Multi-degree-of-freedom sleep aiding device and accurate positioning control method thereof

Abstract

The invention relates to the technical field of light stimulation sleep aiding devices, in particular to a multi-degree-of-freedom sleep aiding device and a precise positioning control method thereof.The multi-degree-of-freedom sleep aiding device comprises a base, the base comprises a base disc and a hanging lug, and the two sets of free ends of the hanging lug are symmetrically connected to the left side and the right side of the upper portion of the base disc; the center of the basal disc is also provided with a multi-degree-of-freedom stimulation head; according to the multi-degree-of-freedom sleep aiding device and the precise positioning control method thereof, if the first lamp bead is matched with the combination of light stimulation and light scanning, the multi-degree-of-freedom sleep aiding device has multiple purposes and is low in cost; if an auxiliary assembly, a plurality of second lamp beads and a plurality of second light sensors are arranged at a certain distance from the auricle, contour scanning and drawing can be quickly and efficiently carried out, and a specific position is judged according to a scanned auricle scanning and drawing result; the multi-degree-of-freedom stimulation head adopts gear transmission and can be adapted to accurate positioning of specific positions under auricle shapes of different users.

Description

Technical Field

[0001] The present invention relates to the technical field of sleep aid devices, and in particular to a multi-degree-of-freedom sleep aid device and a precise positioning control method thereof. Background Art

[0002] As we all know, with the increasing pressure of work and life, many people face sleep problems such as difficulty falling asleep and shallow sleep. At present, CES transcranial electrical stimulation and drugs are often used in the market to solve users' sleep problems, but these solutions have some problems in safety, effect and user experience. At present, there are sleep monitors on the market to solve sleep problems. Studies have shown that stimulating the ear point-vagus nerve area can help solve sleep problems, while existing sleep monitors mostly use electrical stimulation structures for this area to work, and there are also problems such as inaccurate positioning, obvious stimulation, and poor safety. Summary of the invention

[0003] The first technical problem to be solved by the present invention is to provide a multi-degree-of-freedom sleep aid device that can automatically adjust the action position and improve the positioning accuracy of the action position in response to the above-mentioned prior art.

[0004] The second technical problem to be solved by the present invention is to provide a precise positioning control method for the aforementioned multi-degree-of-freedom sleep aid device in view of the above-mentioned prior art.

[0005] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: a multi-degree-of-freedom sleep-aiding device, including a base, characterized in that it also includes a driving arm that can swing with multiple degrees of freedom and a stimulation head, the first end of the driving arm is connected to the base, and the stimulation head is arranged at the second end of the driving arm.

[0006] The structure is simple. The driving arm includes an initial driving component for realizing left and right swing driving, an output component for realizing up and down swing driving, and at least one group of meshing extension driving components transmission-connected between the initial driving component and the output component.

[0007] Preferably, the initial drive assembly comprises a fixed frame, a first motor and a first driving gear, the first motor is arranged on the fixed frame, and the first driving gear is rotatably connected to the fixed frame and connected to the driving end of the first motor;

[0008] The extension drive assembly includes a first non-full-tooth transmission gear, a second motor, an extension frame, and a second driving gear.

[0009] One end of the first transmission gear in the extension drive assembly close to the initial drive assembly is meshed with the first driving gear, the other end of the first transmission gear is connected to one end of the extension frame, the other end of the extension frame is rotatably provided with a second driving gear, a side wall of one side of the extension frame is provided with a second motor connected to the second driving gear, the first transmission gear is hinged to the fixed frame through a first connecting rod, the extension drive assemblies are connected through a second connecting rod, one end of the second connecting rod is hinged to the other end of the extension frame of the extension drive assembly, and the other end of the second connecting rod is fixedly connected to the first transmission gear of the rear end drive assembly; the driving direction of the second driving gear in the extension drive assembly close to the output assembly is perpendicular to the driving direction of the first driving gear;

[0010] The output assembly includes a non-full-tooth second transmission gear and an output head, one end of the second transmission gear is meshed with the second driving gear in the extension drive assembly close to the output assembly, the other end of the second transmission gear is connected to the output head, the second transmission gear is connected to the extension frame of the extension drive assembly through a third connecting rod, one end of the third connecting rod is hinged to the extension frame, and the other end of the third connecting rod is hinged to the center of the second transmission gear; the stimulation head is fixed on the output head.

