Beauty care device positioning method and apparatus, wearable device, and beauty care system

Abstract

A beauty care device positioning method and apparatus, a wearable device, and a beauty care system. The beauty care device positioning method comprises: when a user wears the wearable device and uses the beauty care device, acquiring real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device (S110); acquiring a preset beauty care device positioning model (S120); and on the basis of the real-time electromagnetic induction data and the real-time IMU data between the wearable device and the beauty care device, using the preset beauty care device positioning model to position the beauty care device to obtain a spatial positioning result of the beauty care device (S130). In the beauty care device positioning method, the preset beauty care device positioning model trained in advance considers the influence of an angle factor between a magnetic inductor and a magnetic source on the magnetic induction positioning precision, the influence of an angle change between the magnetic inductor and the magnetic source on a positioning result of the beauty care device is eliminated in a positioning stage, and the positioning accuracy of the beauty care device is improved.

Description

Beauty care equipment positioning method, device, wearable device, and beauty care system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the Patent Office of China on June 30, 2023, with application number 202310803145.4, and invention name “Beauty care equipment positioning method, device and wearable device, beauty care system”, all contents of which are incorporated by reference in this application. Technical Field

[0003] The present application relates to the field of beauty care technology, and in particular to a method and device for positioning beauty care equipment, a wearable device, and a beauty care system. Background Art

[0004] Current beauty care devices support multiple modes and multiple gears. Users can use the control buttons on the beauty care devices to choose to use or switch different modes or gears to meet their different skin care needs.

[0005] In order to better enhance the user's skin care experience, the automatic spatial positioning of beauty care equipment has become a starting point. Through the automatic spatial positioning of beauty care equipment, precise skin care in different zones can be achieved, and personalized care suggestions can be automatically generated.

[0006] The positioning solution for beauty care equipment based on magnetic induction positioning technology mainly uses a magnetic field intensity distribution model for positioning. However, the magnetic field intensity is not only related to the spatial position translation of the magnetic sensor / magnetic source, but also the spatial rotation of the magnetic sensor / magnetic source. The change in the relative angle between the magnetic sensor and the magnetic source can cause multiple solutions to the positioning results of the beauty care device, making it impossible to obtain accurate positioning results for the beauty care device.

[0007] Summary of the Invention

[0008] The embodiments of the present application provide a method and apparatus for positioning a beauty care device, a wearable device, and a beauty care system to eliminate the influence of the angle change between the magnetic sensor and the magnetic source on the magnetic induction positioning accuracy, thereby improving the accuracy of the beauty care device positioning.

[0009] The embodiments of this application adopt the following technical solutions:

[0010] In a first aspect, an embodiment of the present application provides a method for positioning a beauty care device, wherein the method for positioning a beauty care device includes:

[0011] When a user wears a wearable device and uses a beauty care device, real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device are obtained;

[0012] Obtain the preset beauty care equipment positioning model;

[0013] According to the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device, the beauty care device is positioned using the preset beauty care device positioning model to obtain a spatial positioning result of the beauty care device.

[0014] Optionally, obtaining a preset beauty care device positioning model includes:

[0015] Determine the facial area currently affected by the beauty and protection device;

[0016] A preset beauty care device positioning model corresponding to the face area currently acted upon by the beauty care device is acquired according to the face area currently acted upon by the beauty care device.

[0017] Optionally, determining the facial area on which the beauty and protection device is currently effective includes:

[0018] When a user wears the wearable device and initializes the beauty and protection device based on preset facial key points, obtaining electromagnetic induction data corresponding to the preset facial key points;

[0019] According to the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty and protection device and the electromagnetic induction data corresponding to the preset facial key points, positioning is performed using a preset facial area positioning model to obtain the facial area currently affected by the beauty and protection device.

[0020] Optionally, the positioning of the beauty care device using the preset beauty care device positioning model based on the real-time electromagnetic induction data and the real-time IMU data between the wearable device and the beauty care device to obtain the spatial positioning result of the beauty care device includes:

[0021] Performing time synchronization processing on the real-time electromagnetic induction data and the real-time IMU data between the wearable device and the beauty care device to obtain the electromagnetic induction data and IMU data after the time synchronization processing;

[0022] The beauty care device is positioned according to the electromagnetic induction data and the IMU data after the time synchronization processing using the preset beauty care device positioning model to obtain a spatial positioning result of the beauty care device.

