Eye protection manipulator based on laser vision

Abstract

The utility model relates to the technical field of massage instruments, and discloses an eye protection manipulator based on laser vision. The manipulator assembly is perpendicular to the rotating base, and the lower end of the manipulator assembly is rotatably connected with the upper end of the rotating base; the massage head assembly is rotatably arranged at the upper end of the manipulator assembly; the laser vision module is arranged on the massage head assembly; and the driving part is arranged in the rotating base, is electrically connected with the manipulator assembly and the massage head assembly, and is used for controlling the rotating base and the manipulator assembly to be linked to perform eye protection operation. Real-time image information is obtained through the laser vision module, the driving part automatically controls the manipulator assembly, more accurate, personalized and efficient eye massage nursing is provided, and a better technical effect is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of massage instruments, in particular to an eye protection manipulator based on laser vision. Background Art

[0002] In recent years, eye massage has become a topic of widespread concern. However, traditional eye massagers have some problems, such as high requirements for user operation level, long use time, inaccurate massage points, etc., which often lead to counterproductive effects. Since each person's situation is different, the specific location of eye massage will also be different, and traditional eye massagers use fixed unified manufacturing molds, which cannot accurately adapt to each person's face, which may cause errors and hidden dangers to users.

[0003] At the same time, the myopia rate has increased year by year, and eye exercises have received more and more attention. Correctly performing eye exercises can help relax eye muscles and relieve eye fatigue. However, most teenagers do not meet the standards for eye exercises and lack standardization, which often reduces the effectiveness of preventing pseudomyopia. Similarly, glaucoma patients need long-term and continuous correct eye massage care to control intraocular pressure after discharge, which is a long process. For glaucoma patients, postoperative rehabilitation massage requires accurate determination of the periocular acupoints, but traditional eye massagers often cannot meet this demand.

[0004] In addition, some patients with eye inflammation have a low level of awareness of disease treatment and are unable to effectively perform massage interventions. Therefore, irregular operations often occur, resulting in minimal massage effects.

[0005] In summary, traditional eye massagers have problems such as inconvenient operation and poor applicability, and cannot meet individual needs in certain situations. Therefore, it is urgent to invent an eye protection manipulator based on laser vision to further improve the design and function of eye massagers to improve massage effects and user experience. Utility Model Content

[0006] The purpose of the utility model is to provide an eye protection manipulator based on laser vision, which is intended to solve the problems of inconvenient operation and poor applicability of traditional eye massagers in the prior art, and the technical problem that it cannot meet individual needs under certain circumstances.

[0007] The utility model proposes an eye protection manipulator based on laser vision, comprising:

[0008] Swivel base;

[0009] A manipulator assembly, wherein the manipulator assembly is perpendicular to the rotating base, and the lower end of the manipulator assembly is rotatably connected to the upper end of the rotating base;

[0010] A massage head assembly, wherein the massage head assembly is rotatably disposed on the upper end of the manipulator assembly;

[0011] A laser vision module is arranged on the massage head assembly;

[0012] The driving unit is arranged in the rotating base, and is electrically connected to the manipulator assembly and the massage head assembly, and is used to control the rotating base and the manipulator assembly to perform eye protection operations in a linked manner.

[0013] Preferably, the rotating base comprises:

[0014] Fixed seat;

[0015] A rotating seat is rotatably arranged above the fixed seat, and a groove is provided in the middle of the rotating seat;

[0016] A first rotating shaft is horizontally arranged in the groove.

[0017] Preferably, the manipulator assembly comprises:

[0018] A big arm, the lower end of which is rotatably mounted on the first rotating shaft, and the upper end of which is provided with separate shaft holes on both sides;

[0019] The base shaft is provided with two base shafts which are respectively inserted into the two shaft holes.

[0020] Preferably, the manipulator assembly further comprises:

[0021] Two second rotating shafts are provided, which are arranged on the outsides of the two base shafts opposite to each other, and the second rotating shafts are rotatably connected to the base shafts;

[0022] A first small arm, wherein two first small arms are provided, and the lower ends of the two first small arms are respectively fixed on the two second rotating shafts;

[0023] A second small arm, wherein two second small arms are provided, and the lower ends of the two second small arms are respectively provided on the outsides of the two first small arms and are rotatably connected to each other;

[0024] The first rotating joints are provided with two first rotating joints, and the second forearm is rotatably connected to the first forearm via the first rotating joints.

[0025] Preferably, the massage head assembly comprises:

[0026] A second rotating joint, wherein two second rotating joints are provided, and the two second rotating joints are rotatably connected to the upper ends of the two second forearms respectively;

[0027] The end controller is fixed on the second rotating joint.

[0028] Preferably, the laser vision module is fixed on the lower surface of the end controller and is electrically connected to the end controller.

