CN108185624B - Intelligent human body hairstyle trimming method and device - Google Patents

Intelligent human body hairstyle trimming method and device Download PDF

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Publication number
CN108185624B
CN108185624B CN201810134839.2A CN201810134839A CN108185624B CN 108185624 B CN108185624 B CN 108185624B CN 201810134839 A CN201810134839 A CN 201810134839A CN 108185624 B CN108185624 B CN 108185624B
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hair
head
hairstyle
trimming
trimmed
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CN108185624A (en
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李涛
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Wuhan Jixing Technology Co ltd
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Wuhan Jixing Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45D—HAIRDRESSING OR SHAVING EQUIPMENT; EQUIPMENT FOR COSMETICS OR COSMETIC TREATMENTS, e.g. FOR MANICURING OR PEDICURING
    • A45D44/00—Other cosmetic or toiletry articles, e.g. for hairdressers' rooms
    • A45D44/02—Furniture or other equipment specially adapted for hairdressers' rooms and not covered elsewhere
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45D—HAIRDRESSING OR SHAVING EQUIPMENT; EQUIPMENT FOR COSMETICS OR COSMETIC TREATMENTS, e.g. FOR MANICURING OR PEDICURING
    • A45D44/00—Other cosmetic or toiletry articles, e.g. for hairdressers' rooms
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45D—HAIRDRESSING OR SHAVING EQUIPMENT; EQUIPMENT FOR COSMETICS OR COSMETIC TREATMENTS, e.g. FOR MANICURING OR PEDICURING
    • A45D44/00—Other cosmetic or toiletry articles, e.g. for hairdressers' rooms
    • A45D2044/007—Devices for determining the condition of hair or skin or for selecting the appropriate cosmetic or hair treatment

Abstract

The invention discloses a method and a device for intelligently trimming a human body hairstyle, which belong to the field of intelligent trimming of hairstyles, wherein the method and the device for intelligently trimming the hairstyle are used for achieving intelligent trimming of the modified hairstyle on the head of a person to be trimmed by establishing a three-dimensional positioning model of the head of a hairstyle model and a scalp state model, carrying out information acquisition modeling on the corresponding hairstyle of the head of the person, determining corresponding adjustment parameters by comparing scalp state information in the three-dimensional positioning model of the head of the person and the three-dimensional positioning model of the hairstyle model, and then setting a hairstyle trimming device. According to the intelligent trimming method and device for the human body hair style, the three-dimensional model related to the human head and the hair style can be repeatedly used after being modeled, the hair style model can be more suitable for the head of a person to be trimmed through correction of the hair style model, the multi-axis mechanical arm and the trimming part are arranged to be matched, accurate trimming of the hair style in the whole scalp area can be accurately achieved, efficiency and accuracy of hair style trimming are improved, and labor cost of hair style trimming is reduced.

Description

Intelligent human body hairstyle trimming method and device
Technical Field
The invention belongs to the field of intelligent hairstyle trimming, and particularly relates to a method and a device for intelligent trimming of a human hairstyle.
Background
Along with the continuous improvement of the living standard of people, the requirements of people on hairstyles are higher and higher, and the requirements are not only limited to the prior simple living needs, but also higher, so that different individuality and different aesthetic standards are required to be displayed, and the purposes of improving the quality, the image and the charm of individuals are achieved.
Hairstyle design is a comprehensive art which involves a person who is often affected by various factors such as head shape, face shape, five sense organs, stature, age, etc., and also by personal occupation, skin color, dressing, personality hobbies, seasons, hair quality, applicability, and epoch. In addition, the design of the hair style of the human body is also influenced by the head state of the human body, and different head states have larger difference on the appearance of the same hair style; therefore, various factors need to be comprehensively considered in designing the hairstyle.
In the prior art, some hairstyle design software is available, which can help people to realize online hairstyle design, such as uploading an image or taking a picture on the internet, and performing a series of hairstyle designs, so that a design demander can print out the hairstyle or record a serial number, and then go to a barber shop to refer to the hairstyle for design. However, most of hairstyle design software in the prior art uses a designed hairstyle model, and often lacks support of data such as head form, scalp and hair of an individual to be trimmed, or the individual data is not fine and specific enough, so that the hairstyle design can only be calculated as a hairstyle wearing, the designed hairstyle model is worn on the head just like a hat, and lacks sense of reality, and the hairstyle and the head form of the individual are often not fully attached, and the head form of the human body is quite different, so that the effect of matching the hairstyle is quite different from the actual situation. Moreover, the data such as the distribution, the number, the thickness, the smoothness, the softness, the elasticity and the like of the hair on each individual are different, the hairstyle model designed according to one individual is difficult to completely reproduce on the head of another individual, and the hairstyle presentation in the prior art is often realized by a hairstylist or a hairstylist, so even if the hairstyle selected by the person to be trimmed can be completely suitable for the person, certain differences are often generated when the hairstyle is repeatedly presented by each hairstylist or the hairstylist, especially when the same hairstyle is applied to different head types, the differences are obvious, the accuracy of the hairstyle multiplexing design is inevitably reduced, the manual cost of manual trimming is higher, and the trimming efficiency is lower.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a method and a device for intelligently trimming a human hair style, wherein the three-dimensional positioning model of the head of a hairstyle model and a scalp state model are established, the information acquisition modeling is carried out on the corresponding hair style of the head of the hairstyle model, the three-dimensional model of the hair style is adjusted by determining corresponding correction parameters through the comparison of the difference of the hair states in the three-dimensional positioning model of the head of a person to be trimmed and the three-dimensional positioning model of the head of the hairstyle model, and then a hair style trimming device is arranged to finish trimming the head of the person to be trimmed after correction, and the three-dimensional model related to the head of the human body and the hair style can be repeatedly used after modeling, so that the efficiency and the accuracy of hair style trimming can be effectively improved, and the labor cost of hair style trimming is reduced.
In order to achieve the above object, according to one aspect of the present invention, there is provided a method for intelligently trimming a hairstyle of a human body, for intelligently reproducing a sample hairstyle three-dimensional model on the head of a person to be trimmed, comprising the steps of:
s1: comparing the scalp state three-dimensional model of the sample hairstyle with the scalp state three-dimensional model of the hairstyle to be trimmed to generate corresponding correction parameters, substituting the correction parameters into the sample hairstyle three-dimensional model to generate a hairstyle three-dimensional model matched with the head of the hairstyle to be trimmed;
S2: dividing the modified hairstyle three-dimensional model into a plurality of characteristic areas, and generating a plurality of motion instructions which are adaptive to the hair position information and the length information of the characteristic areas;
s3: setting a multi-axis mechanical arm relative to the hairstyle three-dimensional model to execute the motion instruction, wherein the multi-axis mechanical arm can reach the corresponding position of the head of the hairstyle person to be trimmed under the control of the motion instruction;
s4: and a trimming part is arranged at the end part of the multi-axis mechanical arm, can reach any position of the head of the person to be trimmed along with the multi-axis mechanical arm, and completes trimming of hair in a corresponding scalp area according to the movement instruction, and intelligent trimming of the sample hairstyle on the head of the person to be trimmed is realized through the movement of the multi-axis mechanical arm and the trimming of the trimming part.
