An automatic hair washing apparatus and control method

Abstract

An automatic hair washing device and a control method, comprising a control module for controlling the swing of a water outlet part and the working state of a water pump, the water outlet direction of the water outlet part being towards the head of a user, the water outlet end of the water pump being communicated with the water outlet part, the control module adopting a first motion law to control the water outlet speed and the water outlet frequency of the water pump, so that the water outlet speed of the water pump continuously changes in a water outlet cycle, and the control module adopting a second motion law to control the swing speed of the water outlet direction of the water outlet part, so that the water outlet speed of the water pump continuously changes in a water outlet cycle.

Description

Technical Field

[0001] This invention relates to the field of hair washing machine technology, and more particularly to an automatic hair washing device and control method. Background Technology

[0002] There are currently some automatic or semi-automatic hair washing machines on the market. However, these existing technologies generally suffer from the following technical defects:

[0003] 1. Limited functionality: Most shampoo shampoos can only perform basic rinsing and cleaning functions. They cannot simulate the complex hand movements of a professional hairdresser, such as grasping, kneading, pressing, and squeezing. They cannot provide a comfortable head massage experience and lack the ability to accurately apply shampoo.

[0004] 2. Hair tangles: One challenge of automatic shampoo is preventing long hair from tangling, because automatic shampoo cannot comb hair like fingers to make the hair flow smoothly and avoid tangling.

[0005] 3. Poor cleaning effect: Existing products on the market have problems such as poor water pressure and volume control and small coverage of the rinsing water jet, which makes it difficult to guarantee the cleaning effect of shampoo. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide an automatic hair washing device and control method.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A control method for an automatic hair washing device includes a control module for controlling the oscillation of the water outlet section and the working state of the water pump. The water outlet section faces the user's head, and the water pump's outlet end is connected to the water outlet section. The control module uses a first motion law to control the water pump's outlet speed and frequency, so that the water pump's outlet speed continuously changes within one outlet cycle. The control module uses a second motion law to control the oscillation speed of the water outlet section's outlet direction, so that the oscillation speed of the water outlet section continuously changes within one outlet cycle.

[0009] Furthermore, both the first and second motion laws adopt sinusoidal motion laws.

[0010] Furthermore, the water pump discharges water multiple times within one discharge cycle, with the discharge time between multiple discharges gradually shortening or the discharge speed gradually decreasing.

[0011] Furthermore, as the water pump's outlet time gradually shortens, the water pump's outlet speed remains constant.

[0012] Furthermore, as the water output speed of the pump gradually decreases, the water output duration of the pump remains unchanged.

[0013] Furthermore, the water outlet includes a left water outlet and a right water outlet located on both sides of the head. The left water outlet and the right water outlet are respectively connected to different water pumps. The two water pumps discharge water one after the other, and the two water pumps discharge water simultaneously for a part of a water discharge cycle. The water pump that discharges water first stops discharging water earlier than the other water pump.

[0014] Furthermore, the water outlet includes a left water outlet and a right water outlet located on both sides of the head. The left water outlet has a first water outlet and a third water outlet, and a second water outlet and a fourth water outlet located on the other side of the head. The first water outlet, the second water outlet, the third water outlet, and the fourth water outlet are respectively connected to different water pumps. The control module controls the water outlet status of each water outlet in one water outlet cycle by starting and stopping each of the water pumps in a time-sharing manner, so as to realize the first water outlet stage and the second water outlet stage in a time sequence.

[0015] The first water discharge stage opens the water discharge sequentially in the order of the first water discharge level, the third water discharge level, the fourth water discharge level, and the second water discharge level, and the water discharge time of the later water discharge level overlaps with the water discharge time of the previous water discharge level.

[0016] The second water discharge stage is initiated after the first water discharge stage is completed. Water is discharged sequentially in the order of the second water discharge level, the fourth water discharge level, the third water discharge level, and the first water discharge level, and the water discharge time of the later water discharge level overlaps with the water discharge time of the earlier water discharge level.

[0017] Furthermore, the water outlet also includes a lower water outlet with the water outlet direction facing the back of the head. The water outlet directions of the left water outlet, the right water outlet and the lower water outlet have a first swing mode, a second swing mode and a third swing mode under the control of the control module.

[0018] When in the first swing mode, the left water outlet, the right water outlet and the lower water outlet swing back and forth in the same direction according to the preset swing amplitude. The water jets from the left water outlet, the right water outlet and the lower water outlet periodically act on different areas on both sides of the head. During the switching of different areas, the left water outlet, the right water outlet and the lower water outlet stop discharging water.

