阅读说明：本技术 一种头部采集器及自助理发系统 (Head collector and self-service haircut system ) 是由 严剑锋 于 2021-08-12 设计创作，主要内容包括：本发明提供了一种头部采集器及自助理发系统,头部采集器包括采集壳体、移动机构和采集机构,移动机构用于驱动采集壳体在头部采集区域移动,采集机构用于在采集壳体每移动一个单位行程后采集一组行程长度数据和欧拉角数据,采集机构包括第一采集机构和第二采集机构；还包括主控制器和轮廓模型形成模块,轮廓模型形成模块用于得到头部轮廓模型。本发明中设置移动机构,使得采集机构在采集壳体移动过程中能准确稳定采集行程长度数据和欧拉角数据,并通过轮廓模型形成模块将采集到的行程长度数据和欧拉角数据进行处理形成头部轮廓模型,头部采集器通过采集行程长度数据和欧拉角数据能准确模拟得到用户的头部轮廓数据,从而帮助用户理出理想的发型。(The invention provides a head collector and a self-service hair cutting system, wherein the head collector comprises a collecting shell, a moving mechanism and a collecting mechanism, the moving mechanism is used for driving the collecting shell to move in a head collecting area, the collecting mechanism is used for collecting a group of stroke length data and Euler angle data after the collecting shell moves for one unit stroke, and the collecting mechanism comprises a first collecting mechanism and a second collecting mechanism; the head contour model generating device further comprises a main controller and a contour model forming module, wherein the contour model forming module is used for obtaining the head contour model. The invention is provided with the moving mechanism, so that the collecting mechanism can accurately and stably collect stroke length data and Euler angle data in the moving process of the collecting shell, the collected stroke length data and Euler angle data are processed by the profile model forming module to form a head profile model, and the head collector can accurately simulate the head profile data of a user by collecting the stroke length data and the Euler angle data, thereby helping the user to figure out an ideal hairstyle.)

1. A head harvester, characterized by comprising a harvesting housing (20) adapted to move in a head contour having a plurality of head harvesting regions (101), a moving mechanism (30) and a harvesting mechanism (40) connected to the harvesting housing (20), the moving mechanism (30) being adapted to drive the harvesting housing (20) to move in the head harvesting regions (101), the harvesting mechanism (40) being adapted to harvest a set of stroke length data and euler angle data after each unit stroke of the harvesting housing (20) movement, the harvesting mechanism (40) comprising a first harvesting mechanism (401) for harvesting the stroke length data and a second harvesting mechanism (402) for harvesting the euler angle data; the head contour model forming device is characterized by further comprising a main controller (50) and a contour model forming module (60), wherein the moving mechanism (30), the collecting mechanism (40) and the contour model forming module (60) are all connected with the main controller (50), and the contour model forming module (60) is used for enabling each set of stroke length data and Euler angle data to form head contour points (102) and finally combining all the head contour points (102) to obtain the head contour model (10).

2. The head collector according to claim 1, further comprising a self-starting mechanism (70) for controlling the moving mechanism (30) to start moving, wherein the self-starting mechanism (70) comprises a first direction detection switch (701) and a second direction detection switch (702) which are arranged at the front end and the rear end of the collecting shell (20), the moving mechanism (30) comprises a motor (301), a front row collecting wheel (302) and a rear row collecting wheel (303), the motor (301) is arranged in the collecting shell (20), the front row collecting wheel (302) and the rear row collecting wheel (303) are respectively connected with the bottom of the collecting shell (20), the first direction detection switch (701), the second direction detection switch (702) and the motor (301) are connected with the main controller (50), and the main controller (50) detects signals of the first direction detection switch (701) or the second direction detection switch (701) And the detection signal of the switch (702) automatically controls the motor (301) to drive the rear row acquisition wheel (303) to rotate or the front row acquisition wheel (302) to rotate.

3. The head collector according to claim 2, wherein the moving mechanism (30) further comprises a power distribution wheel (304), a reduction gear box, a first belt (306) and a second belt (307), the motor (301) is in transmission connection with the power distribution wheel (304) through the reduction gear box, the front row collecting wheel (302) is in transmission connection with the power distribution wheel (304) through the first belt (306), and the rear row collecting wheel (303) is in transmission connection with the power distribution wheel (304) through the second belt (307).

4. The head collector according to claim 3, wherein the front row collecting wheel (302) is coaxially connected with a front row connecting wheel (308) in transmission connection with the first belt (306), the rear row collecting wheel (303) is coaxially connected with a rear row connecting wheel (309) in transmission connection with the second belt (307), a forward locking component (310) is arranged between the front row connecting wheel (308) and the front row collecting wheel (302), and a reverse locking component (311) is arranged between the rear row connecting wheel (309) and the rear row collecting wheel (303).

