Intelligent full-process clothes management robot and working method thereof

Abstract

The invention discloses an intelligent full-process clothes management robot and a working method thereof. A shell is driven by a movable chassis to move, an electrode array is fixed to the inner wall of the shell, a millimeter wave radar array and an NFC detection device are fixed to the bottom of the shell, and a mounting table and a placement table which are integrally formed are arranged on the top of the shell; the mechanical arm is arranged on the mounting table and drives the driving connecting frame to move, an electromagnet and a camera are arranged on the driving connecting frame, and a clothes clamping device, a clothes airing device and an acarus killing and sterilizing device are arranged on the placing table; a spiral frame and a mounting frame in the clothes airing device form a revolute pair; a fixed shell in the acarus killing and sterilizing device is connected with a filter cartridge through a negative pressure fan, an ultraviolet lamp is fixed at an inlet of the fixed shell, and a rolling brush is hinged in the fixed shell; the three driven connecting frames are respectively fixed with the mounting frame, the fixing seat of the clothes clamping device and the negative pressure fan, and permanent magnets are fixed on the three driven connecting frames. The multifunctional clothes hanger has various functions, and can efficiently realize automatic collection, impurity identification, intelligent conveying and washing, automatic airing and taking, mite removal and sterilization of clothes.

Description

Technical Field

[0001] This invention belongs to the field of smart home device technology, specifically relating to an intelligent full-process clothing management robot and its working method. Background Technology

[0002] Existing laundry baskets only provide basic storage and lack intelligent linkage and reminder functions. Users need to frequently bend over to pick up and store dirty clothes and manually hang them out to dry after washing, which is tedious and physically demanding. In addition, existing laundry baskets do not have mite removal and sterilization functions. Furthermore, sometimes users forget to check the pockets of their clothes, resulting in the presence of paper, plastic bags, documents, and other miscellaneous items in the pockets, which affects the washing machine and the washing effect. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and propose an intelligent full-process clothing management robot and its working method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The present invention discloses an intelligent full-process clothing management robot, comprising a mobile chassis, a robotic arm, a storage device, a clothes clamping device, a clothes drying device, a mite removal and sterilization device, a camera, and a connection device.

[0006] The storage device includes a housing, a clothes basket, an electrode array, a millimeter-wave radar array, and an NFC detection device. Both the housing and the clothes basket are cylindrical, with the clothes basket fixed inside the housing. The housing is driven to move by a mobile chassis. An electrode array is fixed to the inner wall of the housing, consisting of multiple electrodes arranged in an array. A millimeter-wave radar array and an NFC detection device are fixed to the bottom of the housing. The millimeter-wave radar array consists of multiple radar chips arranged in an array. The NFC detection device includes a transmitting coil and a receiving coil. An integrally formed mounting platform and a placement platform are provided on the outer edge of the top of the housing. A robotic arm is mounted on the mounting platform, and three integrally formed and spaced protrusions are provided on the placement platform.

[0007] The clothes clamping device includes a fixed base, an electric gripper, and an optical sensor, both of which are mounted on the fixed base. The clothes drying device includes a mounting frame and a spiral frame. The spiral frame and the mounting frame form a rotating pair and are driven to rotate by a drive motor. The spiral frame consists of an integrally formed spiral section and a U-shaped section. An opening 1 is provided on the mounting frame at the end of the spiral section away from the U-shaped section, and an opening 2 is provided at the position of the U-shaped section. The mite removal and sterilization device includes a fixed shell, ultraviolet lamps, a roller brush, a negative pressure fan, and a filter cartridge. Two ultraviolet lamps are fixed at a distance from the inlet of the fixed shell. The roller brush is located inside the fixed shell, forming a rotating pair with the fixed shell, and is driven to rotate by a drive motor. The inlet of the negative pressure fan is fixed to the outlet of the fixed shell through a dust suction channel, and the outlet of the negative pressure fan is fixed to the inlet of the filter cartridge.

[0008] The connection device includes an active connecting frame and three passive connecting frames. The active connecting frame is equipped with an electromagnet and a camera, and is driven to move by a robotic arm. Each passive connecting frame has a permanent magnet fixed on it and has a groove. The three passive connecting frames are respectively fixed to the fixed base, the housing of the negative pressure fan, and the mounting bracket. In the initial state, the clothes clamping device, the clothes drying device, and the mite removal and sterilization device are all placed on the placement platform, with each protrusion embedded in the groove of a passive connecting frame. The robotic arm, electric gripper, drive motor one, drive motor two, ultraviolet lamp, and negative pressure fan are all controlled by controller one. The signal output terminals of the camera, optical sensor, electrode array, millimeter-wave radar array, and NFC detection device are all connected to controller one, and controller one communicates with the washing machine and the mobile terminal.

[0009] Preferably, it also includes a stair-climbing device, which includes a catch, a base, a guide rail, a drive wheel assembly, and a guide wheel assembly. The catch and one end of the base form a sliding pair, and the catch is driven to rise and fall by a linear module mounted on the base. The other end of the base is fixed with a wheel cover, and a drive wheel assembly and several guide wheel assemblies are hinged on the base within the wheel cover. The drive wheel assembly consists of drive gears and driven wheels arranged at intervals, and the guide wheel assembly consists of two rollers arranged at intervals. A guide rail is provided between the drive gear and the driven wheel, and between the two rollers of each guide wheel assembly. The guide rail consists of an inclined section and horizontal sections integrally formed at both ends of the inclined section, and each guide rail forms a sliding pair with the wheel cover. A rack is fixed on the lower side of the guide rail located between the drive gear and the driven wheel. The driven wheel and each roller form a rolling friction pair with the corresponding guide rail. The drive gear meshes with the rack and is driven to rotate by a third drive motor. Both the third drive motor and the linear module are controlled by a second controller. A slot is provided on the lower surface of the mounting platform.

[0010] Preferably, the mobile chassis includes a frame and wheels. Multiple wheels are hinged on the frame and arranged at equal intervals. The frame is equipped with a laser radar and a positioning and navigation module. Each wheel is driven by its own servo motor. Each servo motor is controlled by a controller. The signal output terminals of the laser radar and the positioning and navigation module are connected to the controller.