[0019] When in the second swing mode, the left water outlet and the right water outlet swing back and forth in opposite directions according to a preset swing amplitude. The swing direction of the lower water outlet is the same as that of the left or right water outlet. The water jets from the left, right, and lower water outlets periodically act on different areas on both sides of the head. During the switching of different areas, the left, right, and lower water outlets stop discharging water.

[0020] When in the third swing mode, the left and right water outlets swing back and forth in the same direction according to a preset swing amplitude. The water jets from the left and right water outlets periodically act on different areas on both sides of the head, and the left and right water outlets continuously discharge water during the switching of different areas.

[0021] Furthermore, when the left and right water outlets are in the third swing mode, the control module synchronously adjusts the water output speed of the water pump corresponding to the left and right water outlets, so that when the left and right water outlets swing along the first direction, the water output speed of the water pump increases, and when they swing along the second direction opposite to the first direction, the water output speed of the water pump decreases.

[0022] An automatic hair washing device, suitable for a control method, including

[0023] The swing module includes a left water outlet and a right water outlet on both sides of the head, and a lower water outlet at the back of the head. The left water outlet has an alternately arranged first water outlet and a third water outlet, the right water outlet has an alternately arranged second water outlet and a fourth water outlet, and the lower water outlet has a fifth water outlet.

[0024] Several water pumps are connected to the first, second, third, fourth and fifth water outlets respectively, so as to achieve independent water discharge from each water outlet.

[0025] Several driving devices, each correspondingly connected to the left, right, and lower water outlet sections, are used to control the oscillation state of each water outlet section, thereby changing the water outlet direction at each outlet position; and

[0026] A control module, which is signal-connected to the water pump and the drive device, is used to control each of the water pumps and the drive device.

[0027] The left and right water outlets include concave arc-shaped swing arms facing the user, and the lower water outlet includes a straight swing arm. The concave surface of the arc-shaped swing arm and the straight swing arm are provided with a plurality of nozzles, and each nozzle constitutes the first water outlet position, the second water outlet position, the third water outlet position, the fourth water outlet position and the fifth water outlet position respectively.

[0028] The beneficial effects of this invention are:

[0029] 1. The present invention proposes a control method for an automatic shampooing device, which uses a first motion law to control the water pump and the swing module to generate a swing water outlet with a gentle start and stop and a single peak shape. This swing water outlet simulates the basic action of a natural human hand pressing and releasing, which significantly improves the naturalness and comfort of the water impact sensation.

[0030] 2. The control method of the automatic shampooing device proposed in this invention achieves a linear gradual change effect of water flow impact force by increasing or decreasing the speed of continuous water pressure output under a fixed water output time. It can simulate professional massage techniques that require continuous changes in force, such as progressive pressing from light to heavy or soothing relaxation from heavy to light, greatly enriching the sense of massage and the diversity of physical sensation.

[0031] 3. The present invention proposes a control method for an automatic shampooing device. By shortening or extending the continuous water pressure output time at a fixed water outlet speed, it achieves a frequency variation effect of the water flow impact rhythm, simulating a massage technique where the rhythm gradually changes from gentle to rapid, or from rapid to gentle. This rhythm variation can better adapt to different user preferences or the needs of different shampooing stages, such as using a fast rhythm to awaken the scalp or a slow rhythm to promote relaxation.

[0032] 4. The present invention proposes a control method for an automatic shampooing device. By applying water flow sequence control to the water pumps on the left and right sides, an alternating water flow impact sequence is formed. This highly realistically simulates the most common alternating actions of human hands when washing hair, such as alternating patting and alternating kneading, creating a strong biomimetic sensation. This alternating stimulation not only enhances the realism and comfort, but also helps promote blood circulation in the scalp.

[0033] 5. The present invention proposes a control method for an automatic hair washing device. By adopting various different swing arm swing patterns, such as synchronous swing, alternating swing, and segmented swing, a single device can provide differentiated and targeted washing and care modes. Users can select different modes such as quick wetting, deep massage, or fine combing as needed, thereby meeting diverse needs from basic cleaning to professional care, and realizing a high degree of configurability and adaptability of device functions.

[0034] 6. The automatic shampooing device proposed in this invention, by setting up multiple independently controllable water outlets and drive devices, realizes simultaneous and differentiated shampooing operations on the left side, right side, and lower back of the head, ensuring that the water flow impact and mechanical movement can achieve a high degree of freedom in coordination, laying the foundation for simulating complex and varied biomimetic massage techniques and achieving comprehensive cleaning coverage, thereby significantly improving the overall functionality and user experience of the device.