5. The head harvester according to claim 4, characterized in that the positive locking assembly (310) comprises a first locking block (3101) and a first locking pin (3102) cooperating with each other, the first locking block (3101) and the first locking pin (3102) being provided to the front row connecting wheel (308) and the front row harvesting wheel (302), respectively, a first return spring (3103) being provided between the first locking block (3101) and the front row connecting wheel (308), the first locking block (3101) being provided with a first locking portion (31011) and a first abdicating guide portion (31012), the first locking portion (31011) and the first locking pin (3102) abutting against each other to achieve the mutual locking of the front row connecting wheel (308) and the front row harvesting wheel (302) when the front row connecting wheel (308) is rotated in the forward direction, the front row connecting wheel (308) being rotated in the reverse direction, the first abdicating guide (31012) being movable relative to the first locking pin (3102); the reverse locking assembly (311) comprises a second locking motion block (3111) and a second locking pin (3112) which are matched with each other, the second locking moving block (3111) and the second locking pin (3112) are respectively arranged on the rear row connecting wheel (309) and the rear row collecting wheel (303), a second return spring (3113) is arranged between the second locking moving block (3111) and the rear row connecting wheel (309), the second locking moving block (3111) is provided with a second locking part (31111) and a second abdicating guide part (31112), when the rear connecting wheel (309) rotates reversely, the second locking part (31111) and the second locking pin (3112) are abutted against each other to realize the mutual locking of the rear connecting wheel (309) and the rear collecting wheel (303), when the rear connecting wheel (309) is rotated in the forward direction, the second abdicating guide (31112) can be moved relative to the second locking pin (3112).

6. The head harvester according to claim 2, characterized in that a first connecting rod (312) is connected to both the front row harvesting wheel (302) and the rear row harvesting wheel (303), and a third return spring (305) is provided between the first connecting rod (312) and the harvesting housing (20).

7. The head collector according to claim 1, wherein the first collecting mechanism (401) comprises a collecting wheel, a connecting rod and a photoelectric coding disc (4011) arranged on the side surface of the collecting wheel, a plurality of coding disc holes (40111) are formed in the periphery of the photoelectric coding disc (4011) at intervals, and a photoelectric sensor (4012) used for sensing the coding disc holes (40111) is mounted on the connecting rod.

8. The head collector according to any one of claims 1 to 7, characterized in that the second collecting mechanism (402) comprises a collecting bracket (4021) and an angular velocity sensor (4022) for detecting Euler angle data, the angular velocity sensor (4022) is installed in the collecting bracket (4021), the collecting bracket (4021) is vertically connected with the front and back direction of the collecting shell (20), collecting blocks (40211) are arranged at the left and right ends of the collecting bracket (4021), and the two collecting blocks (40211) are always in contact with the head contour in the moving process of the collecting shell (20); gather support (4021) with be connected with second connecting rod (4023) between gathering casing (20), second connecting rod (4023) with gather casing (20) swing joint from top to bottom, second connecting rod (4023) with gather support (4021) and rotate and be connected.

9. The head collector according to claim 8, wherein the Euler angle data comprises a yaw angle for detecting a position of the collecting housing (20) in the head collecting region (101), a pitch angle for detecting a yaw position of the head contour, and a roll angle forming the head contour point (102) with the stroke length data.

10. A self-hair cutting system comprising a head collector as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of hair cutting equipment, in particular to a head collector and a self-service hair cutting system.

Background

With the progress of economic society, more and more people can consider from the aspects of time efficiency, sanitation and economy in life, so that the phenomenon that people self-help haircut at home is more and more, and various intelligent hairdressers appear on the market. Because the hair cutting ability of most of people who self-service haircut at home is limited, in order to reduce the difficulty of haircutting, the light scanning device is generally used for scanning the head outline of the user to obtain a corresponding head outline model, and then the intelligent terminal is used for assisting and guiding the user to finish self-service haircutting.

Disclosure of Invention

In order to solve at least one of the above problems, the present invention firstly provides a head collector, which includes a collecting shell adapted to move on a head contour, and a moving mechanism and a collecting mechanism connected to the collecting shell, wherein the head contour has a plurality of head collecting areas, the moving mechanism is used for driving the collecting shell to move on the head collecting areas, the collecting mechanism is used for collecting a set of stroke length data and euler angle data after the collecting shell moves for one unit stroke, and the collecting mechanism includes a first collecting mechanism for collecting the stroke length data and a second collecting mechanism for collecting the euler angle data; the head contour model forming device comprises a moving mechanism, a collecting mechanism and a contour model forming module, wherein the moving mechanism, the collecting mechanism and the contour model forming module are all connected with the main controller, and the contour model forming module is used for forming head contour points by each group of stroke length data and Euler angle data and finally combining all the head contour points to obtain the head contour model.

Optionally, still including being used for control moving mechanism starts the self-starting mechanism who removes, self-starting mechanism is including setting up gather the casing front and back both ends first direction detection switch and second direction detection switch, moving mechanism includes motor, front-seat collection wheel and back row collection wheel, the motor sets up in the collection casing, the front-seat collection wheel with the back row collection wheel respectively with gather the casing bottom and be connected, first direction detection switch the second direction detection switch with the motor all with main control unit connects, main control unit basis first direction detection switch's detection signal or second direction detection switch's detection signal automatic control the motor drive the back row collection wheel rotates or the front-seat collection wheel rotates.

Optionally, the moving mechanism further includes a power distribution wheel, a reduction gear box, a first belt and a second belt, the motor is in transmission connection with the power distribution wheel through the reduction gear box, the front row collecting wheel is in transmission connection with the power distribution wheel through the first belt, and the rear row collecting wheel is in transmission connection with the power distribution wheel through the second belt.