As a further improvement of the invention, the method for determining the sample hairstyle three-dimensional model is as follows:
a1: selecting a mandibular point positioned at the lowest position of the mandibular lower edge, a nose bridge point positioned at the most concave position of nasal bones and a point farthest from the mandibular point on the outer edge of the median sagittal plane of the human head with the sample hairstyle trimmed, namely a rear head top point, determining a virtual center point in the human head according to the distance relation among the three points, and determining two axle center points which are respectively arranged at two sides of the human head and the connecting line of which is perpendicular to the median sagittal plane and passes through the virtual center point by the virtual center point;
A2: at least one electromagnetic field source and a plurality of magnetic detectors are arranged on the outer edge of the median sagittal plane of the human head and the two axial center points, the electromagnetic field source generates a magnetic field on the human head, and the magnetic detectors determine the relative positions in the magnetic field;
a3: setting a detection probe capable of moving, positioning and detecting at any position of the whole scalp position of the human head, wherein a magnetic detector or an electromagnetic field source is arranged on the detection probe, the movement and detection of the detection probe at the whole scalp position of the human head are used for feeding back the position information and scalp state information of the scalp position of the detection probe, a three-dimensional positioning model of the human head is built according to the acquired position information, and a scalp state three-dimensional model is built according to the three-dimensional positioning model and the scalp state information;
a4: selecting a characteristic main hair on each characteristic area of the sample hairstyle, collecting the position parameter and the characteristic information parameter of the characteristic main hair, and correspondingly inputting the position parameter and the characteristic information parameter into the three-dimensional positioning model;
a5: and generating a plurality of main hair wires and auxiliary hair wires among the main hair wires with the characteristics in the three-dimensional positioning model of the human head so as to form a three-dimensional model of the hairstyle.
As a further improvement of the present invention, the electromagnetic field source is disposed on the mandibular point, and magnetic detectors are disposed on the nose bridge point, the rear head apex point, and the two axial center points, respectively.
As a further improvement of the invention, the detection probes are arranged on a circular arc-shaped guide rail, two ends of the guide rail are respectively arranged on two axle center points and can rotate around the axle center points to cover all scalp parts, and the detection probes can reciprocate in the guide rail, so that the positioning of all scalp parts of the human head can be realized through the line scanning of the detection probes, and the positions, the number, the density and the health state of hair follicles in all scalp areas are acquired, and the distribution condition, the growth direction, the number, the density, the diameter, the color and the health state of the hair in the corresponding hair follicles are acquired.
As a further improvement of the invention, the collection of the characteristic main hair information can be completed by arranging a detection pen, the detection pen is hollow, the front end of the detection pen is provided with a hair taking hook which can stretch in the detection pen to hook one or more hair into the detection pen, and the sensor arranged on the detection pen is used for detecting the information of the hair tip and the hair root position of the characteristic main hair, the length, the elasticity, the softness, the friction force of the hair and the color information of each section of the hair.
In another aspect of the present invention, there is provided a device for intelligent trimming of a hairstyle of a human body, which can perform intelligent trimming of hair on a head of a human body to be trimmed according to a sample hairstyle, characterized in that the device comprises a control processing unit, a multi-axis mechanical arm and a trimming member, wherein,
the control processing unit is used for modeling the human head of the hairstyle to be trimmed, generating a corresponding three-dimensional model of the human scalp state, obtaining correction parameters through parameter comparison with the sample three-dimensional model of the hairstyle, and inputting the correction parameters into the sample three-dimensional model of the hairstyle to be trimmed to generate a three-dimensional model of the hairstyle matched with the head of the person to be trimmed; the control processing unit is also used for generating a motion instruction for controlling the multi-axis mechanical arm to move at any position around the head of the person to be trimmed according to the hairstyle three-dimensional model, and controlling the multi-axis mechanical arm to move correspondingly;
the multi-axis mechanical arm realizes the movement and accurate positioning of any scalp area around the head of the person to be shaved through the movement instruction of the control processing unit;
the trimming part is arranged at the front end of the multi-axis mechanical arm, and can follow the movement of the multi-axis mechanical arm to reach any area where hair is attached to the head of the person to be trimmed, so that intelligent trimming of hair on any area of the head of the person to be trimmed is completed, and intelligent trimming of a hairstyle is achieved.
As a further improvement of the invention, a vision subsystem is arranged corresponding to the head of the hair-cutting person, and can be a binocular vision system, a multi-vision system or a magnetic positioning system, so as to measure the head position of the hair-cutting person, and can be combined with the three-dimensional head model of the hair-cutting person to realize and keep the consistency of the head position information of the hair-cutting person and the head position information in the hairstyle three-dimensional model.
As a further improvement of the invention, the multi-axis mechanical arm comprises a base, a shoulder joint longitudinal axis, a shoulder joint transverse axis, an elbow joint longitudinal axis, a big arm, a small arm, a wrist joint longitudinal axis and a wrist joint transverse axis, and a guide rail which can encircle a hairstyle person to be trimmed is arranged corresponding to the base;
the base can slide in the guide rail to adapt to hair trimming of each scalp part of the human head, one end of the shoulder joint longitudinal axis is connected to the top of the base, the other end of the shoulder joint longitudinal axis is connected with the bottom end of the big arm through the shoulder joint transverse axis, the top end of the big arm is connected with one end of the small arm through the elbow joint longitudinal axis, the other end of the small arm is movably connected with one end of the wrist joint longitudinal axis, and the other end of the wrist joint longitudinal axis is connected with the wrist joint transverse axis which can be matched with the trimming part, so that the trimming part can be driven by the multi-axis mechanical arm to realize walking of the trimming part at any position on the head of a person to be trimmed.
As a further improvement of the present invention, the trimming member includes a long rod-shaped and telescopic claw, a control member for controlling the telescopic claw, a plurality of comb teeth posts arranged at the front end of the claw, and hair picking comb teeth coaxially arranged corresponding to each of the comb teeth posts;
the comb teeth columns are connected with the hair taking comb teeth through folding shafts, so that after the hair taking comb teeth are abutted against the scalp, the hair taking comb teeth can rotate around the end parts of the comb teeth columns for a certain angle and then are locked, hair in the scalp area to be trimmed is then combed between the hair taking comb teeth, after the distance corresponding to the length of a hairstyle is contracted by the hand claw, the hair between the hair taking comb teeth can be cut, and intelligent trimming of the hair in the area is completed.
As a further improvement of the invention, the multi-axis mechanical arm can be correspondingly arranged on a seat, can reciprocate on the periphery of the seat, and can then intelligently trim the head of the hairstyle waiting person sitting on the seat.
As a further improvement of the present invention, the vision subsystem may generate corresponding control instructions upon biasing of the human head and send the control instructions to the cutting member to control the cutting member to perform corresponding positional adjustments.
As a further improvement of the present invention, a pair of area locking wires are provided between the two adjacent hair-taking comb teeth, and the two area locking wires may protrude from both end sides of one of the hair-taking comb teeth, respectively, and may be inserted into locking holes provided in the other of the hair-taking comb teeth, respectively, at the end portions thereof.
As a further improvement of the invention, the end of the hair taking comb teeth, which can be abutted against the scalp, is provided with a circular arc-shaped wedge surface, and the end of the hair taking comb teeth, which can rotate around the folding shaft along the radian of the hair taking comb teeth for a certain angle after contacting the scalp, so that hair to be trimmed can be combed between each hair taking comb teeth.
