Skin detection operation robot system having external pressure detection function

Abstract

The present application relates to a kind of skin detection operation robot systems with external pressure detection function, with processing module, detection end, external actuator, external pressure detection device, and with the auxiliary positioning device for positioning specific part of human body;Detection end is provided with the probe for the skin of specific part of human body, and the front end face of sensor for detecting skin is directly or indirectly against skin when probe contacts skin;External pressure detection device is configured to perceive the first contact pressure of front end face and skin by external pressure detection device when front end face directly or indirectly against skin;External actuator, to drive front end face to move and thus adjust first contact pressure;Probe is configured with internal pressure control device, for controlling the second contact pressure between sensor and skin;Processing module is respectively coupled with external actuator and external pressure detection device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of skin detection, and particularly relates to a skin detection operation robot system with external pressure detection function. BACKGROUND

[0002] Skin detection is of great significance to the fields of beauty, dermatology, etc. With the development of technology, various types of skin detection probes have appeared, each of which has different purposes. For example, some are used for skin component (moisture / oil) content detection, some are used for skin elasticity detection, and some are used for skin gloss detection.

[0003] A common problem with various types of skin detection probes is that the force, position, and angle of each measurement are not uniform. For example, the known EP88108905A discloses a non-invasive acoustic test probe for skin elasticity. The operator detects the skin by pressing the front end of the probe wall against the skin and then pushing the internal probe 4, 5, 6 to contact the skin for detection. The piezoelectric transducer 1, 2, 3 transmits sound pulses to the probe, and the skin elasticity is tested according to the time span of the sound transmission between the probes. In some actual scenarios that require continuous tracking of skin parameters, since the contact of the probe with the skin is manually controlled by the operator, it is impossible to ensure that the same position / angle / force is used for each detection of the skin, and the difference between the data measured before and after cannot be distinguished as being caused by changes in the skin or changes in the position / angle / force.

[0004] US20020029924A1 proposes a measuring device for measuring the elastic properties of a surface structure, noting that for the value of the measurement result it is essential that the measurement results to be compared are taken from the same position / angle of the surface structure (skin), and further using a marking manner, two holes 40 are arranged on the circumference of the annular flange 35 of the outer wall, for applying a color mark on the surface structure, for example with a pen, so as to be able to measure at the same position and at the same probe orientation with a greater time interval, in addition, the annular flange is provided with marks 36 having a predetermined angular distance from each other, corresponding to the marks 38 on the outside of the shell of the probe 2, so that the measuring device can be repeatedly positioned on the same measurement position and the same angular position on the surface structure. US20020029924A1 can solve the same position / angle, but cannot solve the same pressure problem, and ensuring the same actual pressure is particularly important for skin measurement. The reason is that the skin itself has a certain elastic modulus, and in the study of Stiffness and Elasticity of the Masticatory and Facial Expression Muscles in Patients with the Masticatory Muscle Pain, Korean J Oral Med, Vol. 34, No. 3, 2009, the elasticity of human skin is about 0.70±0.46N, and whether it is a probe for measuring skin elasticity or a probe for other measurement purposes, in addition to the sensor (such as the probe mentioned above) in the probe needing to be stretched out through the hole in the front end face and pressed onto the skin, the front end face of the probe shell (such as the front end face of the protective shell 12 of EP88108905A, the front end face of the annular flange 35 of US20020029924A1) will also press the human skin during detection, and as mentioned above, the skin has an elastic modulus and is related between different parts of the skin, and the extrusion of the front end face on the skin covered by it will cause the elasticity / hydration / oil content of the skin in the hole of the front end face to change, and the degree of change is related to the degree of extrusion, which will bring errors and more direct interference to the detection of the sensor. In actual tests, we found that even if the human skin is measured at the same angle at the same position within a short time, the measurement data when the front end face does not contact the skin / just contacts the skin is different from the measurement data when the front end face presses the skin.

[0005] Therefore, in skin detection, it is very important to ensure the same external pressure (pressure between the front end face and the skin) in each detection to maintain a stable measurement environment (uniform environment standard) for the sensor in the inner ring in each measurement. At the same time, the control of the internal pressure (pressure between the sensor and the skin) is also important for human safety, such as avoiding the puncture injury of the sensor to the human skin under excessive pressure, and realizing the safety of measurement.

[0006] On the other hand, the purchasing objects of the skin detection equipment are basically divided into two categories of detection institutions and users, and the two have differences in the focus of the product and the purchasing power. Under the premise of ensuring the measurement accuracy, the user end focuses on the price, home use, portability and the like, and the detection institution is biased towards full automation, convenience and detection stability. The difference directly affects the design requirements and manufacturing cost of the product in the manufacturing of the enterprise. SUMMARY

[0007] The purpose of the present application is to provide a full-automatic control robot system suitable for detection institutions, which can automatically and conveniently realize the uniformity of the force, position and angle of each skin detection, maintain a stable measurement environment for the sensor in each measurement, avoid introducing measurement errors due to different pressures, especially different external pressures, and at the same time ensure the measurement safety.

[0008] To this end, a skin detection operation robot system with an external pressure detection function is provided, which comprises a processing module, a detection end, an external actuator, an external pressure detection device, and an auxiliary positioning device for positioning a specific part of a human body; the detection end is provided with a probe for detecting the skin of the specific part of the human body, and a front end face of the probe directly or indirectly abutting against the skin when the sensor for detecting the skin of the probe contacts the skin; the external pressure detection device is configured to perceive the first contact pressure between the front end face and the skin through the external pressure detection device when the front end face directly or indirectly abuts against the skin; the external actuator is used to drive the front end face to move so as to adjust the first contact pressure; the probe is provided with an internal pressure control device for controlling the second contact pressure between the sensor and the skin; and the processing module is coupled with the external actuator and the external pressure detection device, respectively.

