CN111300448A - Cosmetic robot based on visual identification and automatic cosmetic method thereof - Google Patents
Cosmetic robot based on visual identification and automatic cosmetic method thereof Download PDFInfo
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- CN111300448A CN111300448A CN202010166425.5A CN202010166425A CN111300448A CN 111300448 A CN111300448 A CN 111300448A CN 202010166425 A CN202010166425 A CN 202010166425A CN 111300448 A CN111300448 A CN 111300448A
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- face
- mechanical arm
- cosmetic
- touch display
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a cosmetic robot based on visual recognition and an automatic cosmetic method thereof, wherein the cosmetic robot comprises a base, a controller, a mechanical arm, a touch display, a display support, a chin support assembly and two face cameras, the mechanical arm, the touch display, the display support, the chin support assembly and the two face cameras are arranged on the base, a clamping device is arranged at the tail end of the mechanical arm, the bottom of the display support is fixedly connected with the base, the top of the display support is fixedly connected with the rear side of the touch display, the face cameras are arranged on the touch display, the shooting direction of the face cameras is the same as the display direction of the touch display, the chin support is arranged opposite to the touch display, and the mechanical arm, the face cameras and the touch display are respectively connected with the controller. Compared with the prior art, the method accurately obtains the face coordinates through visual recognition; the six-degree-of-freedom robot is adopted for makeup operation, the control precision is high, the makeup efficiency is effectively improved, the chin support is attached to the shape of the face chin, and the use comfort level is improved.
Description
Technical Field
The invention relates to a makeup robot and an automatic makeup method thereof, in particular to a makeup robot based on visual identification and an automatic makeup method thereof.
Background
At present, people generally adopt an artificial makeup mode in home makeup, the effect and the market of the artificial makeup depend on personal makeup technology, two makeup operations with the highest frequency in life are eyebrow drawing and lipstick coating, and many people with poor technology need a long time to make a satisfactory makeup. When people try different makeup, people often find that the makeup is not suitable for themselves after new makeup is developed, and the situation that the makeup needs to be wiped off for makeup again is solved. The existing makeup robot is often positioned and moved according to a preset fixed program, can not be accurately positioned by combining the face of a user, can not preview the makeup effect, and has a rough machine makeup technique.
Disclosure of Invention
The present invention is directed to a cosmetic robot based on visual recognition and a method for using the same, which overcome the above-mentioned disadvantages of the prior art.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a cosmetic robot based on visual identification, includes base, controller and locates arm, touch display, display support, chin supporting component and two people's face cameras on the base, the end of arm be equipped with the clamp that is used for centre gripping eyebrow pencil or lipstick and get the device, the bottom and the base fixed connection of display support, the rear side fixed connection of top and touch display of display support, people's face camera locate on the touch display, people's face camera's the shooting direction the same with touch display's display direction, chin supporting component set up with touch display relatively, arm, people's face camera and touch display be connected with the controller respectively.
The controller comprises a positioning module for acquiring the positions of eyebrows and mouths of the human face according to image data of the human face camera and a mechanical arm control module for controlling the mechanical arm to perform makeup actions according to the positions of the eyebrows and the mouths of the human face.
The chin support assembly comprise a support bracket and a chin support, the bottom of the support bracket is fixedly connected with the base, the top of the support bracket is fixedly connected with the chin support, and the chin support is U-shaped.
The chin support comprises a U-shaped stainless steel main body and a sponge soft sleeve sleeved on the stainless steel main body, and the comfort level in use is improved.
The supporter support include pole in first fixed outer pole and the first activity, the pole cover establish in first fixed outer pole in the first activity, the pole remove along the vertical direction of first fixed outer pole in the first activity, the junction of pole and first fixed outer pole in the first activity be equipped with the locking clamp.
The display support include the fixed outer pole of vertical bogie, second and the movable inner pole of second, the movable inner pole of second establish in the fixed outer pole of second, the movable inner pole of second remove along the fixed outer pole vertical direction of second, the movable inner pole of second be equipped with the locking clamp with the junction of the fixed outer pole of second, the one end of vertical bogie rotate with the top of the fixed outer pole of second and be connected, the other end and touch display fixed connection.
