Automatic haircut system

Abstract

The invention discloses an automatic haircut system, which belongs to the technical field of haircut and comprises a base, a head form establishing subsystem, an intermediate processing subsystem and a haircut subsystem. The head form establishing subsystem comprises a head form scanning device arranged on the base, an infrared scanner can be adopted for scanning a main body, obtained data modeling is carried out to form a three-dimensional model, parts are divided, and combined hairdressing is carried out in the modes of'cutting ', 'pushing' and the like according to the characteristics of the different parts. The haircut subsystem comprises a haircut device and a dynamic image collector which are arranged on the base, the haircut device comprises two multi-degree-of-freedom mechanical arms, and each multi-degree-of-freedom mechanical arm is provided with a cutting mechanism and a hair pushing mechanism. And dynamic image collectors are integrated on the three mechanical arms. The cutting mechanism is a three-dimensional haircut knife used for automatically cutting main body hair. The hair pushing mechanism is a hair clipper with a guide comb.

Description

Technical Field

[0001] The present invention relates to the technical field of hair cutting, and specifically to an automatic hair cutting system. Background Art

[0002] Hair style is an important part of a person's image. Therefore, hair cutting is very technical. Usually, a barber needs to undergo professional training to be competent for hair cutting work. However, the personnel flow in the hair cutting industry is large, there are many types of hair cutting tools, the operation is delicate, and the hair style conditions of customers are different. Pure manual operation is very difficult to achieve excellent hair cutting effects. Similarly, customers also care very much about their own hair styles. Before hair cutting, customers cannot predict the hair style after hair cutting, often resulting in customers being dissatisfied with the hair cutting effect.

[0003] Currently, there are some concepts of automatic hair cutting to achieve automatic hair cutting for customers. However, in practice, to achieve fine cutting of customers' hair, higher requirements are put forward for the sensitivity, flexibility, hair cutting effect, and safety of the terminal cutting tools. At the same time, the hair cutting process involves accurate recognition of the head shape. The angles and characteristics of the hair in different parts of the head (fringe area, front side area, rear side area, top area, etc.) are different, and trimming schemes need to be designed in combination with the characteristics of different areas. At the same time, the hair cutting process involves the comprehensive application of hair cutting, hair pushing, and cleaning. The existing automatic hair cutting devices have problems such as non-fine cutting effects and poor distinction between hair cutting and hair pushing. As known to those skilled in the art, in the hair cutting process, traditional scissors cannot achieve precise automatic cutting. In addition, if the marginal line or sideburns need to be repaired, the hair clipper needs to be attached to the scalp for operation. However, when facing customers with messy marginal lines, it is very difficult to push them clean. Therefore, in view of this problem, an automatic hair cutting system is proposed now. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic hair cutting system to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An automatic hair cutting system includes a base, a head shape establishment subsystem, an intermediate processing subsystem, and a hair cutting subsystem;

[0007] The head shape establishment subsystem includes a head shape scanning device arranged on the base. The head shape scanning device includes a body positioning mechanism and a head shape modeling mechanism, which model the obtained data to form a three-dimensional model, and divide the three-dimensional model into regions to generate parts such as "top area", "fringe area", "front side area (corner area)", "rear side area", "rear part area", etc., and apply a combination of "cutting" and "hair pushing" methods for hair cutting according to the characteristics of different parts.

[0008] The intermediate processing subsystem is used to receive a 3D model and support the instruction for the barber to comb in the target hairstyle. According to the input target hairstyle instruction and the 3D model, it automatically generates haircutting information.

[0009] As a further solution of the present invention: at least one of the hair-pushing area and the cutting area exists in the 3D model.

[0010] As a further solution of the present invention: the intermediate processing subsystem further includes a hairstyle database for storing hairstyle information. Each hairstyle information is provided with hairstyle conditions. After the model is established, the intermediate processing subsystem will apply the optimal hairstyle model as the haircutting information to the main body. The intermediate processing subsystem will modify the data of different parts according to the input target hairstyle instruction to form new haircutting information.

