Intelligent combing device with positioning function

Abstract

The intelligent combing device with the positioning function comprises a robot, an adjusting device, a positioning device, a combing device body and a control circuit board, the robot comprises a mechanical arm, the combing device body is arranged at the tail end of the mechanical arm, and the positioning device is provided with a three-dimensional recognition device. The three-dimensional recognition device is used for acquiring related depth information, head size and hair thickness of the head of a user, the control circuit board performs three-dimensional modeling on the head of the user according to the related depth information, recognizes a pre-positioning position according to the head size and the hair thickness, and controls the combing device to perform combing work. According to the intelligent combing device with the positioning function, a three-dimensional model of the head of a person can be accurately constructed so that it can be guaranteed that the combing device is accurately positioned, the mechanical arm flexibly controls the moving track of the combing device, it is guaranteed that the head of a user is sufficiently nursed, and user experience is improved.

Description

Technical Field

[0001] The utility model relates to the technology of intelligent hair combing devices, in particular to an intelligent hair combing device with a positioning function. Background Art

[0002] With the development of the automation industry, the prior art can use intelligent devices to care for a person's head. An existing automatic hair combing device includes a fixed frame for sleeving on the user's head; a support frame in an arc shape, with both ends of the support frame connected to the fixed frame, and the support frame surrounding the periphery of the user's head; a comb body assembly in contact with the user's head for caring for the user's head. The comb body assembly is arranged on the support frame and can slide along the support frame to care for the user's head. However, the comb body assembly can only slide along the trajectory defined by the support frame, which has limitations. In addition, the existing automatic hair combing device cannot accurately capture the user's head information, cannot accurately identify and care for the user's head, resulting in a poor user experience. Summary of the Utility Model

[0003] Based on the deficiencies of the prior art, the purpose of the creation of the utility model is to provide an intelligent hair combing device with a positioning function, which can accurately construct a three-dimensional model of a person's head to ensure accurate positioning of the hair combing device. The robotic arm flexibly controls the movement trajectory of the hair combing device so that the hair combing device can move in various areas of the user's head, ensuring that the user's head is fully cared for and improving the user experience.

[0004] To achieve the above purpose, the utility model provides an intelligent hair combing device with a positioning function, including a robot, an adjusting device, a positioning device, a hair combing device, and a control circuit board. The robot includes a robotic arm, and the hair combing device is arranged at the end of the robotic arm. The positioning device includes a three-dimensional recognition device, and the three-dimensional recognition device is installed on the adjusting device. The adjusting device is used to adjust the detection angle of the three-dimensional recognition device so that the user's head is within the detection range of the three-dimensional recognition device. The three-dimensional recognition device is used to obtain relevant depth information, head shape size, and hair thickness of the user's head. The control circuit board performs three-dimensional modeling on the user's head according to the relevant depth information. The control circuit board identifies a pre-positioning position according to the head shape size and hair thickness. The control circuit board controls the robotic arm to adjust the hair combing device to the pre-positioning position and controls the hair combing device to perform hair combing work, where the pre-positioning position is the initial position of the hair combing device relative to the user's head when performing hair combing work.

[0005] As an improvement of the intelligent hair combing device with a positioning function of the utility model, the three-dimensional recognition device of the intelligent hair combing device with a positioning function of the utility model includes a 3D camera.

[0006] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the adjusting device of the intelligent hair combing device with positioning function of the present utility model is arranged on the robotic arm.

[0007] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the robot with positioning function of the present utility model further includes a base and a support rod. Both the robotic arm and the support rod are installed on the base, and the adjusting device is installed on the support rod.

[0008] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the support rod of the intelligent hair combing device with positioning function of the present utility model can be adjusted in height up and down and can rotate in the horizontal direction.

[0009] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the adjusting device of the intelligent hair combing device with positioning function of the present utility model further includes a fixed block, a first motor, a movable block and a second motor. The fixed block is fixedly connected to the robotic arm or the support rod. The first motor is connected between the fixed block and the movable block, and the first motor drives the movable block to rotate relative to the fixed block along a rotation axis arranged in the horizontal direction. The second motor is connected between the three-dimensional recognition device and the movable block, and the second motor drives the three-dimensional recognition device to rotate relative to the movable block along a rotation axis arranged in the vertical direction.

