Intelligent hairdressing robot using grid track system

Abstract

The invention provides an intelligent hairdressing robot using a grid system, and the robot comprises a head cover which is used for being fixed on the head to define a hairdressing space; the guide rail system is arranged in the hairdressing space, the guide rail system comprises a guide rail body and a plurality of guide rail channels formed in the guide rail body in a preset arrangement mode, and the guide rail body is connected with the head cover; the moving mechanism can move along the guide rail channel and is in sliding connection with the guide rail body; the haircut device is connected with the moving mechanism, and the moving mechanism moves along the guide rail channel to drive the haircut device to move synchronously, so that the haircut device executes haircut operation. The hairdressing robot is safe to use and easy to operate.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent manufacturing equipment, and in particular to an intelligent haircutting robot utilizing a grid track system. Background Art

[0002] Currently, most explorations and attempts at fully automated barbering robots are still in the conceptual design or prototype development stages. Existing solutions primarily rely on designs that mimic those of industrial robotic arms, incorporating a variety of sensors and complex computer algorithms to replicate the workflow of a human barber. However, these solutions often involve high costs and require complex computer algorithms. Furthermore, they fall far short of meeting practical requirements, particularly in terms of safety and ease of use. Summary of the Invention

[0003] The object of the present invention is to provide an intelligent haircutting robot controlled by a grid rail system to solve the problems pointed out in the above background technology or other similar problems.

[0004] An embodiment of the present application provides an intelligent haircutting robot utilizing a grid system, comprising: a head cover for being fixed on the head to enclose a haircutting space; a guide rail system disposed within the haircutting space, the guide rail system comprising a guide rail body and a plurality of guide rail channels formed on the guide rail body in a preset arrangement, the guide rail body being connected to the head cover; a moving mechanism capable of moving along the guide rail channels and being slidably connected to the guide rail body; and a haircutting device connected to the moving mechanism, the moving mechanism driving the haircutting device to move synchronously by moving along the guide rail channels, so that the haircutting device performs a haircutting operation.

[0005] In some embodiments, the guide rail channel is a combination of a long channel and an arc-shaped channel to form a continuous track, and multiple guide rail channels are arranged on the guide rail body in a parallel and spaced-apart arrangement, and multiple guide rail channels are connected in sequence; or, the guide rail body is formed by an array of square or circular connecting pieces, and the guide rail channels are formed between the connecting pieces arranged in the array.

[0006] In some embodiments, the hair cutting device includes: an electric hair clipper that can reciprocate along a longitudinal direction perpendicular to the guide rail body; and a combing device that can reciprocate along the longitudinal direction.

[0007] In some embodiments, the hair cutting device also includes an electric screw lifting mechanism, which is connected to the electric hair clipper and is used to drive the electric hair clipper to move back and forth along the longitudinal direction; the combing device includes a combing drive mechanism and a comb, and the combing drive mechanism is connected to the comb and is used to drive the comb to move back and forth along the longitudinal direction.

[0008] In some embodiments, the guide rail system also includes a rack fixed on the guide rail body and arranged on opposite sides of each guide rail channel, and the extension direction of the rack is the same as the extension direction of the guide rail channel; the moving mechanism includes a gear device, and the gear device is detachably engaged with the rack.

[0009] In some embodiments, the gear device includes a rotary stepper motor and a driving wheel connected to the rotary stepper motor, and the driving wheel is spaced apart from the racks on opposite sides of the guide rail channel; the gear device also includes four driven wheels, two of which are arranged on one side of the driving wheel and detachably engage with the rack located on one side of the guide rail channel, and the other two driven wheels are arranged on the other side of the driving wheel and detachably engage with the rack located on the other side of the guide rail channel; or the gear device also includes three driven wheels, one of which is arranged on one side of the driving wheel and detachably engage with the rack located on one side of the guide rail channel, and the other two driven wheels are arranged on the other side of the driving wheel and detachably engage with the rack located on the other side of the guide rail channel.

[0010] In some embodiments, each of the driven wheels is a double gear, and the double gear includes a large gear and a small gear coaxially connected, and the diameter of the large gear is larger than the diameter of the small gear.

[0011] In some embodiments, the intelligent haircutting robot further includes: a control system for controlling the bidirectional movement of the moving mechanism and controlling the haircutting operation of the haircutting device.

[0012] In some embodiments, the hair cutting device includes a hair cutting device that can move back and forth along a longitudinal direction perpendicular to the guide rail body, and a combing device that can move back and forth along the longitudinal direction; the control system includes: a moving drive module, configured to control the moving path of the moving mechanism; a combing control module, configured to control the moving direction and moving distance of the combing device in the longitudinal direction; and a hair cutting device control module, configured to control the moving direction and moving distance of the hair cutting device in the longitudinal direction, and control the start and stop of the electric hair clipper of the hair cutting device.

[0013] In some embodiments, the control system further includes: a 3D scalp contour establishing module, configured to: obtain from the combing control module the three-dimensional coordinate data of the combing device during its movement along all the guide rail channels in a manner that maintains contact with the user's scalp, and establish and store the user's 3D scalp contour based on the three-dimensional coordinate data of the combing device; and a target hairstyle contour determining module, configured to: determine a target hairstyle contour; wherein the combing control module is further configured to: control the moving direction and moving distance of the combing device in the longitudinal direction based on the 3D scalp contour, so that the position of the combing device during the haircutting process always remains consistent with the 3D scalp contour; wherein the haircutting device control module is further configured to: control the moving direction and moving distance of the haircutting device in the longitudinal direction based on the target hairstyle contour, so that the position of the electric hair clipper of the haircutting device during the haircutting process always remains consistent with the target hairstyle contour.