[0011] The haircutting subsystem includes a haircutting device and a dynamic image collector arranged on the base. The haircutting device includes two multi-degree-of-freedom robotic arms, and each multi-degree-of-freedom robotic arm is provided with a cutting mechanism and a hair-pushing mechanism. Dynamic image collectors are integrated on all three robotic arms.

[0012] As a further solution of the present invention: the haircutting device is used to receive the haircutting information to complete the haircutting operation on the relative position of the main body. The dynamic image collector is used to monitor the pose of the main body during the haircutting process to form pose information and feedback it to the haircutting subsystem; at the same time, the auxiliary robotic arm is used to support the barber's head to reduce the movement of the barber due to uneasiness, fatigue, etc., and improve the relative position accuracy. When the haircutting device generates absolute position information according to the relative position information and the current pose information.

[0013] As a further aspect of the present invention: Among them, the cutting mechanism is a three-dimensional hair clipper for automatically cutting the hair of the main body. The three-dimensional hair clipper includes a main comb tooth 4121, a secondary comb tooth 4122, and a blade 4123. First, ensure that the secondary comb tooth 4122, the blade 4123, and the main comb tooth 4121 overlap. Comb the comb obliquely into the hair in the same way as an ordinary comb. Control the separation of the secondary comb tooth 4122 and the main comb tooth 4121 through the control mechanism. At this time, the hair is dispersed on the tooth-shaped structure of the secondary comb tooth 4122. Therefore, in the automatic hair cutting system of the present application, the automatic cutting by the cutting mechanism 412 can make the hair form a three-dimensional multi-layer distribution; and in the present application, the multi-degree-of-freedom robotic arm 411 can lift at multiple angles according to the hair cutting information, and then slide the blade 4123 to separate it from the main comb tooth 4121, so as to cut the lifted hair. After cutting, return the secondary comb tooth 4122 and the blade 4123 to the position of the main comb tooth 4121. At this time, the comb can be withdrawn through the multi-degree-of-freedom robotic arm 411 to complete the hair cutting in this area. Repeat this process to complete the cutting of all the hair.

[0014] As a further aspect of the present invention: Among them, the hair pushing mechanism includes a control rod connected to the multi-degree-of-freedom robotic arm. A connection groove is provided inside the control rod, and a placement box for installing a hair clipper is rotatably connected inside the connection groove.

[0015] As a further aspect of the present invention: Among them, the hair clipper is installed in the placement box by a snap connection method, and the cutting edge of the hair clipper faces downward and can form a certain angle with the main body.

[0016] As a further aspect of the present invention: Among them, an angle adjustment gear is fixedly installed inside the placement box. The placement box and the angle adjustment gear rotate coaxially, and the rotation axis is provided at the center of the angle adjustment gear and is fixedly connected to the inner wall of the connection groove. The placement box realizes angle adjustment as it rotates on the rotation axis with the angle adjustment gear; the angle adjustment gear is meshed and connected to the main gear.

[0017] As a further aspect of the present invention: Among them, a guiding mechanism that rotates coaxially with the placement box is provided on one side of the control rod. The guiding mechanism includes a connecting shaft fixedly connected to the rotation axis. A guiding frame is fixedly installed on the outer side of the connecting shaft. A sliding block is slidably connected inside the guiding frame. The sliding block is connected to a guiding comb through a guiding rod.

[0018] As a further aspect of the present invention: Among them, a compression spring is provided between the sliding block and the guiding frame.

[0019] As a further aspect of the present invention: Among them, the guiding comb is made of a flexible material.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. In the head shape establishment subsystem, the present invention adopts a partition scanning form to finely partition the hair.

[0022] 2. In the intermediate processing subsystem, the present invention forms a visual preview of the haircut effect and automatically generates haircut cutting information by means of the preset hairstyle library information and the instructions input by the haircut recipient.