As a further improvement of the invention, the comb teeth columns can be locked after being contracted along the axis of the comb teeth columns for a certain distance so as to adapt to the radian of the head of the person to be trimmed, and when the comb teeth columns work, the end parts of the comb teeth columns can be abutted against the head of the person to be trimmed.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
(1) The intelligent trimming method for the human hair style comprises the steps of selecting a relatively fixed mandibular point, a nose bridge point and a rear head top point on the human head, determining a virtual center point and an axis point of the human head, arranging a magnetic field source and a magnetic detector on corresponding fixed points, realizing the positioning by generating a magnetic field on the human head, and determining the state information and the position information of the scalp part by arranging a detection probe on the scanning of the scalp part of the human body, so that the position information and the state information of the whole scalp part are combined to obtain a three-dimensional positioning model and a scalp state model of the human head, and effectively improving the positioning accuracy and repeatability of the whole scalp part;
(2) According to the intelligent trimming method for the human body hairstyle, the characteristic main hair wires in different areas are selected on the hairstyle, the collecting positions corresponding to the characteristic main hair wires are input into the three-dimensional positioning model of the human body head, the main hair wires and the auxiliary hair wires are generated in a gradual change mode, and finally the three-dimensional model of the hairstyle is built by combining the three-dimensional positioning model of the human body head;
(3) The intelligent trimming method of the human body hairstyle is characterized in that the three-dimensional head positioning model of a person to be trimmed is acquired and is compared with the three-dimensional head positioning model of the hairstyle model to generate corresponding correction parameters to adjust relevant parameters of the three-dimensional hairstyle model, and finally the three-dimensional hairstyle model suitable for the person to be trimmed can be generated, so that the reproduction of the hairstyle on the head of the person to be trimmed can be completed according to the three-dimensional hairstyle model, the reproduction of the hairstyle is fully satisfied, and the scalp state and hair information of each area of the head of the person are combined by the reproduction of the hairstyle, so that the accuracy and the applicability are higher;
(4) According to the intelligent trimming device for the human hair style, disclosed by the invention, the multi-axis mechanical arm and the trimming part are arranged, the trimming part is driven by the multi-axis mechanical arm to comb and trim the hair in each characteristic area of the human head, the trimming part can be driven to the position of the head of a person to be trimmed corresponding to the three-dimensional model of the hair style by the multi-axis mechanical arm according to the control of the computer system, the trimming is completed, the whole process is simple and convenient to operate, the trimming efficiency and accuracy are high, the trimming efficiency and accuracy of the hair style are improved, and the trimming cost of the hair style is reduced.
Drawings
FIG. 1 is a side view of the overall structure of an intelligent trimming apparatus for a hairstyle of a person in an embodiment of the present invention;
fig. 2 is a top view showing the overall structure of the intelligent trimming device for human hairstyle in the embodiment of the present invention;
fig. 3 is a rear view showing the overall structure of the intelligent trimming apparatus for hairstyle of human body in the embodiment of the present invention;
fig. 4 is a schematic view showing the overall structure of a trimming member of the intelligent trimming device for human hairstyle in accordance with the embodiment of the present invention;
fig. 5 is a partial structural side view of a cutting member of the intelligent human hair style cutting apparatus according to the embodiment of the present invention;
fig. 6 is a partial structural front view of a cutting member of the intelligent human hair style cutting apparatus according to the embodiment of the present invention;
fig. 7 (a) is a working side view of a cutting member of the intelligent human hair style cutting apparatus according to the embodiment of the present invention;
fig. 7 (b) is a working front view of the cutting member of the intelligent human hair style cutting apparatus according to the embodiment of the present invention;
fig. 8 is a top view illustrating the operation of the cutting member of the intelligent human hair style cutting apparatus according to the embodiment of the present invention;
fig. 9 is a schematic view showing the operation of the blades in the cutting member of the intelligent human hair style cutting apparatus according to the embodiment of the present invention;
fig. 10 is a schematic view of another preferred structure of the intelligent trimming apparatus for human hairstyle in the embodiment of the present invention;
FIG. 11 is a schematic view of the magnetic positioning structure of the intelligent trimming apparatus for human hairstyle according to still another embodiment of the present invention;
like reference numerals denote like technical features throughout the drawings, in particular: 1. human head, 2, hairdresser's seat, 3, mirror, 4, camera, 5, system display, 6, motion control assembly, 601, rail, 602, base, 603, shoulder longitudinal axis, 604, shoulder transverse axis, 605, elbow longitudinal axis, 606, big arm, 607, small arm, 608, wrist longitudinal axis, 609, wrist transverse axis; 7. a trimming member, 701, a claw, 702, a claw extension control member, 703, a trimming row direction control member, 704, a work control box, 705, a comb post, 706, an elastic device, 707, a clip strip, 708, a take-off comb, 709, a folding shaft; 7010. vibration device 7011, region locking wire 7012, locking hole 7013, comb blade 7014, stretching wire; 8. suction port, 9, suction tube, 10, working top seat, 80, electromagnetic field source, 81, facial support, 82, mandibular point magnetic detector, 83, nose bridge point magnetic detector, 84, ear hook, 85, comb tooth magnetic detector.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Although the hairstyle of the head of a human body can vary widely, the hairstyle does not change from one another because each hairline in the hairstyle has a hairroot whose position is determined and does not appear in the sky. Each hair strand may be delineated from a localized tip of hair on the surface of the hair style, according to a specific form of curve, extending to a localized root of hair on the scalp. Adjacent hair strands do not appear randomly, tend to be regularly aligned in the same direction, and the curves of adjacent hair strands tend to have the same or similar morphology. All hairstyles are formed by arranging and combining tens of millions of hairlines, the arrangement of the hairlines is quite regular, the three-dimensional curve shape of the hairlines of the human body hairstyle is not very complex, and most hairstyles are very simple, or the three-dimensional curve shape of the hairlines of most areas is very simple. And various hairstyles have a plurality of characteristic hairlines which can show the shape of the hairstyle, and the hairline shape between two characteristic hairlines shows gradual change.
Based on the principle rules of points formed by the human head hairstyles, the three-dimensional model of the human head hairstyles is built, and state information of scalp parts in all areas, such as parameters of hair length, hair follicle number or hair distribution state, is collected, so that a foundation is provided for multiplexing the hairstyles or intelligent trimming of the hairstyles.
In a preferred embodiment of the invention, a three-dimensional model of a hairstyle is built by a hairstyle model, and the method comprises the following steps:
s1: performing three-dimensional positioning of whole scalp part of human head with sample hairstyle trimmed and three-dimensional modeling of scalp state
The human cranium can be divided into cranium and facial cranium, the lateral surface of cranium is generally in irregular round shape, the top surface is in oval shape, and facial cranium is slightly conical. The three-dimensional positioning method of the scalp part of the human body in the preferred embodiment of the invention can determine a unique axis point which is positioned at the central position relatively with simple and convenient positioning operation, universality and good repeatability aiming at the irregular round shape at one side of the brain; the data acquisition device is arranged on the brain, the axis points on two sides of the brain are connected with the data acquisition device to serve as a rotating shaft, the guide rail is arranged to rotate around the shaft, the movable detection probe arranged in the guide rail is used for scanning all scalp positions, various head information and data can be acquired, the position information of all measurement points can be acquired through the electromagnetic field source, the magnetic detector and other devices, three-dimensional positioning of all scalp positions of a human body is achieved, all scalp positions of the head of the human body, such as positions where hair is attached, forehead areas and the like, the acquired position information and the head information are uploaded to the computer system, and corresponding three-dimensional graphics are generated for later head parameter call at any time.
The three-dimensional positioning method for the scalp of the human body in the preferred embodiment comprises the following steps:
firstly, determining a virtual center point in the brain and axis points on two sides of the brain; firstly, determining a median sagittal plane of the human head 1, namely a vertical plane passing through a virtual center point of the human head and enabling two sides of the head to be approximately symmetrical, selecting a mandibular point, a rear head top point, a nose bridge point and a brain back neck point, wherein the mandibular point in the preferred embodiment refers to the lowest point of the mandibular rim, namely the point where the mandibular rim intersects with the head, the rear head top point preferably refers to the median sagittal plane of the human head, the point farthest from the mandibular point, and the nose bridge point is the most concave point of the human nasal bone on the median sagittal plane of the head; and then connecting the mandibular point and the rear head top point to form a straight line, wherein the straight line passes through the virtual center point, a ray is led out from the nose bridge point to intersect with the straight line, when the distance from the nose bridge point to the intersection point is equal to the distance from the rear head top point to the intersection point, the intersection point is the virtual center point in the brain of the human head 1, and the axis point is the point from the virtual center point to the middle sagittal plane of the head to the two sides of the brain, so that the virtual center point and the axis point can be determined.
