Dehairing device and method

Abstract

The invention relates to the technical field of dehairing, in particular to a dehairing device and method.The dehairing device comprises a workbench, a moving mechanism, a lifting mechanism, a clamping mechanism, a dehairing mechanism, a camera and a control module, and the moving mechanism, the camera and the control module are arranged on the workbench; the lifting mechanism is connected with the output end of the moving mechanism, the clamping mechanism and the hair suction mechanism are both connected with the output end of the lifting mechanism, and the air suction end of the hair suction mechanism faces the clamping mechanism. The moving mechanism, the lifting mechanism, the clamping mechanism, the hair suction mechanism and the camera are all in communication connection with the control module. The lifting mechanism and the clamping mechanism are arranged to automatically separate the swallow feather from the swallow cup, the feather sucking mechanism is arranged to directly suck the separated swallow feather, at the moment, the clamping mechanism can conduct next feather removing operation, and efficient feather removing on the swallow cup is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of hair removal, and more specifically, to a hair removal device and method. Background Art

[0002] At present, there is still no equipment in domestic bird's nest processing enterprises that can automatically remove the feathers and other impurities of bird's nest cups, or it still cannot be put into commercial use. Most enterprises still use the traditional manual hair removal method for processing, which has problems such as low efficiency, high cost, and poor consistency.

[0003] First, most of the existing bird's nest cup processing equipment on the market is bird's nest sorting equipment. For example, the prior art discloses a key technical method and application of an AI intelligent fine sorting equipment for bird's nest, and its main feature is that it can perform intelligent sorting based on impurities, but it does not have the function of hair picking and processing. Secondly, most of the bird's nest hair picking tools mainly simplify the operation of hair picking technicians and reduce the manual hair picking time. For example, the prior art discloses a portable bird's nest hair picker, which can simplify the hair picking operation of technicians for bird's nest; the prior art discloses an electric needle pen for bird's nest hair picking, which can improve the efficiency of manual hair removal, etc.; but these products do not have the full-automatic operation of bird's nest cup hair removal without manual operation. Moreover, there are few mechanical automation hair picking devices on the market. For example, the prior art discloses an efficient bird's nest hair picking system and hair picking method, which sucks bird's nest hairs through an adsorption device and a suction cylinder, and the hair removal method is novel, but the suction method is more likely to increase impurities other than feathers compared with the hair picking tool, and there is a certain risk of reducing the effective components of the bird's nest cup. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art that it is impossible to efficiently remove the hair of bird's nest cups and there is a risk of reducing the effective components of bird's nest cups, and to provide a hair removal device and method that can efficiently remove the hair of bird's nest cups while effectively avoiding the risk of reducing the effective components of bird's nest cups.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is:

[0006] Provide a hair removal device, including a workbench, a moving mechanism, a lifting mechanism, a clamping mechanism, a hair suction mechanism, a camera, and a control module. The moving mechanism, the camera, and the control module are arranged on the workbench. The lifting mechanism is connected to the output end of the moving mechanism. The clamping mechanism and the hair suction mechanism are both connected to the output end of the lifting mechanism. The suction end of the hair suction mechanism faces the clamping mechanism. The moving mechanism, the lifting mechanism, the clamping mechanism, the hair suction mechanism, and the camera are all communicatively connected to the control module.

[0007] The hair removal device of the present invention, when removing hair from bird's nest cups, places the bird's nest cups to be dehaired on the workbench, starts the camera to take pictures of the bird's nest cups, the control module automatically identifies the bird feathers and plans the path, controls the movement of the moving mechanism, the moving mechanism drives the lifting mechanism to move to the position of the bird feathers, starts the lifting mechanism to drive the clamping mechanism to descend, the clamping mechanism clamps the bird feathers, after the clamping is completed, the lifting mechanism drives the clamping mechanism to rise, separates the bird feathers from the bird's nest cups, opens the hair suction mechanism and then opens the clamping mechanism, the hair suction mechanism sucks the bird feathers taken out, realizes the cleaning of the bird feathers, and can quickly perform the next hair removal operation, achieving efficient hair removal of the bird's nest cups. By setting the lifting mechanism and the clamping mechanism, the bird feathers are automatically separated from the bird's nest cups, and by setting the hair suction mechanism, the separated bird feathers are directly sucked. At this time, the clamping mechanism can perform the next hair removal operation, achieving efficient hair removal of the bird's nest cups.