[0035] 7. The automatic shampooing device proposed in this invention, by setting up arc-shaped and straight swing arms, allows the water jet trajectory and mechanical combing action to closely conform to the natural curvature of the head, optimizes the coverage efficiency and conformity of water flow and mechanical contact, reduces dead corners for cleaning and massage, and improves the cleaning effect and the comfort of use. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a scene usage diagram of an automatic hair washing device according to the present invention;

[0038] Figure 2 This is a basic schematic diagram of the sinusoidal speed curve of the drive device and water pump speed of an automatic hair washing device according to the present invention;

[0039] Figure 3 This is a schematic diagram of the variable rhythm water pump in an automatic hair washing device according to the present invention;

[0040] Figure 4 This is a schematic diagram of the variable intensity water pump in an automatic hair washing device according to the present invention;

[0041] Figure 5 This is a schematic diagram showing the time-sharing operation of the water pump in the left water outlet section of an automatic hair washing device according to the present invention;

[0042] Figure 6 This is a schematic diagram of the time-sharing control of the water pumps in the left and right water outlet sections of an automatic shampooing device according to the present invention.

[0043] Figure 7 This is a schematic diagram of the water outlet section of an automatic hair washing device according to the present invention, showing a small-amplitude, rapid head-swinging motion.

[0044] Figure 8 This is a schematic diagram of the small-amplitude rapid oscillation of the water outlet section of an automatic hair washing device according to the present invention;

[0045] Figure 9 This is a schematic diagram of the alternating swing amplitude of the left and right water outlet sections of an automatic hair washing device according to the present invention;

[0046] Figure 10 This is a schematic diagram of the left and right water outlet sections of an automatic shampooing device of the present invention scraping downwards multiple times in sequence.

[0047] Figure 11 This is a control flowchart of a drive device for an automatic hair washing machine according to the present invention;

[0048] Figure 12 This is a control flowchart of the water pump in an automatic hair washing device according to the present invention;

[0049] Figure 13 This diagram illustrates the speed feedback mechanism of the drive device in an automatic hair washing machine according to the present invention.

[0050] Figure 14 This invention relates to a speed control mechanism for the water pump in an automatic hair washing device.

[0051] In the diagram, 101 is the first right nozzle; 102 is the second right nozzle; 103 is the third right nozzle; 104 is the fourth right nozzle; 201 is the first left nozzle; 202 is the second left nozzle; 203 is the third left nozzle; 204 is the fourth left nozzle; 30 is a straight swing arm; 301 is the first lower nozzle; 302 is the second lower nozzle; 401 is the first drive device; 402 is the second drive device; 403 is the third drive device; 50 is an arc-shaped swing arm; 601 is the first water outlet; 602 is the second water outlet; 603 is the third water outlet; 604 is the fourth water outlet; and 605 is the fifth water outlet. Detailed Implementation

[0052] The following is combined Figure 1-14 The present invention will be described in detail below.

[0053] Example 1:

[0054] A control method for an automatic shampooing device includes a control module for controlling the oscillation of the water outlet and the working state of the water pump. The water outlet is directed towards the user's head, and the water pump's outlet end is connected to the water outlet. The control module uses a first motion law to control the water pump's outlet speed and frequency, so that the water pump's outlet speed changes continuously within one outlet cycle. The control module uses a second motion law to control the oscillation speed of the water outlet's outlet direction, so that the oscillation speed of the water outlet changes continuously within one outlet cycle.

[0055] For the water pump, the control module uses a first motion law to drive it, ensuring that the pump's output speed changes continuously and non-stepwise within a single complete water discharge cycle. Simultaneously, for the water outlet section that changes the direction of the water jet, the control module uses a second motion law to drive it, ensuring that its oscillation speed also changes continuously within the motion cycle. This results in both the intensity of the water flow impact and the mechanical motion of the water flow scanning possessing smooth, biomimetic dynamic characteristics.

[0056] In this embodiment, both the first and second motion laws adopt sinusoidal motion laws. Whether it's the first motion law used to adjust the pump speed or the second motion law used to adjust the oscillation speed of the outlet section, the velocity-time function relationship follows a sinusoidal waveform. This results in the water flow generated by the pump and the mechanical oscillation of the outlet section exhibiting a gentle acceleration and deceleration process, simulating the gradual change in force of a natural hand gesture.

[0057] In this embodiment, the water pump discharges water multiple times within one discharge cycle, with the discharge duration or discharge rate gradually decreasing between each discharge. Furthermore, when the discharge duration gradually shortens, the discharge rate remains constant. Furthermore, when the discharge rate gradually decreases, the discharge duration remains constant.