[0010] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the 3D camera of the intelligent hair combing device with positioning function of the present utility model includes a binocular camera. The binocular camera is provided with two cameras, and the two cameras respectively capture the head images of the user from different angles. The binocular camera calculates the depth information of the user's head according to the head images of the user.

[0011] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the 3D camera of the intelligent hair combing device with positioning function of the present utility model includes a structured light camera. The structured light camera projects a known light pattern onto the head of the user. The 3D camera includes one or more cameras, and one or more of the cameras capture the deformation of the light pattern on the head of the user. The structured light camera analyzes and calculates the depth information of the user's head according to the deformation of the user's head.

[0012] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the 3D camera of the intelligent hair combing device with positioning function of the present utility model includes a depth camera. The depth camera is provided with an infrared laser sensor. The infrared laser sensor emits infrared laser pulses. The infrared laser sensor receives the infrared laser pulses reflected back by the user's head. The depth camera simultaneously captures an image of the user's head. The depth camera calculates the depth information of the user's head based on the infrared laser pulses emitted and received by the infrared laser sensor and the image of the user's head.

[0013] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the robotic arm of the intelligent hair combing device with positioning function of the present utility model is three-axis or more than three-axis.

[0014] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the positioning device of the intelligent hair combing device with positioning function of the present utility model further includes an auxiliary element. The auxiliary element is worn on the user's head. The three-dimensional recognition device is used to recognize the auxiliary element to obtain three or more key points of the user's head. The control circuit board constructs a three-dimensional model of the user's head based on the key points.

[0015] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the auxiliary element of the intelligent hair combing device with positioning function of the present utility model is provided with three or more specific marks. The three-dimensional recognition device obtains one key point according to each specific mark. The specific mark is a color mark, a pattern mark, a text mark, a shape mark or a fluorescent mark.

[0016] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the three specific marks of the intelligent hair combing device with positioning function of the present utility model are respectively marked on the user's forehead and two temples.

[0017] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the area of the region enclosed by the connection lines between all the key points of the intelligent hair combing device with positioning function of the present utility model is greater than or equal to 1 square centimeter.

[0018] As an improvement to the intelligent hair combing device with positioning function of the present utility model, the positioning device of the intelligent hair combing device with positioning function of the present utility model is provided with a signal sensor. The signal sensor is arranged on the robot. The signal sensor receives the signal fed back by the auxiliary element and feeds back the detection information. The three-dimensional recognition device obtains the key points according to the detection information.

[0019] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the signal sensor of the intelligent hair combing device with positioning function of the present utility model is an infrared sensor, a radar laser sensor or a microwave sensor.

[0020] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the positioning device of the intelligent hair combing device with positioning function of the present utility model includes a signal sensor, the signal sensor includes a signal transmitter and a signal receiver, the signal transmitter is arranged on the robot, the signal receiver is arranged on the auxiliary element, the signal transmitter emits a detection signal, the signal sensor feeds back detection information according to the detection signal received by the signal receiver, and the three-dimensional recognition device obtains key points according to the detection information.

[0021] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the positioning device of the intelligent hair combing device with positioning function of the present utility model includes a signal sensor, the signal sensor includes a signal transmitter and a signal receiver, the signal transmitter is arranged on the auxiliary element, the signal receiver is arranged on the robot, the signal transmitter emits a detection signal, the signal sensor feeds back detection information according to the detection signal received by the signal receiver, and the three-dimensional recognition device obtains key points according to the detection information.

[0022] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the three-dimensional recognition device is a 3D camera or a binocular camera.

[0023] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the signal sensor of the intelligent hair combing device with positioning function of the present utility model is an infrared laser sensor, a radio wave sensor or an infrared sensor.

[0024] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the auxiliary element of the intelligent hair combing device with positioning function of the present utility model is an earphone, an eye mask or a positioning sticker.

[0025] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the auxiliary element of the intelligent hair combing device with positioning function of the present utility model includes an earphone and a positioning sticker; or, the auxiliary element includes an eye mask and a positioning sticker.

[0026] As an improvement of the intelligent hair combing device with positioning function of the present utility model, the intelligent hair combing device with positioning function of the present utility model is further provided with a hair care AI large model, and the hair care AI large model generates a specific hair combing method according to user demand information. The control circuit board controls the robotic arm to perform hair combing work according to the specific hair combing method, and the hair care AI large model is arranged in the storage module or cloud platform of the intelligent hair combing device.

