CN105709972A - Automatic bathing method and device - Google Patents
Automatic bathing method and device Download PDFInfo
- Publication number
- CN105709972A CN105709972A CN201610052927.9A CN201610052927A CN105709972A CN 105709972 A CN105709972 A CN 105709972A CN 201610052927 A CN201610052927 A CN 201610052927A CN 105709972 A CN105709972 A CN 105709972A
- Authority
- CN
- China
- Prior art keywords
- characteristic area
- automatic bathing
- model
- mechanical arm
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000003287 bathing Methods 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 18
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 239000002453 shampoo Substances 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 abstract description 3
- 239000007921 spray Substances 0.000 abstract description 3
- 230000001804 emulsifying effect Effects 0.000 abstract 1
- 150000002632 lipids Chemical class 0.000 abstract 1
- 239000007788 liquid Substances 0.000 abstract 1
- 239000003925 fat Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 235000014593 oils and fats Nutrition 0.000 description 1
- RECVMTHOQWMYFX-UHFFFAOYSA-N oxygen(1+) dihydride Chemical compound [OH2+] RECVMTHOQWMYFX-UHFFFAOYSA-N 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000000527 sonication Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K3/00—Baths; Douches; Appurtenances therefor
- A47K3/28—Showers or bathing douches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Bathtubs, Showers, And Their Attachments (AREA)
Abstract
The invention discloses an automatic bathing device and method. The method comprises the following steps that A, a sensor is used for scanning an operation object; B, a 3D model of the operation object is built according to scanning data; C, a feature region is recognized according to the 3D model; and D, a nano water spray head on a mechanical arm is controlled to carry out traversal on the feature region. According to the method and device, the 3D model is adopted, the feature region is recognized, the feature that nano water has the function of emulsifying lipid is used, the nano water spray head is adopted for avoiding the complex process of smearing liquid shampoo and the like, and therefore water is saved, and the effect and efficiency of automatic cleaning are improved. The automatic bathing device and method can be widely applied to the field of bathing and cleaning.
Description
Technical field
The present invention relates to bathing cleaning applications, especially one automatic bathing method and device.
Background technology
The volume of nanometer water is only small, and particle diameter only has 5-20nm, phase diameter group water droplet in 6000nm steam, it is possible to go deep into the inside of fiber easily；And wherein rich in nanometer water ion, pH value is about 5, in faintly acid, there is sterilizing function, and the pH value of the skin hair of pH value and people is close, more has affinity than common water；Common water droplet is immiscible with oils and fats, and nanometer water has the effect of emulsified fat, and therefore nanometer water can be widely used for bathing and cleaning-sterilizing work.
Automatic bathing method of the prior art typically requires first smears shampoo etc., then rinses with water, automatically smears operation due to what be difficult to shampoo with machinery.
Summary of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to: provide a kind of automatically, the ease of Use method that realizes bathing.
In order to solve above-mentioned technical problem, it is another object of the present invention to: provide a kind of automatically, ease of Use realize the device of bathing.
The technical solution adopted in the present invention is: a kind of automatic bathing method, includes following steps:
A, use sensor scan operation object；
B, according to scanning data set up operation object 3D model；
C, according to above-mentioned 3D Model Identification characteristic area；
D, the nanometer water shower nozzle traversal characteristic area controlled on mechanical arm.
Further, when the method is applied to wash hair, operating object in described step A is head, and in described step C, characteristic area is hair overlay area, and described step C specifically includes following sub-step:
C1,3D model is carried out binarization operation；
C2, the 3D model after binaryzation is carried out rim detection, thus drawing characteristic area.
Further, described step C2 specifically also includes following sub-step:
C21, the 3D model after binaryzation is carried out rim detection；
C22, edge is carried out breakpoint scanning and edge reparation thus obtaining characteristic area.
Further, described step C adopt template matching algorithm to above-mentioned 3D Model Identification characteristic area.
Further, described step C adopt neural network algorithm to above-mentioned 3D Model Identification characteristic area.