[0008] Further, the lifting mechanism includes a lifting component, an outer cylinder and an inner cylinder. The lifting component and the outer cylinder are both connected to the output end of the moving mechanism. The outer cylinder is sleeved outside the inner cylinder. The inner cylinder is movably connected to the outer cylinder. The inner cylinder is connected to the output end of the lifting component. The clamping mechanism and the hair suction mechanism are both connected to the inner cylinder. The lifting component is communicatively connected to the control module. The lifting component drives the clamping mechanism to perform lifting movement through the inner cylinder. By setting the outer cylinder and the inner cylinder, the outer cylinder can guide the lifting movement of the inner cylinder, so that the clamping mechanism can stably perform lifting movement.

[0009] Further, the outer cylinder is provided with a spiral groove, and the inner cylinder is provided with a convex block. The convex block is slidably connected to the spiral groove. The inner cylinder is rotatably connected to the output end of the lifting component. When the inner cylinder performs lifting movement in the outer cylinder, the convex block slides in the spiral groove, driving the inner cylinder to rotate, so that the clamping mechanism rotates and rises after clamping the bird feathers, facilitating the separation of the bird feathers from the bird's nest cups.

[0010] Further, the convex block includes a sliding part and a limiting part connected in sequence. The sliding part is connected to the inner cylinder. The sliding part is slidably connected to the spiral groove. The limiting part and the inner cylinder are respectively located on both sides of the spiral groove. The outer diameter of the limiting part is greater than the width of the spiral groove. By setting the limiting part, the convex block can move stably in the spiral groove, preventing the convex block from separating from the spiral groove.

[0011] Further, the lifting component is set as a cylinder. The lifting mechanism further includes an elastic member. The two ends of the elastic member are respectively connected to the outer cylinder and the inner cylinder. By setting the lifting component as a cylinder and setting the elastic member, the cylinder is used to realize the rapid descent of the clamping mechanism, and the elastic member is used to realize the rapid ascent of the clamping mechanism, achieving efficient hair removal of the bird's nest cups.

[0012] Further, the clamping mechanism includes two sets of clamping components and a driving component for driving the opening and closing of the clamping components. The driving component is connected to the output end of the lifting mechanism. One end of each of the two sets of clamping components is connected to the output end of the driving component. When clamping, the other ends of the two sets of clamping components abut against each other. The driving component is communicatively connected to the control module. By controlling the movement of the driving component through the control module, the driving component drives the two sets of clamping components to open or close, thereby clamping the swallow feathers.

[0013] Further, the driving component is configured as a telescopic mechanism. The clamping component includes a clamping link and a support link. The clamping link includes a support portion, a connecting portion, and a clamping portion that are connected in sequence. The support portion is rotatably connected to the output end of the telescopic mechanism. There is an angle between the support portion and the connecting portion. One end of the support link is connected to the output end of the lifting mechanism, and the other end of the support link is rotatably connected to the connection between the support portion and the connecting portion. When the telescopic mechanism extends, the support portion is driven to rotate at the output end of the telescopic mechanism under the restriction of the support link, and then the connecting portions of the two sets of clamping components move away from each other, separating the two clamping portions and opening the clamping mechanism. When the telescopic mechanism contracts, the clamping mechanism is closed.

[0014] Further, the hair suction mechanism includes a hair suction tube. The hair suction tube is connected to the output end of the telescopic mechanism. The hair suction tube is coaxially arranged with the clamping portion, and the suction end of the hair suction tube faces the clamping portion. By arranging the hair suction tube coaxially with the clamping portion, it is convenient to use the hair suction tube to suck and clean the swallow feathers clamped by the clamping portion when the clamping portion opens.