[0027] Compared with the prior art, the present utility model has the following beneficial effects: By setting the three-dimensional recognition device, the information of the human head can be accurately captured, so that the intelligent hair combing device can quickly and accurately construct a three-dimensional model of the human head and identify the pre-positioning position, so as to ensure the accurate positioning of the hair combing device. By setting the robotic arm, the robotic arm flexibly controls the movement trajectory of the hair combing device, so that the hair combing device can move in each area of the user's head, ensuring that the user's head is fully cared for and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 FIG. is a schematic perspective view of a preferred embodiment of the intelligent hair combing device with positioning function of the present utility model.

[0029] Figure 2 FIG. is an exploded view of a preferred embodiment of the intelligent hair combing device with positioning function of the present utility model.

[0030] Figure 3 FIG. is a schematic structural view of the adjusting device and the 3D camera of a preferred embodiment of the intelligent hair combing device with positioning function of the present utility model.

[0031] Figure 4 FIG. is a sectional view of the adjusting device and the 3D camera of a preferred embodiment of the intelligent hair combing device with positioning function of the present utility model.

[0032] Figure 5 FIG. is a schematic perspective view of another embodiment (one) of the intelligent hair combing device with positioning function of the present utility model.

[0033] Figure 6 FIG. is a schematic perspective view of another embodiment (two) of the intelligent hair combing device with positioning function of the present utility model.

[0034] Figure 7 FIG. is a schematic perspective view of another embodiment (three) of the intelligent hair combing device with positioning function of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] Refer to Figure 1-7 , and the preferred embodiment and other embodiments of the intelligent hair combing device with positioning function of the present utility model are described in detail.

[0036] Reference Figure 1-4 , in a preferred embodiment, an intelligent hair combing device with a positioning function of the present utility model includes a robot 2, an adjusting device 51, a positioning device 3, a hair combing device 23 and a control circuit board. The robot 2 includes a robotic arm 22. The hair combing device 23 is arranged at the end of the robotic arm 22. The positioning device 3 includes a three-dimensional recognition device 32. The three-dimensional recognition device 32 is installed on the adjusting device 51. The adjusting device 51 is used to adjust the angle detected by the three-dimensional recognition device 32 so that the user's head is within the range of the three-dimensional recognition device 32. The three-dimensional recognition device 32 is used to obtain relevant depth information, head shape size and hair thickness of the user's head. The control circuit board performs three-dimensional modeling on the user's head according to the relevant depth information. The control circuit board identifies a pre-positioning position according to the head shape size and hair thickness. The control circuit board controls the robotic arm 22 to adjust the hair combing device 23 to the pre-positioning position and controls the hair combing device 23 to perform hair combing work. Wherein, the pre-positioning position is the initial position of the hair combing device 23 relative to the user's head when performing hair combing work. Through the three-dimensional recognition device 32, information of the user's head can be captured more accurately, so that the intelligent hair combing device 23 can quickly and accurately construct a three-dimensional model of the user's head to ensure accurate positioning of the hair combing device 23. By setting the three-dimensional recognition device, information of the human head can be accurately captured, so that the intelligent hair combing device can quickly and accurately construct a three-dimensional model of the human head and identify the pre-positioning position to ensure accurate positioning of the hair combing device. By setting the robotic arm, the robotic arm flexibly controls the movement trajectory of the hair combing device, so that the hair combing device can move in each area of the user's head, ensuring that the user's head is fully cared for and improving the user experience.

[0037] In a preferred embodiment, the three-dimensional recognition device 32 of the intelligent hair combing device with a positioning function of the present utility model includes a 3D camera 321.

[0038] In a preferred embodiment, the adjusting device 51 of the intelligent hair combing device with a positioning function of the present utility model is arranged on the robotic arm 22.

[0039] Such as Figure 5As shown, in another first embodiment, the robot of the intelligent hair combing device with positioning function of the present invention further includes a base 21 and a support rod 24. The robotic arm 22 and the support rod 24 are both installed on the base 21. The base 21 is supported on the placement surface of the robot 2, that is, the bottom surface of the working place of the robot 2. The adjusting device 51 is installed on the support rod 24. The support rod 24 can be adjusted in height up and down and can rotate horizontally to facilitate adjusting the adjusting device 51 according to the position of the user's head to ensure that the position of the user's head is within the detection range of the three-dimensional recognition device 32.