[0058] like Figure 3 As shown, when the control module executes the pump speed control, the water output time remains equal within the continuous water output sequence, while the maximum water output speed increases or decreases progressively. Specifically, the peak water output intensity gradually increases or decreases as the water output sequence progresses. The pump starts and outputs water multiple times consecutively within one water output cycle, with the peak water output speed maintained constant at a preset maximum water output speed v1 each time, while the duration of each water output decreases progressively according to a preset rule. Specifically, the control module sets the duration of the first water output to t1, the second to t2, the third to t3, and the fourth to t4, satisfying the decreasing relationship t1 > t2 > t3 > t4. This change can be uniform, such as a fixed value for each water output enhancement, or non-linear, such as a gradual increase or decrease in the amount of change, thereby simulating various subtle changes in intensity, from gentle to deep or from strong to soothing, significantly enriching the user's tactile experience.

[0059] like Figure 4 As shown, when the control module executes the speed control of the water pump, the maximum water speed is kept constant within the continuous water output sequence, while the water output time decreases or increases. Specifically, the water pump starts multiple times consecutively within one water output cycle, and the duration of each water output is kept constant at the same preset duration t, while the peak speed of each water output decreases successively according to a preset rule. Specifically, the control module sets the peak speed of the first water output to v1, the peak speed of the second water output to v2, and the peak speed of the third water output to v3, satisfying the decreasing relationship of v1 > v2 > v3. That is, the time interval between water outputs gradually shortens or gradually lengthens. Shortening the interval produces an effect of faster rhythm and more intense stimulation; lengthening the interval produces an effect of slower rhythm and more soothing stimulation. This programmable variation of rhythm allows the device to mimic various professional techniques with different rhythms, from rapid patting to slow kneading.

[0060] In this embodiment, the water outlet includes a left water outlet and a right water outlet located on both sides of the head. The left water outlet and the right water outlet are respectively connected to different water pumps. The two water pumps discharge water one after the other, and the two water pumps discharge water simultaneously for a part of a water discharge cycle. The water pump that discharges water first stops discharging water earlier than the other water pump.

[0061] like Figure 5As shown, the left and right water outlets are connected to their respective water pumps, and the duration of each water outlet is kept constant at the same preset duration t. The control module repeatedly executes the following timing control sequence at a fixed period: At the beginning of the first water discharge cycle, the control module starts only the water pump connected to the left water outlet to start discharging water, and its discharge speed increases according to a sinusoidal half-wave pattern; after half a preset time, the control module starts the water pump connected to the right water outlet to start discharging water, and its discharge speed also increases according to a sinusoidal half-wave pattern; when the first preset time t is reached, the discharge speed of the left water outlet pump has just completed the entire sinusoidal half-wave cycle and dropped to zero, and the control module immediately commands the left water outlet pump to stop discharging water, while at this time the discharge speed of the right water outlet pump is reaching the peak value of the sinusoidal half-wave; then, the control module immediately starts the left water outlet pump again, so that it restarts a new sinusoidal half-wave water discharge cycle; after another half preset time, the right water outlet pump completes the entire sinusoidal half-wave cycle and drops to zero, and the control module commands the right water outlet pump to stop discharging water, while at this time the discharge speed of the left water outlet pump is reaching its peak value; and so on. Through this timing control, the water pumps in the left and right water outlets always periodically discharge water for the same duration t, but their start times are staggered by half a cycle, and their stop times are also staggered by half a cycle. This creates an alternating pulse sequence where the pump that starts first stops before the pump that starts later, and both pumps overlap in water discharge for half a duration within each cycle. This controllable phase difference creates a rhythmic alternation of water flow impact on both sides of the user's head, highly replicating the natural movements of alternating pressing and kneading during manual shampooing, significantly enhancing the realism and comfort of the massage.

[0062] In this embodiment, the water outlet includes a left water outlet and a right water outlet located on both sides of the head. The left water outlet is provided with a first water outlet 601 and a third water outlet 603, and a second water outlet 602 and a fourth water outlet 604 located on the other side of the head. The first water outlet 601, the second water outlet 602, the third water outlet 603 and the fourth water outlet 604 are respectively connected to different water pumps. The control module controls the water outlet status of each water outlet in one water outlet cycle by starting and stopping each water pump in a time-division manner, so as to realize the first water outlet stage and the second water outlet stage in a time sequence.

[0063] The first water discharge stage opens the water discharge in the order of first water discharge level 601, third water discharge level 603, fourth water discharge level 604 and second water discharge level 602, and the water discharge time of the later water discharge level overlaps with the water discharge time of the previous water discharge level.