[0029] Preferably, the massage head assembly further includes:

[0030] A buffer airbag, arranged in the middle of the lower surface of the laser vision module;

[0031] A contact, arranged below the buffer airbag, wherein a far infrared panel is arranged inside the contact;

[0032] A signal lamp, arranged on the side of the contact;

[0033] The wave points are evenly distributed on the lower end surface of the contact.

[0034] Preferably, the laser vision module comprises:

[0035] A color camera, located on one side of the cushioning airbag;

[0036] The depth cameras are located on both sides of the color camera.

[0037] Preferably, the driving unit comprises:

[0038] An edge calculator is arranged inside the fixing seat, the edge calculator is electrically connected to the laser vision module, and the edge calculator is used to control the rotation of the rotating seat, the first rotating axis, the second rotating axis, the first rotating joint and the second rotating joint.

[0039] Compared with the prior art, the eye protection manipulator based on laser vision in the embodiment of the utility model has the following beneficial effects:

[0040] The application of the laser vision module enables the eye care manipulator to obtain image information in real time, and obtain eye position and posture information based on the image information, so as to accurately locate the eye area; this helps to ensure that the massage head assembly accurately locates the user to the eye area that needs massage, and the rotatable setting of the manipulator assembly and the massage head assembly enables the eye care manipulator to flexibly adapt to different eye shapes and massage needs, further enhancing the flexibility and adaptability of the manipulator, making the eye care operation more personalized and accurate. Overall, through the characteristics of precise positioning and high flexibility, it can provide more accurate, comfortable and efficient eye massage care, thereby achieving better technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1This is a front view of the eye protection manipulator based on laser vision according to an embodiment of the utility model;

[0042] Figure 2 A side view of the eye protection manipulator based on laser vision according to an embodiment of the utility model;

[0043] Figure 3 This is a schematic diagram of the parts structure of the eye protection manipulator based on laser vision according to an embodiment of the utility model;

[0044] Figure 4 This is a schematic structural diagram of the massage head of the eye protection manipulator based on laser vision according to an embodiment of the utility model.

[0045] In the figure: 1. rotating base; 11. fixed base; 12. rotating base; 13. first rotating axis; 2. manipulator assembly; 21. upper arm; 22. base axis; 23. second rotating axis; 24. first lower arm; 25. second lower arm; 26. first rotating joint; 3. massage head assembly; 31. second rotating joint; 32. end controller; 33. cushioning airbag; 34. contact; 35. signal light; 36. wave dot; 4. laser vision module; 41. color camera; 42. depth camera; 5. drive unit. DETAILED DESCRIPTION

[0046] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0047] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0049] See also Figure 1As shown, this embodiment proposes an eye protection manipulator based on laser vision, comprising: a rotating base 1, a manipulator assembly 2, a massage head assembly 3, a laser vision module 4 and a driving unit 5; wherein, the manipulator assembly 2 is perpendicular to the rotating base 1, and the lower end of the manipulator assembly 2 is rotatably connected to the upper end of the rotating base 1; and the massage head assembly 3 is rotatably arranged at the upper end of the manipulator assembly 2; the laser vision module 4 is arranged on the massage head assembly 3; the driving unit 5 is arranged in the rotating base 1, and is electrically connected to the manipulator assembly 2 and the massage head assembly 3, and is used to control the rotating base 1 and the manipulator assembly 2 to perform eye protection operations in linkage.

[0050] Specifically, the main body of the manipulator component 2 of the present application is made of high-performance nylon that is easy to process, lightweight, wear-resistant, impact-resistant, chemically resistant, and has good electrical insulation.

[0051] See also Figure 1-2 As shown, in some embodiments of the present application, the rotating base 1 comprises:

[0052] Fixed seat 11;

[0053] The rotating seat 12 is rotatably arranged above the fixed seat 11, and a groove is formed in the middle of the rotating seat 12;

[0054] The first rotating shaft 13 is horizontally arranged in the groove.

[0055] Specifically, the fixing seat 11 can be arranged behind the head when the user lies flat, or can be arranged in front of the head when the user sits upright.

[0056] See also Figure 1-3 As shown, in some embodiments of the present application, the manipulator assembly 2 includes:

[0057] A large arm 21, the lower end of the large arm 21 is rotatably mounted on the first rotating shaft 13, and the upper end of the large arm 21 is provided with separate shaft holes on both sides;

[0058] The base shaft 22 is provided with two base shafts 22 which are respectively inserted into the two shaft holes.