[0015] The present invention also provides a hair removal method, which uses the above-mentioned hair removal device and includes:

[0016] Turn on the camera to capture the original picture of the swallow nest;

[0017] Process the original picture of the swallow nest to obtain the target coordinates;

[0018] The control module obtains the shortest movement path based on the target coordinates;

[0019] The control module controls the moving mechanism to move the clamping mechanism to the target coordinates along the shortest movement path;

[0020] Lower the lifting mechanism and close the clamping mechanism to clamp the target;

[0021] Raise the lifting mechanism to separate the target from the swallow nest;

[0022] Open the clamping mechanism and turn on the hair suction mechanism to suck the target into the hair suction mechanism.

[0023] The hair removal method of the present invention obtains the shortest movement path through the control module, and controls the moving mechanism to move the clamping mechanism along the shortest movement path to the location of the bird's nest hair, so as to efficiently remove the hair from the bird's nest.

[0024] Preferably, the original picture of the bird's nest is processed to obtain the target coordinates, specifically:

[0025] Convert the original picture of the bird's nest into a grayscale image;

[0026] Convert the grayscale image into a binary image;

[0027] Use reverse binarization on the binary image, set the target to white and the background to black;

[0028] Mark the target and the background respectively through the watershed algorithm;

[0029] Calculate the centroid of the target using image moments, and set the centroid as the target coordinates. After processing the original picture of the bird's nest, the target is efficiently identified through the watershed algorithm, and the centroid of the target is calculated as the target coordinates, thus facilitating the subsequent cleaning of the bird's nest hair.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. For a hair removal device and method of the present invention, the automatic bird's nest hair is separated from the bird's nest by setting a lifting mechanism and a clamping mechanism, and the separated bird's nest hair is directly sucked by setting a hair suction mechanism. At this time, the clamping mechanism can perform the next hair removal operation, achieving efficient hair removal of the bird's nest.

[0032] 2. For a hair removal device and method of the present invention, by setting an outer cylinder and an inner cylinder, with a spiral groove on the outer cylinder and a convex block on the inner cylinder, the clamping mechanism rotates and rises after clamping the bird's nest hair, facilitating the separation of the bird's nest hair from the bird's nest; at the same time, the lifting component is set as a cylinder, and an elastic member is set. The clamping mechanism is quickly lowered through the cylinder, and the clamping mechanism is quickly raised through the elastic member, achieving efficient hair removal of the bird's nest.

[0033] 3. For a hair removal device and method of the present invention, when the telescopic mechanism extends, under the restriction of the support link, it drives the support part to rotate at the output end of the telescopic mechanism, and then drives the connecting parts of the two clamping components to move away from each other, separating the two clamping parts and opening the clamping mechanism; when the telescopic mechanism contracts, the clamping mechanism is closed. Brief Description of the Drawings

[0034] Figure 1 It is a schematic structural diagram of the hair removal device;

[0035] Figure 2It is a schematic structural diagram of a clamping mechanism and a hair suction mechanism installed on a rotary lifting mechanism;

[0036] Figure 3 It is a schematic structural diagram of the clamping mechanism.

[0037] In the drawings: 100, workbench; 200, moving mechanism; 300, lifting mechanism; 310, lifting assembly; 320, outer cylinder; 321, spiral groove; 330, inner cylinder; 331, bump; 400, clamping mechanism; 410, clamping assembly; 411, clamping link; 411a, supporting part; 411b, connecting part; 411c, clamping part; 412, supporting link; 420, driving assembly; 500, hair suction mechanism; 600, camera; 700, control module; 800, fixing bracket; 900, supplementary light. Detailed implementation manners

[0038] The present invention will be further described below in conjunction with the specific implementation manners. Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as a limitation to this patent; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0039] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as a limitation to this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0040] Embodiment 1

