.

[0078] In one embodiment, the curing unit 5 is a focusing UV lamp. When the curing unit 5 is a focusing UV lamp, it can be any type of focusing UV lamp, such as a focusing UV lamp tube, a focusing UV LED lamp, etc. Generally speaking, the focusing UV lamp is a focusing UV LED lamp bead, and can also be other types of focusing UV lamps, and the focusing UV lamp is used to cure nail polish.

[0079] In one embodiment, the curing unit 5 is a UV system, which is a system consisting of a UV lamp base 2 and a movable reflector. The UV system can also be a fixed light source plus an optical fiber. The UV system can better irradiate nails of different shapes or positions, and can achieve irradiation more accurately.

[0080] Based on the same inventive concept, an embodiment of the present application also provides a control method for the above-mentioned nail lamp. The implementation solution for solving the problem provided by the method is similar to the implementation solution recorded in the above-mentioned nail lamp device. Therefore, the specific limitations in the embodiments provided below can be referred to the limitations on the nail lamp in the above text and will not be repeated here.

[0081] See also Figure 4 , Figure 4 FIG. 1 shows a flow chart of a method for controlling a nail lamp according to an embodiment of the present invention. Figure 4 As shown, a method for controlling a nail lamp is provided, and the method is applied to Figure 1 Take the nail lamp in the video as an example to illustrate, including the following steps:

[0082] Step 100: collecting hand data or nail data, determining a nail area according to the collected hand data or nail data, and obtaining coordinates of a target position according to the nail area;

[0083] When the nail lamp is not in operation, it is in the standby stage. When the hand is inserted into the designated area inside the nail lamp, the detection unit sensor 3 automatically starts to work after recognizing the hand. The detection unit detects the hand area through the sensor 3 to obtain the hand data. The detection unit is connected to the main controller of the control unit 6 through USB. The main controller receives the image data obtained by the USB camera and calibrates the image data collected by the camera. The detection unit sends the obtained hand data to the control unit 6 through the USB interface, and the control unit 6 processes and confirms the nail area according to the received hand data.

[0084] In addition to obtaining hand data and confirming the nail area, the sensor 3 of the detection unit is also used to sense and start the control of the nail lamp. Taking the camera as an example, when the hand data obtained by the camera is hand image data, the camera sends a signal to the control unit to start the operation of the nail lamp, and the camera sends the obtained hand image data to the control unit 6.

[0085] See also Figure 5 , Figure 5 FIG. 1 is a schematic diagram showing a camera extracting hand data and nail area according to an embodiment of the present invention. Figure 5 As shown, after the main controller in the control unit 6 obtains the hand image data captured by the camera, it confirms the nail position according to the obtained hand image data. Figure 5 (a) shows the main controller based on the hand image data obtained by the camera. Figure 5 (b) shows the nail area confirmed based on the hand data, that is, the end area of ​​each finger.

[0086] The main controller is connected to the robotic arm controller via the serial port. The main controller confirms the finger area and the nail area based on the hand image data obtained by the camera, and obtains the coordinates of the target position based on the nail area. The main controller sends the calculated coordinate information of the target position to the robotic arm controller via the serial port. The robotic arm controller controls the robotic arm 4 to move to the target position on the base 2 based on the received coordinate information of the target position.

[0087] The coordinates of the target position are obtained according to the nail area:

[0088] The robot coordinate system and the sensor coordinate system are calibrated to be the same, and the coordinates of the nail area in the sensor coordinate system are the coordinates of the target position. The nail lamp controls the curing unit 5 to work at a specified position through the movement of the robot 4, and the robot coordinate system and the sensor coordinate system are calibrated to be the same for the movement of the robot.