[0014] The intelligent haircutting robot in the embodiment of the present application uses a grid system (i.e., a guide rail body with guide rail channels) as a haircutting track, making intelligent haircutting safer and easier to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some of the embodiments described in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings:

[0016] Figure 1 This is a schematic structural diagram of the head cover in an embodiment of the present application;

[0017] Figure 2 This is a schematic diagram of the expanded structural plane of the guide rail system according to one embodiment of the present application;

[0018] Figure 3 yes Figure 2 Schematic diagram of the guide rail channel and rack structure of the middle guide rail system;

[0019] Figure 4 This is a schematic diagram of the expanded structural plane of a guide rail system according to another embodiment of the present application;

[0020] Figure 5 and Figure 6 is a schematic structural diagram of the moving mechanism and the hair cutting device in an embodiment of the present application, wherein the hair cutting device is in a non-hair cutting state;

[0021] Figure 7 and Figure 8is a schematic structural diagram of the moving mechanism and the hair cutting device in an embodiment of the present application, wherein the hair cutting device is in a hair cutting state;

[0022] Figure 9 It is a structural block diagram of the control system in the embodiment of the present application.

[0023] Description of main component numbers:

[0024] 10. Hood;

[0025] 101. Adapter hole; 102. Self-inflating device;

[0026] 20. Guide rail system;

[0027] 201, guide rail body; 2011, rear area; 2012, front area; 2013, side area;

[0028] 202, guide rail channel; 203, first guide rail channel; 2031, first end; 2032, second end;

[0029] 204, first common channel; 205, second guide rail channel; 2051, first end; 2052, second end;

[0030] 206, second common channel; 207, third guide rail channel; 208, rack;

[0031] 30. Mobile mechanism;

[0032] 301, gear device; 3011, rotary stepping motor; 3012, driving wheel; 3013, driven wheel;

[0033] 3014, driven wheel shaft; 302, pulley; 303, first mounting plate; 3031, first arc-shaped hole;

[0034] 304, second mounting plate; 3041, second arc-shaped hole; 305, supporting nut;

[0035] 40. Hair cutting device;

[0036] 401. Electric hair clipper; 4011. Motor; 4012. Cutting head assembly; 402. Combing device;

[0037] 4021, combing drive mechanism; 4022, combing; 403, electric screw lifting mechanism; 4031, bracket;

[0038] 4032, stepper motor; 4033, lead screw; 4034, slider. DETAILED DESCRIPTION

[0039] To help those skilled in the art better understand the technical solutions in this specification, the following will provide a clear and complete description of the technical solutions in the embodiments of this specification, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. All other embodiments derived by those skilled in the art based on the embodiments in this specification without creative effort shall fall within the scope of protection of this specification.

[0040] In the embodiments of the present application, the terms "first", "second", etc. are used to distinguish different elements from the name, but do not indicate the spatial arrangement or temporal order of these elements, and these elements should not be limited by these terms. The term "and / or" includes any one and all combinations of one or more of the associated listed terms. The terms "comprising", "including", "having", etc. refer to the presence of the stated features, elements, components or components, but do not exclude the presence or addition of one or more other features, elements, components or components.

[0041] In the embodiments of the present application, the singular forms "a", "the", etc. may include plural forms and should be broadly understood as "a" or "a type" rather than being limited to the meaning of "one"; in addition, the term "said" should be understood to include both singular and plural forms, unless the context clearly indicates otherwise; in addition, the term "according to" should be understood as "at least in part according to...", and the term "based on" should be understood as "at least in part based on...", unless the context clearly indicates otherwise; in addition, the term "plurality" means two or more, unless otherwise specified.

[0042] The present application provides an intelligent haircutting robot utilizing a grid system, comprising a hood 10, a rail system 20, a moving mechanism 30, and a haircutting device 40. A self-inflating device can be used to support the hood 10 above the head, thereby enclosing a haircutting space. The hood 10 can be provided with an adapter hole 101 for connecting to a hair extractor. The rail system 20 is disposed within the haircutting space and comprises a rail body 201 and a plurality of rail channels 202 formed in a predetermined arrangement on the rail body 201. The rail body 201 and the hood 10 can be connected by a plurality of connecting pieces. The moving mechanism 30 can move along the rail channels 202 and is slidably connected to the rail body 201. The haircutting device 40 is connected to the moving mechanism 30. The moving mechanism 30, by moving along the rail channels 202, drives the haircutting device 40 to move synchronously, enabling the haircutting device 40 to perform a haircutting operation, thereby achieving intelligent haircutting.

[0043] The following describes the implementation of the embodiments of the present application with reference to the accompanying drawings.

[0044] Figure 1Schematic diagram of the structure of the head cover 10 according to the embodiment of the present application.

[0045] like Figure 1 As shown, the hood 10 can also be called a helmet. The hood 10 is a rigid structure, and its shape is basically consistent with the contour of a person's head. It can be placed on the person's head, thereby forming a haircutting space between the person's head and the helmet.

[0046] like Figure 1 As shown, a self-inflating device 102 can be provided along the entire edge of the head cover 10 to provide a seal between the edge of the head cover 10 and the person's head, thereby preventing broken hair from falling out of the haircutting space during the haircutting process. It can be understood that the self-inflating device surrounds the entire haircutting space and is located outside the hair area, thereby contacting the scalp but not the hair.

[0047] The self-inflating device also plays the role of keeping the head cover 10 and the guide rail system 20 in the same fixed coordinate system as the head, so that even if the head moves during the haircut process, the accuracy of the haircut will not be affected.