[0023] Optionally, the preset beauty care equipment positioning model is trained in the following manner:

[0024] Acquire real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source;

[0025] Determining the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source;

[0026] The preset beauty care device positioning model is trained by utilizing the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care device.

[0027] Optionally, determining the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source includes:

[0028] The true value of the spatial positioning result of the beauty care device is determined by a motion capture system, wherein the magnetic sensor and the magnetic source are both provided in the motion capture system; or

[0029] The true value of the spatial positioning result of the beauty care device is determined by a robotic arm control system, and the magnetic sensor and the magnetic source are both arranged in the robotic arm control system.

[0030] Optionally, the using the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care device to train the preset beauty care device positioning model includes:

[0031] Constructing a positioning feature vector based on real-time electromagnetic induction data between the magnetic sensor and the magnetic source and real-time IMU data;

[0032] The preset beauty care device positioning model is trained according to the positioning feature vector and the true value of the spatial positioning result of the beauty care device.

[0033] Optionally, after positioning the beauty care device using the preset beauty care device positioning model based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device to obtain a spatial positioning result of the beauty care device, the method further includes:

[0034] According to the spatial positioning result of the beauty care device, the trajectory of the beauty care device is tracked to obtain the trajectory tracking result of the beauty care device; and / or,

[0035] According to the spatial positioning result of the beauty care device, the nursing data of the beauty care device is statistically analyzed to obtain a nursing report of the beauty care device.

[0036] In a second aspect, an embodiment of the present application further provides a positioning device for a beauty care device, the positioning device for a beauty care device comprising:

[0037] A first acquisition unit is configured to acquire real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device when the user wears the wearable device and uses the beauty care device;

[0038] The second acquisition unit is used to acquire a preset beauty care device positioning model;

[0039] The positioning unit is used to locate the beauty care device based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device using the preset beauty care device positioning model to obtain the spatial positioning result of the beauty care device.

[0040] In a third aspect, an embodiment of the present application further provides a wearable device, comprising:

[0041] processor; and

[0042] A memory is arranged to store computer-executable instructions, which, when executed, cause the processor to perform any of the aforementioned methods for positioning a beauty care device.

[0043] In a fourth aspect, an embodiment of the present application further provides a beauty care system, which includes a beauty care device and the wearable device as described above.

[0044] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by a wearable device including multiple applications, the wearable device executes any of the aforementioned beauty care device positioning methods.

[0045] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: The beauty care device positioning method of the embodiments of the present application first obtains real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device when the user wears the wearable device and uses the beauty care device; then obtains a preset beauty care device positioning model; finally, based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device, the preset beauty care device positioning model is used to locate the beauty care device, thereby obtaining a spatial positioning result of the beauty care device. The preset beauty care device positioning model pre-trained in the beauty care device positioning method of the embodiments of the present application takes into account the influence of the angle factor between the magnetic sensor and the magnetic source on the magnetic induction positioning accuracy, eliminates the influence of the angle change between the magnetic sensor and the magnetic source on the beauty care device positioning result during the positioning stage, and improves the accuracy of beauty care device positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0047] FIG1 is a schematic diagram of a flow chart of a method for positioning a beauty care device in an embodiment of the present application;

[0048] FIG2 is a schematic diagram of the distribution of magnetic induction data in an embodiment of the present application;

[0049] FIG3 is a schematic diagram of face area division in an embodiment of the present application;

[0050] FIG4 is a schematic diagram of a positioning process of a beauty care device in an embodiment of the present application;

[0051] FIG5 is a schematic structural diagram of a positioning device for beauty care equipment according to an embodiment of the present application;

[0052] FIG6 is a schematic structural diagram of a wearable device according to an embodiment of the present application;

[0053] FIG7 is a schematic diagram of the architecture of a beauty care system according to an embodiment of the present application. DETAILED DESCRIPTION

[0054] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0055] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0056] The present invention provides a method for positioning a beauty care device. As shown in FIG1 , a flowchart of the method for positioning a beauty care device in the present invention is provided. The method for positioning a beauty care device includes at least the following steps S110 to S130:

[0057] Step S110 : When the user wears the wearable device and uses the beauty care device, real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device are acquired.