[0064] The second water discharge stage is initiated after the first water discharge stage is completed. Water is discharged sequentially in the order of the second water discharge level 602, the fourth water discharge level 604, the third water discharge level 603, and the first water discharge level 601, with the water discharge period of the later water discharge level overlapping with that of the previous water discharge level.

[0065] The left water outlet section is provided with a first left nozzle 201, a second left nozzle 202, a third left nozzle 203, and a fourth left nozzle 204 in sequence from the outside to the inside. The first left nozzle 201 and the third left nozzle 203 form the first water outlet position 601 and are controlled by the first water pump. The second left nozzle 202 and the fourth left nozzle 204 form the third water outlet position 603 and are controlled by the second water pump. The right water outlet section is provided with a first right nozzle 101, a second right nozzle 102, a third right nozzle 103, and a fourth right nozzle 104 in sequence from the outside to the inside. The first right nozzle 101 and the third right nozzle 103 form the second water outlet position 602 and are controlled by the fourth water pump. The second right nozzle 102 and the fourth right nozzle 104 form the fourth water outlet position 604 and are controlled by the third water pump.

[0066] The water outlets on the left and right sides feature a symmetrical and staggered water flow design. This grouped control method allows the water flow to exhibit rich spatial and temporal variations, such as alternating water flow or wave-like propulsion effects, significantly enhancing the realism of the massage and helping to untangle knots.

[0067] The lower water outlet is located on both sides of the back of the user's head, with a first lower nozzle 301 and a second lower nozzle 302 respectively. The first lower nozzle 301 and the second lower nozzle 302 constitute the fifth water outlet 605 and are controlled by the fifth water pump.

[0068] like Figure 6 As shown, several water pumps start at least once during the circulation process, and the sinusoidal half-waves of each water pump are distributed alternately or partially overlapped in time, together forming a complete water discharge cycle.

[0069] Specifically, in the first water output phase, the control module first instructs the first water pump to output an initial water pressure. Then, after a delay, the control module activates the second water pump to output a similar but phase-delayed water pressure. Immediately following, at predetermined timing points, the control module sequentially triggers the third and fourth water pumps to output their respective water pressures, with the fourth pump controlled to continuously output two closely spaced water pressures. In the subsequent second water output phase, the control module reactivates the third, second, and first water pumps in reverse order, each outputting one water pressure. These eight sequentially occurring, strictly phase-delayed water pressure outputs together constitute a complete stimulation cycle. By cyclically executing this program, a dynamic effect of water flowing across and sweeping back and forth over the user's head is created, realistically simulating a complex manual massage technique of "pressing, pushing, and pressing again," significantly enhancing the richness and comfort of the washing and care process.

[0070] In this embodiment, the water outlet also includes a lower water outlet with the water outlet direction facing the back of the head, a left water outlet, a right water outlet, and the water outlet direction of the lower water outlet has a first swing mode, a second swing mode, and a third swing mode under the control of the control module.

[0071] When in the first swing mode, the left water outlet, right water outlet and lower water outlet swing back and forth in the same direction according to the preset swing amplitude. The water jets from the left water outlet, right water outlet and lower water outlet periodically act on different areas on both sides of the head. During the switching of different areas, the left water outlet, right water outlet and lower water outlet stop discharging water.

[0072] When in the second swing mode, the left and right water outlets swing back and forth in opposite directions according to the preset swing amplitude. The swing direction of the lower water outlet is the same as that of the left or right water outlet. The water jets from the left, right, and lower water outlets periodically act on different areas on both sides of the head. During the switching of different areas, the left, right, and lower water outlets stop discharging water.

[0073] When in the third swing mode, the left and right water outlets swing back and forth in the same direction according to the preset swing amplitude. The jet water from the left and right water outlets periodically acts on different areas on both sides of the head, and water continues to flow from the left and right water outlets during the switching of different areas.

[0074] like Figure 8 As shown, in the first swing mode, the control module synchronously drives the left water outlet arc-shaped swing arm 50, the right water outlet arc-shaped swing arm 50, and the lower water outlet straight swing arm 30 to swing in the same direction with the same preset amplitude and frequency. During the swing, the water jets from each swing arm sequentially cover various small areas on both sides of the head and the back of the head. In this mode, the top of the head is divided into four water outlet coverage areas, and the back of the head is divided into two water outlet coverage areas, achieving periodic sweeping rinsing. After completing the preset rinsing time for the current small area, the control module first instructs all corresponding water pumps to stop water output, then drives each swing arm to move axially to the next small area. After the swing arm is positioned and stabilized, the water pump is instructed to restart water output, continuing the same-direction reciprocating swing rinsing of the next area. This produces a coordinated, rapid vibration effect covering the entire head, similar to gentle patting or even shaking. This mode is particularly suitable for quickly pre-wetting the hair or performing a gentle overall relaxing massage, achieving efficient and even coverage.