Optionally, the front row collecting wheel is coaxially connected with a front row connecting wheel connected with the first belt transmission, the rear row collecting wheel is coaxially connected with a rear row connecting wheel connected with the second belt transmission, a forward locking assembly is arranged between the front row connecting wheel and the front row collecting wheel, and a reverse locking assembly is arranged between the rear row connecting wheel and the rear row collecting wheel.

Optionally, the forward locking assembly includes a first locking block and a first locking pin, which are matched with each other, the first locking block and the first locking pin are respectively disposed on the front-row connecting wheel and the front-row collecting wheel, a first return spring is disposed between the first locking block and the front-row connecting wheel, the first locking block is provided with a first locking portion and a first abdicating guide portion, when the front-row connecting wheel rotates forward, the first locking portion and the first locking pin abut against each other to achieve mutual locking of the front-row connecting wheel and the front-row collecting wheel, and when the front-row connecting wheel rotates reversely, the first abdicating guide portion can move relative to the first locking pin; reverse locking subassembly is including the second locking of mutually supporting moves piece and second locking round pin, the second locking move the piece with the second locking round pin is located respectively the back row fifth wheel with the wheel is gathered to the back row, the second locking move the piece with be equipped with second reset spring between the back row fifth wheel, the second locking move the piece and be equipped with second sticking department and second guide part of stepping down, work as during the back row fifth wheel reverse rotation, the second sticking department with the mutual butt of second locking round pin is realized the back row fifth wheel with the wheel is gathered to the back row is interlocking, work as when the back row fifth wheel forward rotates, the second guide part of stepping down can for the second locking round pin removes.

Optionally, the front row collecting wheel and the rear row collecting wheel are both connected with a first connecting rod, and a third return spring is arranged between the first connecting rod and the collecting shell.

Optionally, the first collection mechanism includes that gather wheel, connecting rod and locate gather the photoelectric encoding dish of wheel side, the interval is equipped with a plurality of code dish holes in the circumference of photoelectric encoding dish, install on the connecting rod and be used for responding to the photoelectric sensor in code dish hole.

Optionally, the second collecting mechanism includes a collecting bracket and an angular velocity sensor for detecting the euler angle data, the angular velocity sensor is installed in the collecting bracket, the collecting bracket is vertically connected with the collecting shell in the front-back direction, collecting blocks are arranged at the left end and the right end of the collecting bracket, and the two collecting blocks are always in contact with the head contour in the moving process of the collecting shell; gather the support with gather and be connected with the second connecting rod between the casing, the second connecting rod with gather the upper and lower swing joint of casing, the second connecting rod with gather the support and rotate and be connected.

Optionally, the euler angle data includes a yaw angle, a pitch angle and a roll angle, the yaw angle is used to detect the position of the collecting shell in the head collecting region, the pitch angle is used to detect the position of the head contour, and the roll angle and the stroke length data form the head contour point.

Compared with the prior art, the head collector provided by the invention is provided with the moving mechanism for driving the collecting shell to move on the head outline of the user, so that the collecting mechanism can accurately and stably collect stroke length data and Euler angle data in the moving process of the collecting shell, all the collected stroke length data and Euler angle data are processed and simulated by the outline model forming module to form the head outline model, and the head collector can accurately simulate the head outline data of the user by simultaneously collecting the stroke length data and the Euler angle data, thereby helping the user to figure out an ideal hairstyle.

In addition, the invention provides a self-service hair cutting system, which comprises the head collector.

Compared with the prior art, the self-service hair cutting system has the same advantages as the head collector compared with the prior art, and the detailed description is omitted.

Drawings

Fig. 1 is a first schematic structural diagram of a head collector according to an embodiment of the present invention;

fig. 2 is a second schematic structural diagram of a head collector according to an embodiment of the present invention;

FIG. 3 is a block diagram of the power distribution wheel coupled to the front row of pick wheels and the rear row of pick wheels in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of the connection of the front row collecting wheels and the front row connecting wheels according to the embodiment of the present invention;

FIG. 5 is a block diagram of the connection of the rear collection wheels with the rear connecting wheels in accordance with an embodiment of the present invention;

FIG. 6 is a block diagram of a first acquisition mechanism according to an embodiment of the present invention;

FIG. 7 is a block diagram of a second acquisition mechanism according to an embodiment of the present invention;

FIG. 8 is a first diagram of a head contour model according to an embodiment of the present invention;

FIG. 9 is a second schematic diagram of a head contour model according to an embodiment of the present invention;

FIG. 10 is a third schematic view of a head contour model according to an embodiment of the present invention;

fig. 11 is a block diagram of a head collector according to an embodiment of the present invention.