[0009] The present application has the following advantages:

[0010] (1) After the specific part of the human body is positioned by the auxiliary positioning device, the external actuator is controlled to drive the detection end to detect at the same position / angle, and the first contact pressure (external pressure) between the front end face and the skin is fed back by the external pressure detection device during the process, and the first contact pressure is adjusted to be consistent with the previous measurement by the external actuator, so that a uniform external pressure measurement environment is maintained for the sensor in each measurement, and measurement errors are avoided;

[0011] (2) The internal pressure control device is used to control the second contact pressure (internal pressure) between the sensor and the skin to ensure the measurement safety;

[0012] (3) The overall operation process is fully automated, convenient and stable, and is suitable for detection institutions.

[0013] In the present application, the external actuator is configured as a movable mechanical arm, which drives the whole detection end to move in ZXY direction and angle variable movement, realizing high degree of freedom movement control; the sensor can be configured to be hidden under the front end face, and when in use, it is stretched out to contact the skin, and when not in use, it is hidden to realize protection, or the sensor is configured to be fixed on the front end face and the outer wall is flush with the front end face.

[0014] As an improved scheme, the probe is configured with an internal pressure detection device coupled to the processing module, which is used to detect the second contact pressure (internal pressure) between the sensor and the skin, achieving the purpose of internal and external double detection. Further, the internal pressure control device is configured as an internal actuator coupled to the processor, which is provided in the probe and can be a component such as a motor or a micro-motion device, used to drive the sensor on the probe to move precisely and thus adjust the second contact pressure between the sensor and the skin. By configuring the internal actuator with the detection feedback of the second contact pressure, precise control of the internal pressure under the control of the external pressure is realized, ensuring that the internal pressure used for each measurement is also consistent. At this time, the external actuator realizes large amplitude, high degree of freedom and angle movement control, and the internal actuator is used for fine tuning. In the present application, the internal pressure control device can also be used with a prompt device, such as stopping adjusting the sensor position when it is detected that the internal pressure is consistent with the last time. In another embodiment, the internal pressure control device can also be configured as an elastic body such as a spring, and the sensor is fixed to the probe through the elastic body to elastically control the second contact pressure within a set range. Compared with the above-mentioned precise control scheme, this scheme achieves general control of the internal pressure (elastic control within a certain range) and brings structural and cost advantages.

[0015] As another improved scheme, the auxiliary positioning device is configured as a fixed support to assist in fixing a specific part of the human body, such as a support for holding the chin on an instrument for detecting eye vision, which is used to confirm the position of the human body during the detection process, and the probe is accurately moved to the detection position for measurement by the external actuator. More preferably, the fixed support is further configured as a movable folding chair, which moves along a track and is provided with double limit positions, so as to realize detection in different ways such as sitting and lying down, and a neck fixing device is additionally provided at the corresponding neck of the movable folding chair to realize positioning. And / or the auxiliary positioning device is configured as a visual scanning imaging system coupled to the processing module, which scans a specific part of the human body to confirm the target detection position by 3D scanning imaging technology, and the processing module controls the movement of the mechanical arm according to the target detection position, so as to accurately move the probe to the detection position for measurement. Further, the visual scanning imaging system is composed of three groups of scanning cameras, which realize all-around detection of three sides of the human body, and thus realize accurate construction of the human body model. The three groups of scanning cameras are arranged on the configured main support, and the height of the main support is adjustable, so as to match different body types for accurate scanning and positioning.

[0016] In the present application, the number of external pressure detection devices is configured to be at least two, and is arranged around the probe to take into account the circumferential positions of each position to ensure the uniformity of detection.

[0017] Further, to avoid the measurement error of the sensor caused by the additional object between the sensor and the skin, the internal pressure detection device adopts a capacitive pressure sensing component to indirectly measure the contact pressure (it is not suitable to adopt a resistance type to avoid the need for a pad between the electrode and the skin). Among them, the capacitive pressure sensing component can indirectly reflect the pressure through area / or distance, for example:

[0018] For the scheme that uses distance to reflect pressure can be realized in the following form: the pressure sensing component is configured to contain at least a first distance detection electrode and a second distance detection electrode, one side of the first base body is used to accommodate the sensor, the first distance detection electrode is fixed to the side of the first base body away from the sensor, and the second distance detection electrode is arranged along the moving direction of the first base body and is at least partially or entirely aligned with the first distance detection electrode; the capacitive digital conversion circuit (CDC) is coupled to the first distance detection electrode and the second distance detection electrode to obtain the mutual capacitance between them; the processing module is used to output the moving distance information of the first base body according to the mutual capacitance between the first distance detection electrode and the second distance detection electrode. Since the sensor is close to the skin, the movement of the first base body and the second contact pressure will form a proportional relationship, and by using this feature, during operation, the movement of the first base body changes the distance between the first distance detection electrode and the second distance detection electrode, thereby causing the mutual capacitance of the two to change. The processing module calculates the moving distance of the first base body according to the mutual capacitance change, and then converts the pressure data, achieving the purpose of indirect measurement. At this time, the distance detection electrode for measuring pressure is located on one side of the first base body, and the sensor is located on the other side, and the two do not interfere with each other. More preferably, to avoid the first distance detection electrode from being staggered or inclined relative to the second distance detection electrode, the pressure sensing component is provided with a guide column, and the first base body moves in the direction guided by the guide column. The specific structure of the implementation can be configured as the first base body being sleeved on the guide column.