Further, described sweep object is user's body or user's head.
The technical solution adopted in the present invention is: a kind of automatic bathing device, includes:
Photographic head, for scan operation object；
Mechanical arm, is used for driving nanometer water shower nozzle；
It is arranged at the nanometer water shower nozzle on mechanical arm, for operation object is carried out；
Central processing module, for the operation object data after scanning carrying out 3D modeling and identifying characteristic area, and controls the nanometer water shower nozzle traversal characteristic area on mechanical arm.
Further, described mechanical arm is additionally provided with on described mechanical arm and is additionally provided with air duct, massage apparatus and/or skin detection module.
Further, the timing module being connected with central processing module it is additionally provided with.
Further, described mechanical arm is additionally provided with the healthy index detection module being connected with central processing module, also including examining report output sub-module in described central processing module, described healthy index detection module is connected with examining report output sub-module.
The invention has the beneficial effects as follows: the inventive method is set up 3D model and identifies characteristic area, nanometer water is utilized to have the effect of emulsified fat, adopt nanometer water shower nozzle to avoid smearing the complicated processes of shampoo etc., using water wisely, improve effect and efficiency that automatization is cleaned.
Another of the present invention provides the benefit that: apparatus of the present invention are used for realizing 3D modeling and characteristic area identification, and owing to nanometer water has the effect of emulsified fat, adopt nanometer water shower nozzle to avoid smearing the complicated processes of shampoo etc., using water wisely, improve effect and efficiency that automatization is cleaned.
Accompanying drawing explanation
Fig. 1 is the flow chart of steps of the inventive method.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
With reference to Fig. 1, a kind of automatic bathing method, include following steps:
A, use sensor scan operation object；
B, according to scanning data set up operation object 3D model；
C, according to above-mentioned 3D Model Identification characteristic area；
D, the nanometer water shower nozzle traversal characteristic area controlled on mechanical arm.
Described nanometer water shower nozzle water column when water spray is vertical with the surface of operation object.
Being further used as preferred embodiment, described sweep object is user's body or user's head.
Being further used as preferred embodiment, when the method is applied to have a bath, operating object in described step A is health, and in described step C, characteristic area is body surface.
Being further used as preferred embodiment, when the method is applied to wash hair, operating object in described step A is head, and in described step C, characteristic area is hair overlay area, and described step C specifically includes following sub-step:
C1,3D model is carried out binarization operation；
3D model after binaryzation is black-and-white two color.
C2, the 3D model after binaryzation is carried out rim detection, thus drawing characteristic area.
Being further used as preferred embodiment, described step C2 specifically also includes following sub-step:
C21, the 3D model after binaryzation is carried out rim detection；
C22, edge is carried out breakpoint scanning and edge reparation thus obtaining characteristic area.
It is further used as preferred embodiment, between described step C1 and step C2, also includes image denoising sonication.
Described Denoising disposal adopts sciagraphy denoising or edge denoising method, obtains than more complete and clean characteristic area.
It is further used as preferred embodiment, described step C adopts template matching algorithm to above-mentioned 3D Model Identification characteristic area.
It is further used as preferred embodiment, described step C adopts neural network algorithm to above-mentioned 3D Model Identification characteristic area.
The technical solution adopted in the present invention is: a kind of automatic bathing device, includes:
Photographic head, for scan operation object；
Mechanical arm, is used for driving nanometer water shower nozzle；
It is arranged at the nanometer water shower nozzle on mechanical arm, for operation object is carried out；
Central processing module, for the operation object data after scanning carrying out 3D modeling and identifying characteristic area, and controls the nanometer water shower nozzle traversal characteristic area on mechanical arm.
It is further used as preferred embodiment, described mechanical arm is additionally provided with on described mechanical arm and is additionally provided with air duct, massage apparatus and/or skin detection module.
Above-mentioned air duct, massage apparatus and skin detection module can adopt the movement locus same with nanometer water shower nozzle to be operated.