Description of reference numerals:

10. a head contour model; 101. a head acquisition region; 102. a head contour point; 20. collecting a shell; 30. a moving mechanism; 301. a motor; 302. a front row of collection wheels; 303. a rear row of collection wheels; 304. a power distribution wheel; 305. a third return spring; 306. a first belt; 307. a second belt; 308. a front row connecting wheel; 309. a rear row connecting wheel; 310. a positive locking assembly; 3101. a first lock stop block; 31011. a first locking section; 31012. a first abdicating guide part; 3102. a first lock pin; 3103. a first return spring; 311. a reverse locking assembly; 3111. a second locking moving block; 31111. a second locking portion; 31112. a second abdicating guide part; 3112. a second locking pin; 3113. a second return spring; 312. a first connecting rod; 40. a collection mechanism; 401. a first acquisition mechanism; 4011. a photoelectric coding disc; 40111. a code disc hole; 4012. a photosensor; 402. a second acquisition mechanism; 4021. collecting a bracket; 40211. collecting blocks; 4022. an angular velocity sensor; 4023. a second connecting rod; 4024. a fourth return spring; 4025. a rotating shaft; 50. a main controller; 60. a contour model forming module; 70. a self-starting mechanism; 701. a first direction detection switch; 702. a second direction detection switch.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the normal use of a product.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the drawings of the embodiments of the present invention, a coordinate system XYZ is provided, in which a forward direction of an X axis represents a right direction, a reverse direction of the X axis represents a left direction, a forward direction of a Y axis represents a front direction, a reverse direction of the Y axis represents a rear direction, a forward direction of a Z axis represents an upper direction, and a reverse direction of the Z axis represents a lower direction.

The embodiment of the invention provides a head collector, which is shown in fig. 1, fig. 2, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10 and fig. 11 and comprises a collecting shell 20 suitable for moving in a head contour, and a moving mechanism 30 and a collecting mechanism 40 connected with the collecting shell 20, wherein the head contour is provided with a plurality of head collecting areas 101, the moving mechanism 30 is used for driving the collecting shell 20 to move in the head collecting areas 101, the collecting mechanism 40 is used for collecting a set of stroke length data and euler angle data after the collecting shell 20 moves for one unit stroke, and the collecting mechanism 40 comprises a first collecting mechanism 401 for collecting the stroke length data and a second collecting mechanism 402 for collecting the euler angle data; the head contour model 10 is characterized by further comprising a main controller 50 and a contour model forming module 60, wherein the moving mechanism 30, the collecting mechanism 40 and the contour model forming module 60 are all connected with the main controller 50, and the contour model forming module 60 is used for forming head contour points 102 from each set of stroke length data and Euler angle data and finally combining all the head contour points 102 to obtain the head contour model 10.

The main controller 50 is arranged in the acquisition shell 20, and the size of the acquisition shell 20 is suitable for being held by a hand of a user, so that the user can hold the acquisition shell 20 by hand and carry out data acquisition operation on the head outline of the user; in the process of moving the collecting shell 20, the collecting shell 20 is driven to move only by the moving mechanism 30, and a user only holds the collecting shell 20 and does not participate in the operation of pushing the collecting shell 20 to move, so that the collecting shell 20 can stably move in the data collecting process; the number of the head collecting regions 101 is preferably eight, the left side and the right side of the head are respectively provided with three head collecting regions 101, and the top of the head is provided with two head collecting regions 101; the moving mechanism 30 and the collecting mechanism 40 are both mounted on the collecting shell 20 and are electrically connected with the main controller 50, the main controller 50 controls the moving mechanism 30 to drive the collecting shell 20 to move, the main controller 50 controls the collecting mechanism 40 to collect stroke length data and Euler angle data and sends the collected stroke length data and Euler angle data to the contour model forming module 60; the contour model forming module 60 can be selectively installed on the collecting shell 20 and electrically connected with the main controller 50, or can be selectively installed on an intelligent terminal and wirelessly connected with the main controller 50, the contour model forming module 60 receives the stroke length data and the euler angle data sent by the main controller 50, and forms a head contour point 102 by each group of the stroke length data and the euler angle data through an algorithm or an AI technology, and the head contour point 102 corresponds to the position of the collecting shell 20 in the current head collecting area 101.

In the process of acquiring data of the head contour, the head acquisition device sequentially performs the same acquisition operation on each head acquisition region 101, and after all the acquisition operations are completed, the contour model forming module 60 can finally form the head contour model 10 through an algorithm or an AI technique, and the head acquisition region 101 of the head contour is also the head acquisition region 101 corresponding to the contour model forming module 60. Each head acquisition region 101 has a starting point, the starting point is the position where the acquisition operation of each head acquisition region 101 starts, and the starting point is generally positioned at the forehead; the starting point is defined as an acquisition origin, an acquisition point is formed after the acquisition shell 20 moves for one unit stroke, corresponding stroke length data and Euler angle data are acquired by each acquisition point acquisition mechanism 40, and the unit stroke can be 1 mm; the stroke length data refers to a distance moved by an acquisition point of the acquisition housing 20 within a single head acquisition region 101 with respect to an acquisition origin of the head acquisition region 101; and simultaneously acquiring and recording Euler angle data at the acquisition point, wherein the origin of a coordinate system of the Euler angle data is acquired at the acquisition origin, the x axis of the coordinate system is consistent with the left-right direction, the y axis of the coordinate system is consistent with the front-back direction, the z axis of the coordinate system is consistent with the up-down direction, and the Euler angle data refers to the angle of the second acquisition mechanism 402 rotating relative to the acquisition origin at the acquisition point.

The head collector in this embodiment is provided with the moving mechanism 30 for driving the collecting shell 20 to move on the head contour of the user, so that the collecting mechanism 40 can accurately and stably collect stroke length data and euler angle data in the moving process of the collecting shell 20, all collected stroke length data and euler angle data are processed and simulated by the contour model forming module 60 to form the head contour model 10, and the head collector can accurately simulate the head contour data of the user by simultaneously collecting the stroke length data and the euler angle data, thereby helping the user to figure out an ideal hair style.