[0011] In order to conveniently hang it on the ear of the user for use, the base includes a base plate and a hanging ear, the driving arm is arranged on the base plate, and the hanging ear is connected to the side wall of the base plate.

[0012] Preferably, the stimulation head comprises a first lamp bead and a first light sensor, the first lamp bead is provided with a through hole, and the first light sensor is embedded in the through hole.

[0013] In order to more accurately determine the action position of the stimulation head, an auxiliary component is arranged on the base, and the auxiliary component includes a plurality of second lamp beads and a plurality of second light sensors arranged alternately in a ring shape on the base.

[0014] Preferably, the first lamp beads and the second lamp beads are infrared lamp beads.

[0015] Preferably, the stimulation head comprises a third lamp bead and an image recognition camera, the third lamp bead is provided with a through hole, and the image recognition camera is embedded in the through hole.

[0016] Preferably, the third lamp beads are all infrared lamp beads.

[0017] The technical solution adopted by the present invention to solve the above second technical problem is: a precise positioning control method for a multi-degree-of-freedom sleep aid device, characterized in that: the multi-degree-of-freedom sleep aid device as described above is adopted, the first lamp bead is used to perform light stimulation on the action position, and the driving arm is controlled to adjust the action position of the stimulation head based on the detection of the light reflection intensity of the first lamp bead; or

[0018] The multi-degree-of-freedom sleep aid device as described above is used to determine the action position based on the image recognition camera, and then control the driving arm to adjust the action position of the stimulation head.

[0019] Preferably, when the multi-degree-of-freedom sleep aid device as described above is used, the precise positioning control method of the multi-degree-of-freedom sleep aid device includes the following steps:

[0020] Step m1, determine the specific position of the desired stimulation and set the coordinate system position H;

[0021] Step m2, the driving arm drives the stimulation head to move, so that the first lamp bead moves to a specific coordinate system position H;

[0022] Step m3, the first lamp starts to work to stimulate the acupuncture points, with an initial irradiation angle of A1 and an initial irradiation intensity of B1;

[0023] Step m4, the first light sensor collects the light reflection intensity C1 of the first lamp bead;

[0024] Step m5, calculating the relative distance E1 of the local auricle area illuminated by the first lamp bead according to the light reflection intensity C1;

[0025] Step m6, the first light sensor collects the light reflection angle D1 of the first lamp bead;

[0026] Step m7, calculating the relative angle F1 of the local auricle area illuminated by the first lamp bead according to the light reflection angle D1;

[0027] Step m8, the system compares the stimulation distance E1, the stimulation angle F1 with the set optimal stimulation distance E3, the optimal stimulation angle F3 in real time to determine whether they are consistent. If they are inconsistent, the system controls the driving arm to drive the stimulation head to move and adjust the position of the stimulation head until the distance E1, the stimulation angle F1 are consistent with the set optimal stimulation distance E3, the optimal stimulation angle F3;

[0028] Step m9, stimulation head action time T;

[0029] Step m10: Reset completed.

[0030] Preferably, an auxiliary component is arranged on the base, and the auxiliary component includes a plurality of second lamp beads and a plurality of second light sensors arranged alternately in a ring shape on the base;

[0031] The step m1 comprises the following steps:

[0032] Step n1, the second lamp bead works to illuminate the auricle;

[0033] Step n2, the second lamp bead has an initial irradiation angle A2 and an initial irradiation intensity B2;

[0034] Step n3, the second light sensor collects the light reflection intensity C2 of the second lamp bead;

[0035] Step n4, calculating the relative distance E2 of the local auricle area illuminated by the second lamp bead according to the light reflection intensity C2;

[0036] Step n5, the second light sensor collects the light reflection angle D2 of the second lamp bead;

[0037] Step n6, calculating the relative angle F1 of the local auricle area illuminated by the second lamp bead according to the light reflection angle D2;

[0038] Step n7, calculating the relative distance E2 and the relative angle F1 of the entire auricle area according to the reflected light intensity C2 and the reflected light angle D2 of all the second lamp beads;

[0039] Step n8, calculating the structural features G of all regions of the entire auricle according to the initially set coordinate system;

[0040] Step n9: According to the auricle structural feature G, determine the specific position of the required stimulation and set the coordinate system position H.