The mechanical arm is a six-degree-of-freedom mechanical arm, the six-degree-of-freedom mechanical arm comprises a waist rotary joint, a shoulder joint, a lower arm, an elbow joint, an upper arm, a wrist joint, a wrist rotary joint and a clamping device which are sequentially connected, and the bottom of the waist rotary joint is fixedly connected with the base.
The device is got to the clamp on seted up the cosmetics jack, jack mouth be equipped with the elasticity clamping piece that is used for pressing from both sides tight cosmetics, during the use, inject eyebrow pencil or lipstick into the cosmetics jack, elasticity clamping piece presss from both sides tight lipstick or eyebrow pencil. .
An automatic makeup method of a makeup robot based on visual recognition, comprising the steps of:
s1: the two face cameras take pictures of the face attached to the chin support assembly and transmit the face pictures to the controller in real time;
s2: the controller identifies a calibration object on the face photo, and obtains a conversion matrix between the space coordinate of the virtual point of the face camera and the mechanical arm coordinate system according to the image of the calibration object;
s3: the controller identifies a human face according to the human face picture, carries out contour positioning on eyebrows and a mouth, and extracts and acquires regional information of the eyebrows and the mouth;
s4: the controller acquires the actual distance between the face and the cameras according to the face pictures of the two face cameras, and acquires the position coordinates of the eyebrows and the mouth in a mechanical arm coordinate system according to the actual distance, the area information and the conversion matrix;
s5: the controller acquires a makeup template selected on the touch display, acquires an effect picture of the face eyebrow and the lipstick according to the face picture, and controls the touch display to display the effect picture of the face eyebrow and the lipstick;
s6: the clamping device clamps the eyebrow pencil, and the controller controls the mechanical arm to move to draw eyebrows according to the position coordinates of the eyebrows in the mechanical arm coordinate system;
s7: the gripping device grips the lipstick, and the controller controls the mechanical arm to move according to the position coordinate of the mouth in the mechanical arm coordinate system to paint the lipstick;
s8: and the controller matches the face picture with the effect picture, judges the matching degree of the face picture and the effect picture, returns to the step S6 if the matching degree is lower than a set value, and otherwise, the mechanical arm returns to the initial position after the work is finished.
Compared with the prior art, the invention has the following advantages:
(1) according to the invention, the face photos are obtained through the two face cameras, so that the position coordinates of eyebrows and mouths in a mechanical arm coordinate system can be accurately obtained, and the coordinate accuracy is relatively high;
(2) according to the display support and the chin support frame, the height adjustable structure is formed by the fixed outer rod, the movable inner rod and the locking clamp, so that the stability of the support in the lifting process is guaranteed, the vertical bogie is arranged on the display support, the angle of the display can be adjusted, and the application range of the chin support frame is widened;
(3) the invention adopts the six-degree-of-freedom robot to carry out makeup operation, has large motion range, high flexibility and high control precision, can accurately and quickly realize the makeup step, and effectively improves the makeup efficiency
(4) The chin support disclosed by the invention is attached to the shape of the face chin, and the sponge soft sleeve is used as a support, so that the use comfort level is improved, and the sponge soft sleeve can be detached for cleaning, so that the use comfort level is improved.
Drawings
FIG. 1 is a schematic structural diagram of a cosmetic robot based on visual recognition according to the present invention;
FIG. 2 is a front view of a cosmetic robot based on visual recognition according to the present invention;
FIG. 3 is a side view of a cosmetic robot based on visual recognition according to the present invention;
FIG. 4 is a top view of a cosmetic robot based on visual recognition according to the present invention;
fig. 5 is a flowchart of an automatic makeup method of a makeup robot based on visual recognition according to the present invention.
The device comprises a base 1, a base 2, a mechanical arm 3, a chin support 4, a touch display 5, a support 6, a display support 7, a clamping device 8, a face camera 9, a waist rotary joint 10, a shoulder joint 11, a lower arm 12, an elbow joint 13, an upper arm 14, a wrist joint 15, a wrist rotary joint 16, a locking clamp 17 and a vertical bogie.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Examples
The utility model provides a cosmetic robot based on visual identification, includes base 1, controller and locates arm 2, touch display 5, display support 7, chin supporting component and two people's face cameras 8 on the base 1.