Secondly, three-dimensional positioning of the scalp part of the head 1 of the human body; after the virtual center point and the axis point are determined, corresponding position coordinates are established based on the virtual center point and the axis point to realize three-dimensional positioning of the scalp part;
In the preferred embodiment, the magnetic field is used for three-dimensional positioning of scalp parts, the penetrability of the magnetic field to non-magnetic shielding objects (such as human bodies) is utilized to realize three-dimensional positioning of corresponding parts of human bodies, and compared with an X-ray perspective positioning method and ultrasonic positioning and radioactive element marking positioning, the three-dimensional positioning method has the characteristics of high precision, no wound, no damage, ionizing radiation avoidance, simplicity and convenience in operation and the like. One or a plurality of magnetic field sources are arranged on a plurality of fixed measuring points of the human head 1 to form a magnetic field on the human head, the magnetic field sources in the preferred embodiment are electromagnetic field sources, and can also be other devices capable of generating magnetic fields such as permanent magnets, and detection probes containing magnetic detectors or magnetic field sources are arranged, the detection probes scan and detect the whole scalp part of the human head 1, and the accurate positions of the detection probes are calculated through data information fed back by the magnetic detectors of the detection probes, so that the three-dimensional positioning of the corresponding scalp part of the human head is realized; further preferably, the detection probe may be disposed on a circular arc-shaped guide rail, and two ends of the guide rail are disposed on two axial points respectively and can rotate around the axial points, so as to realize scanning coverage of the guide rail on the whole scalp portion, that is, coverage of the scanning range of the detection probe on the whole scalp portion, and the detection probe in the preferred embodiment may reciprocate in the guide rail, so that positioning of the whole scalp portion of the human head 1 and collection of scalp state can be realized through progressive scanning of the detection probe.
Further, the state information of the corresponding positions of scalp parts, the positions, the number, the densities and the health states of hair follicles in the whole scalp area, and the distribution, the growth direction, the number, the density, the diameter, the color and the health states of the hair in the corresponding hair follicles are acquired through the detection probes; since the scalp portion of the human head 1 is attached with hair, the influence of the hair is avoided, and the detection probe must be inserted into the hair and directly reach the scalp portion, so that the image, data and three-dimensional form of the scalp portion can be collected, so that the detection probe which can be inserted into the hair and directly reach the scalp portion where the hair is attached is arranged, and the detection probe can be scanned at the whole scalp portion, so that the state detection of all positions of the whole scalp portion of the human body is completed, and the hair information and hair follicle information of all positions of the scalp are collected, such as the number, density, health state and growth angle of hair follicles in the scalp region, and the distribution condition, growth direction, number, density, diameter, color, health state and subcutaneous telangiectasia and other information and data of the hair in the corresponding hair follicles.
Further, the position information collected by the detection probe corresponds to the scalp state information of the position one by one, and the position points are connected in sequence, so that the state information of the corresponding position of the scalp part of the human body can be corresponding to the position information, then the corresponding information is processed and modeled, the three-dimensional modeling of the state information of each scalp part of the head 1 of the human body can be realized, and the real-time monitoring of the state information of any scalp part can be realized.
S2: collecting relevant information of hairstyle model hairstyle
In the preferred embodiment, the three-dimensional model of the hairstyle is established by the acquisition and recording of the characteristics of the hairstyle on the basis of the three-dimensional positioning model determined in the step S1 in an intuitive interactive manner by an operator. The specific method adopted in the preferred embodiment is as follows:
firstly, finding out characteristic main hair, finding out characteristic hair which can most show the shape of a hairstyle according to the shape characteristics of the hairstyle, and selecting one or a plurality of adjacent hair as the characteristic main hair;
for hairstyles, the characteristics of the hairstyles on all areas of the human head are different, and the hairstyles can be embodied on morphological characteristics such as the length, the angle and the curvature of the hair, so that the characteristics of the hairstyles can be embodied most theoretically by taking each hair as a characteristic main hair wire to collect corresponding morphological data, the method can definitely increase the data collection workload, and in general, the morphological and data parameters of the hairs in adjacent areas of the same hairstyle are similar or continuously-changing trend, so that the characteristic main hair wires can be selected for a certain number of characteristic areas on the hairstyles, the morphological parameters of relevant positions of the hairstyles can be collected, and the accuracy of selecting the characteristic main hair wires can not greatly influence the modeling accuracy of the hairstyles.
Secondly, an operator grabs the characteristic main hair by using a corresponding device, acquires and measures data such as positions, lengths, elasticity, colors and the like of the hair tips and the hair roots of the characteristic main hair, and simultaneously depicts a three-dimensional curve form of the characteristic main hair at a specific position according to the acquired state parameters on the basis of the head three-dimensional positioning model of the real person hairstyle model established in the step S1 to serve as one characteristic main hair in the hairstyle three-dimensional model;
thirdly, repeating the steps to describe a plurality of characteristic main hair wires in the head three-dimensional positioning model;
finally, a plurality of main hair wires are generated between two adjacent main hair wires according to the relation of morphological gradual change, the main hair wires are close to the main hair wires, the hair wires with small morphological difference are usually selected from the hair wires within a certain distance around the main hair wires, the main hair wires positioned beside the same main hair wire with small morphological difference, especially when the main hair wires with small morphological difference are positioned between the two adjacent main hair wires, the characteristic parameter difference is smaller, such as the length and the growth angle difference are not large, and the hair wires between the two main hair wires are always in a continuous gradual change form, so that the two adjacent main hair wires are arranged at the hair root position on a hair follicle between the two adjacent main hair wires of the three-dimensional positioning model of the real hairmodel.
Further, it may be preferable to generate a plurality of secondary hair around each primary hair by adjusting various generation parameters (including some probability functions such as a deviation radius of a hair tip, a change in a length of a hair, etc.) by an operator according to information and data such as a hair distribution condition, a growth direction, a number, a diameter, a color, etc. of each part of the scalp of the hairstyle model, wherein the secondary hair is a hair wound around the primary hair and is closer to the primary hair, and the shape of the secondary hair is also obtained in a gradual change form according to the approaching primary hair, thereby completing the establishment of the hairstyle model in the head three-dimensional model and forming a hairstyle three-dimensional model corresponding to the hairstyle; the generation of the main hair and the secondary hair is mature in the prior art, such as the prior art 'modeling of three-dimensional hair with sense of reality and research of dynamic simulation algorithm', and the present scheme can also adopt the related technology in the above paper to realize the generation of the main hair and the secondary hair, which is not the focus of the present scheme, so that no further explanation is provided herein.
Further preferably, in the preferred embodiment, the collection of the characteristic main hair information is completed by providing a detection pen, the inside of the detection pen is preferably hollow, the front end of the detection pen is provided with a hair taking hook or a hair taking small claw which can stretch in the detection pen, and a sensor capable of detecting hair state information is arranged in the detection pen, so that after one or more hair is hooked or grabbed, the detection pen is pulled into the detection pen, the position information of the hair tip and the hair root of the characteristic main hair is detected by the sensor, and the length, elasticity, softness, friction force and color information of each section of hair of the hair are obtained.
Further, in a preferred embodiment, the resulting three-dimensional model of the hairstyle may be rendered to provide a three-dimensional hair model that is nearly identical to the hairstyle on the hair model head.
Further, after the three-dimensional model of the hairstyle is built through the steps, the three-dimensional model of the hairstyle can be uploaded to a computer system or a cloud for the replacement and multiplexing of the hairstyle, people needing hairstyle design can select the favorite hairstyle from the computer system or the cloud, a state diagram of the self head applying the hairstyle is generated by combining the three-dimensional model of the self head and scalp state information, trimming of the hairstyle on the self head can be completed according to the state diagram, multiplexing of the hairstyle is achieved, and the three-dimensional model of the hairstyle in the preferred embodiment can be preferentially multiplexed on the head of the same individual or different individuals.