[0023] 3. In the haircut subsystem, the present invention uses a three-dimensional haircutting knife as the cutting mechanism. The three-dimensional haircutting knife includes a main comb tooth, a secondary comb tooth, and a blade. When in use, first ensure that the secondary comb tooth, the blade, and the main comb tooth overlap. Comb the comb obliquely into the hair in the same way as an ordinary comb. Control the separation of the secondary comb tooth and the main comb tooth through the control mechanism. At this time, the hair is dispersed on the tooth-shaped structure of the secondary comb tooth. Through the automatic cutting of the cutting mechanism, the hair can be formed into a three-dimensional multi-layer distribution; combined with the multi-degree-of-freedom robotic arm for multi-angle lifting according to the haircut cutting information, and then slide the blade to separate it from the main comb tooth, and the lifted hair can be cut.

[0024] 4. In the haircut subsystem, the present invention uses a hair-pushing mechanism with a guiding comb. Based on the action of the compression spring, the guiding comb will always be vertically downward and in front of the haircutting blade opening. When in use, the guiding comb fits against the scalp and first combs up the messy hair in the way of combing hair. The blade opening of the haircutting clipper acts on the combed messy hair behind, and thus the effect of hair-pushing can be completed. Further, under the design of the compression spring, the guiding comb has a certain buffer force when acting on the main body, which can make the guiding comb better fit against the main body. It should be noted that the guiding comb is made of a flexible material.

[0025] 5. The haircutting clipper, the haircutting knife, and the terminal of the auxiliary robotic arm all adopt relatively flexible safety protection devices, which can reduce the uneasiness of the haircut recipient during the haircut and avoid safety accidents during the haircut process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is the flowchart of the haircut system in the present invention;

[0027] Figure 2 is the schematic diagram of the head shape establishment subsystem process in the present invention;

[0028] Figure 3 is the schematic diagram of the intermediate processing subsystem process in the present invention;

[0029] Figure 4 is the schematic diagram of the haircut subsystem in the present invention;

[0030] Figure 5 is the overall schematic diagram of the structure of the haircut device in the present invention;

[0031] Figure 6 Schematic diagram of the hair-pushing mechanism of the hair-cutting device in the present invention;

[0032] Figure 7 In the present invention Figure 6 Enlarged schematic diagram at position A;

[0033] Figure 8 Schematic diagram of the cutting mechanism in the present invention;

[0034] Figure 9 In the present invention Figure 8 Exploded schematic diagram of the structure of the cutting mechanism;

[0035] Figure 10 In the present invention Figure 9 Enlarged schematic diagram at position B;

[0036] Figure 11 Schematic diagram of the supporting mechanism in the present invention.

[0037] The corresponding relationship between the reference numerals and the component names in the figure is as follows:

[0038] 10, base; 20, head shape establishment subsystem; 21, head shape scanning device; 22, main body positioning mechanism; 23, head shape modeling mechanism; 30, intermediate processing subsystem; 31, hair style database; 32, preview subsystem; 40, hair cutting subsystem; 41, hair cutting device; 411, multi-degree-of-freedom robotic arm; 412, cutting mechanism; 4121, main comb teeth; 4122, auxiliary comb teeth; 4123, blade; 413, hair-pushing mechanism; 414, supporting mechanism; 4131, control rod; 4132, connecting groove; 4133, placement box; 42, dynamic image collector; 50, guiding mechanism; 51, connecting shaft; 52, guiding frame; 53, sliding block; 54, compression spring; 55, guiding rod; 56, guiding comb. Detailed implementation manners

[0039] The following further details the specific implementation manners of the present invention in conjunction with the appended Figure 1 to the appended Figure 11 drawings, so as to make the technical solutions of the present invention easier to understand and master.

[0040] An automatic hair-cutting system, comprising a base 10, a head shape establishment subsystem 20, an intermediate processing subsystem 30, and a hair cutting subsystem 40;

[0041] The head shape building subsystem 20 includes a head shape scanning device 21 disposed on the base 10. The head shape scanning device 21 includes a main body positioning mechanism 22 and a head shape modeling mechanism 23. The head shape modeling mechanism can use an infrared scanner to scan the main body, or can also use identification technologies such as a high-definition camera. The obtained three-dimensional model is divided into regions to generate parts such as a "top region", a "bang region", a "front side region (corner region)", a "rear side region", and a "rear region". According to the characteristics of different parts, "cutting" and "hair pushing" and other methods are used for combined haircuts. "Cutting" is performed using a three-dimensional hair clipper, and "hair pushing" is performed using a hair clipper for trimming.