[0058] When positioning the beauty care device, the user needs to first wear the wearable device, and then obtain the electromagnetic induction data generated in real time between the wearable device and the beauty care device. The wearable device of the embodiment of the present application can be regarded as an auxiliary positioning device independent of the beauty care device. It can be fixedly worn on the user's head, neck or wrist, etc. using a wearable device in any form similar to a headband, hairpin, hairpin, necklace, neck ring, bracelet, or wristband. One of the wearable device and the beauty care device is provided with a magnetic source, i.e., a structure that generates a magnetic field, such as an electromagnet, and the other is provided with a magnetic sensor. The magnetic sensor can also be called a Hall effect sensor (abbreviated as "Hall sensor"), which is a transducer that can convert changes in the magnetic field into changes in the output voltage. Through the wearable device and beauty care device of the above structure, real-time electromagnetic induction data can be generated when the beauty care device enters the facial area covered by the wearable device.

[0059] The beauty care device of the embodiment of the present application also has a built-in IMU (Inertial Measurement Unit). The IMU is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object. The embodiment of the present application can measure the angle information between the magnetic source / magnetic sensor set on the beauty care device and the magnetic sensor / magnetic source set on the wearable device through the built-in IMU in the beauty care device.

[0060] Step S120: obtaining a preset beauty care equipment positioning model.

[0061] The embodiment of the present application pre-trains a preset beauty care device positioning model, which is used to locate the spatial position of the beauty care device relative to the wearable device, thereby providing accurate support for the implementation of subsequent care functions.

[0062] Considering that magnetic field strength is not only related to the spatial translation of the magnetic sensor / magnetic source, but also to its spatial rotation, changes in the relative angle between the magnetic sensor and the source can lead to multiple solutions for the positioning results of the beauty protection device. Figure 2 shows a schematic diagram of the distribution of magnetic induction data in an embodiment of the present application. When the magnetic source / magnetic sensor only moves in space and does not change in spatial angle, the magnetic induction reading corresponding to each point is unique.

[0063] However, in actual application scenarios, when a user holds a beauty care device to perform skin care operations, the angle at which the user holds the beauty care device at two or more different facial skin care points may also be different. The difference in angle may cause the magnetic induction readings corresponding to these facial skin care points to be the same, that is, due to the existence of angle differences, the differences between the magnetic induction readings corresponding to multiple different facial skin care points when there is no angle change factor are weakened or eliminated. This also leads to a situation where one magnetic induction reading may correspond to multiple facial skin care points, which is the "multiple solutions" problem.

[0064] Based on this, the beauty care equipment positioning model pre-trained in the embodiment of the present application takes into account the impact of the relative angle change between the magnetic sensor and the magnetic source on the positioning results of the beauty care equipment, and introduces IMU data in the model training stage, so that the trained beauty care equipment positioning model can calculate the unique solution for the spatial position of the beauty care equipment, thereby improving the accuracy of the beauty care equipment positioning.

[0065] Step S130: positioning the beauty care device using the preset beauty care device positioning model based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device to obtain a spatial positioning result of the beauty care device.

[0066] After obtaining the preset beauty care device positioning model, the electromagnetic induction data and IMU data generated in real time between the wearable device and the beauty care device are input into the preset beauty care device positioning model to obtain the spatial positioning result of the beauty care device.

[0067] The spatial positioning result of the beauty care device mentioned above can specifically refer to the spatial posture information of the beauty care device in the coordinate system of the wearable device. The coordinate system of the wearable device can be flexibly defined according to actual needs. For example, the origin of the coordinate system and the corresponding axis directions can be defined based on any point on the wearable device, or the coordinate system can be directly constructed with the position of other hardware devices on the wearable device as the origin. The spatial posture information of the beauty care device in the wearable device coordinate system can refer to the six-degree-of-freedom information of the beauty care device relative to the wearable device, that is, the rigid body can translate on three mutually perpendicular coordinate axes: front to back, up to down, and left to right, and can also rotate its direction on three perpendicular axes. The three rotation directions are called pitch, yaw, and roll.

[0068] The preset beauty care equipment positioning model pre-trained in the beauty care equipment positioning method of the embodiment of the present application takes into account the influence of the angle factor between the magnetic sensor and the magnetic source on the magnetic induction positioning accuracy. During the positioning stage, the influence of the angle change between the magnetic sensor and the magnetic source on the beauty care equipment positioning results is eliminated, thereby improving the accuracy of beauty care equipment positioning.