[0041] Preferably, when the multi-degree-of-freedom sleep aid device as described above is used, the precise positioning control method of the multi-degree-of-freedom sleep aid device includes the following steps:

[0042] Step S1, the image recognition camera collects the image of the entire auricle area A;

[0043] Step S2, performing image processing on the image of the entire auricle area A, and then obtaining the action position of the stimulation head;

[0044] Step S3, controlling the driving arm to drive the stimulation head to move to the action position;

[0045] Step S4, controlling the stimulation head to start stimulation;

[0046] Step S5, stimulation head action time T;

[0047] Step S6: Reset ends.

[0048] Compared with the prior art, the advantages of the present invention are: the present invention provides a multi-degree-of-freedom sleep aid device and a precise positioning control method thereof, which has the following beneficial effects:

[0049] The multi-degree-of-freedom sleep aid device can achieve multi-degree-of-freedom driving of the stimulation head based on the driving arm, thereby facilitating adjustment of the position of the stimulation head acting on the user's ear, thereby being able to adjust the position of the stimulation head more accurately and achieving a better effect.

[0050] The precise positioning control method of the multi-degree-of-freedom sleep aid device can intelligently realize the precise positioning of the stimulation head. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 Schematic diagram of a multi-degree-of-freedom sleep aid device in Embodiment 1 of the present invention.

[0052] Figure 2 for Figure 1 A partial enlarged schematic diagram is shown in the figure.

[0053] Figure 3 Schematic diagram of a multi-degree-of-freedom sleep aid device in Embodiment 2 of the present invention.

[0054] Figure 4 Schematic diagram of a multi-degree-of-freedom sleep aid device in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0055] The present invention is further described in detail below with reference to the accompanying drawings.

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] See also Figure 1-4 :

[0058] Embodiment 1

[0059] A multi-degree-of-freedom sleep aid device includes a base, a driving arm that can swing with multiple degrees of freedom, and a stimulation head. The base includes a base plate 1 and a hanging ear 2, and the hanging ear 2 is connected to the side wall of the base plate 1, so that it is convenient to hang it on the ear of the user for use. Of course, the multi-degree-of-freedom sleep aid device can also be attached to other body structures for use.

[0060] The driving arm comprises an initial driving assembly for realizing left-right swing driving, an output assembly for realizing up-and-down swing driving, and at least one group of meshing extension driving assemblies transmission-connected between the initial driving assembly and the output assembly.

[0061] The initial driving assembly includes a fixed frame 3, a first motor 4 and a first driving gear 5. The first motor 4 is arranged on the fixed frame 3. The first driving gear 5 is rotatably connected to the fixed frame 3 and connected to the driving end of the first motor 4.

[0062] The extension drive assembly includes a first non-full-tooth transmission gear 6, a second motor 7, an extension frame 8 and a second driving gear 9.

[0063] One end of the first transmission gear 6 in the extended drive assembly close to the initial drive assembly is meshed with the first driving gear 5, and the other end of the first transmission gear 6 is connected to one end of the extension frame 8, and the other end of the extension frame 8 is rotatably provided with a second driving gear 9, and a side wall of one side of the extension frame 8 is provided with a second motor 7 connected to the second driving gear 9, the first transmission gear 6 is hinged to the fixed frame 3 through a first connecting rod 10, and the extended drive assemblies are connected through a second connecting rod 12, one end of the second connecting rod 12 is hinged to the other end of the extension frame 8 of the extended drive assembly, and the other end of the second connecting rod 12 is fixedly connected to the first transmission gear 6 of the rear end drive assembly; the driving direction of the second driving gear 9 in the extended drive assembly close to the output assembly is perpendicular to the driving direction of the first driving gear 5;