Optionally, as shown in fig. 1, fig. 2 and fig. 11, a self-starting mechanism 70 for controlling the moving mechanism 30 to start moving is further included, the self-starting mechanism 70 comprises a first direction detection switch 701 and a second direction detection switch 702 which are arranged at the front end and the rear end of the collection shell 20, the moving mechanism 30 comprises a motor 301, a front row collecting wheel 302 and a rear row collecting wheel 303, the motor 301 is arranged in the collecting shell 20, the front row collecting wheel 302 and the rear row collecting wheel 303 are respectively connected with the bottom of the collecting shell 20, the first direction detection switch 701, the second direction detection switch 702 and the motor 301 are all connected to the main controller 50, the main controller 50 automatically controls the motor 301 to drive the rear collecting wheel 303 or the front collecting wheel 302 to rotate according to the detection signal of the first direction detecting switch 701 or the detection signal of the second direction detecting switch 702.

The front end and the rear end of the collecting shell 20 are respectively provided with a first direction detection switch 701 and a second direction detection switch 702, which end of the front end and the rear end of the collecting shell 20 passes through the starting point of the head collecting area 101 can be detected through the level change of the first direction detection switch 701 and the second direction detection switch 702, the detection signal is the level change, the collecting shell 20 is automatically controlled to move backwards from the starting point in the head collecting area 101 according to the detected result, when the first direction detection switch 701 or the second direction detection switch 702 does not detect the detection signal, the main controller 50 is in a sleep state, and when the first direction detection switch 701 or the second direction detection switch 702 detects the detection signal, the main controller 50 is awakened to enter a working state; specifically, when the level of the first direction detection switch 701 changes, it indicates that the front end of the collection housing 20 passes through the starting point first, and at this time, the main control board automatic control motor 301 drives the rear row collection wheel 303 to rotate, whereas when the level of the second direction detection switch 702 changes, it indicates that the rear end of the collection housing 20 passes through the starting point first, and at this time, the main control board automatic control motor 301 drives the front row collection wheel 302 to rotate.

In this embodiment, the self-starting mechanism 70 for automatically controlling the motor 301 to work is added, and the first direction detection switch 701 and the second direction detection switch 702 of the self-starting mechanism 70 are respectively installed at the front end and the rear end of the acquisition shell 20, so that the use of a user is simplified, the user can randomly align the front end or the rear end of the acquisition shell 20 with the initial point first when using the self-starting mechanism, and the self-starting mechanism plays a foolproof role, has high intelligent degree, and can automatically start the motor 301 through the received detection signal, so that the front-row acquisition wheel 302 or the rear-row acquisition wheel 303 has power, and the acquisition shell 20 can normally continue to move in the head acquisition area 101; in addition, the collecting wheel passing through the initial point is always used as a driving wheel to push the collecting shell 20 to move, so that the driving is more labor-saving, and the service life of the motor 301 is prolonged; in addition, the collecting wheel passing through the starting point can be used as a driving wheel to push the collecting shell 20 to move, and the specific principle and structure are similar, which will not be described herein again.

The front row acquisition wheels 302 and the rear row acquisition wheels 303 are respectively connected to the front side and the rear side of the bottom of the acquisition shell 20, the acquisition shell 20 moves back and forth on the head outline through the rotation of the front row acquisition wheels 302 and the rear row acquisition wheels 303, and the structure is simple and the movement is stable; the number of the front row acquisition wheels 302 and the number of the rear row acquisition wheels 303 are preferably two, the shape and the size of each acquisition wheel are consistent, the two front row acquisition wheels 302 are symmetrically arranged on the left side and the right side of the front side of the acquisition shell 20, and the two rear row acquisition wheels 303 are symmetrically arranged on the left side and the right side of the rear side of the acquisition shell 20, so that the acquisition shell 20 is not prone to side turning in the moving process, and the accuracy of data acquisition is ensured; the motor 301 only drives the front row collecting wheel 302 or the rear row collecting wheel 303 to rotate as a driving wheel, for example, when the motor 301 drives the front row collecting wheel 302 to rotate, the front row collecting wheel 302 is the driving wheel, the rear row collecting wheel 303 is a driven wheel, when the motor 301 drives the front row collecting wheel 302 to rotate, the rear row collecting wheel 303 will rotate along with the rotation of the front row collecting wheel 302, otherwise, when the motor 301 drives the rear row collecting wheel 303 to rotate, the rear row collecting wheel 303 is the driving wheel, the front row collecting wheel 302 is the driven wheel, when the rear row collecting wheel 303 rotates, the front row collecting wheel 302 will rotate along with the rotation of the rear row collecting wheel 303, such a structure that the motor 301 selects one to drive the front row collecting wheel 302 and the rear row collecting wheel 303 is adopted, so that no speed difference exists between the front row collecting wheel 302 and the rear row collecting wheel 303, and the front row collecting wheel 302 and the rear collecting wheel 303 can synchronously rotate, thereby ensuring that the collecting shell 20 can normally move relative to the head contour, the structure is simple and reliable, and is easy to process and realize.