[0069] It should be noted that the beauty care device positioning method of each embodiment of the present application can also be flexibly extended to other scenarios according to actual needs, such as face spatial positioning and other scenarios, which will not be elaborated here.

[0070] In some embodiments of the present application, obtaining the preset beauty care device positioning model includes: determining the facial area on which the beauty care device is currently acting; and obtaining the preset beauty care device positioning model corresponding to the facial area on which the beauty care device is currently acting based on the facial area on which the beauty care device is currently acting.

[0071] The "face area" defined in the embodiment of the present application can be a facial skin area divided according to the functional requirements of the beauty and care equipment. As shown in Figure 3, a schematic diagram of the face area division in the embodiment of the present application is provided. For example, it can include the forehead area, eye area and cheek area. This partitioning method specifically corresponds to five partitions, namely, the forehead area, left eye area, right eye area, left cheek area and right cheek area. Of course, the face area can be further divided into more detailed areas. For example, the cheek area can be further divided into the jawline area and the apple muscle area. This partitioning method corresponds to seven partitions. Of course, how to divide the face area can be flexibly defined by those skilled in the art according to actual needs, and no specific limitation is made here.

[0072] The more detailed the division of facial areas, the higher the accuracy requirement for regional positioning. The beauty care device positioning solution in the embodiment of the present application can support sufficiently fine-grained facial area division, providing strong support for the user's precise zone skin care.

[0073] Based on the above-defined facial regions, and considering that different facial regions have different feature distributions and corresponding electromagnetic induction data distribution patterns, the embodiments of the present application can pre-train corresponding beauty care device positioning models for different facial regions. Each beauty care device positioning model is used to achieve precise positioning within each facial region. Based on this, the embodiments of the present application can first determine the facial region currently affected by the beauty care device, and then obtain the beauty care device positioning model corresponding to the facial region currently affected by the beauty care device, thereby achieving precise positioning within that region.

[0074] Of course, in addition to the above-mentioned method of constructing corresponding preset beauty care device positioning models for different facial areas, the embodiment of the present application can also train a global partition positioning model based on all spatial point data corresponding to the user's entire head. Whether to use global data to train the global positioning model or to train local positioning models for each facial area, technical personnel in this field can flexibly choose according to actual needs, and no specific limitation is made here.

[0075] In some embodiments of the present application, determining the facial area currently affected by the beauty protection device includes: when the user wears a wearable device and initializes the beauty protection device based on preset facial key points, obtaining electromagnetic induction data corresponding to the preset facial key points; based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty protection device and the electromagnetic induction data corresponding to the preset facial key points, using a preset facial area positioning model to perform positioning to obtain the facial area currently affected by the beauty protection device.

[0076] When determining the facial area currently affected by the beauty protection device, a pre-trained facial area positioning model can be used. The facial area positioning model can be trained based on the electromagnetic induction data between the wearable device and the beauty protection device at preset facial key points obtained when the user wears the wearable device and initializes the beauty protection device, as well as the real-time electromagnetic induction data between the wearable device and the beauty protection device obtained when the user starts using the beauty protection device.

[0077] Of course, further consideration is that when training a facial region localization model based solely on the aforementioned electromagnetic induction data, multiple solutions may occur in the facial region localization results. As previously mentioned, when the magnetic source / magnetic sensor only moves horizontally in space without changing its spatial angle, the magnetic induction reading corresponding to each point is unique. However, in actual applications, the relative angle between the magnetic source / magnetic sensor may change due to the different postures of the user holding the beauty care device, resulting in a single magnetic induction reading corresponding to two or more facial regions.

[0078] Therefore, when training the preset face area positioning model, the embodiment of the present application further considers the impact of the angle change between the magnetic source / magnetic sensor on the face area positioning results, that is, the IMU data and the electromagnetic induction data between the aforementioned wearable device and the beauty care device and the electromagnetic induction data of the preset face key points are integrated to generate a unique feature vector that can respectively characterize each face area of ​​each user. The face area positioning model trained based on this can accurately identify which user is currently using the beauty care device and which face partition of the user the beauty care device is currently acting on.

[0079] In some embodiments of the present application, the positioning of the beauty care device based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device using the preset beauty care device positioning model to obtain the spatial positioning result of the beauty care device includes: performing time synchronization processing on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device to obtain the electromagnetic induction data and IMU data after time synchronization processing; positioning the beauty care device based on the electromagnetic induction data and IMU data after time synchronization processing using the preset beauty care device positioning model to obtain the spatial positioning result of the beauty care device.

