A dehairing device and method

Abstract

The present application relates to the technical field of depilation, more particularly to a kind of depilation device and method, including workbench, moving mechanism, lifting mechanism, clamping mechanism, suction mechanism, camera and control module, the moving mechanism, the camera and the control module are located on the workbench, the lifting mechanism is connected with the moving mechanism output end, the clamping mechanism and the suction mechanism are all connected with the lifting mechanism output end, the suction end of the suction mechanism is towards the clamping mechanism, the moving mechanism, the lifting mechanism, the clamping mechanism, the suction mechanism and the camera are all connected with the control module communication.The present application is separated from the automatic swallow hair in swallow basin by setting lifting mechanism and clamping mechanism, and separated swallow hair is directly sucked by setting suction mechanism, clamping mechanism can carry out the next depilation operation at this time, and high-efficiency depilation is realized to swallow basin.

Description

Technical Field

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

[0002] At present, domestic bird's nest processing companies still do not have equipment that can automatically remove bird's hair and other impurities from bird's nests, or the equipment is still not commercially available. Most companies still use traditional manual dehairing methods, which have problems such as low efficiency, high cost, and poor consistency.

[0003] First, most of the bird's nest processing equipment currently available on the market is bird's nest sorting equipment. For example, the prior art discloses a key technology method and application of a bird's nest AI intelligent precision sorting equipment. Its main feature is that it can be intelligently sorted based on impurities, but it does not have the function of picking hair. Secondly, most bird's nest picking tools are mainly used to simplify the operation of picking hair technicians and reduce the time of manual picking. For example, the prior art discloses a portable bird's nest picking device, which can simplify the technician's picking hair operation on the bird's nest; the prior art discloses an electric needle pen for picking hair from bird's nests, which can improve the efficiency of manual hair removal, etc.; but these products do not have the ability to fully automatically remove hair from bird's nests without manual operation. Furthermore, there are few mechanically automated hair picking devices on the market. For example, the prior art discloses an efficient bird's nest picking system and picking method, which absorbs bird's nest hair through an adsorption device and a suction cylinder. The depilation method is novel, but the suction method is more likely to increase impurities other than feathers compared to the hair picking device, and there is a certain risk of reducing the effective ingredients of the bird's nest. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology that it is impossible to efficiently remove the hair of bird's nest and there is a risk of reducing the effective ingredients of bird's nest, and to provide a depilation device and method that can achieve efficient depilation of bird's nest while effectively avoiding the risk of reducing the effective ingredients of bird's nest.

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

[0006] A hair removal device is provided, comprising a workbench, a moving mechanism, a lifting mechanism, a clamping mechanism, a hair suction mechanism, a camera and a control module, wherein 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, and 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 dehairing device of the present invention, when dehairing a bird's nest, places the bird's nest to be dehaired on a workbench, starts a camera to take a picture of the bird's nest, the control module automatically identifies the bird's feathers and plans a path, controls the movement of the moving mechanism, the moving mechanism drives the lifting mechanism to move to the bird's feathers, starts the lifting mechanism to drive the clamping mechanism to descend, the clamping mechanism clamps the bird's feathers, after the clamping is completed, the lifting mechanism drives the clamping mechanism to rise, separates the bird's feathers from the bird's nest, opens the hair suction mechanism and opens the clamping mechanism, the hair suction mechanism absorbs the clamped bird's feathers, realizes the cleaning of the bird's feathers, and can quickly perform the next dehairing operation, realizing efficient dehairing of the bird's nest. By setting the lifting mechanism and the clamping mechanism, the bird's feathers are automatically separated from the bird's nest, and by setting the hair suction mechanism, the separated bird's feathers are directly absorbed. At this time, the clamping mechanism can perform the next dehairing operation, realizing efficient dehairing of the bird's nest.

[0008] Furthermore, the lifting mechanism includes a lifting assembly, an outer cylinder, and an inner cylinder. The lifting assembly 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 assembly, the clamping mechanism and the hair suction mechanism are both connected to the inner cylinder, and the lifting assembly is in communication with the control module. The lifting assembly drives the clamping mechanism to perform lifting motion via the inner cylinder. By arranging the outer cylinder and the inner cylinder, the outer cylinder can guide the lifting motion of the inner cylinder, thereby allowing the clamping mechanism to perform stable lifting motion.