[0064] The output assembly includes a non-full-tooth second transmission gear 11 and an output head. One end of the second transmission gear 11 is meshed with the second driving gear 9 in the extension drive assembly close to the output assembly, and the other end of the second transmission gear 11 is connected to the output head. The second transmission gear 11 is connected to the extension frame 8 of the extension drive assembly through a third connecting rod 13. One end of the third connecting rod 13 is hinged to the extension frame 8, and the other end of the third connecting rod 13 is hinged to the center of the second transmission gear 11; the stimulation head is fixed on the output head.

[0065] During operation, the output head can be driven to swing left and right based on the actions of the initial drive component and the extended drive component, and can be driven to swing up and down based on the output component. The drive arm can realize the swing drive of the output head with multiple degrees of freedom based on the initial drive component, the extended drive component and the output component, so that the output head can be moved to any position.

[0066] The stimulation head in this embodiment includes a single first lamp bead 14 and a first light sensor 15 . A through hole is provided in the first lamp bead 14 , and the first light sensor 15 is embedded in the through hole.

[0067] The first lamp bead 14 is an infrared lamp bead, which has the effect of stimulating skin acupoints. When in use, the free end of the driving arm faces the user's ear, and the first lamp bead 14 used as a stimulation head acts on a specific position in the user's auricle to achieve stimulation. The first light sensor 15 determines the distance between the specific point of the contour skin and the device by collecting the reflection intensity of the light of the first lamp bead 14 reflected by the skin. The first light sensor 15 also determines the surface reflection angle of the specific point of the contour skin by collecting the reflection angle of the reflected light. The skin contour features are scanned and drawn by the distance between the specific point characteristics of the skin and the first lamp bead 14 in the multi-degree-of-freedom sleep aid device, as well as the surface reflection angle of the specific point.

[0068] The corresponding active gear rotates under the action of the corresponding driving motor, thereby driving the corresponding driven gear to rotate. The corresponding active gear and the corresponding driven gear remain unchanged relative to the center of the circle under the action of the connecting rod. The rotation of the corresponding driven gear can drive the corresponding connecting rod to rotate and move at a certain angle, thereby moving to a specific position; the stimulation head can achieve multi-degree-of-freedom rotation and movement in different directions, thereby adapting to the auricle shape of different users, so that the stimulation head is positioned at the accurate action position.

[0069] The multi-degree-of-freedom sleep aid device can achieve multi-degree-of-freedom driving of the stimulation head based on the driving arm, thereby facilitating adjustment of the position of the stimulation head acting on the user's ear, thereby being able to adjust the position of the stimulation head more accurately and achieving a better effect.

[0070] Embodiment 2

[0071] The difference between this embodiment and the first embodiment is that an auxiliary component is further provided on the base plate 1, and the auxiliary component includes a plurality of second lamp beads 16 and a plurality of second light sensors 17 arranged alternately in a ring shape on the base. The second light sensors 17 are used to collect the reflected light signals irradiated by the second lamp beads 16 on the user's auricle skin.

[0072] The second light sensor 17 determines the distance between the specific point of the contour skin and the device by collecting the reflection intensity of the light of the second lamp bead 16 reflected by the skin. The second light sensor 17 also determines the surface reflection angle of the specific point of the contour skin by collecting the reflection angle of the reflected light. Since the second lamp bead 16 and the second light sensor 17 are kept at a relatively long distance from the skin, the auricle contour can be scanned quickly and efficiently, and the position of the stimulation head can be located.

[0073] The corresponding active gear rotates under the action of the corresponding driving motor, thereby driving the corresponding driven gear to rotate. The corresponding active gear and the corresponding driven gear remain in the same relative position to the center of the circle under the action of the connecting rod; the rotation of the corresponding driven gear can drive the corresponding connecting rod to rotate and move at a certain angle, thereby moving to a specific position; multi-degree-of-freedom rotation and movement of the stimulation head in different directions can be achieved, thereby adapting to the auricle shape of different users.