[0019] For the scheme that uses area or even area and distance together to reflect pressure, a two-dimensional force structure as shown in patent CN202223551426.5 can be used. A cylindrical or semi-cylindrical curved surface elastic upper electrode in the strip-shaped flexible multifunctional layer is fixed on the side of the first base body away from the sensor (the cylindrical or semi-cylindrical curved surface faces away from the sensor), and at least two lower electrodes distributed on both sides of the strip are arranged below the upper electrode. Different capacitances are formed between the upper electrode and the lower electrode to reflect the components of force in different directions. An insulating layer is arranged between the upper electrode and the lower electrode, and the downward projection of the upper electrode covers at least part of the area of each lower electrode. When the first base body moves, the upper electrode is deformed in the radial direction of the strip under the force, driving the upper electrode to change the contact area with the insulating layer, and then reflecting the change information of the pressure. Alternatively, a three-dimensional force structure as shown in patent CN201910370967.1 is used to achieve higher resolution measurement. In this scheme, indirect measurement is also achieved, and the pressure detection does not interfere with the skin detection of the sensor.

[0020] Another problem with skin detection probes is that there are many types of probes, and the interfaces of different probes are not unified, which causes the problem that the backend docking equipment is not universal. To solve this problem, a standard connector is arranged on the detection end, which is used to replaceably dock with different probes for detecting human skin, so as to realize the corresponding detection function of the probe and solve the problem of interface unification.

[0021] More specifically, the probe for detecting skin components (moisture / oil) in the skin detection probe, the moisture content in the skin can form moisture on the skin surface, and the oil helps the skin to lock water and inhibit bacteria, etc. The traditional method for detecting moisture or oil in the skin is to use a film measurement method, which uses a film to absorb moisture or oil and then performs standard comparison through an optical method. For example, U.S. Patent No. 4,532,937 discloses a microporous film adhered to the skin for absorbing sebum; U.S. Patent No. 5,119,828 discloses a microporous hydrophobic polymer film that is opaque when the pores are filled with gaseous material, and becomes translucent when the pores are filled with sebum, and uses this characteristic for optical measurement; or German Patent DE29700324U1 discloses skin analysis and evaluation by test film, etc. The film measurement method belongs to indirect measurement, which needs to transfer moisture or oil to the test film for testing, and the transfer process is easily disturbed by various uncertain factors, causing errors. Therefore, a direct measurement method for testing skin moisture has appeared on the market, for example, the corneal measuring instrument of CK, which uses a capacitive measurement method. The mutual capacitance electric field formed by two measurement electrodes penetrates the human skin, and the addition of water causes the dielectric constant in the sensing area to change, thereby reflecting the moisture content in the skin through the measured mutual capacitance value. The main problem of this method is that we want to test the series capacitance C a, and the skin is an outer tissue of the human body, and below the skin there are various conductive substances such as blood, and the collection of all these substances forms a distributed capacitance (human self-capacitance) C w , whether measuring self-capacitance or mutual-capacitance will introduce the human self-capacitance C w , resulting in a series capacitance C a measurement inaccuracy, affecting the accuracy of the measurement, and invasive methods such as cutting part of the skin to isolate the human self-capacitance C w , will also bring measurement errors due to the loss of skin activity after cutting. Therefore, for the skin detection probe, the skin component (moisture / oil) detection probe, i.e. the skin component detection module, can be configured to include at least a first measurement electrode and a second measurement electrode, the first measurement electrode and the second measurement electrode are used to contact the skin through an insulating layer, and the ratio of the series capacitance C a1 between the first measurement electrode and the human body and the series capacitance C a2 between the second measurement electrode and the human body is configured to set a known proportionality coefficient k, the skin detection operation robot system is provided with a capacitance digital conversion circuit coupled to each measurement electrode and obtains a first capacitance and a second capacitance, the first capacitance is configured to be one of a first self-capacitance measurement value obtained through the first measurement electrode, a second self-capacitance measurement value obtained through the second measurement electrode, a third self-capacitance measurement value obtained through the first measurement electrode and the second measurement electrode in parallel, and a first mutual-capacitance measurement value obtained through the first measurement electrode and the second measurement electrode, and the second capacitance is configured to be one of the remaining three; a processing module is used to construct a first equation with the human body-to-ground distributed capacitance C w and the corresponding series capacitance as variables based on the first capacitance, and a second equation with the human body-to-ground distributed C w and the corresponding series capacitance as variables based on the second capacitance, and calculate the series capacitance C a1 or the series capacitance C a2 using the equation set composed of the first equation and the second equation and the proportionality coefficient k to output the component information in the skin. In actual scenarios, when the skin component detection module detects, the first measurement electrode and the second measurement electrode are tightly attached to the skin through the insulating layer, and the distance between the electrode and the skin is fixed, so that only the area ratio of the first measurement electrode and the second measurement electrode after production and manufacturing is set to determine the proportionality coefficient k (the series capacitance of one is C a , and the series capacitance of the other is k*C a ), and on this basis, by measuring the self-capacitance or mutual-capacitance of the two measurement electrodes, since the self-capacitance or mutual-capacitance is composed of C w and C a , a C w and Ca The function equation of C w is eliminated by using two equations to form an equation group, that is, C a is a monotonic function of the first capacitance and the second capacitance, and then the first capacitance and the second capacitance obtained by two measurements are used to solve C a . Since C w is eliminated, the measurement error caused by C w can be eliminated to accurately measure and calculate C a to reflect the skin component content. Moreover, by using a capacitance digital conversion circuit (CDC), such as ADI 7142, ADI 7147, and adopting a delta-sigma modulation method by repeatedly charging and discharging the measured capacitance and comparing it with a reference capacitance (see US Patent Number: 5,134,401), the measured capacitance value is directly converted into a digital value, and the measurement sensitivity of the capacitance can be improved to the level of 1 ff, which can easily meet the measurement sensitivity requirements of the measurement system. In particular, the design of these chips has multiple channels, making the circuit design simple and convenient, thereby effectively reducing the cost and installation difficulty.

