Smart hair cutting robot using grid rail system

Abstract

The application provides a smart haircut robot using a grid system, which comprises a head cover for being fixed on the head to enclose a haircut space; a guide rail system arranged in the haircut 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 with the head cover; a moving mechanism capable of moving along the guide rail channels and being slidingly connected with the guide rail body; and a haircut device connected with the moving mechanism, the moving mechanism driving the haircut device to move synchronously by moving along the guide rail channels, so that the haircut device performs a haircut operation. The haircut robot is safe in use and easy to operate.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing equipment technology, and in particular to an intelligent hairdressing robot that utilizes a grid track system. Background Technology

[0002] Currently, most explorations and attempts at fully automated hair-cutting robots are still in the conceptual design or prototype development stage. Existing solutions mainly rely on mimicking the design of industrial robotic arms, combined with multiple sensors and complex computer algorithms, attempting to replicate the operating procedures of human hairdressers. However, these existing solutions typically involve high costs and require complex computer algorithms, especially in terms of hair-cutting safety and ease of operation, falling far short of actual usage requirements. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent hairdressing robot controlled by a grid guide rail system to solve the problems mentioned in the background art or other similar problems.

[0004] This application provides an intelligent hair-cutting robot utilizing a grid system, comprising: a head cover for fixing to the head to form a hair-cutting space; a guide rail system disposed within the hair-cutting space, the guide rail system including 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 slidably connected to the guide rail body; and a hair-cutting device connected to the moving mechanism, the moving mechanism driving the hair-cutting device to move synchronously by moving along the guide rail channels, so that the hair-cutting device performs hair-cutting operations.

[0005] In some embodiments, the guide rail channel is a continuous track composed of a combination of a long strip channel and an arc-shaped channel, and multiple guide rail channels are arranged on the guide rail body in a parallel and spaced-apart manner, and the 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 channel is formed between the arrayed connecting pieces.

[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 further includes an electric screw lifting mechanism connected to the electric hair clipper for driving the electric hair clipper to reciprocate along the longitudinal direction; the comb-fitting device includes a comb-fitting drive mechanism and a comb, the comb-fitting drive mechanism being connected to the comb for driving the comb to reciprocate along the longitudinal direction.

[0008] In some embodiments, the guide rail system further includes racks fixed to the guide rail body and arranged on opposite sides of each of the guide rail channels, the racks extending in the same direction as the guide rail channels; the moving mechanism includes a gear device that is separably engaged with the racks.

[0009] In some embodiments, the gear device includes a rotary stepper motor and a drive wheel connected to the rotary stepper motor, the drive wheel being spaced apart from racks on opposite sides of the guide rail channel; the gear device further includes four driven wheels, wherein two of the driven wheels are arranged on one side of the drive wheel and disengageably mesh 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 drive wheel and disengageably mesh with the rack located on the other side of the guide rail channel; or the gear device further includes three driven wheels, wherein one driven wheel is arranged on one side of the drive wheel and disengageably meshes 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 drive wheel and disengageably mesh with the rack located on the other side of the guide rail channel.

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

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

[0012] In some embodiments, the hair-cutting device includes a hair-cutting device reciprocating along a longitudinal direction perpendicular to the guide rail body, and a combing device reciprocating along the longitudinal direction; the control system includes: a motion drive module configured to control the movement path of the motion mechanism; a combing control module configured to control the movement direction and movement distance of the combing device in the longitudinal direction; and a hair-cutting device control module configured to control the movement direction and movement 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.

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

[0014] The intelligent hairdressing robot of this application embodiment uses a grid system (i.e., a guide rail body with guide rail channels) as the hairdressing track, making intelligent hairdressing safer and easier to operate. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0016] Figure 1 This is a schematic diagram of the headgear structure in an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the unfolded planar structure of a guide rail system according to an embodiment of this application;

[0018] Figure 3 yes Figure 2 A schematic diagram of the guide rail channel and rack of the central guide rail system;

[0019] Figure 4 This is a schematic diagram of the unfolded planar structure of the guide rail system according to another embodiment of this application;

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

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

[0022] Figure 9 This is a structural block diagram of the control system in the embodiments of this application.