[0040] In a preferred embodiment, the adjusting device 51 of the intelligent hair combing device with positioning function of the present invention further includes a fixed block 511, a first motor 512, a movable block 513 and a second motor 514. The fixed block 511 is fixedly connected to the robotic arm 2212. The first motor 512 is connected between the fixed block 511 and the movable block 513. The first motor 512 drives the movable block 513 to rotate relative to the fixed block 511 along a horizontally arranged rotating shaft to adjust the detection range of the three-dimensional recognition device 32 in the horizontal direction. The second motor 514 is connected between the three-dimensional recognition device 32 and the movable block 513. The second motor 514 drives the three-dimensional recognition device 32 to rotate relative to the movable block 513 along a vertically arranged rotating shaft to adjust the detection range of the three-dimensional recognition device 32 in the vertical direction.

[0041] As Figure 5 shown, in another first embodiment, the fixed block 511 is fixedly connected to the support rod 24111.

[0042] In a preferred embodiment, the 3D camera 321 of the intelligent hair combing device with positioning function of the present utility model includes a binocular camera. The binocular camera is provided with two cameras, and the two cameras respectively capture the head images of the user from different angles. The binocular camera calculates the depth information of the user's head according to the head images of the user. In other embodiments, the 3D camera 321 includes a structured light camera. The structured light camera projects a known light pattern onto the user's head. The 3D camera 321 includes one or more cameras, and one or more of the cameras capture the deformation of the light pattern on the user's head. The structured light camera analyzes and calculates the depth information of the user's head according to the deformation of the user's head. In other embodiments, the 3D camera 321 includes a depth camera. The depth camera is provided with an infrared laser sensor. The infrared laser sensor emits infrared laser pulses, and the infrared laser sensor receives the infrared laser pulses reflected back by the user's head. The depth camera simultaneously collects the image of the user's head. The depth camera calculates the depth information of the user's head according to the infrared laser pulses emitted and received by the infrared laser sensor and the image of the user's head.

[0043] As Figure 6 shown, in a preferred embodiment, the robotic arm 22 of the intelligent hair combing device with positioning function of the present utility model is three-axis. In other embodiments, the robotic arm 22 is more than three-axis. For example, the robotic arm 22 is four-axis or the robotic arm 22 is six-axis.

[0044] As Figure 6As shown, in the second embodiment, the positioning device 3 of the intelligent hairbrush device with positioning function of the present invention further includes an auxiliary element, which is worn on the user's head. The three-dimensional recognition device 32 is used to recognize the auxiliary element to obtain three or more key points of the user's head, and the control circuit board constructs a three-dimensional model of the user's head according to the key points. The auxiliary element includes an earphone 311, an eye mask 313, a positioning sticker 312 and specific marks. In this embodiment, the three-dimensional recognition device 32 is a 3D camera. The auxiliary element includes three specific marks, and the specific marks are pattern marks. The three-dimensional recognition device 32 obtains one of the key points according to each specific mark. The three specific marks are respectively marked on the user's forehead and two temples. In this embodiment, the three-dimensional recognition device 32 is a 3D camera. In other embodiments, the three-dimensional recognition device 32 can be a binocular camera. By using the 3D camera to recognize the pattern marks respectively marked on the temples and forehead on both sides of the user's head, the control circuit board obtains three key points of the user's temples and forehead according to the pattern marks. The control circuit board constructs a three-dimensional model of the user's head according to the key points of the temples and forehead. The 3D camera calculates the thickness of the user's hair by comparing the hair thickness at the end of the user's hair and the hair thickness at the top of the user's head, and identifies the pre-positioning position of the user according to the hair thickness and the head shape size. In this embodiment, the pre-positioning position is the position of the user's head top, and determines the depth of hairbrushing according to the user's head shape size. The control circuit board controls the robotic arm 22 to adjust the hairbrush device 23 to the position of the user's head top and controls the hairbrush device 23 to perform hairbrushing work. By setting the auxiliary element, the key points of the user's head can be quickly obtained to simplify the algorithm. In other embodiments, the auxiliary element may include more than three specific marks, and the specific marks may be color marks, text marks, shape marks or fluorescent marks. In addition, in other embodiments, the specific mark may be provided on the earphone 311, or the specific mark may be the earphone 311, that is, the auxiliary element is the earphone 311. In other embodiments, the specific mark may be provided on the eye mask 313, or the specific mark may be the eye mask 313, that is, the auxiliary element is the eye mask 131. In other embodiments, the auxiliary element includes the earphone 311 and the positioning sticker 312. In other embodiments, the auxiliary element is the positioning sticker 312. As Figure 7 As shown, in the third embodiment, the auxiliary element includes an eye mask 313 and an earphone 311.