It is further used as preferred embodiment, is additionally provided with the timing module being connected with central processing module, for the fixed cycle operator of nanometer water shower nozzle, air duct or massage apparatus.
It is further used as preferred embodiment, described mechanical arm is additionally provided with the healthy index detection module being connected with central processing module, also including examining report output sub-module in described central processing module, described healthy index detection module is connected with examining report output sub-module.
Described healthy index detection module is simple function module or integrated multifunction module, the function of its realization includes but are not limited to heart rate detection, blood pressure detecting, blood sugar test etc., and testing result sends the examining report that can automatically be exported specialty to central processing module by examining report output sub-module therein.
It is above the preferably enforcement of the present invention has been illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art can also make all equivalents or replacement under the premise without prejudice to spirit of the present invention, and these equivalent deformation or replacement are all contained in the application claim limited range.
Claims (10)
1. an automatic bathing method, it is characterised in that: include following steps:
A, use sensor scan operation object；
B, according to scanning data set up operation object 3D model；
C, according to above-mentioned 3D Model Identification characteristic area；
D, the nanometer water shower nozzle traversal characteristic area controlled on mechanical arm.
2. a kind of automatic bathing method according to claim 1, it is characterised in that: described step C specifically includes following sub-step:
C1,3D model is carried out binarization operation；
C2, the 3D model after binaryzation is carried out rim detection, thus drawing characteristic area.
3. a kind of automatic bathing method according to claim 2, it is characterised in that: described step C2 specifically also includes following sub-step:
C21, the 3D model after binaryzation is carried out rim detection；
C22, edge is carried out breakpoint scanning and edge reparation thus obtaining characteristic area.
4. a kind of automatic bathing method according to claim 1, it is characterised in that: described step C adopt template matching algorithm to above-mentioned 3D Model Identification characteristic area.
5. a kind of automatic bathing method according to claim 1, it is characterised in that: described step C adopt neural network algorithm to above-mentioned 3D Model Identification characteristic area.
6. a kind of automatic bathing method according to claim 1, it is characterised in that: described sweep object is user's body or user's head.
7. an automatic bathing device, it is characterised in that: include:
Photographic head, for scan operation object；
Mechanical arm, is used for driving nanometer water shower nozzle；
It is arranged at the nanometer water shower nozzle on mechanical arm, for operation object is carried out；
Central processing module, for the operation object data after scanning carrying out 3D modeling and identifying characteristic area, and controls the nanometer water shower nozzle traversal characteristic area on mechanical arm.
8. a kind of automatic bathing device according to claim 7, it is characterised in that: described mechanical arm is additionally provided with air duct, massage apparatus and/or skin detection module.
9. a kind of automatic bathing device according to claim 7, it is characterised in that: it is additionally provided with the timing module being connected with central processing module.