[0048] For example, the self-inflating device can be an inflatable airbag surrounding the haircutting space to provide a soft seal that is more comfortable for the user. The inflatable airbag can have an inflation port and a deflation port. The inflation port can be connected to an air storage bag or an electric air pump outside the head cover 10 to allow gas to enter the self-inflating device. A sealing plug can be inserted into the deflation port. When deflation is required (for example, after a haircut), the sealing plug can be removed to deflate the self-inflating device through the deflation port.

[0049] For example, the self-inflating device can also be a cheese-type self-inflating cushion, which contains sponge and chemicals that can absorb gas. When the air inlet of the cushion is opened, air can be automatically inhaled, and exhaust can be exhausted by squeezing or using an air pump.

[0050] The head cover 10 may be provided with an adapter hole 101, which is connected to the hair cutting space. Therefore, during the hair cutting process, a hair sucker (such as a vacuum cleaner) may be connected to the adapter hole 101 to suck out the broken hair in the hair cutting space.

[0051] Figures 2 to 5 Schematic diagram of the expanded structural plane of the guide rail system 20 according to different embodiments of the present application.

[0052] like Figures 2 to 5As shown, the guide rail system 20 includes a guide rail body 201, the shape of which substantially conforms to the contours of the head. The guide rail body 201 is connected to the head cover 10 via a plurality of connecting pieces, connecting rods, or other connecting structures (not shown), thereby being suspended below the head cover 10 within the haircutting space. The guide rail body 201 is fixed relative to the head cover 10. In other words, the guide rail body 201 cannot swing or wobble relative to the head cover 10, providing a stable track for the moving mechanism 30 and the haircutting device 40, ensuring haircutting accuracy.

[0053] like Figures 2 to 5 As shown, a plurality of guide rail channels 202 are provided on the guide rail body 201 , and the plurality of guide rail channels 202 are formed on the guide rail body 201 in a preset arrangement.

[0054] Figure 2 A first example of a guide rail body 201 and a guide rail channel 202 is shown. The guide rail channel 202 is a continuous track formed by combining a long channel and an arc channel, and multiple guide rail channels 202 are arranged on the guide rail body 201 in a parallel and spaced-apart arrangement, and the multiple guide rail channels 202 are connected in sequence.

[0055] Specifically, if Figure 2 As shown, the guide rail body 201 includes a rear area 2011 and a front area 2012, the front area 2012 corresponds to the top area of ​​the human head, and the rear area 2011 corresponds to the back area of ​​the head.

[0056] like Figure 2 As shown, the rear area 2011 of the guide rail body 201 is provided with multiple first guide rail channels 203, the first end 2031 of each first guide rail channel 203 close to the front area 2012 is closed, and the second end 2032 of each first guide rail channel 203 away from the front area 2012 is connected to a first common channel 204. Thus, all the first guide rail channels 203 are connected through the first common channel 204, so that the moving mechanism 30 can move in multiple first guide rail channels 203 in sequence through the first common channel 204.

[0057] Similarly, if Figure 2 As shown, the front area 2012 of the guide rail body 201 is provided with multiple second guide rail channels 205, the first end 2051 of each second guide rail channel 205 close to the rear area 2011 is closed, and the second end 2052 of each second guide rail channel 205 away from the rear area 2011 is connected to a second common channel 206. Thus, all second guide rail channels 205 are connected through the second common channel 206, so that the moving mechanism 30 can move in multiple second guide rail channels 205 in sequence through the second common channel 206.

[0058] Preferably, if Figure 2As shown, the guide rail body 201 can also include two side areas 2013, and the two side areas 2013 correspond to the areas in front of the human ear respectively. The two side areas 2013 can be provided with a third guide rail channel 207, and the third guide rail channel 207 can connect the first common channel 204 with the second common channel 206 to allow the moving mechanism 30 to move between the first common channel 204 and the second common channel 206 via the third guide rail channel 207, thereby realizing the connection of all guide rail channels 202.

[0059] exist Figure 2 In the example, each first guide rail channel 203, each second guide rail channel 205 and each third guide rail channel 207 are long strip channels.

[0060] In order to facilitate the mobile mechanism 30 to enter and exit between different guide rail channels 202, the second end 2032 of each first guide rail channel 203 can be an arc-shaped channel, and the second end 2052 of each second guide rail channel 205 can be an arc-shaped channel. The first guide rail channel 203 is connected to the first common channel 204 through the arc-shaped channel, and the second guide rail channel 205 is also connected to the second common channel 206 through the arc-shaped channel. This facilitates the mobile mechanism 30 to smoothly turn from the second end 2032 of the first guide rail channel 203 into the first common channel 204, and to smoothly turn from the second end 2052 of the second guide rail channel 205 into the second common channel 206 without getting stuck at the turn.

[0061] In order to ensure that the hair at the transition position between the top of the head and the back of the head can be trimmed, the first end 2031 of each first guide channel 203 overlaps with the first end 2051 of each second guide channel 205 (e.g. Figure 2 As shown), the moving mechanism 30 can pass through the transition position when it moves to the first end 2031 of the first guide rail channel 203 and the first end 2051 of the second guide rail channel 205, ensuring that the hair at the transition position is not missed by the hair clipper.

[0062] like Figure 3 As shown, the guide rail system 20 also includes racks 208 fixed to the guide rail body 201 and arranged on opposite sides of each guide rail channel 202. The racks 208 extend in the same direction as the guide rail channels 202. Each rack 208 has a row of teeth on its left and right sides, with the two rows of teeth facing two adjacent guide rail channels 202, respectively. This allows two adjacent guide rail channels 202 to share a single rack 208. For example, each rack 208 can be a one-piece structure or a combined structure formed by two sub-racks spliced ​​together on the left and right sides.