[0011] Preferably, a humidity sensor and a fan are fixed to the inner wall of the clothes basket, and multiple ventilation holes are opened at the bottom of the clothes basket. The signal output terminal of the humidity sensor is connected to a controller, and the fan is controlled by the controller.

[0012] More preferably, the placement platform is equipped with a touch screen display, which is connected to the controller.

[0013] More preferably, the touch display screen is equipped with a voice interaction module.

[0014] The present invention discloses a working method for an intelligent end-to-end clothing management robot, as detailed below:

[0015] First, the dirty laundry is picked up. The robotic arm connects to the clamping device, and the camera identifies the location of each piece of dirty laundry. The moving chassis drives the frame to move the housing to the location of each piece of dirty laundry. The robotic arm drives the clamping device to move, so that the electric grippers of the clamping device can clamp the dirty laundry and send it into the laundry basket. When the electric grippers clamp the dirty laundry, the optical sensor identifies the material of the dirty laundry and sends the dirty laundry to the corresponding storage area in the laundry basket divided by partitions. When the dirty laundry enters the laundry basket, the electrode array detects whether there is metal in the dirty laundry, the millimeter-wave radar array detects whether there is paper or plastic sheet in the dirty laundry, and the NFC detection device detects whether there is an NFC card in the dirty laundry. When metal, paper, plastic sheet or NFC card is detected in the dirty laundry, the voice interaction module issues a foreign object alarm and notifies the user to pick it up.

[0016] After the dirty laundry is retrieved, the mobile chassis moves to the washing machine position. The washing machine door opens, the camera identifies the location of the dirty laundry in the basket, and the robotic arm drives the clamping device to move, causing the electric grippers of the clamping device to grab the dirty laundry in the basket and send it into the washing machine. The washing machine door closes, and the user sets the washing mode according to the fabric type. The washing machine then begins washing the dirty laundry. After washing is complete, the washing machine door opens, and the washing machine sends a washing completion command to the controller. The mobile terminal and voice interaction module issue a washing completion prompt, and the clothes begin to be dried. The drying process is as follows: the mobile chassis moves to the washing machine position, the robotic arm disconnects from the clamping device and connects to the drying device, and the user manually removes each garment from the washing machine and hangs it on the hanger. The user then manually hooks each hanger hook onto the spiral section of the auger through the opening. Simultaneously, the controller controls the drive motor to drive the auger to rotate intermittently. The spiral frame moves the spaced hangers towards the opening two. After the clothes are hung, the moving base moves the housing to the drying rod position. The camera identifies the position of the drying rod, and the robotic arm drives the clothes drying device to move the hangers and clothes so that the hanger hooks are above the drying rod. The controller controls the drive motor to drive the spiral frame to rotate forward, so that the hangers move sequentially to the U-shaped section of the spiral frame. When the hangers move to the U-shaped section of the spiral frame, as the spiral frame rotates, the hanger hooks detach from the U-shaped section and hang on the drying rod, completing the clothes drying process.

[0017] After the user determines that the clothes are dry, they send a collection and mite-removal / sterilization command to controller 1 via their mobile device. Each garment is then collected and sterilized sequentially. The process for each garment is as follows: the mobile chassis moves to the drying rod position; the camera identifies the drying rod's location; the robotic arm drives the drying device to move, positioning the U-shaped section to the side of the drying rod; controller 1 controls drive motor 1 to reverse the spiral frame, causing the U-shaped section to hook a hanger hook; the robotic arm drives the drying device to remove the hanger hook from the drying rod; the mobile chassis moves to the platform position; the camera identifies the platform's surface; the robotic arm drives the drying device to move the corresponding hanger, laying the clothes flat on the platform surface; controller 1 controls drive motor 1 to rotate the spiral frame clockwise, causing the hanger hook to detach from the U-shaped section; the robotic arm disconnects from the drying device. The connection is established and connected to the mite removal and sterilization device. The robotic arm moves the device, bringing the inlet of the fixed shell into contact with the surface of the garment. The robotic arm drives the device in a reciprocating motion, and during this motion, the ultraviolet lamps are activated for a preset time to kill live mites and bacteria on the garment. Then, controller one controls drive motor two to rotate the roller brush, which peels off mite carcasses and dander from the garment. Simultaneously, a negative pressure fan operates, transporting the peeled mite carcasses and dander through a suction channel to a filter cartridge for filtration. This process continues until the mite removal and sterilization of the garment is complete. The user manually hangs the garment in the wardrobe. The robotic arm then disconnects from the mite removal and sterilization device and connects to the clothes drying device. After completing the mite removal and sterilization of the last garment, the robotic arm disconnects from the mite removal and sterilization device and is no longer connected to the clothes drying device.

[0018] Preferably, when the electrode array detects whether there is metal in the laundry, each electrode is energized to generate an electromagnetic field. When metal is mixed in with the laundry, the eddy current effect of the metal changes the local magnetic field distribution, causing a change in current between adjacent electrodes. The presence of metal in the laundry is determined based on the generated current change signal. When the millimeter-wave radar array detects whether there is paper or plastic sheet in the laundry, since there is a difference in millimeter-wave reflectivity between clothing and paper or plastic sheet, when paper or plastic sheet is mixed in with the laundry, the millimeter-wave radar array captures the reflected signal and analyzes the difference in the intensity of the reflected signal to distinguish between clothing and paper or plastic sheet. When the NFC detection device detects whether there is an NFC card in the laundry, the active transmitting coil of the NFC detection device continuously transmits a signal. When an NFC card is mixed in with the laundry, the passive coil inside the NFC card generates an induced power and feeds back a signal. The receiving coil of the NFC detection device receives the feedback signal and determines that an NFC card is present.