[0023] Explanation of key component designations:

[0024] 10. Headgear;

[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 public passageway; 205. Second guide rail passageway; 2051. First end; 2052. Second end;

[0030] 206. Second public passageway; 207. Third guide rail passageway; 208. Rack and pinion;

[0031] 30. Moving mechanism;

[0032] 301. Gear assembly; 3011. Rotary stepper motor; 3012. Driving gear; 3013. Driven gear;

[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, Support nut;

[0035] 40. Hairdressing equipment;

[0036] 401. Electric hair clipper; 4011. Motor; 4012. Blade assembly; 402. Comb fitting device;

[0037] 4021. Comb drive mechanism; 4022. Comb; 403. Electric screw lifting mechanism; 4031. Bracket;

[0038] 4032, Stepper motor; 4033, Lead screw; 4034, Slider. Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

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

[0041] In the embodiments of this application, the singular forms "a," "the," etc., may include the plural forms and should be broadly understood as "a kind" or "a class" rather than limited to the meaning of "one." In addition, the term "the" should be understood to include both the singular and plural forms unless the context clearly indicates otherwise. Furthermore, the term "according to" should be understood as "at least partially based on..." and the term "based on" should be understood as "at least partially based on..." unless the context clearly indicates otherwise. In addition, the term "multiple" means two or more, unless otherwise stated.

[0042] This application provides an intelligent hair-cutting robot utilizing a grid system, comprising a head cover 10, a guide rail system 20, a moving mechanism 30, and a hair-cutting device 40. The head cover 10 can be supported on the head using a self-inflating device to form a hair-cutting space. The head cover 10 may have adapter holes 101 for connecting to a hair suction device. The guide rail system 20 is located within the hair-cutting space and includes a guide rail body 201 and multiple guide rail channels 202 formed on the guide rail body 201 in a preset arrangement. The guide rail body 201 and the head cover 10 can be connected by multiple connecting pieces. The moving mechanism 30 can move along the guide rail channels 202 and is slidably connected to the guide rail body 201. The hair-cutting device 40 is connected to the moving mechanism 30. The moving mechanism 30 moves along the guide rail channels 202, causing the hair-cutting device 40 to move synchronously, thereby enabling the hair-cutting device 40 to perform hair-cutting operations and achieving intelligent hair-cutting.

[0043] The embodiments of this application will now be described with reference to the accompanying drawings.

[0044] Figure 1This is a schematic diagram of the structure of the headgear 10 according to an embodiment of this application.

[0045] like Figure 1 As shown, the headgear 10 can also be called a helmet. The headgear 10 is a rigid structure, and its shape is basically consistent with the outline of a human head. It can be placed on the human head, thereby forming a hairdressing space between the human 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, preventing stray hairs from falling out of the hairdressing space during the haircut. It is understood that the self-inflating device surrounds the entire hairdressing space and is located outside the hair area, thus contacting the scalp but not the hair.

[0047] The self-inflating device also helps to keep the headgear 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, it will not affect the accuracy of the haircut.

[0048] For example, the self-inflating device may be an inflatable airbag surrounding the hairdressing space to provide a soft and comfortable seal. The inflatable airbag may have an inflation port and a deflation port. The inflation port may be connected to an air reservoir or an electric air pump outside the headgear 10 to allow gas to enter the self-inflating device. A sealing plug may be inserted into the deflation port. When deflation is needed (e.g., after the 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-shaped self-inflating air cushion, which contains a sponge and chemicals that can absorb gas. It can automatically draw in air by opening the air inlet of the air cushion, and can be vented 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. Thus, during the hair cutting process, a hair suction device (such as a vacuum cleaner) can be connected to the adapter hole 101 to suck out the stray hairs in the hair cutting space.

[0051] Figures 2 to 5 This is a schematic diagram showing the unfolded planar structure of the guide rail system 20 according to different embodiments of this application.

[0052] like Figures 2 to 5As shown, the guide rail system 20 includes a guide rail body 201, the shape of which is substantially consistent with the shape of the head contour. The guide rail body 201 is connected to the head cover 10 via multiple connecting pieces-connecting rods or other connecting structures (not shown) to be suspended below the head cover 10 within the hairdressing 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 sway relative to the head cover 10, thus providing a stable track for the moving mechanism 30 and the hairdressing device 40, ensuring hairdressing accuracy.

[0053] like Figures 2 to 5 As shown, the guide rail body 201 is provided with multiple guide rail channels 202, which are formed on the guide rail body 201 in a preset arrangement.