[0041] This embodiment is the first embodiment of the hair removal device, as Figure 1As shown in the figure, it includes a workbench 100, a moving mechanism 200, a lifting mechanism 300, a clamping mechanism 400, a hair suction mechanism 500, a camera 600 and a control module 700. The moving mechanism 200, the camera 600 and the control module 700 are arranged on the workbench 100. The lifting mechanism 300 is connected to the output end of the moving mechanism 200. Both the clamping mechanism 400 and the hair suction mechanism 500 are connected to the output end of the lifting mechanism 300. The hair suction mechanism 500 includes a hair suction pipe and a vacuum machine. The vacuum machine is used to suck air into the hair suction pipe. The hair suction pipe is installed at the output end of the lifting mechanism 300. The suction end of the hair suction mechanism 500 faces the clamping mechanism 400, and the air outlet end faces the waste hair box. The moving mechanism 200, the lifting mechanism 300, the clamping mechanism 400, the hair suction mechanism 500 and the camera 600 are all communicatively connected to the control module 700. A heat dissipation mechanism for dissipating heat from the control module 700 is also provided on the workbench 100.

[0042] The overall mechanism design of the device adopts a gantry-like mechanism. That is, the moving mechanism 200 includes two longitudinal moving mechanisms and one transverse moving mechanism. The two longitudinal moving mechanisms are arranged in parallel on the workbench 100. The two ends of the transverse moving mechanism are respectively connected to the output ends of the two longitudinal moving mechanisms. The lifting mechanism 300 is connected to the output end of the transverse moving mechanism. When placing the bird's nest, the bird's nest is located between the two longitudinal moving mechanisms.

[0043] In this embodiment, both the longitudinal moving mechanism and the transverse moving mechanism adopt the corexy moving device design, and heat dissipation modules are installed at the moving mechanisms to reduce the influence of heat generated by high-speed movement on the movement accuracy of the screw and slider. The belt is placed on the two longitudinal moving mechanisms to drive the transverse screw, improving the stability and accuracy of the screw movement.

[0044] It further includes a fixing frame 800. The fixing frame 800 is connected to the output end of the moving mechanism 200. The fixing frame 800 is provided with a plurality of first connectors along the vertical direction. The lifting mechanism 300 is provided with second connectors that are detachably connected to the first connectors. By providing a plurality of first connectors along the vertical direction, the second connectors can be detachably connected to different first connectors. In this embodiment, snap connections are used to adjust the installation height of the clamping assembly 410, facilitating the removal of hair from bird's nests at different heights.

[0045] It further includes a fill light 900. The fill light 900 is arranged on the workbench 100. The irradiation direction of the fill light 900 faces the workbench 100. The fill light 900 is communicatively connected to the control module 700. By providing the fill light 900, the bird's nest to be de-haired is filled with light, facilitating the camera 600 to take clearer original pictures of the bird's nest, thereby facilitating the control module 700 to process the pictures.

[0046] The working principle of the de-hairing device in this embodiment is as follows:

[0047] When removing hairs from bird's nest cups, place the bird's nest cups to be de-haired on the workbench 100 so that the camera can completely photograph the entire bird's nest cup. Adjust the installation position of the lifting mechanism 300 on the fixing frame 800, install the second connecting piece of the lifting mechanism 300 in a suitable first connecting piece, and adjust the initial height of the lifting mechanism 300. After the adjustment is completed, turn on the supplementary light 900 to ensure that the entire bird's nest cup can be illuminated. Start the camera 600 to take pictures of the bird's nest cup. The control module 700 automatically identifies the bird hairs and plans the path, controls the movement of the moving mechanism 200. The moving mechanism 200 drives the lifting mechanism 300 to move to the position of the bird hairs. Start the lifting mechanism 300 to drive the clamping mechanism 400 to descend. The clamping mechanism 400 clamps the bird hairs. After the clamping is completed, the lifting mechanism 300 drives the clamping mechanism 400 to rise, separating the bird hairs from the bird's nest cup. After the hair suction mechanism 500 is turned on, the clamping mechanism 400 is opened, and the hair suction mechanism 500 sucks the bird hairs taken out, realizing the cleaning of the bird hairs and enabling a quick next hair removal operation, achieving efficient hair removal of the bird's nest cup. By setting the lifting mechanism 300 and the clamping mechanism 400, the automatic bird hairs are separated from the bird's nest cup, and by setting the hair suction mechanism 500, the separated bird hairs are directly sucked. At this time, the clamping mechanism 400 can perform the next hair removal operation, achieving efficient hair removal of the bird's nest cup, which not only improves the clamping speed but also will not cause damage to the clamping mechanism 400 due to bird hair entanglement, and also recovers and cleans the bird hairs. At the same time, the camera also has an automatic detection function, which can ensure that the bird hairs are clamped and cleaned more precisely. In addition, this hair removal device can not only perform hair removal treatment on bird's nest cups but also perform impurity removal treatment on other structures that need to remove impurities.

[0048] Embodiment 2

[0049] This embodiment is the second embodiment of the hair removal device. This embodiment is similar to Embodiment 1, the difference is that, as Figure 2 shown, the lifting mechanism 300 includes a lifting component 310, an outer cylinder 320 and an inner cylinder 330. Both the lifting component 310 and the outer cylinder 320 are connected to the output end of the moving mechanism 200. The outer cylinder 320 is sleeved outside the inner cylinder 330. The inner cylinder 330 is movably connected to the outer cylinder 320. The inner cylinder 330 is connected to the output end of the lifting component 310. Both the clamping mechanism 400 and the hair suction mechanism 500 are connected to the inner cylinder 330. The lifting component 310 is communicatively connected to the control module 700. The lifting component 310 drives the clamping mechanism 400 to perform lifting movement through the inner cylinder 330. By setting the outer cylinder 320 and the inner cylinder 330, the outer cylinder 320 can guide the lifting movement of the inner cylinder 330, so that the clamping mechanism 400 can stably perform lifting movement.

[0050] The outer cylinder 320 is provided with a spiral groove 321, and the inner cylinder 330 is provided with a convex block 331. The convex block 331 is slidably connected to the spiral groove 321, and the inner cylinder 330 is rotatably connected to the output end of the lifting assembly 310. When the inner cylinder 330 moves up and down within the outer cylinder 320, the convex block 331 slides in the spiral groove 321, driving the inner cylinder 330 to rotate, so that the clamping mechanism 400 rotates and rises after clamping the swallow feathers, facilitating the separation of the swallow feathers from the swallow nest.

[0051] The convex block 331 includes a sliding portion and a limiting portion connected in sequence. The sliding portion is connected to the inner cylinder 330, and the sliding portion is slidably connected to the spiral groove 321. The limiting portion and the inner cylinder 330 are respectively located on both sides of the spiral groove 321, and the outer diameter of the limiting portion is greater than the width of the spiral groove 321. By providing the limiting portion, the convex block 331 can move stably within the spiral groove 321, preventing the convex block 331 from separating from the spiral groove 321.

[0052] The lifting assembly 310 is provided as a cylinder, and the lifting mechanism 300 further includes an elastic member. Both ends of the elastic member are respectively connected to the outer cylinder 320 and the inner cylinder 330. By providing the lifting assembly 310 as a cylinder and setting the elastic member, the cylinder is used to achieve the rapid descent of the clamping mechanism 400, and the elastic member is used to achieve the rapid ascent of the clamping mechanism 400, realizing efficient feather removal from the swallow nest.