[0074] Based on the structure of the multi-degree-of-freedom sleep aid device, the corresponding precise positioning control method of the multi-degree-of-freedom sleep aid device includes the following steps:

[0075] Step m1, determine the specific position of the desired stimulation and set the coordinate system position H;

[0076] Step m2, the driving arm drives the stimulation head to move, so that the first lamp bead 14 moves to a specific coordinate system position H;

[0077] Step m3, the first lamp bead 14 starts to work to stimulate the acupuncture points, with an initial irradiation angle A1 and an initial irradiation intensity B1;

[0078] Step m4, the first light sensor 15 collects the light reflection intensity C1 of the first lamp bead 14;

[0079] Step m5, calculating the relative distance E1 of the local auricle area illuminated by the first lamp bead 14 according to the light reflection intensity C1;

[0080] Step m6, the first light sensor 15 collects the light reflection angle D1 of the first lamp bead 14;

[0081] Step m7, calculating the relative angle F1 of the local auricle area illuminated by the first lamp bead 14 according to the light reflection angle D1;

[0082] Step m8, the system compares the stimulation distance E1, the stimulation angle F1 with the set optimal stimulation distance E3, the optimal stimulation angle F3 in real time to determine whether they are consistent. If they are inconsistent, the system controls the driving arm to drive the stimulation head to move and adjust the position of the stimulation head until the distance E1, the stimulation angle F1 are consistent with the set optimal stimulation distance E3, the optimal stimulation angle F3;

[0083] Step m9, stimulation head action time T;

[0084] Step m10: Reset completed.

[0085] And the aforementioned step m1 includes the following steps:

[0086] Step n1, the second lamp bead 16 works to illuminate the auricle;

[0087] Step n2, the second lamp bead 16 has an initial irradiation angle A2 and an initial irradiation intensity B2;

[0088] Step n3, the second light sensor 17 collects the light reflection intensity C2 of the second lamp bead 16;

[0089] Step n4, calculating the relative distance E2 of the local auricle area illuminated by the second lamp bead 16 according to the light reflection intensity C2;

[0090] Step n5, the second light sensor 17 collects the light reflection angle D2 of the second lamp bead 16;

[0091] Step n6, calculating the relative angle F1 of the local auricle area illuminated by the second lamp bead 16 according to the light reflection angle D2;

[0092] Step n7, calculating the relative distance E2 and the relative angle F1 of the entire auricle area according to the reflected light intensity C2 and the reflected light angle D2 of all the second lamp beads 16;

[0093] Step n8, calculating the structural features G of all regions of the entire auricle according to the initially set coordinate system;

[0094] Step n9: According to the auricle structural feature G, determine the specific position of the required stimulation and set the coordinate system position H.

[0095] The precise positioning control method of the multi-degree-of-freedom sleep aid device can intelligently realize the precise positioning of the action position of the stimulation head.

[0096] Embodiment 3

[0097] The difference between this embodiment and the first embodiment is that the stimulation head includes a third lamp bead 18 and an image recognition camera 19. The third lamp bead 18 is provided with a through hole, and the image recognition camera 19 is embedded in the through hole. The third lamp bead 18 is an infrared lamp bead.

[0098] The optical sensor in the aforementioned embodiment is replaced with an image recognition camera 19. The image recognition camera 19 can directly capture the shape of the user's auricle, and then based on image processing, can more accurately determine the action position of the stimulation head.

[0099] The precise positioning control method of the multi-degree-of-freedom sleep aid device of the structure comprises the following steps:

[0100] Step S1, the image recognition camera 19 collects the image of the entire auricle area A;

[0101] Step S2, performing image processing on the image of the entire auricle area A, and then obtaining the action position of the stimulation head;

[0102] Step S3, controlling the driving arm to drive the stimulation head to move to the action position;

[0103] Step S4, controlling the stimulation head to start stimulation;

[0104] Step S5, stimulation head action time T;

[0105] Step S6: Reset ends.