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

[0055] Specifically, such as Figure 2 As shown, the guide rail body 201 includes a rear region 2011 and a front region 2012. The front region 2012 corresponds to the top of a person's head, and the rear region 2011 corresponds to the back of the head.

[0056] like Figure 2 As shown, the rear region 2011 of the guide rail body 201 is provided with a plurality of first guide rail channels 203. The first end 2031 of each first guide rail channel 203 near the front region 2012 is closed, and the second end 2032 of each first guide rail channel 203 away from the front region 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 travel sequentially through the plurality of first guide rail channels 203 via the first common channel 204.

[0057] Similarly, such as Figure 2 As shown, the front region 2012 of the guide rail body 201 is provided with a plurality of second guide rail channels 205. The first end 2051 of each second guide rail channel 205 near the rear region 2011 is closed, and the second end 2052 of each second guide rail channel 205 away from the rear region 2011 is connected to a second common channel 206. Thus, all the second guide rail channels 205 are connected through the second common channel 206, so that the moving mechanism 30 can travel sequentially through the plurality of second guide rail channels 205 via the second common channel 206.

[0058] Preferably, such as Figure 2As shown, the guide rail body 201 may also include two side regions 2013, which correspond to the regions in front of the human ear. The two side regions 2013 may be provided with a third guide rail channel 207, and the third guide rail channel 207 can connect the first common channel 204 and the second common channel 206 to allow the moving mechanism 30 to travel 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 of the first guide rail channels 203, each of the second guide rail channels 205 and the third guide rail channel 207 are elongated channels.

[0060] To facilitate the movement of the mobile mechanism 30 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 allows 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 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 turning point.

[0061] To ensure that the hair at the transition area between the top and back of the head can be cut, the first ends 2031 of each first guide channel 203 and the first ends 2051 of each second guide channel 205 overlap approximately (e.g., ...). Figure 2 As shown), the moving mechanism 30 can pass through the transition position when it travels 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 extending direction of the racks 208 is the same as the extending direction of the guide rail channel 202. Each rack 208 has a row of teeth on its left and right sides, with the two rows of teeth facing the two adjacent guide rail channels 202 respectively, thereby enabling 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 splicing two sub-racks on the left and right sides.

[0063] Figure 4A second example of the guide rail body 201 and guide rail channel 202 is shown, which differs from the first example in that the guide rail body 201 is arranged in a square or circular array. In other words, the guide rail body 201 includes an array of body connecting pieces, and the multi-row and multi-column channels connecting these body connecting pieces constitute the guide rail channel 202. Figure 4 As shown, each body connecting piece is square or round.

[0064] Figures 5 to 8 This is a schematic diagram of the structure of the moving mechanism 30 and the hair-cutting device 40 in the embodiments of this application, wherein... Figure 5 and Figure 6 This diagram shows the structure of the hair-cutting device in its uncut state (folded up). Figure 7 and Figure 8 This diagram shows the structure of the hair-cutting device in the hair-cutting state (extended state).

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

[0066] For example, such as Figures 5 to 7 As shown, the moving mechanism 30 also includes a slider 302. The slider 302 has a groove, and the edges of the guide rail body 201 located on both sides of the guide rail channel 202 are slidably inserted into the groove and slidably engaged with it. 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 realizing the 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; this application does not limit its specific structure.

[0067] like Figure 5 and Figure 6 As shown, the gear device 301 includes a rotary stepper motor 3011 and a drive wheel 3012 connected to the rotary stepper motor 3011. The drive wheel 3012 is spaced apart from the racks 208 on opposite sides of the guide rail channel 202. The rotary stepper motor 3011 can drive the drive 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 gears 3013, two of which are arranged on one side of the driving gear 3012 and disengaged from the rack 208 located on one side of the guide channel 202, and the other two driven gears 3013 are arranged on the other side of the driving gear 3012 and disengaged from the rack 208 located on the other side of the guide channel 202.

