Ironing Method and System Based on Motion Intent Recognition and Cooperative Control of Fans

Abstract

This invention provides an ironing method and system based on motion intention recognition and fan-coordinated control. It acquires inertial motion data of a smart iron during the ironing process; based on this inertial motion data, it removes gravity interference through attitude calculation to obtain the true motion direction of the smart iron in the ironing direction; it identifies the user's ironing intention based on the true motion direction; when a forward pushing intention is identified, a suction command is sent to the smart ironing board, controlling the fan of the smart ironing board to execute suction mode; when a backward pulling intention is identified, a blowing command is sent to the smart ironing board, controlling the fan to execute blowing mode; when a change in the motion direction of the smart iron is detected, a reversal protection mechanism is activated, prohibiting the sending of mode switching commands opposite to the current fan mode within a predetermined protection time interval, thereby achieving automatic switching of fan modes, improving ironing efficiency and effect, and protecting the equipment from damage caused by frequent switching.

Description

Technical Field

[0001] This invention relates to the field of ironing equipment control technology, and more specifically, to an ironing method and system based on motion intention recognition and fan-assisted control. Background Technology

[0002] Modern high-end ironing systems commonly employ automatic steam functionality. This feature uses a motion sensor built into the iron to intelligently control steam release when the iron is moving and stop steaming when it is stationary, significantly improving the smoothness of user operation. However, for the accompanying active ironing boards, the fan system control still heavily relies on manual intervention. Users must manually switch between suction and blowing modes using a foot switch or a physical button on the side of the ironing board, resulting in fragmented operation and lag in control.

[0003] The existing control methods have significant drawbacks in actual ironing scenarios. Because the steam action of the iron and the fan action of the ironing board are separate, when users perform high-frequency reciprocating ironing operations, such as working on details like cuffs and collars, their hand movements are highly concentrated and frequent. They cannot simultaneously operate the foot switch or physical button to switch the fan mode, forcing them to maintain a single fan mode throughout the entire ironing process. Whether it is continuous suction or continuous blowing, this directly hinders the realization of professional ironing techniques—the forward push requires suction to fix the clothes and eliminate wrinkles, while the backward pull requires blowing to cool the fabric and complete the shaping, resulting in unsatisfactory ironing results, and the flatness and texture of the clothes are difficult to achieve the expected standards.

[0004] Furthermore, existing technologies have not yet resolved the systemic problems caused by the frequent forward and reverse rotation of bidirectional fans when attempting to develop automatic switching mechanisms. The lack of an effective commutation protection strategy means that the fan motor directly follows the sensor signal when switching directions, requiring frequent forward / reverse rotation. This results in the motor being subjected to excessive thermal stress and back electromotive force impact, which can easily lead to motor overheating, drive circuit damage, and other malfunctions during long-term operation, seriously affecting the reliability and service life of the equipment.

[0005] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0006] This invention aims to solve the problems in the prior art where the control of the ironing board fan relies on manual intervention and cannot automatically switch between suction / blowing modes to follow the direction of the iron's movement. It also solves the problem of damage to the motor hardware caused by high-frequency automatic reversal, and provides an ironing control method and system that achieves both automated coordination and ensures the lifespan of the hardware.

[0007] This invention provides a fan-assisted ironing method based on motion intention recognition, comprising the following steps:

[0008] Acquire inertial motion data of the smart iron during the ironing process; Based on the inertial motion data, gravity interference is removed through attitude calculation to obtain the true motion direction of the smart iron in the ironing direction; The user's ironing intention is identified based on the actual direction of movement. When a forward pushing intention is identified, a suction command is sent to the smart ironing board to control the fan of the smart ironing board to execute the suction mode; when a backward pulling intention is identified, a blower command is sent to the smart ironing board to control the fan to execute the blower mode. When a change in the movement direction of the smart iron is detected, a reversal protection mechanism is activated, prohibiting the sending of mode switching commands that are opposite to the current fan mode within a predetermined protection time interval.

[0009] Preferably, the attitude calculation to remove gravity interference further includes: By integrating acceleration and angular velocity sensor data, complementary filtering or Kalman filtering algorithms are used to calculate the current pitch and roll angles of the iron. Construct a rotation matrix from the iron body coordinate system to the geographic coordinate system based on the pitch angle and roll angle; The original acceleration vector in the iron body coordinate system is transformed to the geographic coordinate system through the rotation matrix, and the gravitational acceleration vector is subtracted from the transformed acceleration to obtain the net acceleration. Integrate the component of the net acceleration along the ironing direction to obtain the instantaneous velocity, and determine the true direction of motion based on the sign of the instantaneous velocity.

[0010] Preferably, it further includes a zero-speed correction step: when the variance of the original acceleration is detected to be lower than a predetermined variance threshold, it is determined that the iron is in a stationary state, and the instantaneous speed is forcibly set to zero.