As shown in fig. 1, the mechanical arm 2 in this embodiment is a six-degree-of-freedom mechanical arm, the six-axis mechanical arm has six servo motors directly driving rotation of six joints through a speed reducer and a synchronous belt, specifically, the six-degree-of-freedom mechanical arm includes a waist rotary joint 9, a shoulder joint 10, a lower arm 11, an elbow joint 12, an upper arm 13, a wrist joint 14, a wrist rotary joint 15 and a clamping device 8 which are connected in sequence, so that the mechanical arm 2 can be moved accurately, the bottom of the waist rotary joint 9 is fixedly connected with the base 1, a cosmetic receptacle is formed in the clamping device 8, and an elastic clip for clamping cosmetics is arranged at the receptacle, so that lipstick and eyebrow pencils with different sizes can be clamped.
As shown in fig. 2 and 3, the display bracket 7 includes a vertical bogie 17, a second fixed outer rod and a second movable inner rod, the second movable inner rod is sleeved in the second fixed outer rod, the second movable inner rod moves along the vertical direction of the second fixed outer rod, a locking clamp 16 is arranged at the joint of the second movable inner rod and the second fixed outer rod, one end of the vertical bogie 17 is rotatably connected with the top of the fixed outer rod, the other end is fixedly connected with the rear side of the touch display 5, the face camera 8 is arranged on the touch display 5, the shooting direction of the face camera 8 is the same as the display direction of the touch display 5, in this embodiment, the effective pixel of the binocular camera is 300 ten thousand, the type of the used sensor is CMOS, the adopted exposure mode is rolling line exposure, the maximum resolution is 2048 × 1536, the frame rate is 13, the optical size is 1/2, and the minimum exposure time is 0.05ms, the output image is a color image.
As shown in fig. 1 and 4, chin support subassembly and touch display 5 set up relatively, and chin support subassembly includes eyelidretractor support 6 and chin support 3, the bottom and the 1 fixed connection of base of support frame, the top and the 3 fixed connection of chin support of eyelidretractor support 6, and eyelidretractor support 6 includes pole in first fixed outer pole and the first activity, the pole cover establish in first fixed outer pole in the first activity, first activity in the pole along the vertical direction removal of first fixed outer pole, the junction of pole and first fixed outer pole in the first activity be equipped with locking clamp 16, chin support 3 is the U-shaped, chin support 3 includes U-shaped stainless steel main part and cover and establishes the sponge soft cover in the stainless steel main part, the washing can be dismantled to the sponge soft cover, improves the comfort level of using.
The mechanical arm 2, the human face camera 8 and the touch display 5 are respectively connected with the controller, and the controller comprises a positioning module for acquiring positions of eyebrows and mouths of a human face according to image data of the human face camera 8 and a mechanical arm 2 control module for controlling the mechanical arm 2 to perform makeup actions according to the positions of the eyebrows and the mouths of the human face.