[0019] Preferably, the connection process between the robotic arm and the clothes clamping device, clothes drying device, or mite-removing and sterilizing device is as follows: The electromagnet on the active connecting frame is energized to generate magnetic force. The robotic arm drives the active connecting frame to move the electromagnet closer to the driven connecting frame on the clothes clamping device, clothes drying device, or mite-removing and sterilizing device, causing the electromagnet to be magnetically attracted to the permanent magnet on the corresponding driven connecting frame. The robotic arm then drives the active connecting frame to move the entire clothes clamping device, clothes drying device, or mite-removing and sterilizing device upwards a predetermined distance via the electromagnet, the corresponding permanent magnet, and the corresponding driven connecting frame, causing the groove on the corresponding driven connecting frame to disengage from the corresponding protrusion. The process of connecting the robotic arm to the clothes clamping device, clothes drying device, or mite removal and sterilization device is as follows: The robotic arm drives the active connecting frame to move the entire clothes clamping device, clothes drying device, or mite removal and sterilization device to the initial position through the electromagnet, the corresponding permanent magnet, and the corresponding driven connecting frame, so that the corresponding boss is embedded in the groove of the corresponding driven connecting frame. The electromagnet on the active connecting frame is de-energized, the magnetic force disappears, and the connection between the electromagnet and the permanent magnet on the corresponding driven connecting frame is broken, thereby completing the disconnection of the robotic arm from the clothes clamping device, clothes drying device, or mite removal and sterilization device.

[0020] Preferably, both ends of each guide rail of the stair climbing device are fixed to the wall. When climbing the stair, the movable chassis drives the housing to move to the base position of the stair climbing device, so that the slot on the lower surface of the mounting platform is aligned with the latch of the stair climbing device. The linear module drives the latch to rise a preset distance, so that the latch is inserted into the slot, and drives the mounting platform and the housing to rise. The movable chassis is no longer in contact with the ground. The controller two controls the drive motor three to drive the drive gear to rotate. The drive gear meshes with the rack. The base drives the housing to move along each guide rail until it reaches the corresponding floor. The linear module drives the latch to lower the housing. The latch returns to its original position and disengages from the slot. The movable chassis contacts the ground, completing the stair climbing operation.

[0021] The present invention has the following beneficial effects:

[0022] 1. This invention offers diverse functions. Through the coordinated operation of multiple modules—sensing, execution, control, and interaction—it efficiently achieves automatic collection of clothing, debris identification, intelligent washing, automatic drying, and mite removal and sterilization, with a high degree of intelligence. Specifically, this invention uses a camera to identify the location of dirty clothes, and a moving chassis drives the housing to move a robotic arm to the location of the dirty clothes. The robotic arm then drives the clamping device to move, causing the electric grippers of the clamping device to clamp the dirty clothes and deliver them to the laundry basket, thus achieving automatic collection of clothing. The clamping device is equipped with an optical sensor that can identify the material of the clothing for selecting the subsequent washing mode. Furthermore, the housing is equipped with an electrode array and millimeter-sized... The invention employs a radar array and an NFC detection device to detect metal, paper or plastic flakes, and NFC cards in dirty clothes, respectively, preventing them from affecting the subsequent washing process and washing results, thus achieving debris identification on the clothes. Furthermore, the invention communicates with the washing machine; the moving chassis drives the robotic arm to the washing machine's position, and the robotic arm drives the clamping device to move, causing the electric grippers to clamp the dirty clothes in the clothes basket and send them into the washing machine. The washing machine then uses the received washing mode to wash the clothes, thus achieving intelligent washing and delivery. After washing, the user hangs the clothes on the hangers and hooks the hanger hooks onto the spiral section of the spiral rack in the drying device connected to the robotic arm. Simultaneously, a drive motor drives the spiral frame to rotate intermittently forward, causing each hanger to move intermittently towards the U-shaped section closest to the spiral frame. The moving chassis drives the robotic arm to the drying rod position. The robotic arm drives the drying device to move, and simultaneously, a drive motor drives the spiral frame to rotate forward, causing the moving chassis to move along the drying rod, causing each hanger hook to move sequentially onto the U-shaped section and detach sequentially, hanging on the drying rod. After the clothes are dried, the robotic arm drives the drying device to move until the U-shaped section is located to the side of the drying rod. Then, a drive motor drives the spiral frame to rotate in reverse, causing the U-shaped section to hook the hanger hooks and remove them from the drying rod, thus achieving automatic clothes drying. Each time a hanger is removed... The mobile chassis drives the robotic arm to the platform position. The robotic arm then drives the clothes drying device to move, laying the clothes on the hangers flat on the platform. The first drive motor drives the spiral frame to rotate forward, causing the U-shaped section to disengage from the hanger hooks. Then, the robotic arm disconnects from the clothes drying device and connects to the mite removal and sterilization device, driving the device to move back and forth along the surface of the clothes. During this reciprocating movement, the ultraviolet lamp of the mite removal and sterilization device first kills live mites and bacteria on the clothes. Then, the second drive motor drives the roller brush to rotate, peeling off the mite corpses and dander from the clothes. The negative pressure fan operates, transporting the peeled mite corpses and dander through the dust suction channel to the filter cartridge for filtration, thereby achieving mite removal and sterilization of the clothes.

[0023] 2. The modular design of the robotic arm with the clothes clamping device, clothes drying device and mite removal and sterilization device in this invention facilitates independent repair or replacement, reduces maintenance costs, and the robotic arm can be connected to the clothes clamping device, clothes drying device or mite removal and sterilization device through a magnetic connection device, which enables quick replacement of the end effector.

[0024] 3. This invention also has the ability to move across floors, facilitating flexible movement in multi-story residential buildings. Specifically, this invention uses a stair-climbing device installed on the side of the staircase. To climb the stairs, the moving chassis drives the housing to move to the base position of the stair-climbing device. The linear module on the base drives the latch to rise, so that the latch is inserted into the slot of the mounting platform on the housing, and drives the mounting platform and housing to rise, so that the moving chassis is no longer in contact with the ground. The drive motor drives the drive gear to rotate, and the drive gear meshes with the rack on the corresponding guide rail. The base moves along each guide rail, so that the base drives the housing to move along the guide rail, thereby realizing the stair-climbing function. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention that removes the stair-climbing device;

[0026] Figure 2 This is a schematic diagram of the storage device in this invention;

[0027] Figure 3 This is a schematic diagram of the clothes drying device in this invention;

[0028] Figure 4 This is a schematic diagram of the mite removal and sterilization device in this invention;

[0029] Figure 5 This is a partial structural schematic diagram of the stair-climbing device in this invention;

[0030] Figure 6 This is a schematic diagram of the stair-climbing device after removing the wheel covers in this invention. Detailed Implementation

[0031] The present invention will now be further described with reference to the accompanying drawings.