[0042] The intermediate processing subsystem 30 is used to receive the three-dimensional model and generate haircutting information according to the input target hairstyle instruction; the target hairstyle instruction includes a cutting instruction and a hair pushing instruction. As the name implies, the cutting instruction can only be triggered when the cutting area exists in the three-dimensional model, and the same is true for the hair pushing instruction. Of course, the intermediate processing subsystem 30 can also select the positions where the hair pushing area and the cutting area exist in the three-dimensional model according to the input target instruction. In a three-dimensional model, at least one of the hair pushing area and the cutting area exists in the three-dimensional model, because whether using scissors to cut hair or a hair clipper to push hair, at least one action is required in a haircut. The intermediate processing subsystem 30 further includes a hairstyle database 31, and the hairstyle database 31 is used to store hairstyle information. Each hairstyle information has hairstyle conditions set. After the model is established, the intermediate processing subsystem 30 will apply the optimal hairstyle model as the haircutting information to the main body. The head shape building subsystem 20 divides the model into the hairline part, the top part, the temporal part, the back of the head, and the back of the neck according to the parts of the main body. When establishing the three-dimensional model, the head shape building subsystem 20 will apply the stored hairstyle information to different parts and mark the cutting information and the hair pushing information. The intermediate processing subsystem 30 will modify the data of different parts according to the input target hairstyle instruction to form new haircutting information. The intermediate processing subsystem 30 further includes a preview subsystem 32, and the preview subsystem 32 is used to preview the head shape style after the main body's haircut. After the intermediate processing subsystem 30 generates new haircutting information, the preview subsystem 32 will also timely display the target head shape. Thus, when the customer uses it, they can timely understand the head shape, thereby increasing the customer's satisfaction with using this system.

[0043] The hair-cutting subsystem 40 includes a hair-cutting device 41 and a dynamic image collector 42 disposed on the base 10. A space for accommodating the main body is formed in the hair-cutting device 41, and the multi-degree-of-freedom robotic arm 411 can move within this space, enabling the hair-cutting device 41 to reach any coordinate within the space, thereby completing the hair-cutting work on the main body. The hair-cutting device 41 includes two multi-degree-of-freedom robotic arms 411, and each multi-degree-of-freedom robotic arm 411 is provided with a cutting mechanism 412 and a hair-pushing mechanism 413. The cutting mechanism 412 and the hair-pushing mechanism 413 can perform selective work under the control of the hair-cutting subsystem 40. When it is necessary to cut the hair of the main body, the hair-cutting subsystem 40 controls the cutting mechanism 412 to face the main body and perform the operation of cutting the hair; and under the hair-pushing instruction, the hair-pushing mechanism 413 will work. The hair-pushing mechanism 413 and the cutting mechanism 412 can work simultaneously or alternately separately.