[0045] In other Second Embodiments, the area enclosed by the connection lines between all the key points of the intelligent combing device with positioning function of the present utility model is greater than or equal to 1 square centimeter. In this embodiment, the area enclosed by the connection lines between all the key points is 1 square centimeter, so as to ensure that the area of the key points covering the user's head area is large enough, which helps to improve the accuracy of constructing the three-dimensional model of the user's head.

[0046] As Figure 6 shown, in other embodiments, the positioning device 3 of the intelligent combing device with positioning function of the present utility model is provided with a signal sensor, the signal sensor is arranged on the robot 2, the signal sensor receives the signal fed back by the auxiliary element and feeds back the detection information, wherein the detection information includes the distance and position of the auxiliary element, and the three-dimensional recognition device 32 obtains the key points according to the detection information. For example, in one embodiment, the signal sensor includes a signal transmitter and a signal receiver, both the signal transmitter and the signal receiver are arranged on the robot 2, the signal transmitter emits a first signal towards the auxiliary element, and the signal receiver receives the second signal reflected by the auxiliary element, and the signal sensor identifies the position of the auxiliary element according to the difference between the first signal and the second signal, that is, the signal sensor identifies the detection information and feeds it back to the 3D camera to obtain the key points. In this embodiment, the signal sensor is an infrared sensor. In other embodiments, the signal sensor is a radar laser sensor or a microwave sensor; for example, in another embodiment, the signal sensor is an infrared sensor, the infrared sensor is arranged on the robot 2, the auxiliary element emits infrared rays with a specific wavelength, and the infrared sensor determines the position of the auxiliary element according to the intensity and wavelength of the infrared rays with a specific wavelength, that is, the infrared sensor identifies the detection information and feeds it back to the camera to obtain the key points.

[0047] As Figure 6As shown, in other embodiments, the positioning device 3 of the intelligent hair combing device with positioning function of the present utility model includes a signal sensor, the signal sensor includes a signal transmitter and a signal receiver, the signal transmitter is arranged on the robot 2, the signal receiver is arranged on the auxiliary element, the signal transmitter emits a detection signal, and the signal sensor feeds back detection information according to the detection signal received by the signal receiver. Among them, the detection information includes the distance and position of the auxiliary element, and the three-dimensional recognition device 32 obtains key points according to the detection information. The signal sensor is an infrared laser sensor, and the auxiliary element is an earphone 311. The infrared laser sensor further includes an infrared laser receiver and an infrared laser transmitter. The infrared laser transmitter is arranged on the robot 2, and the infrared laser receiver is arranged on the earphone 311. The infrared laser transmitter emits a detection signal, and the infrared laser receiver receives the detection signal. The infrared laser sensor calculates the position of the earphone 311 according to the analysis of the intensity, arrival time or angle change of the detection signal, that is, the infrared laser sensor analyzes the detection information and feeds it back to the 3D camera to obtain key points. In other embodiments, the auxiliary element can be an eye mask 313 or a positioning sticker 312, or it can be a combination of an eye mask 313 and a positioning sticker 311, or an earphone 311 and a positioning sticker 312. The signal sensor can be a radio wave sensor or an infrared sensor.