[0080] Because different sensors have different data output frequencies, to ensure data processing accuracy, embodiments of the present application can utilize a time synchronization algorithm to synchronize the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device. This algorithm aligns the electromagnetic induction data generated between the wearable device and the beauty care device and the data output by the IMU to the same moment. The electromagnetic induction data and IMU data after time synchronization are then input into a preset beauty care device positioning model, thereby outputting the positioning result of the beauty care device. The above-mentioned time synchronization algorithm can be implemented, for example, using interpolation methods. Of course, those skilled in the art can flexibly select the specific method for time synchronization based on existing technologies, and this is not specifically limited here.

[0081] In some embodiments of the present application, the preset beauty care device positioning model is trained in the following manner: obtaining real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source; determining the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source; and using the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care device to train the preset beauty care device positioning model.

[0082] When training the beauty care device positioning model, the embodiment of the present application can first obtain the electromagnetic induction data generated in real time between the magnetic sensor and the magnetic source and the data output in real time by the IMU and perform synchronous processing. It is also necessary to determine the true value of the spatial positioning result of the beauty care device corresponding to each electromagnetic induction data. The true value can be calculated based on an independently set motion capture system or a robotic arm control system. The electromagnetic induction data generated in real time between the magnetic sensor and the magnetic source and the data output in real time by the IMU after synchronous processing are used as the input of the beauty care device positioning model, and the true value of the spatial positioning result of the beauty care device is used as a supervision signal to train the beauty care device positioning model.

[0083] The beauty care equipment positioning model of the embodiment of the present application can be implemented based on an existing temporal neural network structure such as Bi-LSTM (Bidirectional Long Short-Term Memory). The specific neural network structure to be adopted can be flexibly selected by those skilled in the art according to actual needs and is not specifically limited here.

[0084] In some embodiments of the present application, determining the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source includes: determining the true value of the spatial positioning result of the beauty care device through a motion capture system, and the magnetic sensor and the magnetic source are both set in the motion capture system; or, determining the true value of the spatial positioning result of the beauty care device through a robotic arm control system, and the magnetic sensor and the magnetic source are both set in the robotic arm control system.

[0085] In the embodiments of the present application, when determining the true value of the spatial positioning result of the beauty care device corresponding to each electromagnetic induction data, this can be achieved in two ways. One way is to set both the magnetic sensor and the magnetic source in a motion capture system, and use the motion capture system to capture the motion, thereby calculating the true value of the spatial positioning result of the beauty care device. A motion capture system is a device that comprehensively records the movement of an object in three-dimensional space. Based on different principles, it is divided into mechanical motion capture, acoustic motion capture, electromagnetic motion capture, optical motion capture, and inertial motion capture. The specific form of motion capture system to be used can be flexibly selected by those skilled in the art according to actual needs, and is not specifically limited here.

[0086] Another approach is to place both the magnetic sensor and the magnetic source in a robotic arm control system, and calculate the true value of the spatial positioning result of the beauty care device by clamping the magnetic source / magnetic sensor through the movement of the robotic arm. For example, the magnetic source can be placed on a robotic arm fixed on a base, and the magnetic sensor can be placed at a fixed position. With the base as a reference, the first spatial position information of the magnetic sensor at the fixed position relative to the base can be preliminarily determined. The robotic arm is then controlled to move in each facial area. When the probe on the robotic arm contacts each point in the facial area, the second spatial position information of the magnetic source on the robotic arm relative to the base can be calculated accordingly. Finally, the spatial relative position between the magnetic source and the magnetic sensor can be calculated based on the first spatial position information of the magnetic sensor at the fixed position relative to the base and the second spatial position information of the magnetic source on the robotic arm relative to the base.

[0087] In actual applications, one of the magnetic source and magnetic sensor is located on the wearable device, while the other is located on the beauty and protection device. Therefore, the relative spatial position system between the magnetic source and magnetic sensor obtained above is the true spatial position of the beauty and protection device in the wearable coordinate system. Similarly, the above logic also applies if the positions of the magnetic source and magnetic sensor are swapped, so we will not elaborate on this here.