[0009] Furthermore, the outer cylinder is provided with a spiral groove, and the inner cylinder is provided with a protrusion, the protrusion being slidably connected to the spiral groove, and the inner cylinder being rotationally connected to the output end of the lifting assembly. When the inner cylinder is lifted and lowered within the outer cylinder, the protrusion slides in the spiral groove, driving the inner cylinder to rotate, causing the clamping mechanism to rotate and rise after clamping the bird's feathers, thereby facilitating the separation of the bird's feathers from the bird's nest.

[0010] Furthermore, the projection includes a sliding portion and a stopper, which are sequentially connected. The sliding portion is connected to the inner cylinder, which is in sliding connection with the spiral groove. The stopper and the inner cylinder are respectively located on either side of the spiral groove. The outer diameter of the stopper is larger than the width of the spiral groove. The stopper ensures stable movement of the projection within the spiral groove and prevents separation of the projection from the spiral groove.

[0011] Furthermore, the lifting assembly is configured as a cylinder, and the lifting mechanism further includes an elastic member, the ends of which are connected to the outer cylinder and the inner cylinder, respectively. By configuring the lifting assembly as a cylinder and providing the elastic member, the cylinder is used to achieve rapid descent of the clamping mechanism, while the elastic member is used to achieve rapid descent of the clamping mechanism, thereby achieving efficient depilation of the bird's nest.

[0012] Further, the clamping mechanism comprises two groups of clamping assemblies and a driving assembly for driving the clamping assemblies to open and close, the driving assembly is connected with the output end of the lifting mechanism, one end of the two groups of clamping assemblies is connected with the output end of the driving assembly, and the other end of the two groups of clamping assemblies abuts when clamping, and the driving assembly is in communication connection with the control module. The control module controls the movement of the driving assembly, and the driving assembly drives the two groups of clamping assemblies to open or close to clamp the downy.

[0013] Further, the driving assembly is a telescopic mechanism, the clamping assembly comprises a clamping connecting rod and a supporting connecting rod, the clamping connecting rod comprises a supporting part, a connecting part and a clamping part connected in sequence, the supporting part is rotationally connected with the output end of the telescopic mechanism, the supporting part and the connecting part have an included angle, one end of the supporting connecting rod is connected with the output end of the lifting mechanism, and the other end of the supporting connecting rod is rotationally connected with the connecting part of the supporting part and the connecting part. When the telescopic mechanism is elongated, the supporting part is driven to rotate at the output end of the telescopic mechanism under the limitation of the supporting connecting rod, and then the connecting parts of the two groups of clamping assemblies are driven to move away from each other, so that the two clamping parts are separated and the clamping mechanism is opened; when the telescopic mechanism is retracted, the closing of the clamping mechanism is realized.

[0014] Further, the hair suction mechanism comprises a hair suction pipe, the hair suction pipe is connected with the output end of the telescopic mechanism, the hair suction pipe is coaxially arranged with the clamping part, and the suction end of the hair suction pipe faces the clamping part. The hair suction pipe is coaxially arranged with the clamping part, so that the downy clamped by the clamping part can be easily sucked and cleaned when the clamping part is opened.

[0015] The application also provides a hair removal method, which utilizes the hair removal device described above, and comprises the following steps.

[0016] The camera is turned on to take an original picture of the cup;

[0017] The original picture of the cup is processed to obtain target coordinates;

[0018] The control module obtains the shortest moving path according to the target coordinates;

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

[0020] The lifting mechanism is lowered to close the clamping mechanism to clamp the target;

[0021] The lifting mechanism is raised to separate the target from the cup;

[0022] The clamping mechanism is opened, and the hair suction mechanism is turned on to suck the target into the hair suction mechanism.

[0023] The dehairing method of the application obtains the shortest moving path through the control module, and controls the moving mechanism to move the clamping mechanism to the place where the down is removed along the shortest moving path, so that the down is efficiently removed from the cup.

[0024] Preferably, the original picture of the cup is processed to obtain the target coordinate, specifically:

[0025] The original picture of the cup is converted into a gray-scale image.

[0026] The gray-scale image is converted into a binary image.

[0027] The binary image is inverted to set the target as white and the background as black.

[0028] The target and the background are marked by a watershed algorithm.