Further, the hair style of the human head is generally determined by the length of hair, the growing angle of hair follicle and the bending degree of hair, and in general, when the same hair style is reused on the head of the same person, the distances between the hair tips of different areas and the scalp are mostly fixed or are not different, so that the original hair style does not need to be greatly corrected unless the scalp state parameters of the scalp part of the human body are greatly changed, such as external force influence or disease influence; further, when the same hairstyle is reused on different individuals, the hairstyle cannot be reused directly due to the differences of the shape and size, the hair density and the hair follicle growth angle among the heads of the human bodies, and the differences of the distribution condition, the hair color, the hair diameter, the softness and the elasticity of the hair, and the hairstyle needs to be reused after being adjusted according to the difference of the scalp state information of the hairstyle person to be trimmed and the scalp state information of the hairstyle model.
Further, the reuse of hairstyles in the preferred embodiment preferably employs the following method:
firstly, realizing three-dimensional modeling of the head of a person to be trimmed and modeling of scalp state through the step S1, and completing collection of head state information of the person to be trimmed;
secondly, comparing the head state information of the hairstyle model with the head state information of the personnel to be trimmed to generate corresponding correction parameters, wherein the selection of the correction parameters is mainly determined by the differences of the shape and the size of the heads of the human body, the hair density and the hair follicle growth angle, the distribution condition of the hair, the hair color, the hair diameter, the softness and the elasticity of the hair;
thirdly, introducing the correction parameters into the original hairstyle three-dimensional model, and correspondingly adjusting partial parameters at corresponding positions in the hairstyle three-dimensional model according to the correction of the correction parameters, such as adjustment of the length of partial area hair or fine adjustment of the shape of the hairstyle, so as to generate the hairstyle three-dimensional model when the hairstyle is multiplexed on the head of a person to be trimmed;
finally, according to the hairstyle three-dimensional model in the step, the hairstyle can be reproduced on the head of the human body by adopting a manual trimming or intelligent trimming mode, and the multiplexing of the hairstyle three-dimensional model is completed.
Further, since the corrected three-dimensional model of the hairstyle can be perfectly matched with the head of the person to be subjected to hairstyle multiplexing, and the hair length of each scalp area can be obtained and determined, the intelligent trimming device can be arranged corresponding to the corrected three-dimensional model of the hairstyle to perform intelligent trimming of the hairstyle, the intelligent trimming device and the three-dimensional model of the hairstyle are arranged in the same coordinate system, preferably share the same origin, the three-dimensional model of the hairstyle can be decomposed into a plurality of characteristic areas, and the hair length information and the position information of each characteristic area are generated into a movement instruction of the intelligent trimming device, so that the hair trimming of the corresponding scalp area is completed through the movement of the intelligent trimming device, and the intelligent multiplexing trimming of the hairstyle is realized.
The multiplexed and generated hairstyle three-dimensional model combines the head shape characteristics, scalp state information and hair information of the person to be trimmed, is closer to the actual situation, and can enable the person to be trimmed to visually see the hairstyle effect after trimming before trimming, so that the experience effect is improved, the generated hairstyle three-dimensional model can be rendered, an effect graph can be generated and/or a hairstyle library can be built, and the application convenience and the application authenticity are further improved.
Further, in the preferred embodiment of the invention, intelligent trimming of the human body hair style is realized by multiplexing the three-dimensional model of the hair style and the intelligent trimming device of the human body hair style, so that intelligent trimming of the selected hair style of a person to be trimmed is realized.
Further, the smart manicuring device of the preferred embodiment includes a cutting member 7 and a movement control assembly 6 for use therewith. Specifically, the intelligent human hair style trimming device comprises a haircut seat 2 for a hairstyle person to be trimmed to sit down, preferably provided with a backrest, and a guide rail 601 arranged on the periphery of the haircut seat 2, preferably arranged around the haircut seat 2 after the haircut person to be trimmed sits on the haircut seat 2, and a movement control assembly 6 arranged on the guide rail 601 and capable of moving reciprocally along the guide rail 601 to complete positioning and trimming of each position of the human head 1.
Further, the motion control assembly 6 in the preferred embodiment is a multi-axis robotic arm that mimics the action of a human hair clipper's arms when cutting hair, including a rail 601, a base 602, a shoulder longitudinal axis 603, a shoulder transverse axis 604, an elbow longitudinal axis 605, a large arm 606, a small arm 607, a wrist longitudinal axis 608, a wrist transverse axis 609, etc., as shown in fig. 1-3. Wherein the guide rail 601 is circumferentially arranged on the periphery of the hair-styling seat 2, which can be preferably in a right circular arc shape or in an elliptical arc shape, and the lower part of the base 602 can preferably be driven by a servo motor or other power system to run in the guide rail 601 so as to control the transverse movement of the trimming member 7 around the head of a hair styling person to be trimmed; further, the upper part of the base 602 is provided with a shoulder joint, and the shoulder joint preferably has two shafts, one shaft is a shoulder joint transverse shaft 604, which can control the upper end of the big arm 606 to move back and forth, and the other shaft is a shoulder joint longitudinal shaft 603, which can control the upper end of the big arm 606 to move left and right; further, the lower end of the big arm 606 is preferably movably connected with the shoulder joint, and the lower end of the big arm 606 is kept in an erected state and is fixed at a certain angle in a normal state, namely, the axis of the big arm 606 does not enter the range enclosed by the guide rail 601, when the head of a person to be cut hair style moves beyond the allowable range, the mechanical arm at the front part of the big arm 606 rapidly moves reversely, so that the head of the person to be cut hair style is protected; further, the upper end of the big arm 606 is provided with an elbow joint connected with the small arm 607, which comprises an elbow joint longitudinal axis 605, and the front end of the small arm 607 can be controlled to move up and down, so that the wrist joint at the front end of the small arm 607 moves to a position right above the scalp area to be trimmed and keeps a certain distance, and the mechanical arm is controlled to move longitudinally around the head of a person to be trimmed; further, in the preferred embodiment, the wrist joint provided at the front end of the forearm 607 includes two shafts, i.e., a wrist longitudinal shaft 608 and a wrist transverse shaft 609, for connecting the claws 701 of the cutting member 7, so that the lower end of the claws 701 can move back and forth and right and left at the same time, and the two shafts of the wrist joint can jointly make the claws 701 perpendicular to the scalp area to be cut and perform the task of cutting even if the head of the person to be cut is inclined.
It is further preferred that the movements of the axes of the movement control assembly 6 are controlled in the same way by a servo motor which converts the stroke commands generated by the computer system into corresponding movements of the axes, and finally the three-dimensional model of the hairstyle is reused on the head of the person to be shaved, however, it is obvious to a person skilled in the art that the movements of the axes of the movement control assembly 6 are not limited to the control of the servo motor, but can be accomplished by other power systems.
Further, in the preferred embodiment, the trimming member 7 is connected to one end of the movement control assembly 6, and the movement control assembly 6 performs the position control of the trimming member 7 to perform the multiplexed trimming of the three-dimensional model of the hairstyle of the person to be trimmed. In particular, the overall structure of the cutting member 7 in the preferred embodiment is shown in fig. 4, wherein a wrist transverse shaft 609 has a finger 701 mounted therein, which is adapted to be held at any time in perpendicular relation to the tangential plane of the head of the person to be cut, under the control of the wrist longitudinal shaft 608 and the wrist transverse shaft 609.