[0053] Embodiment Three

[0054] This embodiment is the third embodiment of the feather removal device. This embodiment is similar to Embodiment One, the difference being that, as Figure 2 shown, the clamping mechanism 400 includes two sets of clamping components 410 and a driving component 420 for driving the opening and closing of the clamping components 410. The driving component 420 is connected to the output end of the lifting mechanism 300. One ends of the two sets of clamping components 410 are both connected to the output end of the driving component 420. During clamping, the other ends of the two sets of clamping components 410 abut against each other, and the driving component 420 is communicatively connected to the control module 700. By controlling the driving component 420 to move through the control module 700, the driving component 420 drives the two sets of clamping components 410 to open or close, clamping the swallow feathers.

[0055] As Figure 3As shown, the driving component 420 is set as a telescopic mechanism. In order to make the clamping action more effective and reduce the damage rate, a parallel pneumatic gripper mechanism is adopted in this device. The clamping movement is more convenient and stable, with a smaller movement amplitude, reducing the extension damage rate. At the same time, a detachable forceps-type jaw head is equipped at the jaw head, causing less damage to the bird's nest. The clamping component 410 includes a clamping connecting rod 411 and a supporting connecting rod 412. The clamping connecting rod 411 includes a supporting part 411a, a connecting part 411b, and a clamping part 411c connected in sequence. The supporting part 411a is rotatably connected to the output end of the telescopic mechanism. There is an included angle between the supporting part 411a and the connecting part 411b, that is, the supporting part 411a and the connecting part 411b form an L-shaped connecting rod. The supporting part 411a and the connecting part 411b are preferably located in the same plane. The clamping part 411c is set as a forceps-type jaw head, which is convenient for finely clamping the bird feathers. The hair suction tube is coaxially arranged with the clamping part 411c. The axes of the supporting part 411a, the connecting part 411b, the clamping part 411c, and the hair suction tube are preferably located in the same plane, which is convenient for using the hair suction tube to suck and clean the bird feathers clamped by the clamping part 411c when the clamping part 411c is opened.

[0056] One end of the supporting connecting rod 412 is connected to the output end of the lifting mechanism 300, and the other end of the supporting connecting rod 412 is rotatably connected to the connection part between the supporting part 411a and the connecting part 411b. When the telescopic mechanism extends, under the restriction of the supporting connecting rod 412, it drives the supporting part 411a to rotate at the output end of the telescopic mechanism, and then drives the connecting parts 411b of the two clamping components 410 to move away from each other, separating the two clamping parts 411c and opening the clamping mechanism 400; when the telescopic mechanism contracts, the clamping mechanism 400 is closed.

[0057] Embodiment Four

[0058] This embodiment is the first embodiment of a hair removal method, using the hair removal device provided in any one of Embodiments One to Three, including:

[0059] Turn on the camera 600 to take the original picture of the bird's nest;

[0060] Process the original picture of the bird's nest to obtain the target coordinates;

[0061] The control module 700 obtains the shortest movement path according to the target coordinates;

[0062] The control module 700 controls the moving mechanism 200 to move the clamping mechanism 400 to the target coordinates along the shortest movement path;

[0063] Lower the lifting mechanism 300 and close the clamping mechanism 400 to clamp the target;

[0064] Raise the lifting mechanism 300 to separate the target from the bird's nest;

[0065] Open the clamping mechanism 400 and activate the hair suction mechanism 500 to suck the target into the hair suction mechanism 500.

[0066] The working principle of the hair removal method in this embodiment is as follows:

[0067] The vision system of this device is developed based on openmv. The control module 700 calculates the shortest movement path and controls the movement mechanism 200 to move the clamping mechanism 400 to the location of the bird's nest hair along the shortest movement path, achieving efficient hair removal for the bird's nest.

[0068] Embodiment Five

[0069] This embodiment is the second embodiment of the hair removal method. This embodiment is similar to Embodiment One, except that the original picture of the bird's nest is processed to obtain the target coordinates, specifically:

[0070] Convert the original picture of the bird's nest into a grayscale image;

[0071] Convert the grayscale image into a binary image; the purpose is to separate the background from the foreground. The grayscale threshold of this project is set to 50 as the best.