[0069] For example, when the moving mechanism 30 is located in a first guideway channel 203, the two driven wheels 3013 (referred to as the first driven wheels) on one side of the driving wheel 3012 mesh with the corresponding rack 208 (referred to as the first rack), while the two driven wheels 3013 (referred to as the second driven wheels) on the other side of the driving wheel 3012 do not mesh with the corresponding rack 208 (referred to as the second rack), but are disengaged from the second rack. Thus, the rotary stepper motor 3011 drives the driving wheel 3012 to rotate, and the driving wheel 3012 drives the two first driven wheels to rotate and move along the first rack, thereby enabling the moving mechanism 30 to move smoothly along the first guideway channel 203. During this process, the two second driven wheels do not mesh with the second rack, but are disengaged from the second rack, which avoids the problem of jamming caused by all four driven wheels 3013 meshing with the rack 208, ensuring smooth movement of the moving 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 (e.g., turn left) to enter the first common channel 204 (i.e., it needs to change rails to another first guide rail channel 203 on the left, referred to as leftward rail change), in order to achieve a smooth turn, the gear device 301 keeps the two first driven wheels engaged with the first rack and the two second driven wheels separated from the second rack. Thus, the two first driven wheels can move along the arc-shaped end of the first rack to achieve a smooth leftward rail change.

[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 (e.g., turn right) to enter the first common channel 204 (i.e., it needs to change rails to another first guide rail channel 203 on the right, referred to as right rail change), in order to smoothly achieve the turn, the gear device 301 needs to switch to a state where the two first driven wheels disengage from the first rack, and the two second driven wheels engage with the second rack. Thus, the two second driven wheels can move along the arc-shaped end of the second rack to achieve a smooth right rail change.

[0072] In this embodiment, the engagement and disengagement of each driven wheel 3013 with the rack 208 can be achieved by 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 drive wheel 3012 of the gear device 301 is rotatably mounted on the first mounting plate 303. The input shaft of the drive wheel 3012 is connected to the rotary stepper motor 3011. The output shaft of the drive wheel 3012 is connected to the moving mechanism via a bearing to the first mounting plate 303.

[0074] For example Figures 5 to 8 As shown, the moving mechanism 30 also includes a second mounting plate 304. The first mounting plate 303 and the second mounting plate 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 plate 303 and the second mounting plate 304. The input shaft of the driving wheel 3012 passes through the second mounting plate 304. Of course, the input shaft of the driving wheel 3012 can also be connected to the second mounting plate 304 through another bearing.

[0075] See also Figures 5 to 8 Each driven wheel 3013 is connected to a driven wheel shaft 3014; in other words, the driven wheel shaft 3014 passes through the driven wheel 3013. The first mounting plate 303 has four first arc-shaped holes 3031 arranged circumferentially, and the second mounting plate 304 has four second arc-shaped holes 3041 arranged circumferentially. The four first arc-shaped holes 3031 and the four second arc-shaped holes 3041 correspond one-to-one in the axial direction of the driving wheel 3012. Each driven wheel shaft 3014... Both ends pass through the corresponding first arc-shaped hole 3031 and second arc-shaped hole 3041, and the upper end of each driven wheel shaft 3014 is connected to a support nut 305. The support 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 by the support nut 305, without contacting the first mounting plate 303 and the second mounting plate 304. Therefore, it can rotate smoothly without interfering with other components.

[0076] Furthermore, by providing the first arc-shaped hole 3031 and the second arc-shaped hole 3041, movement space is provided for each driven wheel shaft 3014. In other words, each driven wheel shaft 3014 can move along the first arc-shaped hole 3031 and the second arc-shaped hole 3041 it passes through, thereby driving the driven wheel 3013 to engage or disengage from the rack 208. For example, the driven wheel shaft 3014 of the first driven wheel moves away from the first rack along the first arc-shaped hole 3031 and the second arc-shaped hole 3041, causing the first driven wheel to disengage from the first rack; the driven wheel shaft 3014 of the second driven wheel moves closer to the second rack along the first arc-shaped hole 3031 and the second arc-shaped hole 3041, causing the second driven wheel to engage with the first rack. As mentioned earlier, the movement of the driven wheel shaft 3014 can be driven by a spring mechanism or achieved by other existing technical solutions that can realize this function.

[0077] Furthermore, the first arc-shaped hole 3031 and the second arc-shaped hole 3041 can be eccentric holes that are off-center 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 varies at different positions along the length of the first arc-shaped hole 3031, and the distance between the second arc-shaped hole 3041 and the driving wheel 3012 also varies at different positions along the length of the second arc-shaped hole 3041. 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 in the direction of disengaging 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 in the direction of disengaging 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] For example, 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 to drive the driven wheel shaft 3014 to move. For example, the spring mechanism may include four springs, one end of each of the four springs is connected to the four driven wheel shafts 3014 respectively, and the other end of each of the four springs is 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 stepper 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 move until they 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 until they engage with the second rack.