Further, the trimming member 7 in the preferred embodiment includes a hand claw 701, a hand claw extension and retraction control member 702, a trimming row direction control member 703, a comb post 705 and a hair pick-up comb 708, wherein the hand claw extension and retraction control member 702 is provided in the wrist joint cross shaft 609, and the hand claw 701 is movable up and down under the control of the hand claw extension and retraction control member 702; the lower end of the paw 701 is preferably provided with a joint shaft and is connected with a trimming line direction control component 703, and the trimming line direction control component 703 can control the trimming line direction of the trimming component 7 under the drive of a servo motor or other power systems so as to trim the transverse line, the longitudinal line or the inclined line of the scalp area to be trimmed of the head 1 of the human body; further, a working control box 704 is provided below the trimming row direction control means 703, a control device of the relevant components is provided in the working control box 704, and at least one row of comb teeth posts 705 is provided at the lower part of the working control box, the row of comb teeth posts 705 are arranged in parallel at intervals by a plurality of comb teeth posts 705, the comb teeth posts 705 in the preferred embodiment are equally spaced in length, and the front end of each comb teeth post 705 is connected with a hair taking comb tooth 708 through a folding shaft 709, and the hair taking comb tooth 708 can contact the scalp of the human head 1 with the side surface after rotating around the folding shaft 709 to a certain angle, as shown in fig. 7, the trimming means 7 at the front end of the hair taking comb tooth 708 is inserted into the hair of the person to be trimmed by the comb teeth posts 705.
Further preferably, the corresponding claws 701 are preferably provided with sensors for detecting the pressure sensed by the cutting member 7, and once a certain pressure value is reached, the mechanical arm immediately stops running to prevent the head of the person to be cut from being damaged, and the difference between the scalp area to be cut and the scalp area to be cut of the real person on the three-dimensional head model in the intelligent hairstyle cutting system can be corrected by using the sensors.
Further, when the cutting member 7 in the preferred embodiment is operated to reach the position right above the scalp area to be cut under the control of the movement control assembly 6, the claws 701 are perpendicular to the scalp area to be cut under the combined action of the wrist longitudinal axis 608 and the wrist transverse axis 609, after the cutting direction of the cutting member 7 is adjusted, the hair picking comb teeth 708 at the lower end of the claw are inserted into the hair of the head of the person to be cut under the control of the claw expansion control assembly 702; it is further preferred that the vibration means provided in the operation control box 704 of the cutting member 7 can generate small vibrations to better pluck hair, and further, the hair-plucking comb teeth 708 of the cutting member 7 are continuously plucked out hair by the vibration means, and the hair-plucking comb teeth 708 in the middle of the cutting member 7 reach the scalp of the person to be cut first because the human head 1 is arc-shaped.
Further, as shown in fig. 5, the forefront end of the hair taking comb teeth 708 is preferably in a single-side arc shape, so that the hair taking comb teeth 708 are propped against the scalp and are folded along with the single-side arc shape around the folding shaft 709 under the driving of the vibration device, at this time, the trimming part 7 continues to move downwards, and in the process of folding the hair taking comb teeth 708, the forefront end of the hair taking comb teeth 708 is tightly attached to the scalp of the area to be trimmed to continuously extend forwards, and all hair roots in the area are combed between two adjacent hair taking comb teeth 708; further, when the pick-up comb 708 is folded about the folding axis 709 to an angle, the folding is stopped and locked, preferably to 90 ° in the preferred embodiment, and the bottom of the comb post 705 connected by the folding axis 709 is pressed against the scalp; further, the elastic device 706 is disposed under the operation control box 704 in the preferred embodiment, so that the comb teeth posts 705 can elastically contract along the axis of the operation control box by a certain distance, that is, when the comb teeth posts 705 in the middle of the trimming part 7 are propped against the scalp, the trimming part 7 can further move downwards, and the folding of other hair taking comb teeth 708 is not affected, at this time, the comb teeth posts 705 in the middle are contracted, and the comb teeth posts 705 on both sides continue to descend until all the hair taking comb teeth 708 are folded by a certain angle and the ends of the comb teeth posts 705 are propped against the scalp; further, when all of the pick-up combs 708 on the cutting member 7 are fully folded to 90 ° and there is some retraction of the comb posts 705, the grip strips 707 disposed within the working control box 704 clamp the upper portions of the comb posts 705 tightly so that the curvature of the overall retracted configuration remains in full conformity with the scalp of the row to be cut, at which time the cutting member 7 stops moving downwardly.
Further, as shown in fig. 8, when the hair removing comb teeth 708 of the trimming member 7 are folded and locked by 90 ° in the preferred embodiment, the root portions of all the hairs in the scalp area to be trimmed become combed between the plurality of hair removing comb teeth 708, and at this time, two area locking wires 7011 extend between the adjacent two hair removing comb teeth 708, preferably extend from the side portions of one hair removing comb tooth 708 and extend into the locking holes 7012 on the side surface of the other hair removing comb tooth 708 with the end portions thereof to lock the hairs between the two hair removing comb teeth 708 in one closed area to be trimmed, and in the preferred embodiment, the area locking wires 7011 in each hair removing comb tooth 708 are uniformly controlled by the locking wire control member with the upper end thereof disposed in the operation control box 704, and after all the hairs of the row are trimmed, the locking wires 7011 are uniformly retracted upward after the locking is canceled, thereby completing the locking and unlocking of the area to be trimmed between the hair removing comb teeth 708.
Further, after the hair picking comb 708 locks the hair in the area to be cut, the cutting part 7 moves upwards under the drive of the paw extension control part 702 or the movement control assembly 6 to leave the scalp of the person to be cut, so that the hair in the area to be cut is pulled along the direction of the texture of the hair, in order to prevent entanglement of other hair wires during pulling, when the resistance detected by the sensor in the paw 701 exceeds a certain value, the vibration device 7010 in the work control box 704 can be used to generate vibration, and the hair in the area to be cut can be pulled more smoothly; further, two comb teeth blades 7013 which are overlapped with each other and have mutually opposite knife edges are arranged on the side peripheral surfaces of the hair taking comb teeth 708 in the preferred embodiment along the axis of the hair taking comb teeth, and the comb teeth blades 7013 are parallel to the head of a human body after the hair taking comb teeth 708 are folded, so that the blades are always not contacted with the scalp of the human body, and the safety of a person to be subjected to hairstyle trimming is fully ensured; further, the comb blade 7013 is in a contracted state before trimming, and when the hair pulled in a certain area to be trimmed reaches the length set in the three-dimensional model of the hairstyle, the comb blade 7013 on the upper part of the hair taking comb 708 on two sides of the area to be trimmed is rapidly ejected and cut off all the hair in the area to be trimmed under the action of the conical piece stretching action of the front end of the stretching wire 7014 in the middle of the two blades.
Further, as shown in fig. 9, the front end of the stretching wire 7014 is provided with a tapered piece which is thick at the front and rear, and can be driven by the stretching wire 7014 to move forward and backward along the axial direction of the hair pick-up comb 708 so as to eject or retract the comb blade 7013. In order to ensure the trimming efficiency, in the preferred embodiment, each stretching wire 7014 is individually controlled by a stretching wire control component whose upper end is disposed in the working control box 704, and the hairs in each area to be trimmed are not simultaneously trimmed, but the lengths of the hairs pulled apart in each area to be trimmed are calculated according to the radian position of the comb teeth in the retracted form, and trimming is performed area by area according to the set lengths of the hairs, that is, the lengths of the hairs in each line of trimming are not necessarily the same, so that the situation that the lengths of the hairs required to be trimmed in the left area to be trimmed may exist, and the hairs required to be trimmed in the right area to be trimmed are short, so that the trimming work of the whole line of hairs is not affected.