[0032] like Figure 1 As shown, the present invention discloses an intelligent full-process clothing management robot, comprising a mobile chassis 1, a storage device 2, a robotic arm 3, a clothing clamping device 4, a clothing drying device 5, a mite removal and sterilization device 6, a connecting device 7, and a camera 8.

[0033] The mobile chassis 1 includes a frame and wheels. Multiple wheels are hinged on the frame and are arranged at equal intervals. The frame is equipped with a lidar and a positioning and navigation module. Each wheel is driven by its own servo motor. The signal output terminals of the lidar and the positioning and navigation module are connected to the controller. The positioning and navigation module plans the movement path of the frame. The controller controls each servo motor to drive each wheel to move according to the movement path of the frame. During the movement, the lidar detects the distance to obstacles, so that the frame moves to avoid obstacles.

[0034] like Figure 2 As shown, the storage device 2 includes a housing 2-1, a clothes basket 2-2, an electrode array 2-3, a millimeter-wave radar array 2-4, and an NFC detection device 2-5. Both the housing 2-1 and the clothes basket 2-2 are cylindrical, with the clothes basket 2-2 fixed inside the housing 2-1, which is fixed to a frame. The electrode array 2-3 is fixed to the inner wall of the housing 2-1. The electrode array 2-3 consists of multiple electrodes arranged in an array, used to detect whether metal substances (such as keys) are mixed into the clothes in the clothes basket 2-2. A millimeter-wave radar array 2-4 is fixed to the bottom of the housing 2-1. The millimeter-wave radar array 2-4 and the NFC detection device 2-5 are used to detect whether paper or plastic sheets are mixed in with the clothes in the clothes basket 2-2. The millimeter-wave radar array 2-4 consists of multiple radar chips arranged in an array. The NFC detection device 2-5 includes a transmitting coil and a receiving coil. It is used to detect whether NFC cards are mixed in with the clothes in the clothes basket 2-2. The top outer edge of the housing 2-1 is provided with an integrally formed mounting platform and a placement platform. The robotic arm 3 is fixed on the mounting platform, and the placement platform is provided with three integrally formed and spaced protrusions.

[0035] The garment clamping device 4 includes a fixed base, a motorized gripper, and an optical sensor. Both the motorized gripper and the optical sensor are fixed to the fixed base. The optical sensor is used to detect the material of the garment. Figure 3 As shown, the clothes drying device 5 includes a mounting frame 5-1 and a spiral frame 5-2. The spiral frame 5-2 and the mounting frame 5-1 form a rotating pair and are driven to rotate by a drive motor. The spiral frame 5-2 is composed of an integrally formed spiral section and a U-shaped section. An opening 1 is provided on the mounting frame 5-1 at the end of the spiral section away from the U-shaped section, and an opening 2 is provided at the position of the U-shaped section.

[0036] like Figure 4As shown, the mite removal and sterilization device 6 includes a fixed shell 6-1, an ultraviolet lamp 6-2, a roller brush 6-3, a negative pressure fan 6-5, and a filter cartridge 6-6. Two ultraviolet lamps 6-2 are fixed at the inlet of the fixed shell 6-1 at a distance. The roller brush 6-3 is located inside the fixed shell 6-1, forming a rotating pair with the fixed shell 6-1, and is driven to rotate by a drive motor. The inlet of the negative pressure fan 6-5 is fixed to the outlet of the fixed shell 6-1 through a dust suction channel 6-4, and the outlet of the negative pressure fan 6-5 is fixed to the inlet of the filter cartridge 6-6. The bristles of the roller brush 6-3 are made of nylon and are arranged in a spiral shape, which can penetrate deep into the clothing fibers to remove mite corpses and dander. More preferably, multiple spirals are used.

[0037] The connecting device 7 includes an active connecting frame and three passive connecting frames. The active connecting frame is equipped with an electromagnet and a camera 8. The active connecting frame is driven to move by the robotic arm 3. Each passive connecting frame is fixed with a permanent magnet and has a groove. The three passive connecting frames are respectively fixed to the housing of the fixed base, the mounting bracket 5-1 and the negative pressure fan 6-5. The robotic arm 3 is a six-degree-of-freedom robotic arm. In the initial state, the clothes clamping device 4, the clothes drying device 5 and the mite removal and sterilization device 6 are all placed on the placement platform, and each boss is embedded in the groove of a passive connecting frame.

[0038] As a preferred embodiment, it also includes a stair-climbing device, such as Figure 5 and Figure 6 As shown, the stair-climbing device includes a latch 9-1, a base 9-2, a guide rail 9-3, a drive wheel assembly 9-4, and a guide wheel assembly 9-5. The latch 9-1 and one end of the base 9-2 form a sliding pair, and are driven to rise and fall by a linear module 9-6 located on the base 9-2. The other end of the base 9-2 is fixed with a wheel cover 9-7, and a drive wheel assembly 9-4 and several guide wheel assemblies 9-5 are hinged on the base 9-2 inside the wheel cover 9-7. The drive wheel assembly 9-4 consists of a drive gear and a driven wheel arranged at intervals. The guide wheel assembly 9-5 consists of two rollers arranged at intervals. A guide rail 9-3 is provided between the drive gear and the driven wheel, and between the two rollers of each guide wheel assembly 9-5. The guide rail 9-3 consists of an inclined section and horizontal sections integrally formed at both ends of the inclined section (not shown in the figure). Each guide rail 9-3 forms a sliding pair with the wheel cover 9-7, and a rack is fixed to the lower side of the guide rail 9-3 located between the drive gear and the driven wheel. Figure 6 (Only a portion of the rack is shown in the diagram). The driven wheel and each roller, along with their corresponding guide rails 9-3, form rolling friction pairs. The drive gear meshes with the rack and is driven to rotate by drive motor three, which is controlled by controller two. The wheel cover 9-7 protects the drive wheel assembly 9-4 and each guide wheel assembly 9-5, preventing dust and debris from entering and affecting transmission, while also preventing the user from contacting the moving parts. A slot for inserting the latch 9-1 is provided on the underside of the mounting platform.

[0039] In a preferred embodiment, the electric gripper includes a fixed frame and gripping arms. The gripping arms are arranged at a distance, one gripping arm is fixed to the fixed frame, and the other gripping arm forms a sliding pair with the fixed frame and is driven to translate by a drive member, so that the two gripping arms open or close.