[0075] like Figure 9As shown, during the second swing mode, the control module drives the left and right water outlets to swing back and forth in opposite directions with the same preset amplitude, while simultaneously driving the lower water outlet to swing in the same direction as either the left or right water outlet. The water jets from the left, right, and lower outlets also periodically act on various small areas on both sides of the head and the back of the head. When switching to the next area, the control module instructs all water pumps participating in this mode to stop water output. Water output and swinging in the opposite direction are only resumed after the left and right water outlets have completed their displacement and repositioning.

[0076] In this mode, the top of the head and the back of the head are divided into three water-spraying areas. The control module defines the water-spraying areas of the left and right water outlets as three staggered areas on the sides of the head, and drives them to swing back and forth in opposite directions within these areas. That is, when one arm swings downwards, the other swings upwards in the opposite direction. Simultaneously, the control module periodically switches the currently applied water-spraying area at preset time intervals, allowing the alternating stimulation of the left and right water outlets to rotate between the three different areas, simulating the realistic technique of hands alternately rubbing in different positions. This alternating movement pattern creates an alternating, rhythmic pushing sensation on both sides of the user's head, highly simulating the alternating pressing and kneading motions of hands during manual shampooing. It not only enhances the realism and depth of the massage but also effectively promotes scalp blood circulation.

[0077] like Figure 10 As shown, in the third swing mode, the control module only drives the left and right water outlets to swing back and forth with the same preset amplitude and in the same direction. The water jets periodically sweep across the small areas on both sides of the head. Unlike the first two modes, when switching the current area of ​​action, the control module maintains the continuous water output of the corresponding water pumps of the left and right water outlets, and only instructs the drive device to move the swing arm continuously or stepwise along the axial direction, so that the water flow smoothly transitions to the adjacent small area during continuous spraying, achieving uninterrupted mobile rinsing care. Specifically, the control module divides the side of the head into three continuous water outlet coverage areas, and controls the left and right water outlets to perform fixed-point reciprocating swings in each area in sequence. After the control module instructs the current water outlet to complete a preset number of reciprocating swings in the first water outlet coverage area, it then moves axially to the second water outlet coverage area and performs the same number of reciprocating swings again. This cycle continues until all preset areas have been traversed. This mode mimics the professional techniques of hairdressers who use their fingers to section, finely comb, or massage hair, and is especially suitable for dealing with tangled hair or performing deep cleaning.

[0078] In this embodiment, when the left and right water outlets are in the third swing mode, the control module synchronously adjusts the water output speed of the water pumps corresponding to the left and right water outlets. This increases the water output speed of the pumps when the left and right water outlets swing in the first direction and decreases the water output speed when they swing in the second direction opposite to the first direction. Specifically, during the swing process, the water pressure is increased when the water outlets swing in the direction of downward combing (from top to bottom) and decreased when returning to the original direction, thereby enhancing the combing effect.

[0079] Example 2:

[0080] An automatic hair washing device, suitable for a control method, including

[0081] The swing module includes a left water outlet and a right water outlet on both sides of the head, and a lower water outlet at the back of the head. The left water outlet has an alternately arranged first water outlet 601 and a third water outlet 603, the right water outlet has an alternately arranged second water outlet 602 and a fourth water outlet 604, and the lower water outlet has a fifth water outlet 605.

[0082] Several water pumps are connected to the first outlet 601, the second outlet 602, the third outlet 603, the fourth outlet 604 and the fifth outlet 605 respectively, so as to realize independent water discharge at each outlet.

[0083] Several drive devices, each correspondingly connected to the left, right, and lower water outlet sections, are used to control the oscillation state of each water outlet section, thereby changing the water outlet direction at each outlet position; and

[0084] The control module is connected to the water pumps and drive units via signals and is used to control each water pump and drive unit.

[0085] The left and right water outlets include an arc-shaped swing arm 50 with its concave surface facing the user, and the lower water outlet includes a straight swing arm 30. The concave surface of the arc-shaped swing arm 50 and the straight swing arm 30 are provided with a number of nozzles, and each nozzle constitutes a first water outlet 601, a second water outlet 602, a third water outlet 603, a fourth water outlet 604 and a fifth water outlet 605 respectively.

[0086] Specifically, the two arc-shaped swing arms 50 and the straight swing arm 30 correspond to the left, right and lower back of the user's head, respectively. Each swing arm is equipped with a water outlet, and the water outlets of each water outlet are arranged facing the user's head to form a comb-shaped water outlet area.