[0063] Figure 4The second example of the guide rail body 201 and the guide rail channel 202 is shown. The difference between the second example and the first example is that the guide rail body 201 is arranged in a square or circular array. In other words, the guide rail body 201 includes body connecting pieces arranged in an array, and the multiple rows and columns of channels connected between these body connecting pieces constitute the guide rail channel 202. Figure 4 As shown, each body connecting piece is square or circular.

[0064] Figures 5 to 8 is a schematic structural diagram of the mobile mechanism 30 and the hair cutting device 40 in the embodiment of the present application, wherein Figure 5 and Figure 6 A schematic diagram showing the structure of the hair cutting device in a non-hair cutting state (folded state) is shown. Figure 7 and Figure 8 A schematic structural diagram of the hair cutting device in the hair cutting state (extended state) is shown.

[0065] like Figures 5 to 8 As shown, the moving mechanism 30 includes a gear device 301, which is detachably engaged with the rack 208. By providing the rack 208 on the guide rail body 201 and providing the gear device 301 to mesh with it to form a rack and pinion transmission, the moving mechanism 30 can be smoothly moved along the guide rail channel 202 by means of the rack and pinion transmission. In addition, by slidingly connecting the moving mechanism 30 to the guide rail body 201, the smoothness of the movement of the moving mechanism 30 can be further improved. However, the present application is not limited to this. In other embodiments, an electromagnetic drive device can be used instead of the gear device 301.

[0066] For example, Figures 5 to 7 As shown, the moving mechanism 30 further includes a slider 302 having a slide groove. The edges of the guide rail body 201 located on both sides of the guide rail channel 202 are slidably inserted into the slide groove and slide in cooperation with the slide groove. When the moving mechanism 30 moves along the guide rail channel 202, the slider 302 slides along the edge of the guide rail body 201, thereby achieving a sliding connection between the moving mechanism 30 and the guide rail body 201. In addition, the slider 302 can also support the movement of the entire moving mechanism 30 on the guide rail body 201. For example, the slider 302 can be a square block or a cylindrical block, and this application is not limited to its specific structure.

[0067] like Figure 5 and Figure 6 As shown, the gear device 301 includes a rotating stepping motor 3011 and a driving wheel 3012 connected to the rotating stepping motor 3011. The driving wheel 3012 is spaced apart from the racks 208 on opposite sides of the guide rail channel 202. The rotating stepping motor 3011 can drive the driving wheel 3012 to rotate.

[0068] exist Figures 5 to 8 In the first example of the gear device 301 shown, the gear device 301 includes four driven wheels 3013, two of which are arranged on one side of the driving wheel 3012 and are detachably engaged with the rack 208 located on one side of the guide rail channel 202, and the other two driven wheels 3013 are arranged on the other side of the driving wheel 3012 and are detachably engaged with the rack 208 located on the other side of the guide rail channel 202.

[0069] For example, when the mobile mechanism 30 is located in a first guide rail channel 203, the two driven wheels 3013 (referred to as the first driven wheels) located on one side of the driving wheel 3012 are engaged with the corresponding rack 208 (referred to as the first rack), while the two driven wheels 3013 (referred to as the second driven wheels) located on the other side of the driving wheel 3012 are not engaged with the corresponding rack 208 (referred to as the second rack), but are separated from the second rack. Thus, the rotating stepper motor 3011 drives the driving wheel 3012 to rotate, and the driving wheel 3012 drives the two first driven wheels to rotate along the first rack and move along the first rack, thereby achieving smooth movement of the mobile mechanism 30 along the first guide rail channel 203. During this process, the two second driven wheels are not engaged with the second rack, but are separated from the second rack. This can avoid the problem of four driven wheels 3013 being easily stuck due to engagement with the rack 208, ensuring smooth movement of the mobile mechanism 30.

[0070] When the moving mechanism 30 moves to the second end 2032 of the first guide rail channel 203 and needs to turn to one side (for example, turn left) to enter the first common channel 204 (that is, it needs to change tracks toward the other first guide rail channel 203 on the left, referred to as changing tracks to the left), in order to achieve smooth turning, the gear device 301 keeps the two first driven wheels engaged with the first rack, and the two second driven wheels are separated from the second rack. As a result, the two first driven wheels can move along the arc-shaped end of the first rack to achieve a smooth change of tracks to the left.

[0071] When the moving mechanism 30 moves to the second end 2032 of the first guide rail channel 203 and needs to turn to the other side (for example, turn right) to enter the first common channel 204 (that is, it needs to change tracks toward the other first guide rail channel 203 on the right, referred to as changing tracks to the right), in order to smoothly achieve the turn, the gear device 301 needs to switch to a state where the two first driven wheels are disengaged from the first rack, and the two second driven wheels are engaged with the second rack. As a result, the two second driven wheels can move along the arc-shaped end of the second rack to achieve a smooth change of tracks to the right.

[0072] In this embodiment, the engagement and disengagement of each driven wheel 3013 with the rack 208 can be achieved through a spring mechanism or other means.

[0073] like Figures 5 to 8 As shown, the moving mechanism 30 also includes a first mounting plate 303, the driving wheel 3012 of the gear device 301 is rotatably mounted on the first mounting plate 303, the input shaft of the driving wheel 3012 is connected to the rotating stepping motor 3011, and the output shaft of the driving wheel 3012 is connected to the first mounting plate 303 through a bearing to form the moving mechanism.

[0074] For example Figures 5 to 8 As shown, the moving mechanism 30 also includes a second mounting disk 304. The first mounting disk 303 and the second mounting disk 304 are spaced apart in the axial direction of the driving wheel 3012. The driving wheel 3012 and each driven wheel 3013 are located between the first mounting disk 303 and the second mounting disk 304. The input shaft of the driving wheel 3012 passes through the second mounting disk 304. Of course, the input shaft of the driving wheel 3012 can also be connected to the second mounting disk 304 through another bearing.