[0044] For traditional single-layer scissors, they can only achieve cutting the hair to a fixed length, unable to achieve fine trimming of the overall hair. After cutting, the hair lacks layers and beauty, and when operating without manual control, it is prone to safety accidents and cannot meet the basic requirements of safety and beauty. Therefore, the following improvements are made to the cutting mechanism 412: The three-dimensional hair-cutting knife includes a main comb tooth 4121, a secondary comb tooth 4122, and a blade 4123. First, ensure that the secondary comb tooth 4122, the blade 4123, and the main comb tooth 4121 overlap. Comb the comb obliquely into the hair in the same way as an ordinary comb. Control the secondary comb tooth 4122 and the main comb tooth 4121 to separate through the control mechanism. At this time, the hair is dispersed on the tooth-shaped structure of the secondary comb tooth 4122. Therefore, in the automatic hair-cutting system of this application, through the automatic cutting of the cutting mechanism 412, the hair can form a three-dimensional multi-layer distribution; and in this application, the multi-degree-of-freedom robotic arm 411 can lift at multiple angles according to the hair-cutting information, and then slide the blade 4123 to separate it from the main comb tooth 4121, and the lifted hair can be cut. After cutting, return the secondary comb tooth 4122 and the blade 4123 to the position of the main comb tooth 4121. At this time, the comb can be withdrawn through the multi-degree-of-freedom robotic arm 411 to complete the hair-cutting of this area. Repeat this process to complete the cutting of all the hair. By adopting the three-dimensional hair-cutting knife method, according to the algorithm, the position, angle, and depth of the three-dimensional hair-cutting knife combed into the hair can be calculated, so as to ensure that the hair effect during cutting is continuous and symmetrical. Using the combination of the secondary comb tooth and the blade, complex hair-cutting effects such as thinning, fragmentary cutting, and styling can be further achieved. At the same time, since the outside of the three-dimensional hair-cutting knife is made into a comb shape by flexible materials, the blade only extends out to cut the hair after being combed into the hair, which can safely protect the user and has good safety.

[0045] The hair-cutting device 41 is used to receive hair-cutting information to perform a hair-cutting operation on the relative position of the main body. The dynamic image collector 42 is used to monitor the pose of the main body during the hair-cutting process to form pose information and feedback it to the hair-cutting subsystem 40. When the hair-cutting device 41 generates absolute position information based on the relative position information and the current pose information. In addition, the hair-cutting device 41 further includes a supporting device 414. The shape of the supporting device is similar to that of a palm. When the cutting mechanism 412 and the hair-pushing mechanism 413 are working, the supporting device 43 comes to the opposite side of the working area of the cutting mechanism 412 and the hair-pushing mechanism 413 under the control of the hair-cutting subsystem 40 to support the main body. Thus, during the hair-cutting or hair-pushing process, a supporting force can be given to the main body, enabling the hair-cutting action and the hair-pushing action to have better force application points. Since hair-cutting takes a certain amount of time to complete and the main body does not always remain stationary in space, if the main body has a position offset, the relative position information for the main body positioning mechanism 22 will change. If the hair-cutting effect is to remain unchanged, the main body position information needs to be corrected. On the one hand, the supporting device relatively fixes the person having a haircut to reduce position changes. On the other hand, the dynamic image collector 42 will receive real-time pose information through dynamic image collection during the hair-cutting process to generate absolute position information, which is used to ensure that during the hair-cutting process, even if the main body moves, the hair-cutting subsystem 40 can make immediate adjustments, thereby achieving a more accurate positioning effect.

[0046] The hair-pushing mechanism 413 is used to perform a hair-pushing operation on the hair of the main body. For some customers who need hair-pushing, on the front side area and the posterior neck area (or the head marginal line) of the main body, there will be some "messy" or differently growing-direction hairs. Some customers will request to trim these messy hairs. However, for the messy hairs, the three-dimensional hair-cutting knife cannot complete the trimming, and only a hair clipper can be used. When in use, the hair clipper needs to be directly pressed against the scalp for hair-pushing. However, in actual use, the effect is very poor. Firstly, because the messy hairs are relatively soft, and secondly, not all surfaces of the main body are smooth. For an uneven main body, it is very difficult to remove the messy hairs. Therefore, when facing this problem, the following improvements need to be made in the hair-pushing mechanism 413.