[0029] The centroid of the target is calculated by an image moment, and the centroid is set as the target coordinate. After the original picture of the cup is processed, the target is efficiently identified by the watershed algorithm, and the centroid of the target is calculated as the target coordinate, so that the down is conveniently cleaned subsequently.

[0030] Compared with the prior art, the application has the following advantages:

[0031] 1. The dehairing device and method of the application separate the automatic down from the cup by setting the lifting mechanism and the clamping mechanism, and directly suck the separated down by setting the hair suction mechanism, so that the clamping mechanism can perform the next dehairing operation, and the down is efficiently removed from the cup.

[0032] 2. The dehairing device and method of the application separate the down from the cup by setting the outer cylinder and the inner cylinder, setting the spiral groove on the outer cylinder, and setting the protrusion on the inner cylinder, so that the clamping mechanism rotates and rises after clamping the down, and the down is separated from the cup; the lifting assembly is set as a pneumatic cylinder, and the elastic member is set, so that the clamping mechanism quickly descends through the pneumatic cylinder and quickly rises through the elastic member, and the down is efficiently removed from the cup.

[0033] 3. The dehairing device and method of the application, when the telescopic mechanism is elongated, the support part rotates at the output end of the telescopic mechanism under the limitation of the support connecting rod, and then drives the connecting parts of the two groups of clamping assemblies to move away from each other, so that the two clamping parts are separated and the clamping mechanism is opened; when the telescopic mechanism is contracted, the clamping mechanism is closed. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a structural schematic view of the dehairing device.

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

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

[0037] In the drawings: 100, workbench; 200, moving mechanism; 300, lifting mechanism; 310, lifting assembly; 320, outer cylinder; 321, helical groove; 330, inner cylinder; 331, protrusion; 400, clamping mechanism; 410, clamping assembly; 411, clamping connecting rod; 411a, support part; 411b, connecting part; 411c, clamping part; 412, support connecting rod; 420, driving assembly; 500, hair suction mechanism; 600, camera; 700, control module; 800, fixing frame; 900, light supplement lamp. DETAILED DESCRIPTION

[0038] The application will be further described below in conjunction with specific embodiments. The drawings are only used for exemplary description, and the representation is only a schematic diagram, not a physical diagram, and should not be understood as a limitation on the patent; in order to better illustrate the embodiments of the application, some components in the drawings may 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 in the drawings and their descriptions may be omitted.

[0039] The same or similar reference numerals in the drawings of the embodiments of the application correspond to the same or similar components; in the description of the application, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate the orientation or positional relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the positional relationship described in the drawings is only used for exemplary description, and should not be understood as a limitation on the patent, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0040] Embodiment one

[0041] This embodiment is the first embodiment of the hair removal device, as shown in Figure 1As shown, 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, the clamping mechanism 400 and the hair suction mechanism 500 are both connected to the output end of the lifting mechanism 300, the hair suction mechanism 500 includes a hair suction tube and a vacuum machine, the vacuum machine is used to suck air from the hair suction tube, the hair suction tube is installed at the output end of the lifting mechanism 300, the air 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, and the workbench 100 is also provided with a heat dissipation mechanism for dissipating heat from the control module 700.

[0042] The overall design of the device adopts a gantry-like mechanism. Specifically, the moving mechanism 200 comprises two sets of longitudinal moving mechanisms and one set of transverse moving mechanisms. The two sets of longitudinal moving mechanisms are arranged parallel to the workbench 100. The ends of the transverse moving mechanisms are connected to the output terminals of the two sets of longitudinal moving mechanisms, and the lifting mechanism 300 is connected to the output terminals of the transverse moving mechanisms. When placing the bird's nest, it is located between the two sets of longitudinal moving mechanisms.

[0043] In this embodiment, both the longitudinal and transverse motion mechanisms utilize a corexy motion design, and heat dissipation modules are installed on each mechanism to reduce the impact of high-speed heat generation on the precision of the lead screw and slider. Belts are placed on both longitudinal motion mechanisms to drive the transverse lead screws, improving the stability and accuracy of the lead screws' motion.

[0044] The apparatus further includes a fixing frame 800, which is connected to the output end of the moving mechanism 200. The fixing frame 800 is provided with multiple first connecting members in the vertical direction, and the lifting mechanism 300 is provided with a second connecting member that is detachably connected to the first connecting member. By providing multiple first connecting members in the vertical direction, the second connecting member can be detachably connected to different first connecting members. In this embodiment, a snap connection is used to adjust the installation height of the clamping assembly 410, facilitating the depilation of bird's nests of different heights.