[0088] In some embodiments of the present application, the use of real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care device to train the preset beauty care device positioning model includes: constructing a positioning feature vector based on the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source; and training the preset beauty care device positioning model based on the positioning feature vector and the true value of the spatial positioning result of the beauty care device.

[0089] When training the beauty care equipment positioning model, the feature vector used to train the beauty care equipment positioning model can be first constructed based on the synchronously processed electromagnetic induction data and IMU data. For any two positioning points in space, when the electromagnetic induction data corresponding to the two positioning points are the same, the IMU data corresponding to the two positioning points must be different, and when the IMU data corresponding to the two positioning points are the same, the corresponding electromagnetic induction data must be different. Therefore, the feature vector generated by fusing the electromagnetic induction data and the IMU data can uniquely characterize the characteristics of each spatial positioning point, which is used as the input of the beauty care equipment positioning model, so that the trained beauty care equipment positioning model can achieve accurate positioning of the beauty care equipment.

[0090] In some embodiments of the present application, after positioning the beauty care device using the preset beauty care device positioning model based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device to obtain the spatial positioning result of the beauty care device, the method further includes: tracking the trajectory of the beauty care device based on the spatial positioning result of the beauty care device to obtain the trajectory tracking result of the beauty care device; and / or, performing statistical analysis on the nursing data of the beauty care device based on the spatial positioning result of the beauty care device to obtain a nursing report for the beauty care device.

[0091] After obtaining the spatial positioning results of the beauty care device, the embodiment of the present application can, on the one hand, track the movement trajectory of the beauty care device according to the spatial posture of the beauty care device located in real time, thereby analyzing whether the movement trajectory of the beauty care device in the entire space and in each facial area meets the expected care requirements, so as to achieve refined guidance of the user's skin care operations.

[0092] On the other hand, the spatial position of the beauty care device located in real time can also be used to perform statistical analysis on the user's care data at each skin care point and each facial area. For example, statistics on parameters such as care duration and care temperature can be included to determine the care completion status of each facial area, and output corresponding care reports and follow-up care suggestions after the skin care is completed, further improving the user's skin care effect and skin care experience.

[0093] To facilitate understanding of the various embodiments of the present application, a schematic diagram of a beauty care device positioning process in an embodiment of the present application is provided as shown in FIG4 . The beauty care device positioning process of the present application can be divided into two stages. The first stage is the training stage of the beauty care device positioning model. In the training stage, it is necessary to first construct training sample data, including obtaining real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source, and determining the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source; then, the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care device are used to train the preset beauty care device positioning model.

[0094] The second stage is the positioning stage of the beauty care device. In the positioning stage, it is necessary to first obtain the real-time electromagnetic induction data generated between the wearable device and the beauty care device and the real-time output data of the IMU when the user wears the wearable device and uses the beauty care device, and synchronize them; then, based on the preset beauty care device positioning model trained in the previous training stage, the real-time electromagnetic induction data and IMU data are processed to output the real-time spatial positioning results of the beauty care device.

[0095] The present application also provides a beauty care device positioning device 500. As shown in FIG5 , a schematic diagram of the structure of a beauty care device positioning device in the present application is provided. The beauty care device positioning device includes:

[0096] The first acquisition unit 510 is configured to acquire real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device when the user wears the wearable device and uses the beauty care device;

[0097] The second acquisition unit 520 is used to acquire a preset beauty care device positioning model;

[0098] The positioning unit 530 is used to locate the beauty care device based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device using the preset beauty care device positioning model to obtain a spatial positioning result of the beauty care device.

[0099] In some embodiments of the present application, the second acquisition unit 520 is specifically used to: determine the facial area currently affected by the beauty care device; and acquire a preset beauty care device positioning model corresponding to the facial area currently affected by the beauty care device based on the facial area currently affected by the beauty care device.

[0100] In some embodiments of the present application, the second acquisition unit 520 is specifically used to: when the user wears a wearable device and initializes the beauty protection device based on preset facial key points, obtain electromagnetic induction data corresponding to the preset facial key points; based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty protection device and the electromagnetic induction data corresponding to the preset facial key points, use the preset facial area positioning model to perform positioning to obtain the facial area currently affected by the beauty protection device.