[0072] Use inverse binaryzation on the binary image, set the target to white and the background to black; use morphological opening operation to remove noise. Calculate the shortest distance from each point in the foreground area to the background through distance transformation to obtain a distance map. It is best to use 0.1 of the farthest boundary in the distance transformation image as the threshold to distinguish the target and background areas.

[0073] Mark the target and the background respectively through the watershed algorithm; for example, mark the foreground as 1, the background as 0, and mark the unknown area as -1, and finally obtain the target contour. Specifically, use the following formula:

[0074]

[0075] Calculate the centroid of the target using image moments and set the centroid as the target coordinates. After processing the original picture of the bird's nest, the target is efficiently identified through the watershed algorithm, and the centroid of the target is calculated as the target coordinates, so as to facilitate the subsequent cleaning of the bird's nest hair. Specifically, use the following formula:

[0076]

[0077] Among them, c x represents the abscissa X-axis coordinate of the centroid of the image or region; c y represents the ordinate Y-axis coordinate of the centroid of the image or region; x i represents the abscissa of the centroid of the i-th region or object; y i represents the ordinate of the centroid of the i-th region or object; A iRepresents the area or weight of the i-th region or object, usually corresponding to the number of pixels in a certain part of the image.

[0078] The control module 700 obtains the shortest moving path according to the target coordinates. Specifically, the ant colony algorithm is used. The target coordinates are used as the coordinates for the ant colony algorithm to calculate. Each ant selects a path based on the pheromone concentration and the heuristic function. Through multiple iterations, the ants continuously update the pheromone and will eventually converge to the optimal path. By using the ant colony algorithm, it is convenient to obtain the shortest moving path, thereby achieving efficient hair removal for the bird's nest.

[0079] The update of the ant colony pheromone concentration specifically adopts the following formula:

[0080] τ ij (t + n) = ρ·τ ij (t) + △τ ij

[0081] Among them, τ ij (t + n) represents the remaining amount of information on the path from i to j at time t + n, that is, the pheromone concentration; τ ij (t) represents the remaining amount of information on the path from i to j at time t, that is, the pheromone concentration; ρ is a number between 0 and 1, and (1 - ρ) is the evaporation factor; Δτ ij Represents the total amount of pheromone left by all ants on all paths from i to j after a single tour through all cities.

[0082] The probability function for an ant to select the path from i to j is:

[0083]

[0084] Among them, α and β are adjustment factors used to adjust the effect between τ ij (t) and η ij In addition, allowed k Represents the paths that ant k has not walked yet.

[0085] Finally, the most appropriate parameters are obtained: the number of ants is 200, the number of iterations is 100, the pheromone factor and the heuristic factor are 1 and 2 respectively, and the pheromone evaporation rate is 0.5.

[0086] In the specific content of the above specific implementation manner, each technical feature can be combined arbitrarily without contradiction. For the sake of concise description, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features does not exist in contradiction, it should be considered as the scope recorded in this specification.

[0087] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A hair removal device, characterized in that: The invention comprises a workbench (100), a moving mechanism (200), a lifting mechanism (300), a clamping mechanism (400), a hair suction mechanism (500), a camera (600) and a control module (700); the moving mechanism (200), the camera (600) and the control module (700) are arranged on the workbench (100); the lifting mechanism (300) is connected to an output end of the moving mechanism (200); the clamping mechanism (400) and the hair suction mechanism (500) are both connected to the output end of the lifting mechanism (300); an air suction end of the hair suction mechanism (500) faces the clamping mechanism (400); and the moving mechanism (200), the lifting mechanism (300), the clamping mechanism (400), the hair suction mechanism (500) and the camera (600) are all connected to the control module (700) in a communication manner.