[0040] More preferably, a silicone anti-slip layer and a pressure sensor are fixed on the inner side of both clamping arms. The pressure sensor is used to provide real-time feedback of the pressure value, so that the drive unit adjusts the distance between the two clamping arms according to the pressure value, thereby adjusting the clamping force of the two clamping arms on the clothing, so that the clamping force is within a preset range.

[0041] As a preferred embodiment, the clothes basket 2-2 is fixed with multiple partitions evenly distributed along the circumference. The partitions divide the internal space of the clothes basket 2-2 into multiple storage areas, and the clothes basket 2-2 is partitioned for storing clothes of different materials. The inner wall of each storage area is covered with a flexible buffer layer.

[0042] In a preferred embodiment, a humidity sensor and a fan are fixed to the inner wall of the clothes basket 2-2. Multiple ventilation holes are opened at the bottom of the clothes basket 2-2. The humidity sensor is used to detect the humidity of the dirty clothes and transmit the humidity data to the controller. The controller feeds back to the mobile terminal to prompt that dirty clothes with a humidity of ≥60%RH should be processed first. The fan is used to speed up the ventilation and dehumidification speed inside the clothes basket through the ventilation holes to prevent the wet clothes from getting moldy and producing odors.

[0043] In a preferred embodiment, a touch screen is provided on the placement table. The touch screen is connected to the controller and is used to display the working status and washing mode of the clothes. It also supports manual setting of the working status and washing mode of the clothes.

[0044] In a preferred embodiment, the touch display screen is equipped with a voice interaction module for receiving voice commands and providing feedback on detection results.

[0045] Among them, the robotic arm 3, electric gripper, drive motor 1, drive motor 2, ultraviolet lamp 6-2, negative pressure fan 6-5, fan and each servo motor are all controlled by controller 1, drive motor 3 and linear module 9-6 are all controlled by controller 2, and the signal output terminals of camera 8, optical sensor, pressure sensor, humidity sensor, electrode array 2-3, millimeter wave radar array 2-4 and NFC detection device 2-5 are all connected to controller 1, and controller 1 communicates with controller 2, washing machine and mobile terminal (such as mobile phone).

[0046] The present invention discloses a working method for an intelligent end-to-end clothing management robot, as detailed below:

[0047] First, the dirty laundry is picked up. The robotic arm 3 is connected to the clamping device 4. The camera 8 identifies the location of each piece of dirty laundry. The controller 1 controls each servo motor to synchronously drive each wheel, moving the frame and housing 2-1 to the location of each piece of dirty laundry. The robotic arm 3 drives the clamping device 4 to move, so that the electric gripper of the clamping device 4 clamps the dirty laundry and sends it into the laundry basket. When the electric gripper clamps the dirty laundry, the optical sensor identifies the material of the dirty laundry and sends the dirty laundry to the corresponding storage area. When the dirty laundry enters the laundry basket, the electrode array 2-3 detects whether there is metal in the dirty laundry, the millimeter-wave radar array 2-4 detects whether there is paper or plastic sheet in the dirty laundry, and the NFC detection device 2-5 detects whether there is an NFC card in the dirty laundry. When metal, paper, plastic sheet or NFC card is detected in the dirty laundry, the voice interaction module issues a foreign object alarm and notifies the user to pick it up. In this system, when electrode array 2-3 detects the presence of metal in the laundry, each electrode is energized to generate an electromagnetic field. When metal is mixed in with the laundry, the eddy current effect of the metal changes the local magnetic field distribution, causing a change in current between adjacent electrodes. The presence of metal in the laundry is determined based on the generated current change signal. When millimeter-wave radar array 2-4 detects the presence of paper or plastic sheets in the laundry, due to the difference in millimeter-wave reflectivity between clothing and paper or plastic sheets, when paper or plastic sheets are mixed in with the laundry, millimeter-wave radar array 2-4 captures the reflected signal and analyzes the difference in the intensity of the reflected signal to distinguish between clothing and paper or plastic sheets. When NFC detection device 2-5 detects the presence of NFC cards in the laundry, the active transmitting coil of NFC detection device 2-5 continuously emits a low-frequency signal. When an NFC card is mixed in with the laundry, the passive coil inside the NFC card generates an induced power and feeds back a signal. The receiving coil of NFC detection device 2-5 receives the feedback signal and determines that an NFC card is present.

[0048] After completing the dirty laundry retrieval, the mobile chassis 1 plans its path to the washing machine location via the positioning and navigation module. The controller controls each servo motor to synchronously drive the frame and move the housing 2-1 to the washing machine location. The washing machine door opens (either opened by the user, by the clamping device 4, or automatically). The camera 8 identifies the location of the dirty laundry in the laundry basket. The robotic arm 3 drives the clamping device 4 to move, so that the electric grippers of the clamping device 4 clamp the dirty laundry in a single storage area of ​​the laundry basket and send it into the washing machine (for convenience, it can also be set to send the dirty laundry from multiple or all storage areas into the washing machine). The washing machine door closes (either closed by the user, by the clamping device 4, or automatically). The user sets the washing mode for the clothes according to the material of the clothes via a mobile terminal or touch screen. The controller sends the washing mode to the washing machine, and the washing machine begins washing the dirty laundry.

[0049] After the washing machine finishes washing the dirty clothes, the washing machine door opens, and the washing machine sends a washing completion command to the controller. The mobile terminal and voice interaction module issue a washing completion prompt, and the clothes begin to be dried. The drying process is as follows: the mobile chassis 1 plans its path to the washing machine position through the positioning and navigation module. The controller controls each servo motor to synchronously drive each wheel, moving the frame and housing 2-1 to the washing machine position. The robotic arm 3 disconnects from the clothes clamping device 4 and connects to the clothes drying device 5. The user manually takes each garment out of the washing machine and hangs it on the hanger, and manually hooks each hanger hook onto the spiral section of the spiral frame 5-2 through the opening 1. At the same time, the controller controls the drive motor to drive the spiral frame 5-2 to rotate intermittently forward, and the spiral frame 5-2 drives the spaced hangers. The machine moves towards the direction of opening two until all clothes in the washing machine are removed. The moving chassis 1 plans its path to the drying rack position through the positioning and navigation module. The controller controls each servo motor to synchronously drive the frame and move the housing 2-1 to the drying rack position. The camera 8 identifies the position of the drying rack. The robotic arm 3 drives the clothes drying device 5 to move each hanger and each piece of clothing, so that each hanger hook is positioned above the drying rack. The controller controls the drive motor to drive the spiral frame 5-2 to rotate forward, so that each hanger moves sequentially to the U-shaped section of the spiral frame 5-2. When the hanger moves to the U-shaped section of the spiral frame 5-2, as the spiral frame 5-2 rotates and the moving chassis 1 moves along the drying rack, each hanger hook disengages from the U-shaped section and hangs on the drying rack, thus realizing the drying of clothes.