[0101] In some embodiments of the present application, the positioning unit 530 is specifically used to: perform time synchronization processing on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device to obtain the electromagnetic induction data and IMU data after time synchronization processing; based on the electromagnetic induction data and IMU data after time synchronization processing, use the preset beauty care device positioning model to locate the beauty care device to obtain the spatial positioning result of the beauty care device.

[0102] In some embodiments of the present application, the preset beauty care device positioning model is trained in the following manner: obtaining real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source; determining the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source; and using the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care device to train the preset beauty care device positioning model.

[0103] In some embodiments of the present application, determining the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source includes: determining the true value of the spatial positioning result of the beauty care device through a motion capture system, and the magnetic sensor and the magnetic source are both set in the motion capture system; or, determining the true value of the spatial positioning result of the beauty care device through a robotic arm control system, and the magnetic sensor and the magnetic source are both set in the robotic arm control system.

[0104] In some embodiments of the present application, the use of real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care device to train the preset beauty care device positioning model includes: constructing a positioning feature vector based on the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source; and training the preset beauty care device positioning model based on the positioning feature vector and the true value of the spatial positioning result of the beauty care device.

[0105] In some embodiments of the present application, the device further includes: a trajectory tracking unit, which is used to locate the beauty care device based on the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device using the preset beauty care device positioning model to obtain the spatial positioning result of the beauty care device, and then track the trajectory of the beauty care device according to the spatial positioning result of the beauty care device to obtain the trajectory tracking result of the beauty care device; and / or, an analysis unit, which is used to perform statistical analysis on the nursing data of the beauty care device according to the spatial positioning result of the beauty care device to obtain a nursing report for the beauty care device.

[0106] It can be understood that the above-mentioned beauty care equipment positioning device can implement each step of the beauty care equipment positioning method provided in the above-mentioned embodiment. The relevant explanations about the beauty care equipment positioning method are applicable to the beauty care equipment positioning device and will not be repeated here.

[0107] An embodiment of the present application also provides a wearable device, comprising: a processor; and a memory arranged to store computer-executable instructions, wherein when the executable instructions are executed, the processor executes any of the aforementioned beauty care device positioning methods.

[0108] FIG6 is a schematic diagram of the structure of a wearable device according to an embodiment of the present application. Referring to FIG6 , at the hardware level, the wearable device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage device. Of course, the wearable device may also include hardware required for other services.

[0109] The processor, network interface, and memory can be interconnected via an internal bus, such as an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. These buses can be classified as address buses, data buses, and control buses. For ease of illustration, FIG6 shows only one bidirectional arrow, but this does not imply that there is only one bus or only one type of bus.

[0110] The memory is used to store programs. Specifically, the program may include program code, which includes computer operating instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0111] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs it, forming a beauty care equipment positioning device at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0112] When a user wears a wearable device and uses a beauty care device, real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device are obtained;

[0113] Obtain the preset beauty care equipment positioning model;

[0114] According to the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device, the beauty care device is positioned using the preset beauty care device positioning model to obtain a spatial positioning result of the beauty care device.

[0115] The method performed by the beauty care device positioning device disclosed in the embodiment shown in FIG1 of this application can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the method described above can be performed by hardware integrated logic circuits within the processor or by software instructions. The processor described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0116] The wearable device can also execute the method executed by the beauty care device positioning device in Figure 1 and realize the functions of the beauty care device positioning device in the embodiment shown in Figure 1, and the embodiments of this application will not be repeated here.

[0117] The present application also provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions. When executed by a wearable device including multiple application programs, the instructions enable the wearable device to execute the method executed by the beauty care device positioning device in the embodiment shown in FIG. 1 , and are specifically used to execute:

[0118] When a user wears a wearable device and uses a beauty care device, real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device are obtained;

[0119] Obtain the preset beauty care equipment positioning model;

[0120] According to the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device, the beauty care device is positioned using the preset beauty care device positioning model to obtain a spatial positioning result of the beauty care device.

[0121] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0123] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0125] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0126] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0127] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0128] An embodiment of the present application further provides a beauty care system. As shown in FIG7 , a schematic diagram of the architecture of a beauty care system in an embodiment of the present application is provided. The beauty care system includes a beauty care device and the aforementioned wearable device.

[0129] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0130] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for positioning a beauty care device, wherein: The beauty care equipment positioning method comprises: When the user wears the wearable device and uses the beauty care device, real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device are obtained; Obtain the preset beauty care equipment positioning model; According to the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device, the beauty care device is positioned using the preset beauty care device positioning model to obtain a spatial positioning result of the beauty care device.