[0079] In the second example of the gear device 301 (not shown), the difference from the first example is that the gear device 301 includes three driven gears 3013. One driven gear 3013 is arranged on one side of the driving gear 3012 and separably meshes with a rack 208 located on one side of the guide rail channel 202. The other two driven gears 3013 are arranged on the other side of the driving gear 3012 and separably mesh with a 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 arc-shaped holes for the driven gear shafts 3014 of the three driven gears 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 meshes with the corresponding first rack, while the two driven wheels 3013 (referred to as the fourth driven wheels) located on the other side of the driving wheel 3012 do not mesh with the corresponding second rack, but are separated from the second rack. Thus, the rotary stepper motor 3011 drives the driving wheel 3012 to rotate, and the driving wheel 3012 drives the third driven wheel 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 (e.g., turn left) to enter the second common channel 206 (i.e., it needs to change rails to another second guide rail channel 205 on the left, referred to as leftward rail change), in order to achieve a smooth turn, the gear device 301 keeps the third driven wheel engaged with the first rack and the two fourth driven wheels disengaged from the second rack. Thus, the third driven wheel can move along the arc-shaped end of the first rack to achieve a smooth leftward rail change.

[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 (such as turning right) to enter the second common channel 206 (that is, it needs to change rails to another second guide rail channel 205 on the right, referred to as changing rails to the right), in order to smoothly achieve the turn, the third driven wheel needs to disengage from the first rack, while the two fourth driven wheels engage with the second rack. Thus, the two fourth driven wheels can move along the arc end of the second rack to achieve a smooth change of rails 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 by a spring mechanism, or by other mechanisms that can adjust the corresponding spacing between gears to assist in 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 traveling along the left or right track can be completed by controlling the forward and reverse rotation of the rotary stepper motor 3011.

[0084] Similarly, the two sets of driven gears mentioned above can be reduced to one set, and the driven gear can be switched from one side to the other by a corresponding spring control mechanism to complete the track switching action.

[0085] In the first and second examples of the gear device 301, each driven wheel 3013 can be a double gear. A double gear refers to a combined gear structure consisting of a large gear and a small gear connected coaxially, where 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 select to mesh with the rack 208 via either the large gear or the small gear. Using a combined gear structure consisting of a large gear and a small gear facilitates smooth track changing in the gear device. For example, when turning, if the guide rail channel 202 at the turning point is not equidistant (i.e., the width of the guide rail channel 202 at the turning point varies), the gear device 301 can selectively mesh with the rack 208 via either the large gear or the small gear. At intervals, the large gear meshes with the rack 208, while at smaller intervals, the small gear meshes with the rack 208.

[0086] like Figures 5 to 8 As shown, the hair-cutting device 40 is connected to the moving mechanism 30. The moving mechanism 30 moves along the guide rail channel 202 to drive the hair-cutting device 40 to move synchronously, so that the hair-cutting device 40 can perform hair-cutting operations.

[0087] like Figures 5 to 8 As shown, the hair-cutting device 40 includes an electric hair clipper 401 that can reciprocate along a longitudinal direction perpendicular to the guide rail body 201, a combing device 402 that can reciprocate along the same longitudinal direction, and an electric screw lifting mechanism 403. The electric 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 comb 4022. The combing drive mechanism 4021 is connected to the comb 4022 and is used to drive the comb 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 on 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. Thus, the connection between the electric lead screw lifting mechanism 403 and the moving mechanism 30 is realized, and the rotation and longitudinal movement of the slider 4034 are restricted. Therefore, after the stepper motor 4032 starts, it drives the lead screw 4033 to rotate. Since the slider 4034 can neither rotate nor move in the longitudinal direction, the lead screw 4033 will drive the bracket 4031 to move in the longitudinal direction while rotating. 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 blade assembly 4012, which may be connected to the bracket 4031 of the electric lead screw lifting mechanism 403. The electric hair clipper 401 may be a conventional electric 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 moving mechanism 30, thereby realizing the connection between the combing drive mechanism 4021 and the moving mechanism 30. For example, the combing drive mechanism 4021 can be an electric push rod or other linear drive mechanism.