As shown in fig. 5, a method for using a cosmetic robot based on visual recognition includes the following steps:
s1: the two face cameras 8 take pictures of the face attached to the chin support assembly and transmit the face pictures to the controller in real time;
s2: the controller identifies a calibration object on the face photo, and obtains a conversion matrix between the space coordinate of the virtual point of the face camera 8 and the mechanical arm coordinate system according to the image of the calibration object, wherein the conversion matrix is established by taking the chin support assembly as the calibration object in the embodiment;
s3: the controller identifies a human face according to the human face picture, carries out contour positioning on eyebrows and a mouth, and extracts and acquires regional information of the eyebrows and the mouth;
s4: the controller obtains the actual distance between the face and the camera according to the face pictures of the two face cameras 8, and obtains the position coordinates of the eyebrows and the mouth in a mechanical arm coordinate system according to the actual distance, the area information and the conversion matrix;
s5: selecting a makeup template on the touch display 5, acquiring an effect picture of the face eyebrow and the lipstick by the controller according to the face picture, and controlling the touch display 5 to display the effect picture of the face eyebrow and the lipstick;
s6: the clamping device 8 clamps the eyebrow pencil, and the controller controls the mechanical arm 2 to move to draw eyebrows according to the position coordinates of the eyebrows in the mechanical arm coordinate system;
s7: the gripping device 8 grips the lipstick, and the controller controls the mechanical arm 2 to move according to the position coordinate of the mouth in the mechanical arm coordinate system to coat the lipstick;
s8: the controller matches the face picture with the effect picture, judges the matching degree of the face picture and the effect picture, returns to the step S6 if the matching degree is lower than a set value, and otherwise, the mechanical arm 2 returns to the initial position after the work is finished. Step S8 ensures that the cosmetic robot of the present invention draws a good makeup corresponding to the effect map.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (9)
1. The utility model provides a cosmetic robot based on visual identification, its characterized in that, include base (1), controller and locate arm (2), touch display (5), display support (7), chin supporting component and two people's face cameras (8) on base (1), the end of arm (2) be equipped with the clamp that is used for centre gripping eyebrow pencil or lipstick and get device (8), the bottom and base (1) fixed connection of display support (7), the top of display support (7) and the rear side fixed connection of touch display (5), people's face camera (8) locate on touch display (5), the shooting direction of people's face camera (8) the same with the display direction of touch display (5), chin supporting component set up with touch display (5) relatively, arm (2), The human face camera (8) and the touch display (5) are respectively connected with the controller.
2. The cosmetic robot based on visual recognition according to claim 1, wherein the controller comprises a positioning module for obtaining the positions of the eyebrows and the mouth of the human face according to the image data of the human face camera (8), and a mechanical arm control module for controlling the mechanical arm (2) to perform cosmetic actions according to the positions of the eyebrows and the mouth of the human face.
3. The cosmetic robot based on visual recognition according to claim 2, wherein the chin support assembly comprises a support frame (6) and a chin support (3), the bottom of the support frame is fixedly connected with the base (1), the top of the support frame (6) is fixedly connected with the chin support (3), and the chin support (3) is U-shaped.
4. The cosmetic robot based on visual recognition according to claim 3, wherein the chin support (3) comprises a U-shaped stainless steel body and a sponge soft cover covering the stainless steel body.
5. The cosmetic robot based on visual identification as claimed in claim 3, wherein the support bracket (6) comprises a first fixed outer rod and a first movable inner rod, the first movable inner rod is sleeved in the first fixed outer rod and moves along the vertical direction of the first fixed outer rod, and a locking clamp (16) is arranged at the joint of the first movable inner rod and the first fixed outer rod.
6. The cosmetic robot based on visual identification as claimed in claim 2, wherein the display support (7) comprises a vertical bogie (17), a second fixed outer rod and a second movable inner rod, the second movable inner rod is sleeved in the second fixed outer rod and moves along the vertical direction of the second fixed outer rod, a locking clamp (16) is arranged at the joint of the second movable inner rod and the second fixed outer rod, one end of the vertical bogie (17) is rotatably connected with the top of the second fixed outer rod, and the other end of the vertical bogie is fixedly connected with the touch display (5).
7. The cosmetic robot based on visual recognition according to claim 2, wherein the mechanical arm (2) is a six-degree-of-freedom mechanical arm, the six-degree-of-freedom mechanical arm comprises a waist rotary joint (9), a shoulder joint (10), a lower arm (11), an elbow joint (12), an upper arm (13), a wrist joint (14), a wrist rotary joint (15) and a clamping device (8) which are sequentially connected, and the bottom of the waist rotary joint (9) is fixedly connected with the base (1).
8. The cosmetic robot based on visual identification as claimed in claim 1, wherein the gripping device (8) is provided with a cosmetic receptacle, and the receptacle is provided with an elastic clip for clamping the cosmetic.