[0059] See also Figure 1-3 As shown, in some embodiments of the present application, the manipulator assembly 2 further includes:

[0060] The second rotating shaft 23 is provided with two second rotating shafts 23, which are arranged on the outsides of the two base shafts 22 opposite to each other, and the second rotating shaft 23 and the base shaft 22 are rotatably connected;

[0061] A first small arm 24, wherein two first small arms 24 are provided, and the lower ends of the two first small arms 24 are respectively fixed on the two second rotating shafts 23;

[0062] A second small arm 25, wherein two second small arms 25 are provided, and the lower ends of the two second small arms 25 are respectively provided on the outer sides of the two first small arms 24, and are rotatably connected to each other;

[0063] The first rotary joints 26 , two of which are provided, are respectively provided at the lower ends of the two second small arms 25 , and the first rotary joints 26 are used to rotatably connect the second small arms 25 with the first small arms 24 .

[0064] See also Figure 1-3 As shown, in some embodiments of the present application, the massage head assembly 3 includes:

[0065] The second rotary joints 31 are provided with two second rotary joints 31 , and the two second rotary joints 31 are rotatably connected to the upper ends of the two second small arms 25 ; the end controller 32 is fixed on the second rotary joints 31 .

[0066] Specifically, the end controller 32 is a component of the massage head assembly and is used to control the movement and operation of the massage head assembly.

[0067] Specifically, through the five-axis design, the first forearm 24, the second forearm 25 and the end controller 32 can rotate flexibly, ensuring that the manipulator assembly 2 can drive the massage head assembly 3 to adjust the height and angle, and quickly and accurately adjust the focal position and field of view of the laser vision to adapt to different eye conditions and needs. Moreover, in this embodiment, the shell of the end controller 32 is made of PPS material that is resistant to high temperature, radiation, corrosion, wear and excellent in electrical properties.

[0068] See also Figure 3-4 As shown, in some embodiments of the present application, the laser vision module 4 is fixed on the lower surface of the end controller 32 and is electrically connected to the end controller 32 .

[0069] See also Figure 3-4 As shown, in some embodiments of the present application, the massage head assembly 3 further includes:

[0070] The buffer airbag 33 is arranged in the middle of the lower surface of the laser vision module 4.

[0071] A contact 34 is disposed below the buffer airbag 33;

[0072] A signal lamp 35 is arranged on the side of the contact 34;

[0073] The wave points 36 are evenly distributed on the lower end surface of the contact 34 .

[0074] Specifically, the far-infrared plate arranged inside the contact 34 is preferably made of carbon fiber. The carbon fiber far-infrared plate of the present application can generate far-infrared rays in the 5.6-15 micron band, which is basically consistent with the human starting wave, is easily absorbed by the skin, and also has a heating effect. In addition, the evenly distributed wave points 36 generate micro-frequency vibrations during the fluctuation process, which stimulate the facial acupuncture points and eye surgery healing sites to a certain extent, improve the metabolism of the skin around the eyes, have antibacterial and anti-inflammatory effects, promote wound healing, reduce the excitability of nerve endings, and play an analgesic role. The role of the cushioning airbag is to provide soft support and cushioning to reduce the direct pressure and contact force of the massage head assembly 3 on the skin. It can adjust the softness and adaptability of the massage by inflation and deflation.

[0075] Specifically, the end controller 32 is electrically connected to the buffer airbag 33, the contact 34, the signal light 35 and the carbon fiber far-infrared plate, wherein the signal light 35 is used to provide indication and feedback information. It can emit light signals of different colors or flashing to indicate the working status, mode or other information of the massage head assembly. Through the control of the buffer airbag 33, the contact 34, the signal light 35 and the wave dot 36 by the end controller 32, it is possible to provide soft support and buffering, transfer far-infrared heat energy, and provide indication and feedback information during the massage process.

[0076] See also Figure 4 As shown, in some embodiments of the present application, the laser vision module 4 includes: a color camera 41 and a depth camera 42 , wherein the color camera 41 is located on one side of the cushioning airbag 33 ; and the depth camera 42 is located on both sides of the color camera 41 .

[0077] Specifically, the color camera 41 is used to capture the user's facial image. It can provide high-resolution color images for identifying facial features, such as eyes, nose, mouth, etc., which can be used for face recognition; the depth camera 42 measures the distance between each point on the face and the camera through infrared or other depth sensing technology, and it can provide three-dimensional depth information about the face. Through the depth image, the concave and convex, high and low features of the face can be analyzed, and then the acupuncture points on the face can be located. By aligning and fusing the color image and the depth image, the color information and the depth information can be matched. It can be understood that the color image and the depth image can be calibrated using a computer vision algorithm to ensure that they are aligned in space. Once the color image and the depth image are matched, the acupuncture points can be located according to the pre-set acupuncture point model or feature point position. It can be understood that machine learning algorithms or image processing technologies can be used to detect and identify facial feature points, such as the inner canthus of the eye, the tip of the nose, the corners of the mouth, etc. The positions of these feature points can be matched with the acupuncture point model to determine the acupuncture point position on the user's face.