[0022] As a further improvement of this improved scheme, the proportionality coefficient k is configured to be equal to 1, and can also be not equal to 1. The scheme in which k is equal to 1 can be realized by setting the first measurement electrode and the second measurement electrode to correspond to the same normal projection area of the human body, and the spacing between the first measurement electrode and the human body is the same as the second measurement electrode. This scheme is more conducive to reducing the calculation power and improving the detection speed, and belongs to the preferred scheme. For the scheme in which k is not equal to 1, the difference in area and / or spacing can be realized, for example, the area of the first measurement electrode is set to half the area of the second measurement electrode, or the spacing between the first measurement electrode and the human body is set to 1 / 3 of the spacing between the second measurement electrode and the human body, etc.

[0023] As a further improvement of this improved scheme, the first capacitance is configured as the first self-capacitance measurement value or the second self-capacitance measurement value, and the second capacitance is configured as the first mutual-capacitance measurement value. At this time, one of the first self-capacitance measurement value and the second self-capacitance measurement value is C s , and the corresponding series capacitance is C a , and the value of the series capacitance of the other is k*C a ; the calculation method of C a is further configured as:

[0024]

[0025] In the formula, C xThe first self-capacitance measurement value, k1 is 0.1-0.9, and k2 is an error allowance value, which is ±5% of the measurement value. In this scheme, the first capacitance is configured as a self-capacitance, and the second capacitance is configured as a mutual capacitance, and a more accurate measurement result is obtained by transforming the self-capacitance and the mutual capacitance.

[0026] Alternatively, as an alternative to the improved scheme, the first capacitance is configured as a first self-capacitance measurement value or a second self-capacitance measurement value, and the second capacitance is configured as a third self-capacitance measurement value, at this time, one of the first self-capacitance measurement value and the second self-capacitance measurement value is C s1 , and the corresponding series capacitance is C a , and the series capacitance of the other is k*C a , C a The calculation method of C

[0027]

[0028] In the formula, C s2 is a third self-capacitance measurement value, k1 is 0.1-0.9, and k2 is an error allowance value, which is ±5% of the measurement value. In this scheme, the first capacitance is configured as a self-capacitance, and the second capacitance is configured as a self-capacitance after changing the area (combining the two electrodes in parallel by using an analog switch), and a more accurate measurement result is obtained by measuring the self-capacitance twice.

[0029] As a further improvement of the improved scheme, the distance between the first measurement electrode and the second measurement electrode is configured to be 0.1mm-2mm, so as to ensure that the two electrodes perceive the temperature and humidity changes in the same space, and avoid the interference caused by the large difference in temperature and humidity at the two electrodes due to the too far distance.

[0030] In the present application, the component can be moisture or oil, and the moisture and oil in the skin are at different depths (water is deep and oil is shallow), and the water and oil are distinguished by detection at different depths. At this time, when measuring oil, the moisture and the human body self-capacitance can be used together as C w by controlling the penetration depth of the electric field, or when calculating the shallow layer (such as the moisture of the epidermis), the moisture of the deeper layer (such as the dermis and / or subcutaneous tissue) and the human body self-capacitance can be used together as C w by controlling the penetration depth of the electric field. And / or, water and oil can be distinguished by changing the excitation frequency (using an excitation frequency sensitive to water and an excitation frequency sensitive to oil).

[0031] Based on this, as a further improvement of the improved scheme, at least three measurement electrodes (including the first and second measurement electrodes) distributed in different positions can be configured, and a capacitive digital conversion circuit is coupled with an analog switch array to selectively combine any two measurement electrodes to form a pair of electrode groups for detecting mutual capacitance. On the one hand, the measurement electrodes are composed of multiple groups of mutual capacitance, which can be switched by the analog switch array to achieve different position group detection, and then take the average to reduce the error caused by the position difference between the measurement times; on the other hand, at least two pairs of electrode groups can be formed by combining on the basis of this structure, and the depth of the electric field lines of the mutual capacitance formed by each pair of electrode groups is different, so as to change the penetration depth of the electric field lines. Specifically, in this structure, the area and / or spacing can be changed, that is, by different selection, the area or spacing of the two electrodes in each pair of electrode groups formed is different, so that the depth of the electric field lines of the mutual capacitance formed by each pair of electrode groups obtained by the CDC is different, and then the state of the skin tissue at different depths or different layers is detected. Among them, the area changing scheme, for example, six electrodes 1-1, 1-2, 1-3, 1-4, 1-5, and 1-6 are set, and the CDC measures the mutual capacitance between 1-2 and 1-3 through the analog switch array, at this time the mutual capacitance electric field line penetration depth is in the shallow layer, and then 1-1 and 1-2 are combined (in parallel), and 1-3 and 1-4 are combined, and the mutual capacitance between the two combined electrodes is measured. The area of the combined electrode increases, and the penetration depth of the electric field line changes. At this time, the skin tissue at different depths in the same position can be tested. Or, first detect the mutual capacitance between 1-1 and 1-2, then combine 1-1 and 1-2, and 1-3 and 1-4 to test the mutual capacitance after the area change, so as to test the skin tissue at different depths in different positions. The spacing changing scheme, the above six electrodes can be equally spaced or unequally spaced, for example, in the equally spaced setting, 1-1, 1-2 are used to test the epidermis, 1-1, 1-4 are used to test the dermis, and 1-1, 1-6 are used to test the subcutaneous tissue; or in order to simplify the wiring, 1-1, 1-2 are used to test the epidermis, 1-3, 1-4 are used to test the dermis, and 1-5, 1-6 are used to test the subcutaneous tissue. As can be seen from the above, on the basis of configuring at least three measurement electrodes distributed in different positions, the CDC and the analog switch array can achieve multiple functional purposes: (1) conveniently reduce the error caused by the position difference between the measurement times by taking the average; (2) conveniently change the spacing and / or area by combining to detect different depths, including the same position and different depths and / or different positions and different depths. In the present application, the analog switch array can use an analog signal router to achieve simple and convenient free combination and switching. The analog signal router data can refer to patent CN202110957486.8, which will not be repeated here.Further, the analog signal router can be integrated with the CDC, such as the ruby chip of CN202110956246.6, to achieve 24-bit high-speed CDC, effective resolution of 21.9 bits, conversion time of 0.5 ms, and high-precision tactile signal acquisition and coding.