9. An automatic makeup method of a vision recognition-based makeup robot based on any one of claims 1 to 8, characterized by comprising the following steps:
s1: the two face cameras (8) take pictures of the face attached to the chin support assembly and transmit the face pictures to the controller in real time;
s2: the controller identifies a calibration object on the face photo, and obtains a conversion matrix between the space coordinate of the virtual point of the face camera (8) and the mechanical arm coordinate system according to the image of the calibration object;
s3: the controller identifies a human face according to the human face picture, carries out contour positioning on eyebrows and a mouth, and extracts and acquires regional information of the eyebrows and the mouth;
s4: the controller obtains the actual distance between the face and the camera according to the face pictures of the two face cameras (8), and obtains the position coordinates of eyebrows and mouths in a mechanical arm coordinate system according to the actual distance, the area information and the conversion matrix;
s5: the controller acquires the makeup template selected on the touch display (5), acquires the effect picture of the face eyebrow and the lipstick according to the face picture, and controls the touch display (5) to display the effect picture of the face eyebrow and the lipstick;
s6: the clamping device (8) clamps the eyebrow pencil, and the controller controls the mechanical arm (2) to move to draw the eyebrow according to the position coordinate of the eyebrow in the mechanical arm coordinate system;
s7: the gripping device (8) grips the lipstick, and the controller controls the mechanical arm (2) to move according to the position coordinate of the mouth in the mechanical arm coordinate system to coat the lipstick;
s8: the controller matches the face picture with the effect picture, the matching degree of the face picture and the effect picture is judged, if the matching degree is lower than a set value, the step S6 is returned, otherwise, the operation is finished, and the mechanical arm (2) returns to the initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010166425.5A CN111300448A (en) | 2020-03-11 | 2020-03-11 | Cosmetic robot based on visual identification and automatic cosmetic method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010166425.5A CN111300448A (en) | 2020-03-11 | 2020-03-11 | Cosmetic robot based on visual identification and automatic cosmetic method thereof |
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| CN111300448A true CN111300448A (en) | 2020-06-19 |
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| CN202010166425.5A Pending CN111300448A (en) | 2020-03-11 | 2020-03-11 | Cosmetic robot based on visual identification and automatic cosmetic method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112315171A (en) * | 2020-11-13 | 2021-02-05 | 蒋文建 | Automatic cosmetic machine and using method thereof |
| CN112643691A (en) * | 2020-12-22 | 2021-04-13 | 王江 | Intelligent automatic cosmetic skin care device of robot |
| CN114714374A (en) * | 2022-04-22 | 2022-07-08 | 江苏城乡建设职业学院 | Automatic dressing table with mechanical arm |
| CN114869494A (en) * | 2022-04-08 | 2022-08-09 | 灵动翘睫(深圳)科技有限公司 | Automatic line drawing system and method before double-eyelid surgery based on visual identification |
| CN114947345A (en) * | 2022-05-31 | 2022-08-30 | 南昌远彡戴创新研发有限公司 | Automatic make-up machine of 3D |
| WO2023078289A1 (en) * | 2021-11-05 | 2023-05-11 | Glorymakeup Inc. | Makeup machine with automatically-controlled spray head movements |
| WO2023187787A1 (en) * | 2022-03-30 | 2023-10-05 | Shalah Abboud Mira | Dynamically updated automatic makeup application |
-
2020
- 2020-03-11 CN CN202010166425.5A patent/CN111300448A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112315171A (en) * | 2020-11-13 | 2021-02-05 | 蒋文建 | Automatic cosmetic machine and using method thereof |
| CN112643691A (en) * | 2020-12-22 | 2021-04-13 | 王江 | Intelligent automatic cosmetic skin care device of robot |
| WO2023078289A1 (en) * | 2021-11-05 | 2023-05-11 | Glorymakeup Inc. | Makeup machine with automatically-controlled spray head movements |
| WO2023187787A1 (en) * | 2022-03-30 | 2023-10-05 | Shalah Abboud Mira | Dynamically updated automatic makeup application |
| CN114869494A (en) * | 2022-04-08 | 2022-08-09 | 灵动翘睫(深圳)科技有限公司 | Automatic line drawing system and method before double-eyelid surgery based on visual identification |
| CN114714374A (en) * | 2022-04-22 | 2022-07-08 | 江苏城乡建设职业学院 | Automatic dressing table with mechanical arm |
| CN114947345A (en) * | 2022-05-31 | 2022-08-30 | 南昌远彡戴创新研发有限公司 | Automatic make-up machine of 3D |
| CN114947345B (en) * | 2022-05-31 | 2023-08-22 | 南昌远彡戴创新研发有限公司 | 3D automatic make-up machine |
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