10. a kind of automatic bathing device according to claim 7, it is characterized in that: described mechanical arm is additionally provided with the healthy index detection module being connected with central processing module, also including examining report output sub-module in described central processing module, described healthy index detection module is connected with examining report output sub-module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052927.9A CN105709972A (en) | 2016-01-26 | 2016-01-26 | Automatic bathing method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052927.9A CN105709972A (en) | 2016-01-26 | 2016-01-26 | Automatic bathing method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105709972A true CN105709972A (en) | 2016-06-29 |
Family
ID=56154962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610052927.9A Pending CN105709972A (en) | 2016-01-26 | 2016-01-26 | Automatic bathing method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105709972A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106940578A (en) * | 2017-05-10 | 2017-07-11 | 京东方科技集团股份有限公司 | A kind of shower control device and shower |
| CN107080655A (en) * | 2017-05-25 | 2017-08-22 | 宁波卫生职业技术学院 | A kind of aid of old man's on-bed hair cleaning |
| CN107928501A (en) * | 2017-12-11 | 2018-04-20 | 黄锋平 | A kind of shower bath |
| CN108065839A (en) * | 2017-12-11 | 2018-05-25 | 黄锋平 | A kind of Intelligent shower device based on image |
| CN109378047A (en) * | 2018-12-20 | 2019-02-22 | 邱迪 | Multifunctional massage formula formed punch bed |
| CN109622256A (en) * | 2019-02-15 | 2019-04-16 | 广州视源电子科技股份有限公司 | Shower water outlet control method, device, equipment and storage medium |
| CN109794382A (en) * | 2019-02-27 | 2019-05-24 | 华南理工大学 | A 3D micro-coating robot and its coating method |
| CN117137353A (en) * | 2023-08-15 | 2023-12-01 | 驭慕科技(上海)有限公司 | An intelligent bathing seat system and control method |
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| US6387081B1 (en) * | 1999-03-12 | 2002-05-14 | Mystic Tan, Inc. | Misting apparatus for application of coating materials to skin surface |
| US20040073186A1 (en) * | 2002-10-15 | 2004-04-15 | Cameron Mickey G. | Apparatus for automatic application of compositions to the skin |
| WO2007022958A2 (en) * | 2005-08-23 | 2007-03-01 | Giovanni Luigi Sartor | Method and software for controlling and managing a jet shower hydromassage device, including methods of defining and performing actions and treatments |
| US20070107121A1 (en) * | 2003-02-07 | 2007-05-17 | Smith Warrick J | Tanning booth |
| CN104571482A (en) * | 2013-10-22 | 2015-04-29 | 中国传媒大学 | Digital device control method based on somatosensory recognition |
| CN204812566U (en) * | 2015-07-07 | 2015-12-02 | 胥常委 | Nanometer washing head machine |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6387081B1 (en) * | 1999-03-12 | 2002-05-14 | Mystic Tan, Inc. | Misting apparatus for application of coating materials to skin surface |
| US20040073186A1 (en) * | 2002-10-15 | 2004-04-15 | Cameron Mickey G. | Apparatus for automatic application of compositions to the skin |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106940578A (en) * | 2017-05-10 | 2017-07-11 | 京东方科技集团股份有限公司 | A kind of shower control device and shower |
| CN107080655A (en) * | 2017-05-25 | 2017-08-22 | 宁波卫生职业技术学院 | A kind of aid of old man's on-bed hair cleaning |
| CN107928501A (en) * | 2017-12-11 | 2018-04-20 | 黄锋平 | A kind of shower bath |
| CN108065839A (en) * | 2017-12-11 | 2018-05-25 | 黄锋平 | A kind of Intelligent shower device based on image |
| CN109378047A (en) * | 2018-12-20 | 2019-02-22 | 邱迪 | Multifunctional massage formula formed punch bed |
| CN109378047B (en) * | 2018-12-20 | 2021-04-23 | 新昌县馁侃农业开发有限公司 | Multifunctional massage type punch bed |
| CN109622256A (en) * | 2019-02-15 | 2019-04-16 | 广州视源电子科技股份有限公司 | Shower water outlet control method, device, equipment and storage medium |
| CN109794382A (en) * | 2019-02-27 | 2019-05-24 | 华南理工大学 | A 3D micro-coating robot and its coating method |
| WO2020173111A1 (en) * | 2019-02-27 | 2020-09-03 | 华南理工大学 | 3d micro-coating robot and coating method therefor |
| CN117137353A (en) * | 2023-08-15 | 2023-12-01 | 驭慕科技(上海)有限公司 | An intelligent bathing seat system and control method |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170629 Address after: Yi Heng Lu Yi Heng Jie in Guangdong province Guangzhou city two road 510663 Tianhe District Xintang Tian tou Gang Road No. 2 E two building 101-103 room Applicant after: Guangzhou pure water Health Technology Co., Ltd. Address before: 510665, No. two, Lane 502, South Gate Street, Tianhe District, Guangdong, Guangzhou 2, China, Tangxia Applicant before: Xu Changwei |
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Application publication date: 20160629 |