[0106] In the specification and claims of the present invention, terms indicating directions, such as "front", "rear", "up", "down", "left", "right", "side", "top", "bottom", etc., are used to describe various exemplary structural parts and elements of the present invention, but these terms are used here only for the purpose of convenience of description and are determined based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different directions, these terms indicating directions are only used as explanations and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

Claims

1. A multi-degree-of-freedom sleep aid device, comprising a base, characterized in that: It also includes a driving arm that can swing with multiple degrees of freedom and a stimulation head. The first end of the driving arm is connected to the base, and the stimulation head is arranged on the second end of the driving arm.

2. The multi-degree-of-freedom sleeping aid device according to claim 1, characterized in that: The driving arm comprises an initial driving assembly for realizing left-right swing driving, an output assembly for realizing up-and-down swing driving, and at least one group of meshing extension driving assemblies transmission-connected between the initial driving assembly and the output assembly.

3. The multi-degree-of-freedom sleeping aid device according to claim 2, characterized in that: The initial drive assembly comprises a fixed frame (3), a first motor (4) and a first driving gear (5), wherein the first motor (4) is arranged on the fixed frame (3), and the first driving gear (5) is rotatably connected to the fixed frame (3) and connected to the driving end of the first motor (4); The extension drive assembly comprises a first transmission gear (6) with non-full teeth, a second motor (7), an extension frame (8) and a second driving gear (9). One end of the first transmission gear (6) in the extension drive assembly close to the initial drive assembly is meshed with the first driving gear (5), the other end of the first transmission gear (6) is connected to one end of the extension frame (8), the other end of the extension frame (8) is rotatably provided with the second driving gear (9), a side wall of one side of the extension frame (8) is provided with a second motor (7) connected to the second driving gear (9), the first transmission gear (6) is hinged to the fixed frame (3) through a first connecting rod (10), the extension drive assemblies are connected through a second connecting rod (12), one end of the second connecting rod (12) is hinged to the other end of the extension frame (8) of the extension drive assembly, and the other end of the second connecting rod (12) is fixedly connected to the first transmission gear (6) of the rear end drive assembly; the driving direction of the second driving gear (9) in the extension drive assembly close to the output assembly is perpendicular to the driving direction of the first driving gear (5); The output assembly comprises a second transmission gear (11) with non-full teeth and an output head, one end of the second transmission gear (11) is meshed with a second driving gear (9) in an extension drive assembly close to the output assembly, the other end of the second transmission gear (11) is connected to the output head, the second transmission gear (11) is connected to an extension frame (8) of the extension drive assembly via a third connecting rod (13), one end of the third connecting rod (13) is hinged to the extension frame (8), and the other end of the third connecting rod (13) is hinged to the center of the second transmission gear (11); the stimulation head is fixed on the output head.

4. The multi-degree-of-freedom sleeping aid device according to any one of claims 1 to 3, characterized in that: The base comprises a base plate (1) and a hanging ear (2), the driving arm is arranged on the base plate (1), and the hanging ear (2) is connected to the side wall of the base plate (1).

5. The multi-degree-of-freedom sleeping aid device according to any one of claims 1 to 3, characterized in that: The stimulation head comprises a first lamp bead (14) and a first light sensor (15); a through hole is provided in the first lamp bead (14), and the first light sensor (15) is embedded in the through hole.

6. The multi-degree-of-freedom sleeping aid device according to claim 5, characterized in that: An auxiliary component is arranged on the base (1), and the auxiliary component comprises a plurality of second lamp beads (16) and a plurality of second light sensors (17) which are arranged alternately in a ring shape on the base.

7. The multi-degree-of-freedom sleeping aid device according to claim 6, characterized in that: The first lamp bead (14) and the second lamp bead (16) are infrared lamp beads.

8. The multi-degree-of-freedom sleeping aid device according to any one of claims 1 to 3, characterized in that: The stimulation head comprises a third lamp bead (18) and an image recognition camera (19); a through hole is provided on the third lamp bead (18), and the image recognition camera (19) is embedded in the through hole.

9. The multi-degree-of-freedom sleeping aid device according to claim 8, characterized in that: The third lamp beads (18) are all infrared lamp beads.