[0045] The system further includes a fill light 900, which is disposed on the workbench 100 and directed toward the workbench 100. The fill light 900 is in communication with the control module 700. By providing the fill light 900, the bird's nest to be depilated is illuminated, making it easier for the camera 600 to capture a clearer original image of the bird's nest, thereby facilitating image processing by the control module 700.

[0046] The working principle of the hair removal device in this embodiment is as follows:

[0047] When depilating the bird's nest, place the bird's nest to be depilated on the workbench 100 so that the camera can fully capture the entire bird's nest, adjust the installation position of the lifting mechanism 300 on the fixing frame 800, install the second connecting member of the lifting mechanism 300 in the appropriate first connecting member, adjust the initial height of the lifting mechanism 300, and after the adjustment is completed, turn on the fill light 900 to ensure that the entire bird's nest can be illuminated. The camera 600 is started to take pictures of the bird's nest. The control module 700 automatically identifies the bird's feathers and plans a path, controls the movement of the moving mechanism 200, and the moving mechanism 200 drives the lifting mechanism 300 to move to the bird's feathers. The lifting mechanism 300 is started to drive the clamping mechanism 400 to descend, and the clamping mechanism 400 clamps the bird's feathers. After clamping is completed, the lifting mechanism 300 drives the clamping mechanism 400 to rise to separate the bird's feathers from the bird's nest. After the hair suction mechanism 500 is turned on, the clamping mechanism 400 is opened, and the hair suction mechanism 500 absorbs the clamped bird's feathers to clean the bird's feathers and can quickly perform the next hair removal operation, thereby achieving efficient hair removal of the bird's nest. By setting up a lifting mechanism 300 and a clamping mechanism 400, the bird's nest feathers are automatically separated from the bird's nest, and by setting up a hair suction mechanism 500, the separated bird's nest feathers are directly sucked up. At this time, the clamping mechanism 400 can perform the next hair removal operation, achieving efficient hair removal for the bird's nest, which not only improves the clamping rate, but also prevents the clamping mechanism 400 from being damaged by the entanglement of the bird's nest feathers, and also recovers and cleans the bird's nest feathers. At the same time, the camera also has an automatic detection function, which can ensure that the bird's nest feathers are more precisely clamped and cleaned. In addition, this hair removal device can not only remove the feathers from the bird's nest, but also remove impurities from other structures that need to remove impurities.

[0048] Example 2

[0049] This embodiment is the second embodiment of the hair removal device. This embodiment is similar to the first embodiment, except that Figure 2 As shown, the lifting mechanism 300 includes 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 and the outer cylinder 320 are movably connected. 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. The lifting assembly 310 is used to drive the clamping mechanism 400 to perform lifting motion through the inner cylinder 330. By providing the outer cylinder 320 and the inner cylinder 330, the outer cylinder 320 can guide the lifting motion of the inner cylinder 330, thereby allowing the clamping mechanism 400 to perform stable lifting motion.

[0050] The outer cylinder 320 is provided with a spiral groove 321, and the inner cylinder 330 is provided with a protrusion 331, which is in sliding connection with the spiral groove 321, and the inner cylinder 330 is in rotational connection with the output end of the lifting assembly 310. When the inner cylinder 330 moves up and down in the outer cylinder 320, the protrusion 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 honeycomb, facilitating the separation of the honeycomb from the honeycomb.

[0051] The protrusion 331 comprises a sliding part and a limiting part connected in sequence, the sliding part is connected with the inner cylinder 330, the sliding part is in sliding connection with the spiral groove 321, and the limiting part and the inner cylinder 330 are located on both sides of the spiral groove 321 respectively, and the outer diameter of the limiting part is greater than the width of the spiral groove 321. By arranging the limiting part, the protrusion 331 moves stably in the spiral groove 321, avoiding separation of the protrusion 331 from the spiral groove 321.

[0052] The lifting assembly 310 is a gas cylinder, and the lifting mechanism 300 further comprises an elastic member, both ends of the elastic member are connected with the outer cylinder 320 and the inner cylinder 330 respectively. By arranging the lifting assembly 310 as a gas cylinder and the elastic member, the gas cylinder is used to realize the rapid descent of the clamping mechanism 400, and the elastic member is used to realize the rapid ascent of the clamping mechanism 400, so that the honeycomb is efficiently dehaired.