Optionally, as shown in fig. 1, 3, and 11, the moving mechanism 30 further includes a power distribution wheel 304, a reduction gear box, a first belt 306, and a second belt 307, the motor 301 is in transmission connection with the power distribution wheel 304 through the reduction gear box, the front row collecting wheel 302 is in transmission connection with the power distribution wheel 304 through the first belt 306, and the rear row collecting wheel 303 is in transmission connection with the power distribution wheel 304 through the second belt 307.

Wherein, a reduction gear box is connected on the motor 301 to reduce the rotating speed of the motor 301, so that the output torque is larger, thereby ensuring that the power distribution wheel 304 can smoothly drive the front row acquisition wheel 302 or the rear row acquisition wheel 303 to rotate; the rotational speed of motor 301 is invariable, the rotational speed after reduction gear box variable speed is handled is also invariable, thereby make at the in-process that gathers casing 20 and remove, only gather casing 20 and remove by the rotation drive of gathering the wheel, and the user only plays handheld effect to gathering casing 20, and do not participate in the operation of promoting the removal of gathering casing 20, at the uniform velocity of each head collection area 101 at the data acquisition in-process with ensureing to gather casing 20, thereby avoid leading to the not enough or too slow condition that leads to the data acquisition number of times of data acquisition because of gathering casing 20 moving speed is too fast, make collection mechanism 40 can accurately gather stroke length data and euler angle data with stable collection frequency in gathering casing 20 moving process. The power distribution wheel 304 drives the front row acquisition wheel 302 and the rear row acquisition wheel 303 to rotate through the first belt 306 and the second belt 307 respectively, and the power distribution wheel 304 can only drive one of the front row acquisition wheel 302 and the rear row acquisition wheel 303 to actively rotate once, so that no speed difference exists between the front row acquisition wheel 302 and the rear row acquisition wheel 303, and the front row acquisition wheel 302 and the rear row acquisition wheel 303 can be ensured to synchronously rotate; specifically, when the level of the first direction detection switch 701 changes, it indicates that the front end of the collection housing 20 passes through the starting point first, at this time, the main control board automatic control motor 301 rotates in reverse, the motor 301 drives the power distribution wheel 304 to rotate in reverse, the power distribution wheel 304 rotating in reverse drives the rear row collection wheel 303 to rotate through the second belt 307, otherwise, when the level of the second direction detection switch 702 changes, it indicates that the rear end of the collection housing 20 passes through the starting point first, at this time, the main control board automatic control motor 301 rotates in forward, the motor 301 drives the power distribution wheel 304 to rotate in forward, and the power distribution wheel 304 rotating in forward drives the front row collection wheel 302 to rotate through the first belt 306.

Optionally, as shown in fig. 1, fig. 3, fig. 4, and fig. 5, the front-row collecting wheel 302 is coaxially connected with a front-row connecting wheel 308 in transmission connection with the first belt 306, the rear-row collecting wheel 303 is coaxially connected with a rear-row connecting wheel 309 in transmission connection with the second belt 307, a forward locking component 310 is disposed between the front-row connecting wheel 308 and the front-row collecting wheel 302, and a reverse locking component 311 is disposed between the rear-row connecting wheel 309 and the rear-row collecting wheel 303.

When the power distribution wheel 304 rotates forwards, the first belt 306 drives the front row connecting wheel 308 to rotate forwards, the front row collecting wheel 302 is locked with the front row connecting wheel 308 through the forward locking component 310, so that the front row connecting wheel 308 also drives the front row collecting wheel 302 to rotate when rotating, and when the power distribution wheel 304 rotates forwards, the reverse locking component 311 does not lock the rear row connecting wheel 309 and the rear row collecting wheel 303 mutually, so that the power distribution wheel 304 drives the rear row connecting wheel 309 to rotate through the second belt 307, and the rotation of the rear row connecting wheel 309 does not drive the rear row collecting wheel 303 to rotate, namely, at this moment, the front row collecting wheel 302 is a driving wheel, and the rear row collecting wheel 303 is a driven wheel; on the contrary, when the power distribution wheel 304 rotates reversely, the second belt 307 drives the rear connecting wheel 309 to rotate reversely, the rear collecting wheel 303 is locked with the rear connecting wheel 309 through the reverse locking component 311, so that the rear connecting wheel 309 also drives the rear collecting wheel 303 to rotate when rotating, and when the power distribution wheel 304 rotates reversely, the forward locking component 310 does not lock the front connecting wheel 308 and the front collecting wheel 302 with each other, so that the power distribution wheel 304 drives the front connecting wheel 308 to rotate through the first belt 306, and the rotation of the front connecting wheel 308 does not drive the front collecting wheel 302 to rotate, that is, at this moment, the rear collecting wheel 303 is a driving wheel, and the front collecting wheel 302 is a driven wheel.

In this embodiment, the front row collecting wheel 302 and the rear row collecting wheel 303 are respectively provided with the forward locking component 310 and the reverse locking component 311 which are opposite in locking direction, so that the position switching between the driving wheel and the driven wheel can be realized by switching the rotation direction of the power distribution wheel 304, and the structure is simple and reliable.