[0075] Continue to see Figures 5 to 8 , each driven wheel 3013 is connected to a driven wheel shaft 3014 respectively. In other words, the driven wheel shaft 3014 passes through the driven wheel 3013; the first mounting plate 303 is provided with four first arc holes 3031 arranged at intervals along the circumference, and the second mounting plate 304 is provided with four second arc holes 3041 arranged at intervals along the circumference. The four first arc holes 3031 and the four second arc holes 3041 correspond to each other in the axial direction of the driving wheel 3012. The two ends pass through the corresponding first arc hole 3031 and second arc hole 3041 respectively, and the upper end of each driven wheel shaft 3014 is connected to a supporting nut 305, and the supporting nut 305 is located on the second mounting plate 304. Thus, each driven wheel shaft 3014 is suspended between the first mounting plate 303 and the second mounting plate 304 through the supporting nut 305, and does not contact the first mounting plate 303 and the second mounting plate 304, so it can rotate smoothly without interfering with other components.

[0076] Furthermore, the provision of the first arcuate hole 3031 and the second arcuate hole 3041 provides space for movement of each driven wheel shaft 3014. In other words, each driven wheel shaft 3014 can move along the first arcuate hole 3031 and the second arcuate hole 3041 through which it passes, thereby driving the driven wheel 3013 to engage or disengage with the rack 208. For example, the driven wheel shaft 3014 of the first driven wheel can be disengaged from the first rack by moving along the first arcuate hole 3031 and the second arcuate hole 3041 away from the first rack; and the driven wheel shaft 3014 of the second driven wheel can be moved toward the second rack by moving along the first arcuate hole 3031 and the second arcuate hole 3041 toward the second rack, thereby engaging the second driven wheel with the first rack. As previously mentioned, the movement of the driven wheel shaft 3014 can be achieved by a spring mechanism or other existing technical solutions capable of achieving this function.

[0077] Furthermore, the first arc-shaped hole 3031 and the second arc-shaped hole 3041 can be eccentric holes that are eccentric relative to the central axis of the driving wheel 3012, that is, the distance between the first arc-shaped hole 3031 and the driving wheel 3012 at different positions in the length direction is variable, and the distance between the second arc-shaped hole 3041 and the driving wheel 3012 at different positions in the length direction is also variable. Therefore, when the driven wheel shaft 3014 of the first driven wheel moves along the first arc-shaped hole 3031 and the second arc-shaped hole 3041 toward the direction of disengagement from the first rack, the distance between the driven wheel shaft 3014 of the first driven wheel and the driving wheel 3012 gradually increases. Similarly, when the driven wheel shaft 3014 of the second driven wheel moves along the first arc-shaped hole 3031 and the second arc-shaped hole 3041 toward the direction of disengagement from the second rack, the distance between the driven wheel shaft 3014 of the second driven wheel and the driving wheel 3012 also gradually increases.

[0078] Exemplarily, the spring mechanism can be disposed on the first mounting plate 303 or the second mounting plate 304, and the spring mechanism is connected to the driven wheel shaft 3014 of each driven wheel 3013, for driving the driven wheel shaft 3014 to move. For example, the spring mechanism can include four springs, one end of each of the four springs being connected to the four driven wheel shafts 3014, and the other end of each of the four springs being connected to the shaft of the driving wheel 3012. For example, when the moving mechanism 30 needs to change tracks to the right, the control system controls the rotary stepping motor 3011 to reverse, thereby triggering the spring action of the spring mechanism. The two springs connected to the driven wheel shafts 3014 of the two first driven wheels will drive the two first driven wheels to disengage from the first rack, while the two springs connected to the driven wheel shafts 3014 of the two second driven wheels will drive the two second driven wheels to move to engage with the second rack.

[0079] A second example of a gear device 301 (not shown) differs from the first example in that the gear device 301 includes three driven wheels 3013. One driven wheel 3013 is disposed on one side of the driving wheel 3012 and detachably engages with the rack 208 located on one side of the guide rail channel 202. The other two driven wheels 3013 are disposed on the other side of the driving wheel 3012 and detachably engage with the rack 208 located on the other side of the guide rail channel 202. Accordingly, the first mounting plate 303 and the second mounting plate 304 may each be provided with three arcuate holes for the driven wheel shafts 3014 of the three driven wheels 3013 to pass through.

[0080] For example, when the moving mechanism 30 is located in a second guide rail channel 205, a driven wheel 3013 (referred to as the third driven wheel) located on one side of the driving wheel 3012 engages with the corresponding first rack, while two driven wheels 3013 (referred to as the fourth driven wheels) located on the other side of the driving wheel 3012 do not engage with the corresponding second rack but are separated from the second rack. Thus, the rotating stepper motor 3011 drives the driving wheel 3012 to rotate, which in turn drives the third driven wheels to rotate and move along the first rack, thereby enabling the moving mechanism 30 to move along the second guide rail channel 205.

[0081] When the moving mechanism 30 moves to the second end 2052 of the second guide rail channel 205 and needs to turn to one side (for example, turn left) to enter the second common channel 206 (that is, it needs to change tracks toward the other second guide rail channel 205 on the left, referred to as changing tracks to the left), in order to achieve smooth turning, the gear device 301 keeps the third driven wheel engaged with the first rack, and the two fourth driven wheels are separated from the second rack. As a result, the third driven wheel can move along the arc-shaped end of the first rack to achieve a smooth change of tracks to the left.

[0082] When the moving mechanism 30 moves to the second end 2052 of the second guide rail channel 205 and needs to turn to the other side (for example, turn right) to enter the second common channel 206 (that is, it needs to change tracks toward the other second guide rail channel 205 on the right, referred to as changing tracks to the right), in order to smoothly achieve the turn, the third driven wheel needs to be disengaged from the first rack, and the two fourth driven wheels need to be engaged with the second rack. As a result, the two fourth driven wheels can move along the arc-shaped end of the second rack to achieve a smooth track change to the right.