It is further preferred that the means for cutting hair on the pick-up comb 708 is not limited to the use of comb blade 7013, but may be used in other ways, such as hair clippers, etc., which may be combined with the cutting means 7 or with the movement control assembly 6; then, when the hair of a row of scalp areas to be trimmed is trimmed, the trimming component 7 is used for removing the 90-degree locking of the human head 1, and re-straightening the folded hair taking comb teeth 708, restoring the original posture, and carrying out hair trimming operation of the next row of scalp areas to be trimmed under the drive of the moving control component 6 in a straight line with the comb teeth column 705; still preferably, the intelligent clipping device may further be provided with a negative pressure device, a suction pipe 9, a suction port 8, and the like, wherein the suction port 8 is disposed at the front end of the hand claw 701, and when the hair is cut by the clipping component 7, the clipped hair is sucked by the suction port 8 due to the negative pressure generated by the negative pressure device, and then is collected into the hair collecting box through the suction pipe 9, and does not fall on the head and neck or shoulder of the person to be clipped, so that the hair clipping process becomes cleaner and more comfortable.
Further preferably, the cutting member 7 may be provided as a plurality of rows of comb teeth, and may cut hair in a plurality of rows of scalp regions to be cut at a time, and the hair cutting operation of a whole scalp region may be completed two to three times, thereby achieving the region cutting. Preferably, the comb teeth of the trimming part 7 are arranged in three rows, and more or fewer rows of comb teeth can be arranged, so that the working efficiency of intelligent trimming of the hairstyle is further improved.
In the preferred embodiment of the present invention, the movement of the trimming member 7 is performed by the movement control assembly 6 with the guide rail 601, but this is not the only driving form of the trimming member 7, in another preferred embodiment of the present invention, the working top seat 10 is arranged at the top of the person to be trimmed, the mechanical arm structure is arranged below the working top seat, the trimming member 7 is arranged at one end of the mechanical arm structure, and the working top seat 10 can control the trimming member 7 to move in the area of the head 1 of the person to be trimmed and perform trimming of the hairstyle; further preferably, in the preferred embodiment, the hair is cut by grabbing, so that the hair with various lengths can be cut well, but some short hair types or ultra-short hair types can be cut directly on the surface of the hair, and the working mode is more convenient for cutting the short hair types and ultra-short hair types, so that the hair cutting component 7 in the other preferred embodiment is composed of a paw and a hair clipper at the front end of the paw, and the hair clipper can be similar to an electronic hair clipper used by a hair clipper in the prior art, is controlled by an intelligent hair cutting system, and can directly cut the hair along the surface of the hair of the head of a person to be cut under the driving of a mechanical arm and the paw. In the hairstyle trimming process of the head of the person to be trimmed, the paw or the trimming part 7 can be replaced manually, or the intelligent hairstyle trimming system can control the mechanical arm to self replace the paw or the trimming part 7 according to the actual requirement of hairstyle trimming, the long hair part can be replaced by a trimming part capable of grabbing hair, the short hair part can be replaced by a hair clipper capable of directly trimming the hair on the surface of the hairstyle, and the part needing to be thinned can be replaced by a thinning cutter capable of thinning the hair.
When the intelligent trimming device in the preferred embodiment of the invention is used for multiplexing and trimming the hairstyle of the head of a human body, a person waiting for trimming the hairstyle keeps a normal posture and sits on the hair trimming seat 2, and the real-time trimming condition of the hairstyle can be known through the information such as the hairstyle effect graph and the trimmed scalp area displayed in the mirror 3 in front of the person waiting for trimming the hairstyle and the system display 5. The hair-cutting seat 2, the camera 4, the guide rail 601, etc. are preferably located at the same three-dimensional space fixed position. The cameras 4 of vision subsystems are arranged in parallel on the two sides in front of the head of the person to be cut, the head position parameters of the person to be cut can be measured by using a binocular vision system, the position parameters (the position parameters in the X, Y and Z directions) and the angle parameters of the person to be cut in the three-dimensional space are obtained, the camera is combined with the three-dimensional head model of the person to be cut, real-time head position information consistency between the head of the person to be cut and the three-dimensional head model is achieved and kept, then the computer system measures the head position parameters of the person to be cut through the vision subsystem and matches the head position parameters to the three-dimensional head model in the system in real time, so that correct position information of the scalp area to be cut is quickly obtained, motion tracking is achieved according to the information of the head characteristic measuring points on the side to be cut, the real-time scalp area to be cut is obtained, corresponding control instructions are generated by the computer system to the mobile control assembly 6, the computer system drives the cutting part 7 to complete grabbing and cutting of the hair in the area, multiplexing of the three-dimensional model of the hair is achieved, and intelligent hair cutting is achieved.
Further preferably, the vision subsystem can also measure the head position of the person to be trimmed through a multi-eye vision system or other positioning systems such as a magnetic positioning system, and can be combined with a three-dimensional head model of the person to be trimmed to realize and keep the consistency of the head position information of the person to be trimmed and the head position information in the three-dimensional model of the hair style; and the cutting member 7 in the preferred embodiment can perform quick corresponding actions according to the detection of the slight deviation of the human head by the vision subsystem without the adaptive movement of the movement control assembly 6, and when the deviation of the human head is large, the movement control assembly 6 can correspondingly control the cutting member 7 to move so as to adapt to the movement of the human head.
Further, the magnetic positioning system in the preferred embodiment is shown in fig. 11, in which the posture parameters of the head of the person to be trimmed in three-dimensional space can be obtained by means of magnetic positioning, in which an electromagnetic field source 80 is provided on the top of the backrest of the hair-cutting seat 2, and emits magnetic field information to the outside, covering the whole and adjacent area of the head of the person to be trimmed. The face holder 81 is preferably made of a lightweight and elastic material, and is worn on the face of the person to be trimmed without blocking the scalp area to which hair is attached, and is held against the face of the person to be trimmed, so that the hair is held against displacement. The upper part of the front end of the device is provided with a nose bridge point magnetic detector 83 which is arranged on the nose bridge point of a person to be trimmed, the rear end of the device is provided with an ear hook 84 which is hooked on the ear of the person to be trimmed, the lower part of the device is provided with an elastic band, the mandibular point magnetic detector 82 is arranged on the mandibular point of the person to be trimmed, and the middle comb teeth of the trimming part at the lower part of the hand claw are also provided with a comb tooth magnetic detector 85; when the hairstyle is intelligently trimmed, an electromagnetic field source 80 at the top of the backrest of the haircut seat 2 generates a magnetic field in the surrounding space, magnetic signals are detected by a nose bridge point magnetic detector 83 and a mandibular point magnetic detector 82 of the face of a person to be trimmed and transmitted to a computer system, the spatial three-dimensional relationship of the two points is calculated, and the three-dimensional relationship is matched with corresponding points of the existing three-dimensional head model of the person to be trimmed in the system after calibration. At the moment, the posture parameters of the head of the person to be trimmed in the three-dimensional space in the intelligent hairstyle trimming process can be obtained in real time, and the response speed of the system is improved. When the intelligent hair style trimming is performed and the head of a person to be trimmed moves, the comb teeth magnetic detector 85 transmits magnetic signals detected in real time to the computer system, and the system can quickly adjust the position information of the trimming part 7 or the scalp area to be trimmed according to the changes of the position information of the trimming part 7 and the scalp area to be trimmed tracked in real time, so that the response speed of the system is improved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (9)

1. A method for intelligently trimming a human body hairstyle is used for intelligently reproducing a sample hairstyle three-dimensional model on the head of a person to be trimmed, and comprises the following steps of:
s1: determining a sample hairstyle three-dimensional model, wherein the determination method comprises the following steps:
a1: selecting a mandibular point positioned at the lowest position of the mandible lower edge, a nose bridge point positioned at the most concave position of nasal bones and a point farthest from the mandibular point, namely a rear head top point, on the outer edge of a median sagittal plane of the human head (1) with the sample hairstyle trimmed, determining a virtual center point in the human head (1) according to the distance relation among the three points, and determining two axle center points which are respectively arranged at two sides of the human head (1) and the connecting line of which is perpendicular to the median sagittal plane and passes through the virtual center point by the virtual center point;
a2: at least one magnetic field source and a plurality of magnetic detectors are arranged on the outer edge of the median sagittal plane of the human head (1) and the two axial center points, the magnetic field source generates a magnetic field on the human head (1) and the magnetic detectors determine the relative positions in the magnetic field;
A3: setting a detection probe capable of moving, positioning and detecting at any position of the whole scalp position of the human head (1), wherein a magnetic detector or a magnetic field source is arranged on the detection probe, the movement and detection of the detection probe at the whole scalp position of the human head (1) is used for feeding back the position information and scalp state information of the scalp position of the human head, a three-dimensional positioning model of the human head (1) is built according to the acquired position information, and a scalp state three-dimensional model is built according to the three-dimensional positioning model and the scalp state information;
a4: selecting a characteristic main hair on each characteristic area of the sample hairstyle, collecting the position parameter and the characteristic information parameter of the characteristic main hair, and correspondingly inputting the position parameter and the characteristic information parameter into the three-dimensional positioning model;
a5: generating a plurality of main hair wires and auxiliary hair wires among all characteristic main hair wires in the three-dimensional positioning model of the human head (1), so as to form a three-dimensional model of the hairstyle;
s2: comparing the scalp state three-dimensional model of the human head (1) where the sample hairstyle is positioned with the scalp state three-dimensional model of the hair to be trimmed to generate corresponding correction parameters, substituting the correction parameters into the sample hairstyle three-dimensional model to generate a hairstyle three-dimensional model matched with the head of the hair to be trimmed;
S3: dividing the modified hairstyle three-dimensional model into a plurality of characteristic areas, and generating a plurality of motion instructions which are adaptive to the hair position information and the length information of the characteristic areas;
s4: setting a multi-axis mechanical arm relative to the hairstyle three-dimensional model to execute the motion instruction, wherein the multi-axis mechanical arm can reach the corresponding position of the head of the hairstyle person to be trimmed under the control of the motion instruction;
s5: and a trimming part (7) is arranged at the end part of the multi-axis mechanical arm, the trimming part (7) can follow the multi-axis mechanical arm to reach any position of the head of the person to be trimmed, trimming of hair in a corresponding scalp area is completed according to the movement instruction, and intelligent trimming of the sample hairstyle on the head of the person to be trimmed is realized through the movement of the multi-axis mechanical arm and trimming of the trimming part (7).