2. The method for positioning beauty care equipment according to claim 1, wherein: The obtaining of the preset beauty care equipment positioning model comprises: Determine the facial area currently acted upon by the beauty and protection device; According to the face area currently acted by the beauty care device, a preset beauty care device positioning model corresponding to the face area currently acted by the beauty care device is obtained.

3. The method for positioning beauty care equipment according to claim 2, wherein: Determining the face area currently affected by the beauty and protection device includes: When the user wears the wearable device and initializes the beauty and protection device based on preset facial key points, obtaining electromagnetic induction data corresponding to the preset facial key points; According to the real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device and the electromagnetic induction data corresponding to the preset facial key points, positioning is performed using a preset facial area positioning model to obtain the facial area currently affected by the beauty care device.

4. The method for positioning beauty care equipment according to claim 1, wherein: The positioning of the beauty care device is performed based on the real-time electromagnetic induction data and the real-time IMU data between the wearable device and the beauty care device using the preset beauty care device positioning model to obtain the spatial positioning result of the beauty care device, including: Performing time synchronization processing on the real-time electromagnetic induction data and the real-time IMU data between the wearable device and the beauty care device to obtain the electromagnetic induction data and IMU data after the time synchronization processing; The beauty care device is positioned according to the electromagnetic induction data and the IMU data after the time synchronization processing using the preset beauty care device positioning model to obtain the spatial positioning result of the beauty care device.

5. The method for positioning a beauty care device according to any one of claims 1 to 4, wherein: The preset beauty care equipment positioning model is trained in the following way: Obtain real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source; Determine the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source; The preset beauty care equipment positioning model is trained by using the real-time electromagnetic induction data and real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care equipment.

6. The method for positioning beauty care equipment according to claim 5, wherein: The determination of the true value of the spatial positioning result of the beauty care device corresponding to the electromagnetic induction data between the magnetic sensor and the magnetic source includes: The true value of the spatial positioning result of the beauty care device is determined by a motion capture system, wherein the magnetic sensor and the magnetic source are both arranged in the motion capture system; or, The true value of the spatial positioning result of the beauty care device is determined by a robotic arm control system, and the magnetic sensor and the magnetic source are both arranged in the robotic arm control system.

7. The method for positioning beauty care equipment according to claim 5, wherein: The method of training the preset beauty care equipment positioning model by using the real-time electromagnetic induction data and the real-time IMU data between the magnetic sensor and the magnetic source and the true value of the spatial positioning result of the beauty care equipment comprises: Constructing a positioning feature vector according to real-time electromagnetic induction data between the magnetic sensor and the magnetic source and real-time IMU data; The preset beauty care device positioning model is trained according to the positioning feature vector and the true value of the spatial positioning result of the beauty care device.

8. The method for positioning beauty care equipment according to claim 1, wherein: After positioning the beauty care device using the preset beauty care device positioning model based on the real-time electromagnetic induction data and the real-time IMU data between the wearable device and the beauty care device to obtain the spatial positioning result of the beauty care device, the method further includes: According to the spatial positioning result of the beauty care device, the trajectory of the beauty care device is tracked to obtain the trajectory tracking result of the beauty care device; and / or, According to the spatial positioning result of the beauty care device, the nursing data of the beauty care device is statistically analyzed to obtain a nursing report of the beauty care device.

9. A positioning device for beauty care equipment, wherein: The beauty care equipment positioning device comprises: A first acquisition unit, configured to acquire real-time electromagnetic induction data and real-time IMU data between the wearable device and the beauty care device when the user wears the wearable device and uses the beauty care device; A second acquisition unit is used to acquire a preset beauty care equipment positioning model; A positioning unit is used to locate the wearable device and the beauty care device according to the real-time electromagnetic induction data between the wearable device and the beauty care device. According to the real-time IMU data, the preset beauty care equipment positioning model is used to position the beauty care equipment to obtain the spatial positioning result of the beauty care equipment.

10. A wearable device comprising: processor; as well as A memory arranged to store computer executable instructions, wherein when the executable instructions are executed, the processor executes the method for positioning the beauty care device according to any one of claims 1 to 8.

11. A beauty care system, wherein: The beauty care system comprises a beauty care device and the wearable device as claimed in claim 10.

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