[0053] Embodiment three

[0054] This embodiment is the third embodiment of the dehairing device, which is similar to the first embodiment, and the difference lies in that, as shown in Figure 2 The clamping mechanism 400 comprises two groups of clamping assemblies 410 and a driving assembly 420 for driving the clamping assemblies 410 to open and close, the driving assembly 420 is connected with the output end of the lifting mechanism 300, and one end of the two groups of clamping assemblies 410 is connected with the output end of the driving assembly 420. When clamping, the other end of the two groups of clamping assemblies 410 abuts against each other, and the driving assembly 420 is in communication connection with the control module 700. The driving assembly 420 drives the two groups of clamping assemblies 410 to open or close by controlling the movement of the driving assembly 420 through the control module 700, so as to clamp the honeycomb.

[0055] As shown in Figure 3As shown, the drive assembly 420 is configured as a telescopic mechanism. In order to make the clamping action more effective and the damage rate lower, the device adopts a parallel pneumatic clamping claw mechanism. The clamping movement is lighter and more stable, the movement amplitude is smaller, and the damage rate to the extension is reduced. At the same time, the claw head is equipped with a detachable tweezers-type claw head, which causes less damage to the bird's nest. The clamping assembly 410 includes a clamping link 411 and a support link 412. The clamping link 411 includes a supporting portion 411a, a connecting portion 411b and a clamping portion 411c connected in sequence. The supporting portion 411a is rotatably connected to the output end of the telescopic mechanism. There is an angle between the supporting portion 411a and the connecting portion 411b, that is, the supporting portion 411a and the connecting portion 411b form an L-shaped link. The supporting portion 411a and the connecting portion 411b are preferably located on the same plane. The clamping portion 411c is configured as a tweezers-type claw head, which is convenient for finely clamping the bird's nest. The hair suction tube is coaxially arranged with the clamping part 411c, and the axes of the support part 411a, the connecting part 411b, the clamping part 411c and the hair suction tube are preferably located on the same plane, so that when the clamping part 411c is opened, it is convenient to use the hair suction tube to absorb and clean the bird's feathers clamped by the clamping part 411c.

[0056] One end of the support link 412 is connected to the output end of the lifting mechanism 300, and the other end of the support link 412 is pivotally connected to the connection between the support portion 411a and the connecting portion 411b. When the telescopic mechanism extends, the support portion 411a rotates at the output end of the telescopic mechanism under the restraint of the support link 412. This in turn drives the connecting portions 411b of the two clamping assemblies 410 to move away from each other, separating the two clamping portions 411c and opening the clamping mechanism 400. When the telescopic mechanism contracts, the clamping mechanism 400 closes.

[0057] Example 4

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

[0059] Turn on 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 moving 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 coordinate along the shortest moving path;

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

[0064] The lifting mechanism 300 separates the target from the bird's nest;

[0065] 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.

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

[0067] The visual system of this device is developed based on openmv. The shortest moving path is obtained through the control module 700, and the moving mechanism 200 is controlled to move the clamping mechanism 400 to the bird's feathers along the shortest moving path, thereby achieving efficient depilation of the bird's nest.

[0068] Example 5

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

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

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

[0072] The binary image is inversely binarized, setting the target to white and the background to black. A morphological opening operation is used to remove noise. A distance transform is used to calculate the shortest distance from each point in the foreground to the background, generating a distance map. A threshold of 0.1, the distance from the farthest boundary in the transformed image, is optimal for distinguishing the target from the background.

[0073] The target and background are marked separately by the watershed algorithm; for example, the foreground is marked as 1, the background is marked as 0, and the unknown area is marked as -1. Finally, the target outline is obtained using the following formula:

[0074]

[0075] The center of mass of the target is calculated using the image moment, and the center of mass is set as the target coordinates. After processing the original image of the bird's nest, the watershed algorithm is used to efficiently identify the target and calculate the center of mass of the target as the target coordinates, which facilitates the subsequent cleaning of the bird's nest feathers. The specific formula is as follows:

[0076]

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

[0078] Control module 700 calculates the shortest path based on the target coordinates using an ant colony algorithm. The target coordinates are used as coordinates for the ant colony algorithm. Each ant selects a path based on pheromone concentration and a heuristic function. Through multiple iterations, the ants continuously update their pheromones, eventually converging on the optimal path. This ant colony algorithm facilitates the determination of the shortest path, enabling efficient depilation of bird's nests.