[0032] More preferably, the electrode group is configured to include at least two of: a first electrode group, the spacing and / or area of the two electrodes in the first electrode group are configured to enable the mutual capacitance electric field line depth to penetrate to the epidermis of the skin; a second electrode group, the spacing and / or area of the two electrodes in the second electrode group are configured to enable the mutual capacitance electric field line depth to penetrate to the dermis of the skin; a third electrode group, the spacing and / or area of the two electrodes in the third electrode group are configured to enable the mutual capacitance electric field line depth to penetrate to the subcutaneous tissue of the skin. The epidermis, dermis, and subcutaneous tissue together constitute the skin. By configuring the electric field line to penetrate to at least two or even three of them, and cooperating with the CDC and the analog switch array to calculate, a more comprehensive and close reflection of the skin component parameters can be achieved, and selective detection of the state of different layers of tissue can be achieved. In the above-mentioned scheme of changing the area and / or spacing to detect different depths or different layers of skin tissue, the frequency of the excitation signal output from the CDC to the measurement electrode is basically configured to be fixed at a certain frequency. In another scheme for changing the detection depth, the frequency of the excitation signal can also be configured to at least two, for example, between two measurement electrodes with fixed spacing and fixed area, such as between the first measurement electrode and the second measurement electrode, by software configuration in the ruby chip, the excitation signal works at the first frequency in the A time period and works at the second frequency in the B time period. Due to the difference in frequency, the mutual capacitance electric field line penetration depth between the first measurement electrode and the second measurement electrode will also change under the action of the skin effect, thereby achieving measurement of different depths. It is worth noting that, of course, the frequency changing method can also be used on the basis of changing the area and / or spacing to achieve more fine-grained depth control. On this basis, more preferably, the selected frequencies can be configured to have different sensitivities to different components in the skin. For example, the first frequency is sensitive to water and the second frequency is sensitive to oil, so as to distinguish between water and oil.

[0033] As a further improvement of the improved scheme, the skin component detection module further comprises a standard liquid storage device; the standard liquid storage device comprises at least a sealed cavity, a standard liquid corresponding to the component for calibration or differential measurement arranged in the sealed cavity, and a liquid detection electrode for detecting the capacitance value of the standard liquid in different environments; the capacitance digital conversion circuit is coupled with the liquid detection electrode; the processing module is used for correcting the capacitance (self-capacitance, mutual capacitance) obtained by the capacitance digital conversion circuit according to the capacitance value of the standard liquid. When the measured component is water, the standard liquid is a standard water body; when the oil is measured, the standard liquid corresponds to the oil. The liquid detection electrode is arranged to comprise at least two and is distributed on the outer wall of the sealed cavity, and the mutual capacitance of the two liquid detection electrodes is used to detect the capacitance value of the standard liquid in the cavity.

[0034] In the improved scheme, the method for calibration of the standard liquid further comprises detecting the difference between the capacitance value of the standard liquid at the current time and the capacitance value at the initial time, and correcting the capacitance obtained by the CDC according to the change of the reference reflected by the difference. For example, it is assumed that the volume of the standard liquid is configured to correspond to the full range, and the capacitance value of the standard liquid is A at the initial time, which means that the capacitance value A corresponds to the full range. If the capacitance value of the standard liquid at the current time is B, which means that the capacitance changes due to the change of the environment (such as temperature and humidity), the difference between the capacitance values of the standard liquid of the same volume from A to B means that the reference changes, and B corresponds to the full range at this time. Therefore, the capacitance obtained by the CDC needs to be corrected according to the change of the reference.

[0035] In the improved scheme, the method for differential measurement of the standard liquid further comprises differentiating and comparing the capacitance value measured by the standard liquid detection electrode and the capacitance value measured by the user through the digital circuit CDC, which can reduce the measurement error (common mode interference) caused by the change of the environmental factors. The standard liquid is stored in the sealed cavity and does not need to be replaced frequently, which reduces the calibration operation of the user when the skin is detected, achieves calibration while measurement, and is more convenient to operate. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The overall structure of the skin detection operation robot system is shown;

[0037] Figure 2 The structure of the detection end is shown;

[0038] Figure 3-1 The first view of the external pressure detection device is shown;

[0039] Figure 3-2 The second view of the external pressure detection device is shown;

[0040] Figure 4The internal pressure detection device structure schematic diagram is shown.

[0041] Figure 5 The auxiliary positioning device structure schematic diagram is shown.

[0042] Figure 6 The different probe end standard interface structure schematic diagram is shown.

[0043] Figure 7-1 The detection sensor local structure schematic diagram is shown.

[0044] Figure 7-2 The detection electrode and human body to ground distributed capacitance equivalent schematic diagram is shown.

[0045] Figure 7-3 The first capacitance configuration is the self-capacitance measurement value of the first measurement electrode C s1 , and the second capacitance configuration is the self-capacitance measurement value of the second measurement electrode C s2 , and the capacitance distribution diagram is shown.

[0046] Figure 7-4 The first capacitance configuration is the self-capacitance measurement value of the first measurement electrode C s1 , and the second capacitance configuration is the mutual capacitance of the first detection electrode and the second detection electrode, and the capacitance distribution diagram is shown.

[0047] Figure 7-5 The first capacitance configuration is the self-capacitance measurement value of the first measurement electrode C s1 , and the second capacitance configuration is the self-capacitance after the first measurement electrode C s1 and the second measurement electrode C s2 are connected in parallel, and the capacitance distribution diagram is shown.

[0048] Figure 8-1 The electrode group test depth structure schematic diagram with different distances or areas is shown.