[0087] Meanwhile, the arc-shaped swing arm 50 at the left water outlet is connected to the first drive device 401, the arc-shaped right swing arm at the right water outlet is connected to the second drive device 402, and the straight swing arm 30 at the lower water outlet is connected to the third drive device 403. The first drive device 401, the second drive device 402, and the third drive device 403 are each independently controlled by the control module, precisely driving the corresponding swing arm to execute preset swing trajectories and displacement movements. Under the unified command of the control module, these drive devices can drive their respective arms to reciprocate along preset complex trajectories and speeds, achieving a synergy between water flow impact and mechanical motion, laying the foundation for simulating diverse washing and care techniques.

[0088] The left and right water outlets are each equipped with several nozzles arranged in a comb-like pattern, forming independent comb-shaped water outlet areas. When the control module executes the first swing mode, the arc-shaped swing arms 50 of the left and right water outlets swing in the same direction, maintaining a preset spatial distance along their swing trajectories. This ensures that the left and right comb-shaped water flows do not intersect when acting on the areas on both sides of the head, preventing turbulent splashing and impact dispersion caused by water flow collisions or interference. When the control module executes the second swing mode, the left and right water outlets swing in opposite directions, and their water coverage areas are completely spatially offset. The left and right comb-shaped water flows act on two independent sub-areas on the sides of the head, with no overlap or intersection in their swing paths. By maintaining the aforementioned spacing and area staggering control, the comb-like water flow from the left and right water outlets can maintain independent, interference-free spray trajectories in both synchronous and staggered oscillation modes, ensuring that the water flow from each side is effectively delivered to the scalp surface, while avoiding discomfort and reduced cleaning efficiency caused by mutual interference of water flow.

[0089] The curved arm 50 is designed to conform to the lateral arc of the head, with its concave surface always facing the head. It swings up and down in a fan-sweeping motion around an axis roughly parallel to the central axis of the head, simulating a lateral combing motion. The straight arm 30 adopts a horizontal, straight design, located below the back of the head. It swings up and down and down around its own central axis, effectively cleaning the back of the head area. The coordinated movement of these three arms achieves a comprehensive, all-around water flow combing of the head's contours.

[0090] The left water outlet is located on the left-side arc-shaped swing arm 50, and the right water outlet is located on the right-side arc-shaped swing arm 50. The water path layout of the left and right water outlets adopts a symmetrical and staggered control design. This group control method allows the water flow to present rich spatiotemporal variation patterns, such as creating alternating water flow or wave-like propulsion effects, significantly enhancing the realism of the massage and helping to untangle hair knots.

[0091] like Figure 1 , Figure 2 as well as Figure 11 As shown, the control module controls each drive device to perform timing analysis, provides each drive device with a target command containing the target displacement and target time, and calculates and controls the output speed of the corresponding drive device based on the target displacement and target time.

[0092] The control module performs timing analysis on each water pump, provides each water pump with a target instruction containing the target duty cycle and target time, and calculates and controls the output speed of the corresponding water pump based on the target duty cycle and target time.

[0093] In this embodiment, as Figure 13 As shown, the control module performs closed-loop control on the drive device, including: generating a target speed command based on a given displacement and a given time, and controlling the operation of the corresponding drive device accordingly, and obtaining the actual position signal fed back by the drive device; adjusting the subsequent output speed command based on the deviation between the actual position signal and the given displacement, thereby forming a continuous position closed-loop control cycle; the control module performs lookup table control on the water pump, including: querying the corresponding control parameters based on a pre-stored sine speed table or constant speed table, and according to the given target speed and running time; adjusting the output water flow speed of the corresponding water pump according to the control parameters, thereby forming a continuous speed control cycle.

[0094] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand and implement the present invention. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A control method for an automatic hair washing device, comprising a control module for controlling the oscillation of the water outlet and the operating state of the water pump, wherein the water outlet is directed toward the user's head, and the water pump's outlet end is connected to the water outlet, characterized in that, The control module uses a first motion law to control the water pump's outlet speed and frequency, so that the water pump's outlet speed changes continuously within one outlet cycle. The control module uses a second motion law to control the oscillation speed of the water outlet section's outlet direction, so that the oscillation speed of the water outlet section changes continuously within one outlet cycle.

2. The control method for an automatic hair washing device as described in claim 1, characterized in that, Both the first and second motion laws adopt sinusoidal motion laws.

3. The control method for an automatic hair washing device as described in claim 2, characterized in that, The water pump dispenses water multiple times within a single water dispensing cycle, with the dispensing time gradually shortening or the dispensing speed gradually decreasing between each dispensing cycle.