Alternatively, as shown in fig. 1, 3, 4, and 5, the forward locking assembly 310 includes a first locking block 3101 and a first locking pin 3102, which are engaged with each other, the first locking block 3101 and the first locking pin 3102 are respectively disposed on the front row connecting wheel 308 and the front row collecting wheel 302, a first return spring 3103 is disposed between the first locking block 3101 and the front row connecting wheel 308, the first locking block 3101 is provided with a first locking portion 31011 and a first abdicating guide 31012, when the front row connecting wheel 308 rotates in the forward direction, the first locking portion 31011 and the first locking pin 3102 abut against each other to lock the front row connecting wheel 308 and the front row collecting wheel 302, and when the front row connecting wheel 308 rotates in the reverse direction, the first abdicating guide 31012 can move relative to the first locking pin 3102; reverse locking subassembly 311 is including the second locking movable block 3111 and the second lock round pin 3112 of mutually supporting, second locking movable block 3111 with second lock round pin 3112 is located respectively the back row fifth wheel 309 with the back row is gathered the wheel 303, second locking movable block 3111 with be equipped with second reset spring 3113 between the back row fifth wheel 309, second locking movable block 3111 is equipped with second locking portion 31111 and second guide portion 31112 that gives way, works as when back row fifth wheel 309 counter-rotation, second locking portion 31111 with the mutual butt of second lock round pin 3112 realizes back row fifth wheel 309 with the back row is gathered the wheel and is locked each other, works as when back row fifth wheel 309 forward rotation, second guide portion 31112 that gives way can for second lock round pin 3112 removes.

The first locking stop 3101 and the second locking stop 3111 are identical in structure, the second locking pin 3112 and the first locking pin 3102 are identical in structure, the first locking stop 3101 and the second locking stop 3111 are symmetrically arranged, and the first locking stop 3101 and the second locking stop 3111 are in a right-angled trapezoid structure, so that the structure is simple and the locking function is reliable; the first return spring 3103 pushes the first locking block 3101 to extend outward, the first locking portion 31011 of the first locking block 3101 is positioned at the right-angled side of the right-angled trapezoidal structure so as to be engaged with the first locking pin 3102, the first abdicating guide 31012 is positioned at the oblique side of the right-angled trapezoidal structure, when the first locking block 3101 is rotated until the first abdicating guide 31012 is engaged with the first locking pin 3102, the first locking pin 3102 presses the first abdicating guide 31012 so that the first locking block 3101 is moved to compress the first return spring 3103 until the first locking block 3101 is restored to the original extended length by the restoring force of the first return spring 3103 after the first locking pin 3102 is disengaged from the first abdicating guide 31012; similarly, the second reset spring 3113 pushes the second locking moving block 3111 to extend outward, the second locking portion 31111 of the second locking moving block 3111 is located at the right-angle side of the right-angle trapezoid structure so as to be matched with the second locking pin 3112, the second abdicating guide portion 31112 is located at the oblique side of the right-angle trapezoid structure, when the second locking moving block 3111 rotates to the second abdicating guide portion 31112 to be matched with the second locking pin 3112, the second locking pin 3112 extrudes the second abdicating guide portion 31112 so that the second locking moving block 3111 moves to compress the second reset spring 3113, until the second locking pin 3112 and the second abdicating guide portion 31112 are separated from each other, the second locking moving block 3111 is restored to the original extension length under the action of the reset force of the second reset spring 3113.

Optionally, as shown in fig. 1 and fig. 6, a first connecting rod 312 is connected to each of the front row collecting wheel 302 and the rear row collecting wheel 303, and a third return spring 305 is disposed between the first connecting rod 312 and the collecting shell 20.

Wherein, the wheel 302 is gathered to the front row and the wheel 303 is gathered to the back row all is connected with gathering the casing 20 through head rod 312, sets up third reset spring 305 for head rod 312 can reciprocate for gathering casing 20, in order to realize that wheel 302 is gathered to the front row and the wheel 303 is gathered to the back row can reciprocate for gathering casing 20, helps increaseing the angle variation range of gathering support 4021 in the second collection mechanism 402, uses in order to adapt to the head profile of more shapes.

Optionally, as shown in fig. 1 and fig. 6, the first collecting mechanism 401 includes a collecting wheel, a connecting rod and a photoelectric coded disc 4011 disposed on a side surface of the collecting wheel, a plurality of coded disc holes 40111 are circumferentially disposed on the photoelectric coded disc 4011 at intervals, and a photoelectric sensor 4012 for sensing the coded disc holes 40111 is mounted on the connecting rod.

The photoelectric coding disc 4011 and the photoelectric sensor 4012 are matched for use to detect the rotating speed and the number of turns of the collecting wheel, so that the main controller 50 calculates the walking length of the collecting wheel according to the rotating speed and the number of turns of the collecting wheel, a high level is obtained when the photoelectric sensor 4012 is overlapped with the coding disc hole 40111, and a low level is obtained when the photoelectric sensor 4012 is not overlapped with the coding disc hole 40111; preferably, one or more of the front row collecting wheel 302 and/or the rear row collecting wheel 303 are used as collecting wheels, and the high level of the photoelectric sensor 4012 is changed once, the corresponding travel of the collecting wheels is a unit travel, for example, the number of the code disc holes 40111 is 10, and the length of the unit travel is/10 of the circumference of the collecting wheel. In this embodiment, the photoelectric encoding disc 4011 is arranged on the collecting wheel, and the collecting of the stroke length data of the collecting shell 20 is realized by mutual induction of the encoding disc hole 40111 and the photoelectric sensor 4012 in the rotation process of the collecting wheel, so as to ensure the collecting reliability and accuracy of the stroke length data.