[0079] The update of ant colony pheromone concentration is specifically based on the following formula:

[0080] τ ij (t+n)=ρ·τ ij (t)+△τ ij

[0081] Among them, τ ij (t+n) represents the residual amount of information on the path from i to j at time t+n, that is, the pheromone concentration; τ ij (t) represents the residual 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, (1-ρ) is the volatility factor; Δτ ij It represents the total amount of pheromones left by ants on all paths from i to j after a trip has traversed all cities.

[0082] The probability function of an ant choosing path i to j is:

[0083]

[0084] Among them, α and β are regulatory factors used to adjust τ ij (t) and η ij In addition, k represents the path that ant k has not yet walked.

[0085] Finally, the most suitable parameters were obtained: number of ants 200, number of iterations 100, pheromone factor and heuristic factor 1 and 2 respectively, and pheromone volatilization rate 0.5.

[0086] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection 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), wherein 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), the clamping mechanism (400) and the hair suction mechanism (500) are both connected to the output end of the lifting mechanism (300), the suction end of the hair suction mechanism (500) faces the clamping mechanism (400), the moving mechanism (200), the lifting mechanism (300), the clamping mechanism (400), the hair suction mechanism (500) and the camera (600) are all in communication connection with the control module (700); the lifting mechanism (300) The invention comprises a lifting assembly (310), an outer cylinder (320) and an inner cylinder (330), wherein 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) and the outer cylinder (320) are movably connected, 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); a spiral groove (321) is provided on the outer cylinder (320), a convex block (331) is provided on the inner cylinder (330), 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).

2. The hair removal device according to claim 1, characterized in that The protrusion (331) comprises a sliding portion and a limiting portion connected in sequence, the sliding portion being connected to the inner cylinder (330), the sliding portion being slidably connected to the spiral groove (321), the limiting portion and the inner cylinder (330) being respectively located on both sides of the spiral groove (321), and the outer diameter of the limiting portion being greater than the width of the spiral groove (321).

3. The hair removal device according to claim 1, characterized in that The lifting assembly (310) is configured as a cylinder, and the lifting mechanism (300) further comprises an elastic member, with both ends of the elastic member being connected to the outer cylinder (320) and the inner cylinder (330) respectively.

4. The hair removal device according to any one of claims 1 to 3, characterized in that: The clamping mechanism (400) includes 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 abutted. The driving component (420) is in communication connection with the control module (700).

5. The hair removal device according to claim 4, characterized in that The driving assembly (420) is configured as a telescopic mechanism. The clamping assembly (410) includes a clamping link (411) and a supporting link (412). The clamping link (411) includes a supporting portion (411a), a connecting portion (411b), and a clamping portion (411c) connected in sequence. The supporting portion (411a) is rotatably connected to the output end of the telescopic mechanism. An angle is formed between the supporting portion (411a) and the connecting portion (411b). One end of the supporting link (412) is connected to the output end of the lifting mechanism (300), and the other end of the supporting link (412) is rotatably connected to the connection between the supporting portion (411a) and the connecting portion (411b).

6. The hair removal device according to claim 5, 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).

7. The hair removal device according to claim 1, characterized in that It also includes a fixing frame (800), the fixing frame (800) being connected to the output end of the moving mechanism (200), the fixing frame (800) being provided with a plurality of first connecting members in a vertical direction, and the lifting mechanism (300) being provided with a second connecting member detachably connected to the first connecting member.

8. The hair removal device according to claim 1, characterized in that It also includes a fill light (900), the fill light (900) being arranged on the workbench (100), the irradiation direction of the fill light (900) being directed toward the workbench (100), and the fill light (900) being communicatively connected to the control module (700).

9. A hair removal method, characterized in that: The hair removal device according to any one of claims 1 to 8, comprising: Turning on the camera (600) to take an original picture of the bird's nest; Processing the original bird's nest image to obtain 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 coordinate 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, specifically: Converting 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 image moments, and the center of mass is set as the target coordinates.

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