2. The hair removal device according to claim 1, characterized in that: The lifting mechanism (300) comprises a lifting assembly (310), an outer cylinder (320) and an inner cylinder (330); the lifting assembly (310) and the outer cylinder (320) are both connected to the output end of the moving mechanism (200); the outer cylinder (320) is sleeved outside the inner cylinder (330); the inner cylinder (330) is movably connected to the outer cylinder (320); the inner cylinder (330) is connected to the output end of the lifting assembly (310); the clamping mechanism (400) and the hair suction mechanism (500) are both connected to the inner cylinder (330); and the lifting assembly (310) is communicatively connected to the control module (700).

3. The hair removal device according to claim 2, characterized in that: The outer cylinder (320) is provided with a spiral groove (321), the inner cylinder (330) is provided with a convex block (331), the convex block (331) is slidably connected to the spiral groove (321), and the inner cylinder (330) is rotationally connected to the output end of the lifting assembly (310).

4. The hair removal device according to claim 3, characterized in that: The protrusion (331) comprises a sliding portion and a limiting portion which are connected in sequence, the sliding portion is connected to the inner cylinder (330), the sliding portion is slidably connected to the spiral groove (321), the limiting portion and the inner cylinder (330) are respectively located on both sides of the spiral groove (321), and the outer diameter of the limiting portion is greater than the width of the spiral groove (321).

5. The hair removal device according to claim 2, characterized in that: The lifting component (310) is configured as a cylinder, and the lifting mechanism (300) further comprises an elastic member, wherein two ends of the elastic member are respectively connected to the outer cylinder (320) and the inner cylinder (330).

6. The hair removal device according to any one of claims 1 to 5, characterized in that: The clamping mechanism (400) comprises two groups of clamping components (410) and a driving component (420) for driving the clamping components (410) to open and close. The driving component (420) is connected to the output end of the lifting mechanism (300). One end of the two groups of clamping components (410) is connected to the output end of the driving component (420). When clamping, the other ends of the two groups of clamping components (410) are in contact with each other. The driving component (420) is in communication connection with the control module (700).

7. The hair removal device according to claim 6, characterized in that: The driving assembly (420) is configured as a telescopic mechanism; the clamping assembly (410) comprises a clamping link (411) and a supporting link (412); the clamping link (411) comprises a supporting portion (411a), a connecting portion (411b) and a clamping portion (411c) which are connected in sequence; the supporting portion (411a) is rotatably connected to an output end of the telescopic mechanism; an angle is defined between the supporting portion (411a) and the connecting portion (411b); one end of the supporting link (412) is connected to an output end of the lifting mechanism (300); and the other end of the supporting link (412) is rotatably connected to a connection between the supporting portion (411a) and the connecting portion (411b).

8. The hair removal device according to claim 7, characterized in that: The hair suction mechanism (500) comprises a hair suction tube, the hair suction tube is connected to the output end of the telescopic mechanism, the hair suction tube and the clamping portion (411c) are coaxially arranged, and the air suction end of the hair suction tube faces the clamping portion (411c).

9. A hair removal method, characterized in that: The bird's nest hair removal device using high frequency precision control according to any one of claims 1 to 8 comprises: Turning on the camera (600) to take an original picture of the bird's nest; Processing the original picture of the bird's nest to obtain the target coordinates; The control module (700) obtains the shortest moving path according to the target coordinates; The control module (700) controls the moving mechanism (200) to move the clamping mechanism (400) to the target coordinates along the shortest moving path; Lowering the lifting mechanism (300) and closing the clamping mechanism (400) to clamp the target; Raising the lifting mechanism (300) to separate the target from the bird's nest; The clamping mechanism (400) is opened, and the hair suction mechanism (500) is turned on to suck the target into the hair suction mechanism (500).

10. The hair removal method according to claim 9, characterized in that: The original picture of the bird's nest is processed to obtain the target coordinates, which are specifically: Convert the original bird's nest image into a grayscale image; Converting the grayscale image into a binary image; Applying inverse binarization to the binary image, setting the target to white and the background to black; Mark the target and the background respectively by using a watershed algorithm; The center of mass of the target is calculated using the image moment, and the center of mass is set as the target coordinates.

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