[0083] In this example, the engagement and disengagement of the three driven wheels 3013 with the rack 208 can also be achieved through a spring mechanism, or other mechanisms that can adjust the corresponding spacing between gears to assist in completing the track changing action. As long as only one or two driven wheels 3013 are engaged with the rack 208 and the driving wheel 3012 at the same time, the selection action of moving along the left or right track can be completed by controlling the forward and reverse rotation of the rotating stepper motor 3011.

[0084] Similarly, the two sets of driven gear groups mentioned above can be reduced to one group, and the track changing action can be completed by switching the driven gear from one side to the other side through the corresponding spring control mechanism.

[0085] In the first and second examples of the gear device 301, each driven wheel 3013 can be a double gear, which refers to a combined gear structure consisting of a large gear and a small gear connected coaxially, and the diameter of the large gear is larger than the diameter of the small gear. During the movement of the moving mechanism 30, each driven wheel 3013 can adaptively choose to engage with the rack 208 through the large gear or the small gear. The use of a combined gear structure consisting of a large gear and a small gear is conducive to the smooth track change of the gear device. For example, when turning, if the guide rail channel 202 at the turning point is unequal (i.e., the width of the guide rail channel 202 at the turning point is variable), the gear device 301 can selectively engage with the rack 208 through the large gear or the small gear, relying on the large gear to engage with the rack 208 at the distance, and relying on the small gear to engage with the rack 208 at the small distance.

[0086] like Figures 5 to 8 As shown, the hair cutting device 40 is connected to the moving mechanism 30 , and the moving mechanism 30 drives the hair cutting device 40 to move synchronously by moving along the guide rail channel 202 , so that the hair cutting device 40 performs a hair cutting operation.

[0087] like Figures 5 to 8 As shown, the hair cutting device 40 includes an electric hair clipper 401 that can reciprocate in a longitudinal direction perpendicular to the guide rail body 201, a combing device 402 that can reciprocate in the longitudinal direction, and an electric lead screw lifting mechanism 403. The electric lead screw lifting mechanism 403 is connected to the electric hair clipper 401 and is used to drive the electric hair clipper 401 to reciprocate in the longitudinal direction. The combing device 402 may include a combing drive mechanism 4021 and a combing device 4022. The combing drive mechanism 4021 is connected to the combing device 4022 and is used to drive the combing device 4022 to reciprocate in the longitudinal direction.

[0088] like Figures 5 to 8As shown, the electric lead screw lifting mechanism 403 may include a bracket 4031, a stepper motor 4032 fixed to the bracket 4031, a lead screw 4033 connected to the stepper motor 4032, and a slider 4034 threadedly connected to the lead screw 4033. The lead screw 4033 is rotatably connected to the bracket 4031. For example, one end of the lead screw 4033 is connected to the stepper motor 4032, and the other end of the lead screw 4033 is rotatably connected to the bracket 4031. For example, the slider 4034 is fixedly connected to the first mounting plate 303 or the second mounting plate 304 of the moving mechanism 30. The stepper motor thereby realizes the connection between the electric lead screw lifting mechanism 403 and the moving mechanism 30 and limits the rotation and longitudinal movement of the slider 4034. Therefore, after starting, the stepper motor 4032 drives the screw 4033 to rotate. Since the slider 4034 can neither rotate nor move in the longitudinal direction, the screw 4033 will drive the bracket 4031 to move in the longitudinal direction while rotating, and at the same time, the bracket 4031 drives the electric hair clipper 401 to move in the longitudinal direction.

[0089] like Figure 7 and Figure 8 As shown, the electric hair clipper 401 may include a motor 4011 and a cutter head assembly 4012. The cutter head assembly 4012 may be connected to a bracket 4031 of an electric lead screw lifting mechanism 403. The electric hair clipper 401 may be a conventional electric hair clipper.

[0090] The combing drive mechanism 4021 can be fixedly connected to the first mounting plate 303 or the second mounting plate 304 of the mobile mechanism 30, thereby realizing the connection between the combing drive mechanism 4021 and the mobile mechanism 30. For example, the combing drive mechanism 4021 can be an electric push rod or other linear drive mechanism.

[0091] Figure 9 3 is a block diagram of the control system in the embodiment of the present application. The control system is used to control the bidirectional movement of the moving mechanism 30 and the hair cutting operation of the hair cutting device 40.

[0092] Specifically, the control system is electrically connected to the rotating stepper motor 3011 of the moving mechanism 30. By controlling the rotational direction, speed, and angle of the rotating stepper motor 3011, the control system controls the rotational direction, speed, and angle of the main gear, thereby controlling the movement direction, speed, and distance of the moving mechanism 30. The control system is electrically connected to the motor 4011 of the electric hair clipper 401 of the hair cutting device 40 to control the start and stop of the electric hair clipper 401. The control system is electrically connected to the stepper motor 4032 of the electric lead screw lifting mechanism 403. The stepper motor control system controls the longitudinal movement direction, speed, and distance of the electric hair clipper 401 by controlling the rotational direction, speed, and angle of the stepper motor 4032. The control system is electrically connected to the combing drive mechanism 4021 to control the longitudinal movement direction, speed, and distance of the combing device 402.

[0093] For example, Figure 9 As shown, the control system includes a motion drive module, a combing control module, and a hair clipper control module. The motion drive module is configured to control the rotation direction, speed, and angle of the rotary stepper motor 3011, thereby controlling the movement path of the motion mechanism 30. The combing control module is configured to control the longitudinal movement direction and distance of the combing device 402. The hair clipper control module is configured to control the rotation direction, speed, and angle of the stepper motor 4032 of the electric screw lifting mechanism 403, as well as to start and stop the electric hair clipper 401, thereby controlling the hair clipping operation.