[0050] After the user determines that the clothes are dry, they send a collection and mite-removal / sterilization command to the controller via a mobile device. Each garment is then collected and sterilized sequentially. The process for each garment is as follows: the mobile chassis 1 plans its path to the drying rack using a positioning and navigation module; the controller controls the servo motors to synchronously drive the wheels, moving the frame and housing 2-1 to the drying rack position; the camera 8 identifies the drying rack position; and the robotic arm 3 drives the drying device 5 to move, positioning the U-shaped section to the side of the drying rack. The controller 1 controls the drive motor 1 to drive the spiral frame 5-2 to reverse, causing the U-shaped segment to hook a clothes hanger hook. The robotic arm 3 drives the clothes drying device 5 to remove a clothes hanger hook from the drying rod. The moving chassis 1 plans its movement path to the platform position through the positioning and navigation module. The controller 1 controls each servo motor to synchronously drive the frame housing 2-1 to move to the platform position. The camera 8 identifies the position on the platform surface. The robotic arm 3 drives the clothes drying device 5 to move the corresponding clothes hanger, so that the clothes on the hanger are laid flat on the platform surface. The controller 1 controls the drive motor 1 to reverse the spiral frame 5 to hook a clothes hanger hook. The controller 1 controls the drive motor to move the spiral frame 5 to the platform position. The controller 1 controls the spiral frame 5 to the platform position. The controller 1 controls the spiral frame 2-2 to move the spiral frame 5 to the platform position. The controller 1 controls the spiral frame 2-2 ... The first drive unit rotates the spiral frame 5-2 clockwise, causing the clothes hanger hook to detach from the U-shaped section. The robotic arm 3 disconnects from the clothes drying device 5 and connects to the mite-removing and sterilizing device 6. The robotic arm 3 moves the mite-removing and sterilizing device 6, bringing the entrance of the fixed shell 6-1 in the device to the surface of the clothing. The robotic arm 3 drives the device to move back and forth, and during this back-and-forth movement, each ultraviolet lamp 6-2 is activated for a preset time to kill live mites and bacteria on the clothing. Then, the controller controls the second drive motor to... The rotating brush 6-3 removes mite carcasses and dander from the clothing. Simultaneously, the negative pressure fan 6-5 operates, transporting the removed mite carcasses and dander through the suction channel to the filter cartridge 6-6 for filtration until the mite removal and sterilization of the clothing is completed. The user then manually hangs the clothing in the wardrobe. The robotic arm 3 disconnects from the mite removal and sterilization device 6 and connects to the clothes drying device 5. After completing the mite removal and sterilization of the last garment, the robotic arm 3 disconnects from the mite removal and sterilization device 6 and is no longer connected to the clothes drying device 5.

[0051] The connection process between the robotic arm 3 and the clothes clamping device 4, clothes drying device 5, or mite removal and sterilization device 6 is as follows: the electromagnet on the active connecting frame is energized to generate magnetic force. The robotic arm 3 drives the active connecting frame to move the electromagnet towards the driven connecting frame on the clothes clamping device 4, clothes drying device 5, or mite removal and sterilization device 6, so that the electromagnet and the permanent magnet on the corresponding driven connecting frame are attracted by magnetic force. The robotic arm 3 drives the active connecting frame to move the entire clothes clamping device 4, clothes drying device 5, or mite removal and sterilization device 6 upward a preset distance through the electromagnet, the corresponding permanent magnet, and the corresponding driven connecting frame, so that the groove of the corresponding driven connecting frame is disengaged from the corresponding boss, thereby completing the connection between the robotic arm 3 and the clothes clamping device 4, clothes drying device 5, or mite removal and sterilization device 6.

[0052] The disconnection process between the robotic arm 3 and the clothes clamping device 4, clothes drying device 5, or mite removal and sterilization device 6 is as follows: The robotic arm 3 drives the active connecting frame to move the entire clothes clamping device 4, clothes drying device 5, or mite removal and sterilization device 6 to the initial position through the electromagnet, the corresponding permanent magnet, and the corresponding driven connecting frame, so that the corresponding boss is embedded in the groove of the corresponding driven connecting frame. The electromagnet on the active connecting frame is de-energized, the magnetic force disappears, and the connection between the electromagnet and the permanent magnet on the corresponding driven connecting frame is disconnected, thereby completing the disconnection between the robotic arm 3 and the clothes clamping device 4, clothes drying device 5, or mite removal and sterilization device 6.

[0053] In this system, a stair-climbing device is installed on the side of the staircase. Both ends of the guide rails 9-3 of the stair-climbing device are fixed to the wall. When climbing the stairs, the mobile chassis 1 plans its path to the base position of the stair-climbing device through the positioning and navigation module. Controller 1 controls each servo motor to synchronously drive each wheel, moving the frame and housing 2-1 to the base position of the stair-climbing device, so that the slot on the lower surface of the mounting platform is aligned with the latch 9-1 of the stair-climbing device. The linear module drives the latch 9-1 to rise a preset distance, so that the latch 9-1 is inserted into the slot, and drives the mounting platform and housing 2-1 to rise. All wheels are out of contact with the ground. Controller 2 controls the drive motor 3 to drive the drive gear to rotate. The drive gear meshes with the rack, and the base 9-2 moves the housing 2-1 along each guide rail until it reaches the corresponding floor. The linear module drives the latch 9-1 to descend, and the latch 9-1 returns to its original position, disengaging from the slot. All wheels are in contact with the ground, completing the stair-climbing operation.