10. A precise positioning control method for a multi-degree-of-freedom sleep aid device, characterized in that: Using the multi-degree-of-freedom sleep aid device as claimed in any one of claims 5 to 7, the first lamp bead (14) performs light stimulation on the action position, and based on the detection of the light reflection intensity of the first lamp bead (14), the driving arm is controlled to adjust the action position of the stimulation head; or The multi-degree-of-freedom sleep aid device as claimed in claim 8 or 9 is used to determine the action position based on the image recognition camera, and then control the driving arm to adjust the action position of the stimulation head.

11. The precise positioning control method of the multi-degree-of-freedom sleep aid device according to claim 10, characterized in that: When the multi-degree-of-freedom sleep aid device as claimed in any one of claims 5 to 7 is used, the precise positioning control method of the multi-degree-of-freedom sleep aid device comprises the following steps: Step m1, determine the specific position of the desired stimulation and set the coordinate system position H; Step m2, the driving arm drives the stimulation head to move, so that the first lamp bead (14) moves to a specific coordinate system position H; Step m3, the first lamp bead (14) starts to work to stimulate the acupuncture points, with an initial irradiation angle A1 and an initial irradiation intensity B1; Step m4, the first light sensor (15) collects the light reflection intensity C1 of the first lamp bead (14); Step m5, calculating the relative distance E1 of the local auricle area illuminated by the first lamp bead (14) according to the light reflection intensity C1; Step m6, the first light sensor (15) collects the light reflection angle D1 of the first lamp bead (14); Step m7, calculating the relative angle F1 of the local auricle area illuminated by the first lamp bead (14) according to the light reflection angle D1; Step m8, the system compares the stimulation distance E1, the stimulation angle F1 with the set optimal stimulation distance E3, the optimal stimulation angle F3 in real time to determine whether they are consistent. If they are inconsistent, the system controls the driving arm to drive the stimulation head to move and adjust the position of the stimulation head until the distance E1, the stimulation angle F1 are consistent with the set optimal stimulation distance E3, the optimal stimulation angle F3; Step m9, stimulation head action time T; Step m10: Reset completed.

12. The precise positioning control method of the multi-degree-of-freedom sleep aid device according to claim 11, characterized in that: An auxiliary component is arranged on the base (1), and the auxiliary component comprises a plurality of second lamp beads (16) and a plurality of second light sensors (17) arranged alternately in a ring shape on the base; The step m1 comprises the following steps: Step n1, the second lamp bead (16) works to illuminate the auricle; Step n2, the second lamp bead (16) has an initial irradiation angle A2 and an initial irradiation intensity B2; Step n3, the second light sensor (17) collects the light reflection intensity C2 of the second lamp bead (16); Step n4, calculating the relative distance E2 of the local auricle area illuminated by the second lamp bead (16) according to the light reflection intensity C2; Step n5, the second light sensor (17) collects the light reflection angle D2 of the second lamp bead (16); Step n6, calculating the relative angle F1 of the local auricle area illuminated by the second lamp bead (16) according to the light reflection angle D2; Step n7, calculating the relative distance E2 and the relative angle F1 of the entire auricle area according to the reflected light intensity C2 and the reflected light angle D2 of all the second lamp beads (16); Step n8, calculating the structural features G of all regions of the entire auricle according to the initially set coordinate system; Step n9: According to the auricle structural feature G, determine the specific position of the required stimulation and set the coordinate system position H.

13. The precise positioning control method of the multi-degree-of-freedom sleep aid device according to claim 10, characterized in that: When the multi-degree-of-freedom sleep aid device as claimed in claim 8 or 9 is used, the precise positioning control method of the multi-degree-of-freedom sleep aid device comprises the following steps: Step S1, the image recognition camera (19) collects an image of the entire auricle area A; Step S2, performing image processing on the image of the entire auricle area A, and then obtaining the action position of the stimulation head; Step S3, controlling the driving arm to drive the stimulation head to move to the action position; Step S4, controlling the stimulation head to start stimulation; Step S5, stimulation head action time T; Step S6: Reset ends.

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