[0094] Further, if Figure 9 As shown, the hair clipper control module may include a screw lift mechanism control module and an electric hair clipper control module. The screw lift mechanism control module is configured to control the rotation direction, speed, and angle of the stepper motor 4032 of the electric screw lift mechanism 403, thereby controlling the longitudinal movement direction, speed, and distance of the electric hair clipper 401. The electric hair clipper control module is configured to control the start and stop of the electric hair clipper 401.

[0095] In some embodiments, as Figure 9 As shown, the control system further includes a 3D scalp contour establishing module and a target hairstyle contour determining module.

[0096] like Figure 9 As shown, the 3D scalp contour establishment module is configured to: obtain the three-dimensional coordinate data of the combing device 402 during the movement along the entire guide channel 202 in a manner to maintain fit with the user's scalp from the combing control module, and establish and store the user's scalp contour based on the three-dimensional coordinate data of the comb 4022 of the combing device 402.

[0097] In this embodiment, the 3D scalp contour creation module is used to generate a three-dimensional head contour image of the current user, which serves as a reference contour for subsequent haircuts, facilitating the determination of haircut lengths based on the reference contour. Specifically, for example, after the haircut robot's power button is turned on, the haircut robot can first create a 3D scalp contour. This creation process may include:

[0098] The mobile driving module of the control system controls the mobile mechanism 30 to move along all the guide rail channels 202 for one circle;

[0099] During the entire movement of the moving mechanism 30, the comb fitting control module of the control system controls the comb fitting device 402 to always maintain contact with the current user's scalp, and records the three-dimensional coordinate data of the comb fitting 4022 of the comb fitting device 402 during the movement along the entire guide channel 202 in a manner that maintains contact with the current user's scalp;

[0100] The 3D scalp contour establishment module of the control system obtains the three-dimensional coordinate data of the comb 4022 of the combing device 402 from the combing control module, and establishes and stores the user's 3D scalp contour based on the three-dimensional coordinate data of the comb 4022 of the combing device 402. In this way, the 3D scalp contour of the current user can be captured and established.

[0101] like Figure 9 As shown, the target hairstyle contour determination module is configured to: determine the target hairstyle contour.

[0102] After completing the creation of the 3D scalp contour, the barber robot can determine the target hairstyle contour. The target hairstyle contour can include the outline shape and outline size of the hairstyle, and the outline size includes the hair length at each position of the hairstyle contour.

[0103] In one example, the target hairstyle profile determination module can provide the user with multiple preset hairstyle profiles for selection and use the hairstyle profile selected by the user as the target hairstyle profile. For example, the target hairstyle profile determination module can display the multiple hairstyle profiles to the user via a user terminal. The user terminal can be a touch screen display on a barber robot, or the user's mobile phone. The mobile phone can communicate with the barber robot via a Bluetooth module to receive data on the multiple hairstyle profiles from the barber robot via Bluetooth and display them to the user. The mobile phone can also transmit data on the hairstyle profile selected by the user to the barber robot via Bluetooth. The hairstyle profile selected by the user is the target hairstyle profile.

[0104] In another example, the target hairstyle contour determination module can create a specific hairstyle contour according to user instructions. For example, the target hairstyle contour determination module can use AI technology to create the hairstyle contour. In this example, the created hairstyle contour is the target hairstyle contour.

[0105] After acquiring the 3D scalp contour and the target hairstyle contour, the control system may control the combing device 402 and the hair cutting device 40 to perform a hair cutting operation according to the 3D scalp contour and the target hairstyle contour.

[0106] Specifically, the combing control module is further configured to control the longitudinal movement direction and distance of the combing device 402 according to the 3D scalp contour, so that the position of the combing device 402 during the haircutting process always remains consistent with the 3D scalp contour.

[0107] The hair cutting device control module is further configured to receive a target hairstyle profile and control the longitudinal movement direction and distance of the hair cutting device 40 according to the target hairstyle profile, so that the position of the electric hair clipper 401 of the hair cutting device 40 always remains consistent with the target hairstyle profile during the hair cutting process.

[0108] Specifically, during the haircutting process, the mobile driving module accurately controls the direction and speed of the mobile mechanism 30. For example, the mobile driving module controls the mobile mechanism 30 to pass through each first guide rail channel, the third guide rail channel, and each second guide rail channel in sequence; the mobile mechanism 30 drives the combing device 402 and the electric hair clipper 401 to move synchronously; the combing control module controls the combing device 402 to always slide close to the scalp according to the 3D scalp contour; the screw lifting mechanism control module controls the electric screw lifting mechanism 403 to drive the electric hair clipper 401 to adjust its position in the longitudinal direction in real time according to the target hairstyle contour to ensure The position of the electric hair clipper 401 always remains consistent with the target hairstyle contour. For example, the hair length at a certain position on the target hairstyle contour corresponding to the top area of ​​the current user's head is L, the vertical coordinate of the corresponding position on the 3D scalp contour is Y1, and the vertical coordinate of the electric hair clipper 401 at this position is Y2, then Y2=Y1+L, that is, when the moving mechanism 30 drives the electric hair clipper 401 to move to this position, the screw lifting mechanism control module will control the electric hair clipper 401 to move along the longitudinal direction to the position with the vertical coordinate Y1+L to ensure that the hair cutting length of the electric hair clipper 401 at this position is L.