[0048] As Figure 6 As shown, in other embodiments, the positioning device 3 of the intelligent hair combing device with positioning function of the present utility model includes a signal sensor, the signal sensor includes a signal transmitter and a signal receiver, the signal transmitter is arranged on the auxiliary element, the signal receiver is arranged on the robot 2, the signal transmitter emits a detection signal, and the signal sensor feeds back detection information according to the detection signal received by the signal receiver. Among them, the detection information includes the distance and position of the auxiliary element, and the three-dimensional recognition device 32 obtains key points according to the detection information. In this embodiment, the signal sensor is an infrared laser sensor, and the auxiliary element is an earphone 311. The infrared laser sensor further includes an infrared laser receiver and an infrared laser transmitter. The infrared laser transmitter is arranged on the earphone 311, and the infrared laser receiver is arranged on the robot 2. The infrared laser transmitter emits a detection signal, and the infrared laser receiver receives the detection signal. The infrared laser sensor calculates the position of the earphone 311 according to the analysis of the intensity, arrival time or angle change of the detection signal, that is, the infrared laser sensor analyzes the detection information and feeds it back to the 3D camera to obtain key points. In other embodiments, the auxiliary element can be an eye mask 313 or a positioning sticker 312, or it can be a combination of an eye mask 313 and a positioning sticker 312, or an earphone 311 and a positioning sticker 312. The signal sensor can be a radio wave sensor or an infrared sensor, among which the radio wave sensor includes WIFI and Bluetooth.

[0049] As Figure 6 shown, in the second embodiment of other embodiments, the auxiliary elements of the intelligent hair combing device with positioning function of the present invention include a headset 311 and a positioning sticker 312; in other embodiments, the auxiliary elements include an eye mask 313 and a positioning sticker 312.

[0050] In a preferred embodiment, the intelligent hair combing device with positioning function of the present invention further includes a hair care AI large model. The hair care AI large model generates a specific hair combing method according to user demand information. The control circuit board controls the robotic arm 22 to perform hair combing work according to the specific hair combing method. The hair care AI large model is provided in the storage module or cloud platform of the intelligent hair combing device.

[0051] Compared with the prior art, the present invention has the following beneficial effects: By setting the three-dimensional recognition device, the information of the human head can be accurately captured, so that the intelligent hair combing device can quickly and accurately construct a three-dimensional model of the human head and identify the pre-positioning position, so as to ensure the accurate positioning of the hair combing device. By setting the robotic arm, the robotic arm can flexibly control the movement trajectory of the hair combing device, so that the hair combing device can move in each area of the user's head, ensuring that the user's head is fully cared for and improving the user experience.

[0052] The above-disclosed are only the preferred embodiments of the present invention, and of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. An intelligent hair combing device with a positioning function, characterized in that: It includes a robot, an adjusting device, a positioning device, a hair combing device and a control circuit board. The robot includes a robotic arm, and the hair combing device is provided at the end of the robotic arm. The positioning device includes a three-dimensional recognition device, and the three-dimensional recognition device is installed on the adjusting device. The adjusting device is used to adjust the detection angle of the three-dimensional recognition device so that the user's head is within the detection range of the three-dimensional recognition device. The three-dimensional recognition device is used to obtain relevant depth information, head shape size and hair thickness of the user's head. The control circuit board performs three-dimensional modeling on the user's head according to the relevant depth information. The control circuit board identifies a pre-positioning position according to the head shape size and hair thickness. The control circuit board controls the robotic arm to adjust the hair combing device to the pre-positioning position and controls the hair combing device to perform hair combing work. Wherein, the pre-positioning position is the initial position of the hair combing device relative to the user's head when performing hair combing work.

2. The intelligent hair combing device with a positioning function according to claim 1, wherein: The three-dimensional recognition device includes a 3D camera.

3. The intelligent hair combing device with a positioning function according to claim 1, characterized in that: The adjusting device is provided on the robotic arm.

4. The intelligent hair combing device with a positioning function according to claim 1, characterized in that: The robot further includes a base and a support rod. The robotic arm and the support rod are both installed on the base, and the adjusting device is installed on the support rod.

5. The intelligent hair combing device with a positioning function according to claim 4, characterized in that: The support rod can be adjusted in height up and down and can rotate in the horizontal direction.

6. The intelligent hair combing device with a positioning function according to claim 4 or 5, characterized in that: The adjusting device further includes a fixed block, a first motor, a movable block and a second motor. The fixed block is fixedly connected to the robotic arm or the support rod. The first motor is connected between the fixed block and the movable block. The first motor drives the movable block to rotate relative to the fixed block along a rotation axis arranged in the horizontal direction. The second motor is connected between the three-dimensional recognition device and the movable block. The second motor drives the three-dimensional recognition device to rotate relative to the movable block along a rotation axis arranged in the vertical direction.