[0049] Figure 8-2 The test depth structure schematic diagram of the excitation signal with different frequencies is shown.

[0050] Figure 9-1 The standard liquid storage device structure schematic diagram is shown.

[0051] Figure 10 The switch array schematic diagram of the multi-electrode combination test different depth skin components is shown. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

[0053] As Figure 1As shown, the skin detection operation robot system structure with external pressure detection function mainly includes a detection end 100, an external actuator 200, and an auxiliary positioning device 300. The external actuator 200 as an example can adopt a mechanical arm.

[0054] As shown in the figure, Figure 2 The detection end 100 includes an internal brake 110, a detection sensor 120, an auxiliary positioning shell 130, an internal pressure detection device 140, a front end processing module 150, and an external pressure detection device 180. The detection end 100 is initially positioned by the auxiliary positioning device 300, and is adjusted by the external actuator 200 to make the external surface of the external pressure detection device 180 contact or abut against the human skin, and when reaching the preset first contact pressure range, the detection is started.

[0055] As shown in the figure, Figure 3-1 , Figure 3-2 The external pressure detection device is composed of an external pressure sensor 181, an external pressure first base body 182, an external pressure second base body 183, and an external pressure positioning screw 184. The external pressure sensor 181 needs to be uniformly distributed at least three in the detection center periphery, and the external pressure positioning screw 184 is provided with at least three uniformly distributed in the detection center periphery and is distributed in staggered position with the external pressure sensor 181. When the user's skin contacts and abuts against the external surface of the external pressure first base body 182 (the front end face of the detection end), the external pressure first base body 182 moves in parallel by means of the positioning screw 184, and the external pressure sensor 181 is compressed to deform, and when reaching the preset external pressure value, the external actuator 200 stops the adjusting action. In this embodiment, the compression of the external pressure sensor 181 can be realized by adopting the two-dimensional force structure as shown in the patent CN202223551426.5, or the three-dimensional force structure as shown in the patent CN201910370967.1.

[0056] As shown in the figure, Figure 4 The internal pressure detection device 140 includes a first distance detection electrode 141, a second distance detection electrode 142, a pressure detection guide column 143, and a pressure detection elastic body 144. The detection sensor 120 realizes the Y-direction movement of the pressure sensor 120 by means of 2-4 pressure detection guide columns 143 uniformly distributed around the internal actuator 110, and limits the inclination and rotation. The detection sensor 120 can be axially moved by the internal actuator 110, and the relative position of the detection sensor 120 and the installation plane of the internal actuator 110 is fixed by the pressure detection elastic body 144 providing the axial thrust. At the same time, the distance of the detection sensor 120 from the front end face of the detection end and the pressure between the detection sensor 120 and the skin are obtained according to the change of the mutual capacitance value formed between the first distance detection electrode 141 and the second distance detection electrode 142. The forward step number of the internal actuator 110 is adjusted according to the obtained pressure value feedback information, and the contact pressure of the detection end 100 and the user's skin is accurately controlled to reach the preset value.

[0057] As shown in Figure 5 , the auxiliary positioning device 300 mainly includes a mobile seat 301, a sliding rail 302, a neck fixing device 303, and a 3D scanning imager 304. The user relies on the mobile seat 301 and the sliding rail 302 with a limiting function to realize the positioning of the sitting or lying position. The user realizes the initial positioning of the head through the neck fixing device 303. At least three groups of 3D scanning imagers 304 are arranged in the overall system to realize multi-angle and multi-direction scanning of the user. Combined with three groups of data, the user is accurately constructed into a human body model 1 to confirm the point position relative coordinates of this test. When repeated measurement is performed, the user is scanned by the 3D scanning imager 304 to construct an accurate human body model 2. Through comparison of the human body model 1 and the human body model 2, the accurate test point is found. Through the processing module, an instruction is sent to the actuator 200 to move or rotate to find the previous test position, realize dynamic accurate repeated positioning, and further reduce the measurement error caused by repeated positioning deviation.

[0058] As shown in Figure 6 , a plurality of detection probes can be set for different skin detection items. Different detection probes are connected and fixed with the mechanical arm 201 and can use a standard interface 160. The standard interface 160 internally includes signal output and mechanical fixing buckles, so that the interchangeability of the detection end 100 of different skin detection items can be realized.

[0059] As shown in Figure 7-1 , the detection sensor 120 of the detection end 100 at least includes two detection electrodes 121. Each detection electrode has an insulating layer 122, which includes but is not limited to an attached insulating adhesive paper or an electrode surface layer coating film. The detection electrode 121 at least includes a first measurement electrode C s1 and a second measurement electrode C s2 . C a1 is the series capacitance between the first measurement electrode C s1 and the human body, and C a2 is the series capacitance between the second measurement electrode C s2 and the human body. The first measurement electrode C s1 and the second measurement electrode C s2The first measurement electrode and the second measurement electrode are configured with a known scale factor K. When the scale factor is configured as 1, the first measurement electrode and the second measurement electrode have the same area and the same spacing from the human skin. The skin detection operation robot system is provided with a capacitance-to-digital conversion circuit (CDC) coupled to each measurement electrode and configured to obtain a first capacitance and a second capacitance. The first capacitance is configured as one of a first self-capacitance measurement value obtained by the first measurement electrode, a second self-capacitance measurement value obtained by the second measurement electrode, a third self-capacitance measurement value obtained by the first measurement electrode and the second measurement electrode in parallel, and a first mutual-capacitance measurement value obtained by the first measurement electrode and the second measurement electrode, and the second capacitance is configured as one of the remaining three.

[0060] Figure 7-2 An equivalent schematic diagram of the detection electrode and the human body distributed capacitance is shown. For the convenience of conversion and understanding in the following, for example, the first measurement electrode C s1 The series capacitance between the first measurement electrode C a and the human body is marked as C s2 . a2 The series capacitance between the second measurement electrode C a and the human body can be represented as kC w .