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

[0092] Specifically, the control system is electrically connected to the rotary stepper motor 3011 of the moving mechanism 30. The control system controls the rotation direction, speed, and angle of the main gear by controlling the rotation direction, speed, and angle of the rotary stepper motor 3011, thereby controlling the moving direction, speed, and distance of the moving mechanism 30. The control system is also electrically connected to the motor 4011 of the electric hair clipper 401 of the hair clipper device 40 to control the start and stop of the electric hair clipper 401. Furthermore, 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 direction, speed, and distance of the electric hair clipper 401 by controlling the rotation direction, speed, and angle of the stepper motor 4032. Finally, the control system is electrically connected to the combing drive mechanism 4021 to control the longitudinal direction, speed, and distance of the combing device 402.

[0093] For example, such as 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, rotation speed, and rotation angle of the rotary stepper motor 3011, thereby controlling the movement path of the moving mechanism 30. The combing control module is configured to control the movement direction and movement distance of the combing device 402 in the longitudinal direction. The hair clipper control module is configured to control the rotation direction, rotation speed, and rotation angle of the stepper motor 4032 of the electric screw lifting mechanism 403, and to control the start and stop of the electric hair clipper 401, thereby controlling the hair clipping operation.

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

[0095] In some embodiments, such as Figure 9 As shown, the control system also includes a 3D scalp contour creation module and a target hairstyle contour determination module.

[0096] like Figure 9 As shown, the 3D scalp contour creation module is configured to: obtain the three-dimensional coordinate data of the combing device 402 moving along the entire guide channel 202 in a manner that keeps it in contact with the user's scalp from the combing control module, and create and store the user's scalp contour based on the three-dimensional coordinate data of the combing device 4022.

[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 the reference contour for subsequent haircuts, facilitating the determination of haircut length based on the reference contour. Specifically, for example, after the hairdressing robot's switch button is turned on, the hairdressing robot can first create a 3D scalp contour, and this creation process may include:

[0098] The control system's motion drive module controls the motion mechanism 30 to move one revolution along all guide rail channels 202;

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

[0100] The 3D scalp contour creation 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 creates and stores the user's 3D scalp contour based on the three-dimensional coordinate data of the comb 4022. Thus, the current user's 3D scalp contour can be captured and created.

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

[0102] After establishing the 3D scalp contour, the hairdressing robot can determine the target hairstyle contour. The target hairstyle contour can include the shape and dimensions of the hairstyle, with the dimensions including the hair length at various points along the contour.

[0103] In one example, the target hairstyle outline determination module can provide the user with multiple preset hairstyle outlines for selection, and use the user-selected hairstyle outline as the target hairstyle outline. For instance, the target hairstyle outline determination module can display multiple hairstyle outlines to the user through a user terminal, which can be a touch screen integrated into the hair-cutting robot or the user's mobile phone. The mobile phone can communicate with the hair-cutting robot via Bluetooth to receive data of multiple hairstyle outlines from the hair-cutting robot and display it to the user, and also transmit the data of the user-selected hairstyle outline to the hair-cutting robot via Bluetooth. The hairstyle outline selected by the user is the target hairstyle outline.

[0104] In another example, the target hairstyle outline determination module can create a specific hairstyle outline based on user instructions. For instance, the target hairstyle outline determination module can utilize AI technology to create the hairstyle outline. In this example, the resulting hairstyle outline is the target hairstyle outline.

[0105] After acquiring the 3D scalp contour and the target hairstyle contour, the control system can control the combing device 402 and the hair cutting device 40 to perform hair cutting operations based on the 3D scalp contour and the target hairstyle contour.

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

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

[0108] Specifically, during the haircutting process, the motion drive module precisely controls the direction and speed of the moving mechanism 30. For example, the motion drive module controls the moving mechanism 30 to sequentially pass through each of the first guide rail channels, the third guide rail channel, and each of the second guide rail channels; the moving 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 is always consistent with the outline of the target hairstyle. For example, the hair length at a certain position on the top of the current user's head on the outline of the target hairstyle is L, the vertical coordinate of the corresponding position on the 3D scalp outline is Y1, and the vertical coordinate of the electric hair clipper 401 at that position is Y2. Then Y2 = Y1 + L. That is, when the moving mechanism 30 moves the electric hair clipper 401 to that 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, so as to ensure that the hair cutting length of the electric hair clipper 401 at that position is L.