Claims

1. An intelligent full-process laundry management robot, comprising a mobile chassis, a mechanical arm and a camera, characterized in that: It also includes a storage device, a clothes clamping device, a clothes airing device, a mite killing and sterilizing device, and a connecting device; the storage device includes a clothes basket; the clothes basket is fixed in the shell, and the shell is driven to move by the moving chassis; the inner wall of the shell is fixed with an electrode array composed of a plurality of electrodes arranged in an array; the bottom of the shell is fixed with a millimeter wave radar array composed of a plurality of radar chips arranged in an array and an NFC detection device including a transmitting coil and a receiving coil; an integral mounting table and a placement table are provided on the outer edge of the top of the shell; a mechanical arm is provided on the mounting table, and three convex platforms integrally arranged at intervals are provided on the placement table; The clothes clamping device includes a fixed seat, an electric clamping jaw fixed on the fixed seat, and an optical sensor; the clothes airing device includes a mounting bracket and a spiral bracket; the spiral bracket and the mounting bracket constitute a rotating pair and are driven to rotate by a driving motor; the spiral bracket is composed of an integral spiral segment and a U-shaped segment; an opening one is formed on the mounting bracket at a position away from the U-shaped segment; an opening two is formed on the mounting bracket at a position of the U-shaped segment; the mite killing and sterilizing device includes a fixed shell, an ultraviolet lamp, a rolling brush, a negative pressure fan, and a filter cartridge; two ultraviolet lamps arranged at intervals are fixed at the inlet of the fixed shell; the rolling brush is arranged in the fixed shell and constitutes a rotating pair with the fixed shell and is driven to rotate by a driving motor two; the inlet of the negative pressure fan is fixed with the outlet of the fixed shell through a dust suction channel; the outlet of the negative pressure fan is fixed with the inlet of the filter cartridge; The connecting device includes a driving connection frame and three driven connection frames; the driving connection frame is provided with an electromagnet and a camera and is driven to move by the mechanical arm; each driven connection frame is fixed with a permanent magnet and is provided with a groove; the three driven connection frames are respectively fixed with the fixed seat, the shell of the negative pressure fan, and the mounting bracket; in the initial state, the clothes clamping device, the clothes airing device, and the mite killing and sterilizing device are placed on the placement table, and each convex platform is embedded in the groove of a driven connection frame. The mechanical arm, the electric clamping jaw, the driving motor one, the driving motor two, the ultraviolet lamp, and the negative pressure fan are controlled by a controller one; the signal output ends of the camera, the optical sensor, the electrode array, the millimeter wave radar array, and the NFC detection device are connected with the controller one; and the controller one communicates with the washing machine and the mobile terminal.

2. The intelligent full-process laundry management robot according to claim 1, characterized in that: The device also comprises a stair climbing device, which comprises a clamping sprout, a base, a guide rail, a driving wheel set and a guide wheel set. The clamping sprout and one end of the base form a sliding pair and are driven to ascend and descend by a linear module arranged on the base. The other end of the base is fixed with a wheel cover, and a driving wheel set and a plurality of guide wheel sets are hingedly arranged on the base inside the wheel cover with a spacing. The driving wheel set is composed of a driving gear and a driven wheel arranged with a spacing. The guide wheel set is composed of two rollers arranged with a spacing. A guide rail is arranged between the driving gear and the driven wheel and between the two rollers of each guide wheel set. The guide rail is composed of an inclined section and a horizontal section integrally formed at both ends of the inclined section. Each guide rail forms a sliding pair with the wheel cover. A rack is fixed to the lower side of the guide rail between the driving gear and the driven wheel. The driven wheel and the rollers form rolling friction pairs with the corresponding guide rails, respectively. The driving gear is engaged with the rack and is driven to rotate by a driving motor. The driving motor and the linear module are controlled by a controller. A clamping groove is formed in the lower surface of the mounting table. 3.The intelligent full-process laundry management robot according to claim 1, characterized in that: The mobile chassis comprises a rack and wheels. The rack is hingedly connected with a plurality of wheels arranged at equal intervals. The rack is provided with a laser radar and a positioning navigation module. Each wheel is driven by a self-provided servo motor. The servo motors are controlled by a controller. The signal output ends of the laser radar and the positioning navigation module are connected with the controller. 4.The intelligent full-process laundry management robot according to claim 1, characterized in that: The inner wall of the clothes basket is fixed with a humidity sensor and a fan. A plurality of air holes are formed in the bottom of the clothes basket. The signal output end of the humidity sensor is connected with the controller. The fan is controlled by the controller. 5.The intelligent full-process laundry management robot according to claim 2, characterized in that: The placing table is provided with a touch display screen. The touch display screen is connected with the controller.