[0061] Figure 7-3 A method of measuring C a using two self-capacitances is shown. Figure 7-3 In the method, the self-capacitance measurement value obtained by the first measurement electrode C s1 is taken as the first capacitance, and the processing module constructs a first equation with the human body distributed capacitance C w and the corresponding series capacitance as variables based on the first capacitance, and then obtains the human body distributed capacitance C The self-capacitance measurement value obtained by the second measurement electrode C s2 is taken as the second capacitance, and a second equation with the human body distributed capacitance C w and the corresponding series capacitance as variables is constructed based on the second capacitance, and then the equation C is obtained. Further, the component information in the skin is output.

[0062] Figure 7-4 A method of measuring C a using a combination of self-capacitance and mutual-capacitance is shown. Figure 7-4 In the method, for example, the self-capacitance measurement value C s1 obtained by the first measurement electrode C s is taken as the first capacitance, and then the equation C is obtained. The second capacitance is configured as a first measurement electrode C s1 The first mutual capacitance measurement value C s2 between the second measurement electrode C x The excitation EXE is a square wave with amplitude Ve, and due to the voltage division of kCa and Cw, the excitation voltage from Ca to Cin is reduced to Ve*k*Ca / (k*Ca+Cw). The essence of the capacitance charge and discharge is the transfer of electric charge, and according to Q=CU, the amount of electric charge is proportional to the voltage, so the actual measured mutual capacitance value is represented as Substituting the obtained mutual capacitance equation can obtain the calculation method of the C w The calculation method of the C a is configured as Further, output the component information in the skin.

[0063] Figure 7-5 The method of combining the self-capacitance and the variable-area self-capacitance to measure C a is shown, for example, Figure 7-5 The self-capacitance measurement value C s1 obtained by the first measurement electrode C s1 is taken as the first capacitance, and the equation is obtained The second capacitance is configured as a third self-capacitance measurement value C s2 , that is, the first measurement electrode C s1 is connected in parallel with the second measurement electrode C s2 , and then the self-capacitance is obtained through the second measurement electrode C s2 , and the equation is obtained The calculation method of the C a is further configured as

[0064] The above C a are all theoretical calculations, and in actual measurement, test errors and allowable tolerances are considered, and k1 and k2 are introduced in the calculation of the C a , wherein k1 is 0.9-1.1, and k2 is an error allowable value, for example, ±5% of the measurement value.

[0065] As Figure 8-1As shown, three groups of electrode groups are configured, the first electrode group is composed of electrodes 1-1 and 1-2, the second electrode group is composed of electrodes 1-3 and 1-4, and the third electrode group is composed of electrodes 1-5 and 1-6. The areas of the three groups of electrodes are different, and the depths of the electric field lines are different, so that the skin components at different depths can be tested. The first electrode group has a small area and shallow electric field line depth, which is used to test the skin components of the epidermal tissue 702. The second electrode group has a moderate area and suitable electric field line depth, which is used to test the skin components of the dermal tissue 703. The third electrode group has a large area and is used to test the skin components of the subcutaneous tissue 704. Similarly, the depth of the electric field line can also be changed by changing the distance.

[0066] As shown in Figure 8-2 , different components of the skin components react differently to excitation signals of different frequencies. At least two frequencies of excitation signals can be configured to detect different components within the same depth range. At the same time, the difference in the frequency of the excitation signal can affect the distribution of the electric field line and thus control the detection depth. At time period A, the excitation frequency is the first excitation frequency, and the depth of the electric field line can measure the skin component capacitance value of the epidermal tissue 702. At time period B, the excitation frequency is the second excitation frequency, and the depth of the electric field line can measure the skin component capacitance value of the dermal tissue 703. The combination of different electrodes and different frequencies can increase the test range and further refine the test depth.

[0067] As shown in Figure 2 , Figure 9-1 , the skin component detection module of the probe end 100 includes a standard liquid storage device 170, which mainly includes a standard liquid detection electrode 171, a standard liquid 172, and a sealed cavity 173. The standard liquid detection electrode 171 can be a pair of detection electrodes attached to the opposite sides of the sealed cavity. In the initial state, the initial capacitance value and the corresponding environmental variable factors are recorded. When the environment changes, the capacitance value changes, and the capacitance value change of the standard liquid detection electrode 171 can be input into the processing module to correct the test results for environmental changes. The standard liquid 172 can be water or standard oil, which is stored in the sealed cavity 173. During the process of detecting the skin components of the user, the capacitance values measured by the standard liquid detection electrode 171 and the capacitance values measured by the user are compared through the digital circuit CDC, which can reduce the measurement error caused by changes in environmental factors. The standard liquid 172 is stored in the sealed cavity 173 and does not need to be replaced frequently, which can reduce the standard operation of the user during skin detection and simplify the operation.