[0089] See also Figure 6 , Figure 6FIG. 1 is a schematic diagram showing a calculation of the center position of a nail according to an embodiment of the present invention. When obtaining the coordinates of the nail region in the sensor coordinate system, a coordinate system is first established in the hand image data obtained by the camera to locate the extracted nail region, such as Figure 6 As shown, the nail area is located in the hand data, and the coordinates of the center point of each nail area in the sensor coordinate system are calculated. The hand data acquired by sensor 3 confirms that five nail areas are obtained, corresponding to Figure 6 In order to enable the robot arm 4 of the mobile unit to accurately move to the target position, the center of each nail area is calculated, and the center coordinates of each nail area are obtained. The target position coordinates of the five nail areas are Figure 6 (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4) and (X5, Y5) shown in FIG.

[0090] Since the nail has a certain area, each nail area is not a point value in the coordinate system, but includes a certain range, and the movement of the robot arm 4 will have a certain deviation. After locating the nail area, the center point of the nail area is confirmed, and the coordinates of the center point of the nail area are obtained. At this time, the coordinates of the target position are the coordinates of the center point of the nail area. The robot arm 4 moves according to the coordinates of the target position, which can achieve accurate movement and improve the accuracy of nail lamp curing.

[0091] There is no restriction on the calculation method of the nail area center here. Different algorithms can be selected according to the situation in the application, as long as the center of the nail area can be calculated. If the nail area exceeds the most energy-intensive area of ​​the curing unit, that is, the working area of ​​the curing unit, the robot arm can swing at high speed along the X-axis and Y-axis directions so that the working area of ​​the curing unit can cover the nail area.

[0092] In one embodiment, obtaining the coordinates of the target position according to the nail area includes:

[0093] According to the relationship between the sensor coordinate system and the robot coordinate system, the coordinates of the nail area in the robot coordinate system are calculated through the coordinates of the nail area in the sensor coordinate system, and the coordinates of the robot coordinate system are the coordinates of the target position. In order to facilitate calculation, the relationship between the sensor coordinate system and the robot coordinate system is obtained before the robot controller obtains the coordinates of the target position, and the coordinates of the target position are converted according to the relationship between the two coordinate systems for the movement of the robot 4. At this time, the center coordinates of each nail area are converted into robot coordinates in combination with the positional relationship between the camera and the robot 4.

[0094] Step 200: moving the mobile unit to the target position according to the coordinates of the target position;

[0095] The robot arm controller of the control unit 6 controls the robot arm 4 of the mobile unit to move on the base 2 according to the received target position coordinates, and reaches the target position according to the target position coordinate information.

[0096] Step 300: When the mobile unit moves to the target position, the curing unit 5 is started to irradiate the target position;

[0097] When the robot arm 4 of the mobile unit moves to the target position according to the control of the robot arm controller, the control unit 6 controls to start the curing unit 5. The curing unit 5 is connected to the robot arm 4 and follows the movement of the robot arm 4 to the target area. The main controller of the control unit 6 is connected to the curing unit 5 through PWM, and the main controller controls the start or shut down of the curing unit 5, wherein the start includes the realization of any brightness. When the robot arm 4 moves to the target position, the PWM signal controls the start of the curing unit 5 to realize the curing of the nail polish, and controls to shut down the curing unit 5 after the curing unit 5 runs for a period of time.

[0098] In one embodiment, when the robot arm 4 moves to the target position and the curing unit 5 is started to irradiate the target position, if the target position changes, the robot arm 4 moves to the changed target position. In application, the hand position is not always fixed. When the hand position moves and changes, the new target position of the nail area after the change is obtained, and the robot arm 4 is moved to the new position. The robot arm 4 can track the nail area in real time, and the user can move freely in the working area of ​​the nail lamp without affecting the curing effect.

[0099] If the curing unit 5 is a spotlight UV lamp, when the robot arm 4 moves to the target position, the spotlight UV lamp is turned on. At this time, the light spot of the spotlight UV lamp is just irradiated on the nail area to cure the nail polish.

[0100] If the curing unit 5 is a UV system, the UV system includes a UV lamp base and a movable reflector, and the UV system can also be a fixed light source plus an optical fiber. The UV lamp base is used to irradiate UV light, and the movable reflector is used to reflect the UV light to achieve more angles of light irradiation, which can achieve more accurate irradiation.