[0078] See also Figure 1As shown, in some embodiments of the present application, the driving unit 5 includes:

[0079] The edge calculator is arranged inside the fixed seat 11 . The edge calculator is electrically connected to the laser vision module 4 . The edge calculator is used to control the rotation of the rotating seat 12 , the first rotating axis 13 , the second rotating axis 23 , the first rotating joint 26 and the second rotating joint 31 .

[0080] Specifically, the edge calculator is used to process image data, extract acupoint location information through image data, and control the precise movement of the robot based on the acupoint location information.

[0081] In summary, the beneficial effect of the eye protection manipulator based on laser vision in the embodiment of the utility model is that the application of the laser vision module 4 enables the eye protection manipulator to obtain image information in real time, and obtain eye position and posture information based on the image information, so as to accurately locate the eye area; this helps to ensure that the massage head assembly 3 accurately locates the user to the eye area that needs massage, and the rotatable setting of the manipulator assembly 2 and the massage head assembly 3 enables the eye protection manipulator to flexibly adapt to different eye shapes and massage needs, further enhancing the flexibility and adaptability of the manipulator, making the eye protection operation more personalized and accurate. In general, through the characteristics of precise positioning and high flexibility, it can provide more accurate, comfortable and efficient eye massage care, thereby achieving better technical effects.

[0082] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0083] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principle of the present invention. These improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. An eye protection manipulator based on laser vision, characterized in that: include: Swivel base; A manipulator assembly, wherein the manipulator assembly is perpendicular to the rotating base, and the lower end of the manipulator assembly is rotatably connected to the upper end of the rotating base; A massage head assembly, wherein the massage head assembly is rotatably disposed on the upper end of the manipulator assembly; A laser vision module is arranged on the massage head assembly; The driving unit is arranged in the rotating base, and is electrically connected to the manipulator assembly and the massage head assembly, and is used to control the rotating base and the manipulator assembly to perform eye protection operations in a linked manner.

2. The laser vision-based eye protection manipulator according to claim 1, characterized in that: The rotating base comprises: Fixed seat; A rotating seat is rotatably arranged above the fixed seat, and a groove is provided in the middle of the rotating seat; A first rotating shaft is horizontally arranged in the groove.

3. The laser vision-based eye protection manipulator according to claim 2, characterized in that: The manipulator assembly comprises: A big arm, the lower end of which is rotatably mounted on the first rotating shaft, and the upper end of which is provided with separate shaft holes on both sides; The base shaft is provided with two base shafts, and the two base shafts are respectively inserted in the two shaft holes.

4. The laser vision-based eye protection manipulator according to claim 3, characterized in that: The manipulator assembly further comprises: A second rotating shaft, wherein two second rotating shafts are provided, and are arranged on the outsides of the two base shafts opposite to each other, and the second rotating shafts are rotatably connected to the base shafts; A first small arm, wherein two first small arms are provided, and the lower ends of the two first small arms are respectively fixed on the two second rotating shafts; A second small arm, wherein two second small arms are provided, and the lower ends of the two second small arms are respectively provided on the outsides of the two first small arms and are rotatably connected to each other; The first rotating joints are provided with two first rotating joints, and the second forearm is rotatably connected to the first forearm via the first rotating joints.

5. The laser vision-based eye protection manipulator according to claim 4, characterized in that: The massage head assembly comprises: A second rotating joint, wherein two second rotating joints are provided, and the two second rotating joints are rotatably connected to the upper ends of the two second forearms respectively; The end controller is fixed on the second rotating joint.

6. The laser vision-based eye protection manipulator according to claim 5, characterized in that: The laser vision module is fixed on the lower surface of the terminal controller, and the laser vision module is electrically connected to the terminal controller.

7. The laser vision-based eye protection manipulator according to claim 6, characterized in that: The massage head assembly further includes: A buffer airbag, arranged in the middle of the lower surface of the laser vision module; A contact, arranged below the buffer airbag, wherein a far infrared panel is arranged inside the contact; A signal lamp, arranged on the side of the contact; The wave points are evenly distributed on the lower end surface of the contact.

8. The laser vision-based eye protection manipulator according to claim 7, characterized in that: The laser vision module comprises: A color camera, located on one side of the cushioning airbag; The depth cameras are located on both sides of the color camera.

9. The laser vision-based eye protection manipulator according to claim 8, characterized in that: The driving unit comprises: An edge calculator is arranged inside the fixing seat, the edge calculator is electrically connected to the laser vision module, and the edge calculator is used to control the rotation of the rotating seat, the first rotating axis, the second rotating axis, the first rotating joint and the second rotating joint.

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