[0109] During the haircutting process, the electric hair clipper control module can only control the start and stop of the motor of the electric hair clipper 401. When the haircutting action needs to be stopped, the motor stops rotating. The control system can also be equipped with an automatic emergency stop control module to prevent special situations caused by misoperation or system failure. In addition, an emergency stop button can also be provided on the head cover 10 to stop all actions of the haircutting robot with one click.

[0110] Furthermore, the control system can also include a three-dimensional head imaging unit, a fixed hairstyle selection and comparison unit, a user haircut data unit, an AI hairstyle design integration unit, and a face recognition and scanning unit. The control system's APP can also set up an API open to external developers to meet the needs of more customers to independently develop personalized hairstyles and share them with other users.

[0111] Furthermore, the control system may also include a power control module, a Bluetooth module for transmitting data and control instructions, a battery and other auxiliary circuit modules. The Bluetooth module can be connected to a user terminal (such as a mobile phone or a touch screen display of the barber robot). The control system of the present application is integrated on a circuit board.

[0112] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0116] The foregoing is merely an example of the present invention and is not intended to limit the present invention. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. An intelligent haircutting robot using a grid system, characterized in that: The intelligent haircutting robot comprises: A head cover, which is used to be fixed on the head to enclose a haircutting space; A guide rail system is provided in the haircutting space, the guide rail system comprising a guide rail body and a plurality of guide rail channels formed on the guide rail body in a predetermined arrangement, the guide rail body being connected to the head cover; a moving mechanism capable of moving along the guide rail channel and being slidably connected to the guide rail body; and The hair cutting device is connected to the moving mechanism, and the moving mechanism drives the hair cutting device to move synchronously by moving along the guide rail channel, so that the hair cutting device performs a hair cutting operation.

2. The intelligent hair cutting robot according to claim 1, characterized in that: The guide rail channel is a continuous track composed of a long channel and an arc channel, and a plurality of the guide rail channels are arranged on the guide rail body in a parallel and spaced arrangement, and the plurality of the guide rail channels are connected in sequence; Alternatively, the guide rail body is formed by an array arrangement of square or circular connecting pieces, and the guide rail channel is formed between the connecting pieces arranged in the array.

3. The intelligent hair cutting robot according to claim 1, characterized in that: The hair cutting device comprises: an electric hair clipper capable of reciprocating along a longitudinal direction perpendicular to the guide rail body; and A combing device can be reciprocated along the longitudinal direction.

4. The intelligent hair cutting robot according to claim 3, characterized in that: The hair cutting device further comprises an electric screw lifting mechanism connected to the electric hair clipper and configured to drive the electric hair clipper to move back and forth along the longitudinal direction; The comb matching device includes a comb matching drive mechanism and a comb matching. The comb matching drive mechanism is connected to the comb matching and is used to drive the comb matching to move back and forth along the longitudinal direction.

5. The intelligent hair cutting robot according to claim 1, characterized in that: The guide rail system further includes racks fixed to the guide rail body and arranged on opposite sides of each guide rail channel, wherein the extending direction of the racks is the same as the extending direction of the guide rail channel; The moving mechanism includes a gear device that is detachably engaged with the rack.

6. The intelligent hair cutting robot according to claim 5, characterized in that: The gear device includes a rotary stepping motor and a driving wheel connected to the rotary stepping motor, wherein the driving wheel is spaced apart from the racks on opposite sides of the guide rail channel; The gear device further comprises: Four driven wheels, wherein two of the driven wheels are arranged on one side of the driving wheel and detachably meshed with the rack located on one side of the guide rail channel, and the other two driven wheels are arranged on the other side of the driving wheel and detachably meshed with the rack located on the other side of the guide rail channel; or There are three driven wheels, one of which is arranged on one side of the driving wheel and is detachably engaged with the rack located on one side of the guide rail channel, and the other two driven wheels are arranged on the other side of the driving wheel and are detachably engaged with the rack located on the other side of the guide rail channel.

7. The intelligent hair cutting robot according to claim 6, characterized in that: Each of the driven wheels is a double gear, and the double gear includes a large gear and a small gear that are coaxially connected. The diameter of the large gear is larger than the diameter of the small gear.

8. The intelligent hair cutting robot according to any one of claims 1 to 7, characterized in that: Also includes: The control system is used for controlling the bidirectional movement of the moving mechanism and controlling the haircutting operation of the haircutting device.

9. The intelligent hair cutting robot according to claim 8, characterized in that: The hair cutting device comprises a hair cutting device that can reciprocate along a longitudinal direction perpendicular to the guide rail body, and a combing device that can reciprocate along the longitudinal direction; The control system includes: a mobile driving module, configured to control the moving path of the mobile mechanism; a combing control module configured to control the moving direction and distance of the combing device in the longitudinal direction; and The hair cutting device control module is configured to control the moving direction and moving distance of the hair cutting device in the longitudinal direction, and to control the start and stop of the electric hair clipper of the hair cutting device.

10. The intelligent hair cutting robot according to claim 9, characterized in that: The control system further comprises: a 3D scalp contour establishing module configured to: obtain from the combing control module the three-dimensional coordinate data of the combing device during movement along all the guide rail channels in a manner that maintains close contact with the user's scalp, and establish and store the user's 3D scalp contour based on the three-dimensional coordinate data of the combing device; and The target hairstyle contour determination module is configured to: determine the target hairstyle contour; The combing control module is further configured to: control the moving direction and moving distance of the combing device in the longitudinal direction according to the 3D scalp contour, so that the position of the combing device during the haircut process always remains consistent with the 3D scalp contour; The hair cutting device control module is further configured to control the moving direction and moving distance of the hair cutting device in the longitudinal direction according to the target hairstyle contour, so that the position of the electric hair clipper of the hair cutting device during the haircutting process always remains consistent with the target hairstyle contour.

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