2. The intelligent manicuring method as claimed in claim 1, wherein the magnetic field source is disposed at the mandibular point and magnetic detectors are disposed at the nose bridge point, the rear head apex point and the two axial points, respectively.
3. The intelligent human hair style trimming method according to claim 1 or 2, wherein the detecting probe is arranged on a circular arc-shaped guide rail, two ends of the guide rail are respectively arranged on two axle center points and can rotate around the axle center point connecting line to cover all scalp parts, and the detecting probe can reciprocate in the guide rail, so that the positioning of all scalp parts of the human head (1) can be realized through the line scanning of the detecting probe, and the positions, the number, the density and the health state of hair follicles in all scalp areas are acquired, and the distribution, the growth direction, the number, the density, the diameter, the color and the health state of the hair in the corresponding hair follicles are acquired.
4. The method for intelligent trimming of human hair style according to claim 1 or 2, wherein the collection of the characteristic main hair information can be accomplished by arranging a detecting pen, the detecting pen is hollow, the front end of the detecting pen is provided with a hair taking hook or a hair taking small claw which can stretch in the detecting pen so as to draw one or more hair hooks into the detecting pen after taking or grabbing, and the sensor arranged on the detecting pen is used for detecting the position information of the hair tip and the hair root of the characteristic main hair, the length, the elasticity, the softness, the friction force and the color information of each section of hair.
5. Device for intelligent trimming of body hair style, for intelligent trimming of hair of a body head (1) to be trimmed according to the method of intelligent trimming of body hair style according to anyone of claims 1-4, characterized in that the device comprises a control processing unit, a multi-axis mechanical arm and a trimming member (7), wherein,
the control processing unit is used for modeling the human head (1) of the hairstyle to be trimmed, generating a corresponding three-dimensional model of the human scalp state, obtaining correction parameters through parameter comparison with a sample three-dimensional model of the hairstyle, and inputting the correction parameters into the sample three-dimensional model of the hairstyle to be trimmed, so as to generate a three-dimensional model of the hairstyle matched with the head of the person to be trimmed; the control processing unit is also used for generating a motion instruction for controlling the multi-axis mechanical arm to move at any position around the head of the person to be trimmed according to the hairstyle three-dimensional model, and controlling the multi-axis mechanical arm to move correspondingly;
The multi-axis mechanical arm realizes the movement and accurate positioning of any scalp area around the head of the person to be shaved through the movement instruction of the control processing unit;
the trimming part (7) is arranged at the front end of the multi-axis mechanical arm, and can move along with the multi-axis mechanical arm to reach any area where hair is attached to the head of the person to be trimmed, so that intelligent trimming of hair on any area of the head of the person to be trimmed is completed, and intelligent trimming of a hairstyle is achieved.
6. The device for intelligent trimming of a human hair style according to claim 5, wherein a vision subsystem is provided corresponding to the head of the person to be trimmed, which can be a binocular vision system, a multi-vision system or a magnetic positioning system, for measuring the head position of the person to be trimmed, and can be combined with the three-dimensional head model of the person to be trimmed to achieve and maintain the consistency of the head position information of the person to be trimmed and the three-dimensional head model of the hair style.
7. The device for intelligent hair style trimming of human body according to claim 5, wherein the multi-axis mechanical arm comprises a base (602), a shoulder joint longitudinal axis (603), a shoulder joint transverse axis (604), an elbow joint longitudinal axis (605), a big arm (606), a small arm (607), a wrist joint longitudinal axis (608), a wrist joint transverse axis (609), and a guide rail (601) which can encircle a person to be trimmed is arranged corresponding to the base (602);
The base (602) can slide in the guide rail (601) to adapt to hair trimming of each scalp position of the human head (1), one end of a shoulder joint longitudinal axis (603) is connected to the top of the base (602), the other end of the shoulder joint longitudinal axis is connected with the bottom end of the big arm (606) through the shoulder joint transverse axis (604), the top end of the big arm (606) is connected with one end of the small arm (607) through the elbow joint longitudinal axis (605), the other end of the small arm (607) is movably connected with one end of a wrist joint longitudinal axis (608), and the other end of the wrist joint longitudinal axis (608) is connected with a wrist joint transverse axis (609) which can be matched with the trimming part (7), so that the trimming part (7) can realize running of the trimming part (7) at any position on the head of a person to be trimmed under the driving of the multi-axis mechanical arm.
8. The device for intelligent hair trimming according to any one of claims 5 to 7, wherein the trimming means (7) comprises a long rod-shaped and telescopic hand claw (701), a control means for controlling the telescopic hand claw (701), a plurality of comb teeth posts (705) arranged at the front end of the hand claw (701), and a hair picking comb teeth (708) coaxially arranged corresponding to each of the comb teeth posts (705);
the comb teeth columns (705) are connected with the hair taking comb teeth (708) through folding shafts (709), so that the hair taking comb teeth (708) can rotate around the end parts of the comb teeth columns (705) for a certain angle and then are locked after being abutted against the scalp, then hair in a scalp area to be trimmed is combed between the hair taking comb teeth (708), after the claws (701) shrink a distance corresponding to the length of a hairstyle, the hair between the hair taking comb teeth (708) can be cut, and intelligent trimming of the hair in the area is completed.
9. The device for intelligent trimming of a human hair style according to claim 8, wherein the comb teeth posts (705) can be locked after being contracted along the axis of the comb teeth posts by a certain distance so as to adapt to the radian of the head of the person to be trimmed, and the end parts of the comb teeth posts (705) can be abutted against the head of the person to be trimmed when the comb teeth posts (705) work.
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