[0047] The hair-pushing mechanism 413 includes a control rod 4131 connected to the multi-degree-of-freedom robotic arm 411. A connection groove 4132 is formed inside the control rod 4131, and a placement box 4133 for installing a hair clipper is rotatably connected inside the connection groove 4132. The hair clipper is installed in the placement box 4133 by a snap connection method, and the cutting edge of the hair clipper faces downward and can form a certain angle with the main body. An angle adjustment gear is fixedly installed inside the placement box 4133. The placement box 4133 and the angle adjustment gear rotate coaxially, and the rotation axis is arranged at the center of the angle adjustment gear and fixedly connected to the inner wall of the connection groove 4132. The placement box 4133 realizes angle adjustment as the angle adjustment gear rotates on the rotation axis; the angle adjustment gear is meshed and connected with the main gear. In this embodiment, the main gear is controlled by a driving member, and the driving member is arranged on the multi-degree-of-freedom robotic arm 411. By driving the main gear to rotate, the main gear is meshed and connected with the angle adjustment gear, which will drive the placement box 4133 to rotate inside the connection groove 4132. Because the back head and the back neck of the main body are "arc-shaped", when the hair clipper acts on the "arc-shaped" part, it is necessary to generate the movement trajectory of the hair clipper according to the absolute position information obtained by the hair-cutting subsystem 40. Through the combined use of the multi-degree-of-freedom robotic arm 411 and the angle adjustment gear, the cutting edge of the hair clipper can be operated to move along the movement trajectory, where the movement is composed of multiple absolute position information points (i.e., coordinate points in space), and the movement trajectory matches the "arc-shaped" part of the main body.

[0048] To solve the problem of messy hair on the back head and the back neck, a guiding mechanism 50 that rotates coaxially with the placement box 4133 is arranged on one side of the control rod 4131. The guiding mechanism 50 includes a connecting shaft 51 fixedly connected to the rotation axis. A guiding frame 52 is fixedly installed on the outer side of the connecting shaft 51. A sliding block 53 is slidably connected inside the guiding frame 52. A compression spring 54 is arranged between the sliding block 53 and the guiding frame 52. The sliding block 53 is connected to a guiding comb 56 through a guiding rod 55, and the guiding comb 56 is used in cooperation with the cutting edge of the hair clipper. Based on the action of the compression spring 54, the guiding comb will always be vertically downward and in front of the cutting edge of the hair clipper. During use, the guiding comb 56 fits on the scalp to first comb up the messy hair in a combing manner, and then the cutting edge of the hair clipper acts on the combed messy hair, thereby completing the hair-pushing effect. Further, under the design of the compression spring 54, the guiding comb 56 has a certain buffering force when acting on the main body, which can make the guiding comb 56 better fit the main body. It should be noted that the guiding comb 56 is made of a flexible material.

[0049] Further, to enable the system to operate better, a cleaning device may be provided on the hair-cutting subsystem 40. When the cutting mechanism 412 and the hair-pushing mechanism 413 cut the hair of the subject, the cleaning device can suck away the generated hair fragments, thereby ensuring the cleanliness of the working environment during the hair-cutting process. The cleaning device may be a suction air pipe.

[0050] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. An automatic hair cutting system, characterized in that: It comprises a base (10), a head shape establishing subsystem (20), an intermediate processing subsystem (30), and a hair cutting subsystem (40); The head shape establishment subsystem (20) comprises a head shape scanning device (21) arranged on the base (10), the head shape scanning device (21) comprising a main body positioning mechanism (22) and a head shape modeling mechanism (23), the head shape modeling mechanism can use an infrared scanner or a high-definition camera to scan the main body, model the obtained data to form a three-dimensional model, and divide the three-dimensional model into regions to generate parts such as "top area", "bangs area", "front side area (corner area)", "back side area", and "back area", and apply a combination of "cutting" and "pushing" haircuts according to the characteristics of different parts.

2. The intermediate processing subsystem is used to receive the three-dimensional model and support the barber to input and adjust the hairstyle instruction, and automatically generate the haircutting information according to the input target hairstyle instruction and the three-dimensional model; The haircutting subsystem (40) comprises a haircutting device (41) and a dynamic image collector (42) arranged on the base (10); the haircutting device (41) comprises two multi-degree-of-freedom mechanical arms (411); each of the multi-degree-of-freedom mechanical arms (411) is provided with a cutting mechanism (412) and a hair pushing mechanism (413).

3. The automatic hair cutting system according to claim 1, characterized in that: At least one of the push area and the clipping area exists in the three-dimensional model.