6. The intelligent full-process laundry management robot according to claim 5, characterized in that: The touch display screen is provided with a voice interaction module. 7.The working method of the intelligent full-process laundry management robot according to claim 6, characterized in that: Specifically as follows: The mechanical arm is connected with the clothes clamping device. The mobile chassis drives the rack to move the shell to the positions of the dirty clothes recognized by the camera. The mechanical arm drives the clothes clamping device to move, so that the electric clamping jaw of the clothes clamping device clamps the dirty clothes and sends them to the clothes basket. When the electric clamping jaw clamps the dirty clothes, the optical sensor recognizes the material of the dirty clothes. The dirty clothes are sent to the corresponding storage area in the clothes basket separated by the partition. When the dirty clothes enter the clothes basket, the electrode array detects whether there is metal in the dirty clothes. The millimeter wave radar array detects whether there is paper or plastic sheet in the dirty clothes. The NFC detection device detects whether there is an NFC card in the dirty clothes. When it is detected that there is metal, paper, plastic sheet or NFC card in the dirty clothes, the voice interaction module issues a foreign matter alarm to inform the user to take them away. Then, the mobile chassis drives the shell to move to the position of the washing machine, the door of the washing machine is opened, the camera identifies the position of the dirty clothes in the laundry basket, the mechanical arm drives the clothes clamping device to move, the electric clamping jaw of the clothes clamping device clamps the dirty clothes in the laundry basket and sends them to the washing machine, the door of the washing machine is closed, the user sets the clothes washing mode according to the material of the clothes, and the washing machine washes the dirty clothes; after the washing of the dirty clothes is completed, the door of the washing machine is opened, the washing machine sends a washing completion instruction to the controller, the mobile terminal and the voice interaction module issue a washing completion prompt, and each clothes is dried: the mechanical arm is disconnected from the clothes clamping device and connected to the clothes drying device, the user manually takes each clothes out of the washing machine and hangs it on the clothes hanger, manually hangs each clothes hanger hook on the spiral segment of the spiral rack through the opening one by one, the driving motor one drives the spiral rack to intermittently rotate, and each clothes hanger arranged at intervals is translated towards the opening two, after the clothes are hung, the mobile chassis drives the shell to move to the drying rod position, the mechanical arm drives the clothes drying device, so that each clothes hanger hook is located above the drying rod, the driving motor one drives the spiral rack to rotate, so that each clothes hanger moves to the U-shaped segment of the spiral rack one by one, and then the clothes hanger hook is separated from the U-shaped segment and hung on the drying rod; After the user determines that the clothes are dried, the mobile terminal sends a clothes collection and mite killing and sterilization instruction to the controller one, and each clothes is collected and subjected to mite killing and sterilization in sequence, and the clothes collection and mite killing and sterilization process is as follows: the mobile chassis drives the shell to move to the drying rod position, the camera identifies the position of the drying rod, the mechanical arm drives the clothes drying device to move, so that the U-shaped segment is located at the side of the drying rod, the driving motor one drives the spiral rack to reverse, so that the U-shaped segment hooks one clothes hanger hook, the mechanical arm drives the clothes drying device to take one clothes hanger hook off the drying rod, the mobile chassis drives the shell to move to the platform position, the camera identifies the position of the upper surface of the platform, the mechanical arm drives the clothes drying device to move, so that the clothes on the clothes hanger are laid flat on the upper surface of the platform, the driving motor one drives the spiral rack to rotate, so that the clothes hanger hook falls off the U-shaped segment, the mechanical arm is disconnected from the clothes drying device and connected to the mite killing and sterilization device, the mechanical arm drives the mite killing and sterilization device to move, so that the inlet of the fixed shell of the mite killing and sterilization device is attached to the surface of the clothes, the mechanical arm drives the mite killing and sterilization device to reciprocate, and each ultraviolet lamp is turned on for a preset time during the reciprocating movement of the mite killing and sterilization device on the surface of the clothes, so that the live mites and bacteria on the clothes are killed, then the driving motor two drives the roller brush to rotate, the roller brush peels off the mite corpses and dander on the clothes, and at the same time, the negative pressure fan works, the peeled mite corpses and dander are transported to the filter cartridge through the dust collection channel for filtration, until the mite killing and sterilization of the clothes is completed, the user manually hangs the clothes in the wardrobe, and the mechanical arm is disconnected from the mite killing and sterilization device and connected to the clothes drying device. 8.The working method of the intelligent full-process laundry management robot according to claim 7, characterized in that: When the electrode array detects whether there is metal in the dirty clothes, each electrode is powered to generate an electromagnetic field. When metal is mixed in the dirty clothes, the eddy current effect of the metal changes the local magnetic field distribution, resulting in a change in the current between adjacent electrodes. According to the current change signal, it is judged whether the metal is mixed in the dirty clothes. When the millimeter wave radar array detects whether there is paper or plastic sheet in the dirty clothes, due to the difference in millimeter wave reflectivity between clothes and paper or plastic sheet, when paper or plastic sheet is mixed in the dirty clothes, the millimeter wave radar array captures the reflected signal, and analyzes the difference in reflected signal strength to distinguish clothes from paper or plastic sheet. When the NFC detection device detects whether there is an NFC card in the dirty clothes, the active transmitting coil of the NFC detection device continuously emits signals. When the NFC card is mixed in the dirty clothes, the passive coil in the NFC card induces electricity and feeds back signals. After the receiving coil of the NFC detection device receives the feedback signal, it is determined that there is an NFC card. 9.The working method of the intelligent full-process laundry management robot according to claim 7, characterized in that: The connection process of the mechanical arm and the clothes clamping device, clothes drying device or mite killing and sterilizing device is that the electromagnet on the active connection frame is powered to generate a magnetic force. The mechanical arm drives the active connection frame to drive the electromagnet to move towards the driven connection frame of the clothes clamping device, clothes drying device or mite killing and sterilizing device, so that the electromagnet and the permanent magnet on the corresponding driven connection frame are attracted by the magnetic force. The mechanical arm drives the active connection frame to drive the entire clothes clamping device, clothes drying device or mite killing and sterilizing device to move upward by a preset distance through the electromagnet, the corresponding permanent magnet and the corresponding driven connection frame, so that the corresponding recess of the driven connection frame is separated from the corresponding boss, and the connection of the mechanical arm and the clothes clamping device, clothes drying device or mite killing and sterilizing device is completed. The disconnection process of the mechanical arm and the clothes clamping device, clothes drying device or mite killing and sterilizing device is that the mechanical arm drives the active connection frame to move the entire clothes clamping device, clothes drying device or mite killing and sterilizing device to the initial position through the electromagnet, the corresponding permanent magnet and the corresponding driven connection frame, so that the corresponding boss is embedded in the recess of the driven connection frame. The electromagnet on the active connection frame is de-energized, the magnetic force disappears, the connection between the electromagnet and the permanent magnet on the driven connection frame is disconnected, and the disconnection of the mechanical arm and the clothes clamping device, clothes drying device or mite killing and sterilizing device is completed. 10.The working method of the intelligent full-process laundry management robot according to claim 7, characterized in that: The two ends of each guide rail of the stair climbing device are fixed to the wall surface. If the stair climbing device is to be used, the moving chassis drives the shell to move to the base position of the stair climbing device, so that the clamping groove on the lower surface of the mounting table is aligned with the clamping spruce of the stair climbing device. The linear module drives the clamping spruce to rise by a preset distance, so that the clamping spruce is embedded in the clamping groove and drives the mounting table and the shell to rise. The moving chassis is out of contact with the ground. The driving motor three drives the driving gear to rotate. The driving gear is engaged with the rack. The base drives the shell to move along the guide rails until it reaches the corresponding floor. The linear module drives the shell to descend with the clamping spruce. The clamping spruce returns to the original position. The clamping spruce is separated from the clamping groove. The moving chassis is in contact with the ground.

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