Optionally, as shown in fig. 1, fig. 2, and fig. 7, the second collecting mechanism 402 includes a collecting bracket 4021 and an angular velocity sensor 4022 for detecting euler angle data, the angular velocity sensor 4022 is installed in the collecting bracket 4021, the collecting bracket 4021 is vertically connected to the front and back direction of the collecting housing 20, collecting blocks 40211 are provided at the left and right ends of the collecting bracket 4021, and the two collecting blocks 40211 are always in contact with the head contour during the movement of the collecting housing 20; the collecting bracket 4021 and the collecting shell 20 are connected with a second connecting rod 4023 therebetween, the second connecting rod 4023 is movably connected with the collecting shell 20 up and down, and the second connecting rod 4023 is rotatably connected with the collecting bracket 4021.

The angular velocity sensor 4022 is installed at the center of the acquisition bracket 4021, a fourth reset spring 4024 is arranged between the second connecting rod 4023 and the acquisition shell 20 to enable the acquisition bracket 4021 to move up and down relative to the acquisition shell 20, a rotating shaft 4025 is arranged between the second connecting rod 4023 and the acquisition bracket 4021 to enable the acquisition bracket 4021 to swing left and right around the front and back direction of the acquisition shell 20, Euler angle data are detected by the angular velocity sensor 4022 every unit stroke in the action process of the acquisition bracket 4021, the acquisition bracket 4021 changes in position along the head contour in the movement process of the acquisition bracket 4021, and the Euler angle data detected by the angular velocity sensor 4022 also changes at the same time; the angular velocity sensor 4022 is preferably a gyroscope sensor, which further comprises an acceleration sensor, wherein the angular velocity sensor 4022 is used for detecting euler angle data during the movement of the collecting bracket 4021 on the head contour to prompt the user to keep the holding posture of the user horizontal or vertical, and the acceleration sensor can be used for detecting whether the user applies force forcibly to avoid too fast or too slow forward pushing of the collecting shell 20.

The contour model forming module 60 performs synchronous processing on the stroke length data acquired by the first acquisition mechanism 401 and the euler angle data acquired by the second acquisition mechanism 402 through an algorithm or an AI technique to form a head contour point 102; for example, the circumference of the collecting wheel is set to 36mm, the number of the code disc holes 40111 on the collecting wheel is set to 36, so that when the high level of the photoelectric sensor 4012 changes once, the collecting wheel rotates by about 10 degrees, and then the collecting wheel moves by 1mm after the rotation change of 10 degrees, at this time, the main controller 50 records and stores the euler angle data of the stroke length of every 1mm, so that the corresponding stroke length data and euler angle data can be detected at the stroke position of every 1mm, and in the same head collecting area 101, the current position can be reversely deduced by the known euler angle data.

In this embodiment, the acquisition bracket 4021 capable of moving up and down and adjusting left and right angles with respect to the acquisition housing 20 is provided, and the angular velocity sensor 4022 capable of detecting euler angle data is provided in the acquisition bracket 4021, so that the structure is simple and reliable, and the acquisition bracket 4021 can be ensured to be always in contact with the head contour along with the change of the head contour, thereby effectively ensuring that the euler angle data detected by the angular velocity sensor 4022 are consistent with the change angle of the head contour, and ensuring that an accurate head contour model 10 is finally formed.

Optionally, as shown in fig. 1, 8, 9 and 10, the euler angle data includes a yaw angle for detecting the position of the collecting shell 20 in the head collecting region 101, a pitch angle for detecting the head contour roll position, and a roll angle forming the head contour point 102 together with the stroke length data.

The pitch angle rotates around the x axis of the coordinate system, the roll angle rotates around the y axis of the coordinate system, and the yaw angle rotates around the z axis of the coordinate system; when the collector moves backwards from the starting point of a certain head collecting area 101 to carry out collecting operation, whether the collector moves to the back head position of the head outline can be judged through the change of the yaw angle, so that whether the collector runs through the head collecting area 101 is judged, the collector can be ensured to collect completely in each head collecting area 101, and the accuracy of head outline data collection is improved; in the mobile acquisition process of the acquisition device, the head of a user is generally required to be adjusted, namely the forehead of the head is approximately right opposite to the front, and if the head of the user is in a head-down or head-up condition, the head contour of the user can be prompted to be adjusted through the change of a pitch angle, so that the accuracy of data acquisition is ensured, and the simulation method of the head contour model 10 can be simplified; the change of the roll angle is consistent with the change of the left angle and the right angle of the acquisition bracket 4021, only the data of the roll angle and the corresponding stroke length data are processed together to form the data of the head contour point 102, and the calculation method is simple and accurate.

Another embodiment of the present invention provides a self-haircut system comprising a head collector as described above.

In the self-service hair cutting system of the embodiment, the moving mechanism 30 for driving the collecting shell 20 to move on the head contour of the user is arranged, so that the collecting mechanism 40 can accurately and stably collect stroke length data and euler angle data in the moving process of the collecting shell 20, all collected stroke length data and euler angle data are processed and simulated by the contour model forming module 60 to form the head contour model 10, and the head collector can accurately simulate the head contour data of the user by simultaneously collecting the stroke length data and the euler angle data, thereby helping the user to figure out an ideal hair style.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.