4. The automatic hair cutting system according to claim 1, characterized in that: The head shape establishment subsystem is used to scan and partition the barber's head shape, and the obtained data is modeled into a three-dimensional model, which is then divided into regions to generate "top area", "bangs area", "front side area (corner area)", "back side area", "back area" and other parts; and a combination of "cutting" and "pushing" haircuts are applied according to the characteristics of different parts.

5. The intermediate processing system according to claim 1, characterized in that: The intermediate processing subsystem (30) further comprises a hairstyle database (31), wherein the hairstyle database (31) is used to store hairstyle information, wherein each hairstyle information is provided with a hairstyle condition, and after the model is established, the intermediate processing subsystem (30) applies the optimal hairstyle model as the haircutting information to the subject. The intermediate processing subsystem (30) supports modifying data of different parts according to the input target hairstyle instruction, thereby forming new haircutting information. The instruction input can be independently selected by the user through the terminal software, and a preview effect can be generated.

6. The automatic hair cutting system according to claim 1, characterized in that: The haircutting device (41) is used to receive haircutting cutting information to complete the haircutting operation on the relative position of the subject. The dynamic image collector (42) is used to monitor the posture of the subject during the haircutting process to form posture information and feed it back to the haircutting subsystem (40). At the same time, the auxiliary mechanical arm can be used to support the head of the haircutter to reduce the movement of the haircutter due to anxiety, fatigue, etc., thereby improving the relative position accuracy. The haircutting device (41) generates absolute position information based on the relative position information and the posture information at this time.

7. The cutting mechanism according to claim 1, characterized in that: The cutting mechanism (412) is a three-dimensional hair clipper for automatically cutting the main body hair. The three-dimensional hair clipper comprises a main comb tooth (4121), a secondary comb tooth (4122), and a blade (4123), and is characterized in that a comb-shaped mechanism is used to comb the hair obliquely, and the secondary comb tooth (4122) and the main comb tooth (4121) are controlled by a control mechanism to separate, and the hair is then dispersed on the tooth structure on the secondary comb tooth (4122). The multi-freedom mechanical arm (411) can pull the hair at multiple angles according to the haircutting information, and then slide the blade (4123) to separate it from the main comb tooth (4121), so that the pulled hair can be cut. After the cutting is completed, the secondary comb tooth (4122) and the blade (4123) are returned to the position of the main comb tooth (4121), and the comb can be withdrawn by the multi-freedom mechanical arm (411) to complete the haircut in this area, and this is repeated to achieve the complete cutting of the hair.

8. The automatic hair cutting system according to claim 1, characterized in that: The hair-pushing mechanism (413) comprises a control rod (4131) connected to the multi-degree-of-freedom mechanical arm (411); a connecting groove (4132) is provided inside the control rod (4131); and a placement box (4133) for mounting a hair-pushing device is rotatably connected inside the connecting groove (4132).

9. The automatic hair cutting system according to claim 7, characterized in that: The hair clipper and the placement box (4133) are installed in a snap-fit ​​manner, and the blade of the hair clipper faces downward and can form a certain angle with the main body.

10. The automatic hair cutting system according to claim 8, characterized in that: An angle adjustment gear is fixedly mounted on the inner side of the placement box (4133); the placement box (4133) and the angle adjustment gear rotate coaxially; the rotation shaft is arranged at the axis center of the angle adjustment gear and is fixedly connected to the inner wall of the connection groove (4132); the placement box (4133) achieves angle adjustment as the angle adjustment gear rotates on the rotation shaft; the angle adjustment gear is meshedly connected to the main gear.

11. The automatic hair cutting system according to claim 7, characterized in that: A guide mechanism (50) coaxially rotating with the placement box (4133) is provided on one side of the control rod (4131), the guide mechanism (50) comprising a connecting shaft (51) fixedly connected to the rotating shaft (4136), a guide frame (52) fixedly mounted on the outer side of the connecting shaft (51), a sliding block (53) slidably connected inside the guide frame (52), the sliding block (53) being connected to a guide comb (56) via a guide rod (55). An extrusion spring (54) is provided between the sliding block (53) and the guide frame (52). The guide comb (56) is made of a flexible material.

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