[0068] As shown in Figure 10As shown, the detection end 100 of the skin detection operation robot system contains at least three groups of electrodes, and the mutual capacitance values of different electrode combinations can be tested by the processing module to test the skin components at different depths. When detecting epidermis 702, switches K1, K4, K20, K30 are closed or K5, K8, K20, K30 are closed or K9, K12, K20, K30 are closed, and the electric field lines can measure the epidermis skin component capacitance at three different positions, and the average is obtained to reduce the measurement error caused by positioning error. When detecting dermis 703, switches K1, K3, K6, K8, K20, K30 are closed or K5, K7, K10, K12, K20, K30 are closed or K2, K4, K5, K7, K20, K30 are closed, and the electric field lines can measure the dermis skin component capacitance at two different positions, and the average is obtained to reduce the measurement error caused by positioning error. When detecting subcutaneous tissue 704, switches K1, K3, K10, K12, K20, K30 are closed or K2, K4, K9, K11, K20, K30 are closed, and the electric field lines can measure the subcutaneous tissue skin component capacitance, and increasing the number of electrodes can obtain multiple groups of subcutaneous tissue skin component capacitance values, and then obtain the average to reduce the measurement error caused by positioning error.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited to the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A skin detection operation robot system with external pressure detection function, comprising: a processing module, a detection end, an external actuator, an external pressure detection device, and an auxiliary positioning device for positioning a specific part of a human body; the detection end is provided with a probe for detecting the skin of a specific part of a human body, and a front end surface of the probe directly or indirectly abuts against the skin when a sensor of the probe for detecting the skin contacts the skin; the external pressure detection device is configured to sense a first contact pressure between the front end surface and the skin through the external pressure detection device when the front end surface directly or indirectly abuts against the skin; the external actuator is used to drive the front end surface to move so as to adjust the first contact pressure; the probe is provided with an internal pressure control device for controlling a second contact pressure between the sensor and the skin; the processing module is coupled with the external actuator and the external pressure detection device respectively; the internal pressure control device is configured to be coupled with an internal actuator of the processing module, the internal actuator is used to drive the sensor on the probe to move so as to adjust the second contact pressure between the sensor and the skin, and the sensor is extended and retracted relative to the front end surface through the internal actuator. 2.The skin detection operation robot system according to claim 1, wherein: the probe is provided with an internal pressure detection device coupled with the processing module, and the internal pressure detection device is used to detect the second contact pressure between the sensor and the skin. 3.The skin detection operation robot system according to claim 2, wherein: the internal pressure detection device is configured as a capacitive pressure sensing component. 4.The skin detection operation robot system according to claim 1, wherein: the auxiliary positioning device is configured as a fixing support for assisting in fixing a specific part of a human body; and / or the auxiliary positioning device is configured as a visual scanning imaging system coupled with the processing module, the visual scanning imaging system confirms a target detection position by scanning a specific part of a human body, and the processing module controls the external actuator to move according to the target detection position. The external actuator is configured as a movable mechanical arm. 6.The skin detection operation robot system according to claim 1, wherein: the number of the external pressure detection devices is configured to be at least two, and the external pressure detection devices are arranged around the probe. 7.The skin detection operation robot system according to claim 1, wherein: the detection end is provided with a standard connector for replaceably connecting with different probes for detecting the skin of a human body so as to realize corresponding detection functions of the probes. 8.The skin detection operation robot system according to claim 1, wherein: the skin detection operation robot system is provided with a capacitance-to-digital conversion circuit; at least one of the probes is configured as a skin component detection module for detecting skin components, and a sensor of the skin component detection module is configured to at least include a first measurement electrode and a second measurement electrode. ​ ​ ​ ​ ​ ​ ​ 5. The skin inspection operating robot system according to claim 1, characterized by: ​ ​ ​ ​ ​ ​ ​ ​ The first and second measuring electrodes are configured to contact the skin via the insulating layer, and the ratio of the series capacitance C a1 between the first measuring electrode and the human body and the series capacitance C a2 between the second measuring electrode and the human body is configured to set a known scaling factor k. The capacitance digital conversion circuit is coupled to each of the measurement electrodes and obtains a first capacitance and a second capacitance, the first capacitance is configured to be one of a first self-capacitance measurement value obtained through a first measurement electrode, a second self-capacitance measurement value obtained through a second measurement electrode, a third self-capacitance measurement value obtained through the first measurement electrode and the second measurement electrode in parallel, and a first mutual-capacitance measurement value obtained through the first measurement electrode and the second measurement electrode, the second capacitance is configured to be one of the remaining three; The processing module is configured to construct a first equation with a variable of a corresponding series capacitance based on the first capacitance w , construct a second equation with a variable of the corresponding series capacitance based on the second capacitance w , and calculate the series capacitance C a1 or the series capacitance C a2 based on an equation set composed of the first equation and the second equation and the proportional coefficient k, and output the component information in the skin.

9. The skin inspection operating robot system according to claim 8, characterized by: The distance between the first measurement electrode and the second measurement electrode is configured to be 0.1mm-2mm.

10. The skin inspection robot system of claim 8, wherein: The skin component inspection module is provided with at least three measurement electrodes distributed at different positions; The capacitance digital conversion circuit is coupled to each of the measurement electrodes through an analog switch array to selectively combine any two measurement electrodes to form an electrode group for detecting mutual capacitance.

11. The skin inspection robot system of claim 10, wherein: There are at least two pairs of electrode groups, and each pair of electrode groups forms mutual capacitance with different electric field line depths.

12. The skin inspection operating robot system according to claim 11, characterized by, The electrode groups are configured to include at least two of: A first electrode group, in which the distance and / or area between the two electrodes are configured to enable the mutual capacitance electric field line depth to penetrate into the epidermis of the skin; A second electrode group, in which the distance and / or area between the two electrodes are configured to enable the mutual capacitance electric field line depth to penetrate into the dermis of the skin; A third electrode group, in which the distance and / or area between the two electrodes are configured to enable the mutual capacitance electric field line depth to penetrate into the subcutaneous tissue of the skin.

13. The skin inspection robot system of claim 10, 11 or 12, wherein: The excitation signal output by the capacitance digital conversion circuit to the electrode groups is configured to include at least two different frequencies.

14. The skin inspection robot system of claim 13, wherein: Each of the frequencies has different sensitivity to different components in the skin.

15. The skin inspection robot system of claim 8, wherein: The skin component inspection module further includes a standard liquid storage device; The standard liquid storage device includes at least a sealed cavity, a standard liquid corresponding to the component for calibration or differential measurement arranged in the sealed cavity, and a liquid detection electrode for detecting the capacitance value of the standard liquid under different environments; The capacitance digital conversion circuit is coupled to the liquid detection electrode; The processing module is configured to correct the series capacitance C a1 or the series capacitance C a2 according to the capacitance value of the standard liquid.

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