4. The control method for an automatic hair washing device as described in claim 3, characterized in that, As the water pump's output time gradually shortens, the water pump's output speed remains constant.

5. The control method for an automatic hair washing device as described in claim 3, characterized in that, As the water pump's outlet speed gradually decreases, the water pump's outlet duration remains unchanged.

6. The control method for an automatic hair washing device as described in claim 3, characterized in that, The water outlet includes a left water outlet and a right water outlet located on both sides of the user's head. The water jets from the left and right water outlets act on the left and right sides of the head, respectively. The left and right water outlets are connected to different water pumps, which discharge water sequentially. The two water pumps discharge water simultaneously for a portion of a water discharge cycle, and the water pump that discharges water first stops discharging water before the other water pump.

7. The control method for an automatic hair washing device as described in claim 3, characterized in that, The water outlet includes a left water outlet and a right water outlet located on both sides of the head. The left water outlet has a first water outlet and a third water outlet, and a second water outlet and a fourth water outlet located on the other side of the head. The first water outlet, the second water outlet, the third water outlet, and the fourth water outlet are respectively connected to different water pumps. The control module controls the water outlet status of each water outlet in one water outlet cycle by starting and stopping each of the water pumps in a time-sharing manner, so as to realize the first water outlet stage and the second water outlet stage in a time sequence. The first water discharge stage opens the water discharge sequentially in the order of the first water discharge level, the third water discharge level, the fourth water discharge level, and the second water discharge level, and the water discharge time of the later water discharge level overlaps with the water discharge time of the previous water discharge level. The second water discharge stage is initiated after the first water discharge stage is completed. Water is discharged sequentially in the order of the second water discharge level, the fourth water discharge level, the third water discharge level, and the first water discharge level, and the water discharge time of the later water discharge level overlaps with the water discharge time of the earlier water discharge level.

8. A control method for an automatic hair washing device as described in claim 6 or 7, characterized in that, The water outlet also includes a lower water outlet with the water outlet direction facing the back of the head. The water outlet directions of the left water outlet, right water outlet and lower water outlet have a first swing mode, a second swing mode and a third swing mode under the control of the control module. When in the first swing mode, the left water outlet, the right water outlet and the lower water outlet swing back and forth in the same direction according to the preset swing amplitude. The water jets from the left water outlet, the right water outlet and the lower water outlet periodically act on different areas on both sides of the head. During the switching of different areas, the left water outlet, the right water outlet and the lower water outlet stop discharging water. When in the second swing mode, the left water outlet and the right water outlet swing back and forth in opposite directions according to a preset swing amplitude. The swing direction of the lower water outlet is the same as that of the left or right water outlet. The water jets from the left, right, and lower water outlets periodically act on different areas on both sides of the head. During the switching of different areas, the left, right, and lower water outlets stop discharging water. When in the third swing mode, the left and right water outlets swing back and forth in the same direction according to a preset swing amplitude. The water jets from the left and right water outlets periodically act on different areas on both sides of the head, and the left and right water outlets continuously discharge water during the switching of different areas.

9. The control method for an automatic hair washing device as described in claim 8, characterized in that, When the left and right water outlets are in the third swing mode, the control module synchronously adjusts the water outlet speed of the water pump corresponding to the left and right water outlets, so that when the left and right water outlets swing along the first direction, the water outlet speed of the water pump increases, and when they swing along the second direction opposite to the first direction, the water outlet speed of the water pump decreases.

10. An automatic hair washing device, characterized in that, The control method applicable to any one of claims 1-9 includes: The swing module includes a left water outlet and a right water outlet on both sides of the head, and a lower water outlet at the back of the head. The left water outlet has an alternately arranged first water outlet and a third water outlet, the right water outlet has an alternately arranged second water outlet and a fourth water outlet, and the lower water outlet has a fifth water outlet. Several water pumps are connected to the first, second, third, fourth and fifth water outlets respectively, so as to achieve independent water discharge from each water outlet. Several driving devices, each correspondingly connected to the left, right, and lower water outlet sections, are used to control the oscillation state of each water outlet section, thereby changing the water outlet direction at each outlet position; and A control module, which is signal-connected to the water pump and the drive device, is used to control each of the water pumps and the drive device. The left and right water outlets include arc-shaped swing arms with concave surfaces facing the user, and the lower water outlet includes a straight swing arm. The concave surfaces of the arc-shaped swing arms and the straight swing arm are provided with a plurality of nozzles, and each nozzle constitutes the first water outlet position, the second water outlet position, the third water outlet position, the fourth water outlet position and the fifth water outlet position respectively.

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