[0109] During the haircutting process, the electric hair clipper control module can control only the start and stop of the electric hair clipper 401 motor. When the haircutting action needs to be stopped, the motor stops rotating. The control system can also be set 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 set on the head cover 10 to stop all actions of the haircutting robot with one click.

[0110] Furthermore, the control system may also include a head 3D 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 be configured with APIs open to external developers to enable 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 commands, and a battery and other auxiliary circuit modules. The Bluetooth module can connect to a user terminal (such as a mobile phone or the touch screen of a hair-cutting robot). The control system of this application is integrated on a circuit board.

[0112] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0114] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0116] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. An intelligent hair-cutting robot utilizing a grid system, characterized in that, The intelligent hairdressing robot includes: A head covering is used to secure the head to create a space for barbering. A guide rail system is provided in the hairdressing space. The guide rail system includes a guide rail body and a plurality of interconnected guide rail channels formed on the guide rail body in a preset arrangement. The guide rail body is connected to the head cover. The moving mechanism is movable along the guide rail channel and slidably connected to the guide rail body; and A hair-cutting device is connected to the moving mechanism, which drives the hair-cutting device to move synchronously along the guide rail channel, so that the hair-cutting device can perform a hair-cutting operation. The guide rail system also 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 assembly that can be separably engaged with the rack. When the moving mechanism changes tracks between different guide rail channels, the gear assembly selectively engages with one of the racks on both sides of the guide rail channel and disengages from the other.

2. The intelligent hair-cutting robot according to claim 1, characterized in that, The guide rail channel is a continuous track composed of long strip channels and arc-shaped channels, and multiple guide rail channels are arranged on the guide rail body in a parallel and spaced-apart manner, and the multiple guide rail channels are connected in sequence. Alternatively, the guide rail body may be formed by an array of square or circular connecting pieces, with the guide rail channel formed between the arrayed connecting pieces.

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

4. The intelligent hair-cutting robot according to claim 3, characterized in that, The hair-cutting device also includes an electric screw lifting mechanism connected to the electric hair clipper, used to drive the electric hair clipper to reciprocate along the longitudinal direction; The combing device includes a combing drive mechanism and a comb. The combing drive mechanism is connected to the comb and is used to drive the comb to reciprocate along the longitudinal direction.

5. The intelligent hair-cutting robot according to claim 1, characterized in that, The gear device includes a rotary stepper motor and a drive wheel connected to the rotary stepper motor, the drive wheel being spaced apart from the racks on opposite sides of the guide rail channel; The gear mechanism further includes: Four driven wheels, two of which are arranged on one side of the driving wheel and disengageably mesh with the rack located on one side of the guide rail channel; the other two driven wheels are arranged on the other side of the driving wheel and disengageably mesh with the rack located on the other side of the guide rail channel; or Three driven wheels, one of which is arranged on one side of the driving wheel and disengageably meshes 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 disengageably mesh with the rack located on the other side of the guide rail channel.

6. The intelligent hair-cutting robot according to claim 5, characterized in that, Each of the driven gears is a double gear, which includes 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.

7. The intelligent hair-cutting robot according to any one of claims 1 to 6, characterized in that, Also includes: A control system is used to control the bidirectional movement of the moving mechanism and to control the hair-cutting operation of the hair-cutting device.

8. The intelligent hair-cutting robot according to claim 7, characterized in that, The hair-cutting device includes an electric hair clipper that can reciprocate along a longitudinal direction perpendicular to the guide rail body, and a comb-adjusting device that can reciprocate along the longitudinal direction; the control system includes: A motion drive module is configured to control the movement path of the moving mechanism; The combing control module is configured to control the direction and distance of movement of the combing device in the longitudinal direction; and The hair clipper control module is configured to control the direction and distance of movement of the electric hair clipper in the longitudinal direction, and to control the start and stop of the electric hair clipper in the hair clipper device.

9. The intelligent hair-cutting robot according to claim 8, characterized in that, The control system further includes: A 3D scalp contour creation module is configured to: acquire three-dimensional coordinate data of the combing device during its movement along all the guide channels in a manner consistent with the user's scalp from the combing control module; and create and store the user's 3D scalp contour based on the three-dimensional coordinate data of the combing device; and The target hairstyle outline determination module is configured to: determine the target hairstyle outline; 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 haircutting process is always 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 outline, so that the position of the electric hair clipper of the hair-cutting device remains consistent with the target hairstyle outline during the hair-cutting process.

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