[0101] The nail lamp control method provided in this embodiment can accurately identify the nail part, and move and fix the curing unit UV lamp according to the target position coordinates. During operation, the UV light of the curing unit 5 only covers the nail area. When using the nail lamp of this embodiment, other hand areas except the nails will not be irradiated when doing manicure, that is, they will not be tanned. The nail lamp of this embodiment is very simple to use. The user does not need to wear gloves or other additional operations when using it. The use process is seamless. Just put your hand into the working area of ​​the nail lamp. No special cooperation is required, and there is no need to change the existing use habits of the nail lamp. It is very convenient to use.

[0102] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0103] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0104] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A nail lamp, characterized in that: include: A supporting unit, used for connecting the moving unit; A control unit, used for controlling the detection unit, the moving unit and the curing unit; A detection unit, used to collect hand data or nail data, determine a nail area according to the collected hand data or nail data, and determine the coordinates of a target position according to the nail area; A moving unit, used for moving to the target position according to the coordinates of the target position, wherein the moving unit comprises a mechanical arm, and a second end of the mechanical arm is connected to the curing unit; a curing unit, when the mechanical arm of the moving unit is controlled by the control unit to move to the target position, the curing unit is started to irradiate the target position, the curing unit is used to cure the nail polish by irradiating UV light, and the UV light of the curing unit when running only covers the nail area, wherein when the nail area exceeds the working area of ​​the curing unit, the mechanical arm swings along the X-axis and Y-axis directions, so that the working area of ​​the curing unit can cover the nail area; The control unit is also used to obtain a new target position of the nail area after the target position changes when the robotic arm moves to the target position and the curing unit is started to irradiate the target position, and move the robotic arm to the new target position.

2. The nail art lamp according to claim 1, characterized in that: The mobile unit also includes: A base is arranged on the supporting unit; the first end of the mechanical arm is arranged on the base.

3. The nail lamp according to claim 1 or 2, characterized in that: The robotic arm is a single-axis or multi-axis robotic arm.

4. The nail art lamp according to claim 1, characterized in that: The detection unit includes a sensor.

5. The nail lamp according to claim 1 or 4, characterized in that: The detection unit is arranged on the supporting unit.

6. The nail art lamp according to claim 2, characterized in that: The curing unit comprises a UV system or a spot UV lamp.

7. A method for controlling a nail lamp, characterized in that: Applied to the nail art lamp according to any one of claims 1 to 6, the method comprises: Collecting hand data or nail data, determining a nail area according to the collected hand data or nail data, and determining the coordinates of a target position according to the nail area; Move the mobile unit to the target position according to the coordinates of the target position; When the moving unit moves to the target position, the curing unit is started to irradiate the target position.

8. The method for controlling a nail lamp according to claim 7, characterized in that: The step of determining the coordinates of the target position according to the nail area includes: The robot arm coordinate system and the sensor coordinate system are calibrated to be the same, and the coordinates of the nail area in the sensor coordinate system are obtained, where the coordinates of the nail area in the sensor coordinate system are the coordinates of the target position; or, According to the relationship between the sensor coordinate system and the robot coordinate system, the coordinates of the nail area in the robot coordinate system are calculated through the coordinates of the nail area in the sensor coordinate system, and the coordinates of the robot coordinate system are the coordinates of the target position.

9. The method for controlling a nail lamp according to claim 7, characterized in that: The method further comprises: When the robot arm in the moving unit moves to the target position and the curing unit is started to irradiate the target position, if the target position changes, the robot arm moves to the changed target position.

10. The nail lamp control method according to claim 8 or 9, characterized in that: When obtaining the coordinates of the nail area in the sensor coordinate system, the nail area is first located in the hand data, and the coordinates of the center point of each nail area in the sensor coordinate system are calculated.

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