7. The intelligent hair combing device with a positioning function according to claim 2, characterized in that: The 3D camera includes a binocular camera. The binocular camera is provided with two cameras, and the two cameras respectively capture the head images of the user from different angles. The binocular camera calculates the depth information of the user's head according to the head images of the user.

8. The intelligent hair combing device with a positioning function according to claim 2, wherein: The 3D camera includes a structured light camera. The structured light camera projects a known light pattern onto the user's head. The 3D camera includes one or more cameras, and one or more of the cameras capture the deformation of the light pattern on the user's head. The structured light camera analyzes and calculates the depth information of the user's head according to the deformation of the user's head.

9. The intelligent hair combing device with a positioning function according to claim 2, wherein: The 3D camera includes a depth camera. The depth camera is provided with an infrared laser sensor. The infrared laser sensor emits infrared laser pulses. The infrared laser sensor receives the infrared laser pulses reflected back by the user's head. The depth camera simultaneously collects the image of the user's head. The depth camera calculates the depth information of the user's head according to the infrared laser pulses emitted and received by the infrared laser sensor and the image of the user's head.

10. The intelligent hair combing device with a positioning function according to claim 1, characterized in that: The robotic arm is three-axis or more than three-axis.

11. The intelligent hair combing device with a positioning function according to claim 1, wherein: The positioning device further includes an auxiliary component, which is worn on the user's head. The three-dimensional recognition device is used to recognize the auxiliary component to obtain three or more key points of the user's head, and the control circuit board constructs a three-dimensional model of the user's head according to the key points.

12. The intelligent hair combing device with a positioning function according to claim 11, characterized in that: The auxiliary component includes three or more markers. The three-dimensional recognition device obtains one key point according to each marker. The marker is a color marker, a pattern marker, a text marker, a shape marker or a fluorescent marker.

13. The intelligent hair combing device with a positioning function according to claim 12, characterized in that: The three markers are respectively marked on the user's forehead and two temples.

14. The intelligent hair combing device with a positioning function according to claim 11, wherein: The area of the region enclosed by the connection lines between all the key points is greater than or equal to 1 square centimeter.

15. The intelligent hair combing device with a positioning function according to claim 11, characterized in that: The positioning device is provided with a signal sensor, which is arranged on the robot. The signal sensor receives the signal feedback from the auxiliary component and feeds back detection information, and the three-dimensional recognition device obtains key points according to the detection information.

16. The intelligent hair combing device with a positioning function according to claim 15, characterized in that: The signal sensor is an infrared sensor, a radar laser sensor or a microwave sensor.

17. The intelligent hair combing device with a positioning function according to claim 11, wherein: The positioning device includes a signal sensor. The signal sensor includes a signal transmitter and a signal receiver. The signal transmitter is arranged on the robot, and the signal receiver is arranged on the auxiliary component. The signal transmitter emits a detection signal. The signal sensor feeds back detection information according to the detection signal received by the signal receiver, and the three-dimensional recognition device obtains key points according to the detection information.

18. The intelligent hair combing device with a positioning function according to claim 11, characterized in that: The positioning device includes a signal sensor. The signal sensor includes a signal transmitter and a signal receiver. The signal transmitter is arranged on the auxiliary component, and the signal receiver is arranged on the robot. The signal transmitter emits a detection signal. The signal sensor feeds back detection information according to the detection signal received by the signal receiver, and the three-dimensional recognition device obtains key points according to the detection information.

19. The intelligent hair combing device with a positioning function according to claim 11, characterized in that: The three-dimensional recognition device is a 3D camera or a binocular camera.

20. The intelligent hair combing device with a positioning function according to claim 17 or 18, characterized in that: The signal sensor is an infrared laser sensor, a radio wave sensor or an infrared sensor.

21. The intelligent hair combing device with a positioning function according to claim 15 or 17 or 18, characterized in that: The auxiliary component is an earphone, an eye mask or a positioning sticker.

22. The intelligent combing device with a positioning function according to claim 15 or 17 or 18, characterized in that: The auxiliary component includes an earphone and a positioning sticker; or, the auxiliary component includes an eye mask and a positioning sticker.

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