[0011] Preferably, identifying the user's ironing intent includes: Compare the velocity value corresponding to the actual direction of motion with a preset velocity threshold. If the speed value is greater than the positive speed threshold and the duration exceeds the first predetermined time, it is identified as a forward pushing intention; If the speed value is less than the reverse speed threshold and the duration exceeds the first predetermined time, it is identified as a pull-back intention.

[0012] Preferably, the absolute value of the preset speed threshold is set to 0.03~0.08m / s, the first predetermined time is set to 40~60ms, and the predetermined protection time interval is set to 200~500ms.

[0013] Preferably, it also includes a steam-coordinated control step: When a forward push intention is detected, the steam function is activated simultaneously. When the system is identified as stationary or as an intention to pull back, the steam function is turned off.

[0014] Preferably, the sampling frequency of the inertial motion data is not less than 100Hz, and the suction command and blower command are transmitted to the smart ironing board via wireless communication in the 2.4GHz or 5.8GHz frequency band.

[0015] The present invention also provides a fan-assisted ironing system based on motion intention recognition, comprising: The smart iron, serving as the main control unit, has a built-in inertial measurement unit, a microcontroller unit, and a wireless transmission module. The microcontroller unit is configured to execute the steps of any of the methods described above. The intelligent ironing board, as the controlled end, has a built-in wireless receiving module, a motor drive circuit, and a bidirectional fan. The intelligent ironing board drives the bidirectional fan to perform the corresponding suction or blowing mode according to the received suction command or blowing command.

[0016] Preferably, the inertial measurement unit includes a three-axis accelerometer and a three-axis gyroscope. The microcontroller unit fuses the acceleration sensing data from the three-axis accelerometer and the angular velocity sensing data from the three-axis gyroscope through attitude calculation to obtain the true direction of motion.

[0017] Preferably, the microcontroller is further configured to: simultaneously turn on the steam generator of the smart iron when a forward push intention is detected; and keep the steam generator of the smart iron off when a pull-back intention is detected.

[0018] As can be seen from the above, the present invention provides an ironing method and system based on motion intention recognition and fan coordinated control. By automatically recognizing the user's ironing intention and controlling the fan mode, and implementing a reversal protection mechanism, the automatic switching of the fan mode is realized, which improves ironing efficiency and effect, while protecting the equipment from damage caused by frequent switching.

[0019] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention automatically switches the suction / blowing mode of the ironing board fan by recognizing the direction of the iron's movement, completely solving the limitations of existing technologies such as the need for manual switching, inability to follow the ironing rhythm, only being able to control the opening and closing of the air damper, and reliance on voice control. When users perform high-frequency reciprocating ironing, no manual or foot operation is required. The system can automatically execute the professional ironing process of "pushing forward to suction to fix and remove wrinkles, and pulling back to blow air to cool and shape," significantly improving ironing efficiency and quality.

[0020] (2) This invention addresses the hardware damage problem caused by frequent forward and reverse rotation of bidirectional fans by introducing an original intention-predictive commutation protection mechanism, which sets a protection time interval after detecting a direction switch. This mechanism avoids the motor being forcibly reverse-energized before it has come to a complete stop, effectively preventing back EMF from damaging the drive circuit, eliminating mechanical noise, resolving the core contradiction between automated high-frequency commutation and hardware durability, and significantly extending the service life of the fan motor and drive circuit.

[0021] (3) This invention removes gravity interference through attitude calculation, which can accurately obtain the true movement direction of the iron in the ironing direction. Even when the iron is tilted, it can correctly identify the horizontal push and pull action, avoiding misjudgment caused by gravity component interference, and providing a reliable decision basis for subsequent fan coordinated control.

[0022] (4) By combining the low-frequency stability of the accelerometer (correcting tilt angle) and the high-frequency dynamic response of the gyroscope (acquiring dynamic angle), and using complementary filtering or Kalman filtering algorithms, a stable and drift-free attitude angle can be output in real time, and the accuracy of attitude estimation can be maintained even when the iron moves or shakes rapidly.

[0023] (5) By using a rotation matrix to transform the original acceleration in the iron's body coordinate system to the geographic coordinate system and subtracting the gravity vector, the interference of the gravity component on the judgment of horizontal motion is eliminated. This technical feature enables the system to correctly identify the push-pull motion in the horizontal direction when the user tilts the iron to iron the curved surface of the clothes (such as the shoulder and cuff), avoiding the misjudgment of direction caused by the gravity component in the traditional solution.

[0024] (6) The present invention addresses the problem of cumulative error in the method of obtaining velocity by acceleration integration. By introducing a zero-velocity correction mechanism, the velocity is forcibly set to zero when the iron is detected to be stationary (the original acceleration variance is extremely low), which effectively eliminates the cumulative drift generated during the integration process, ensures the accuracy of velocity calculation during long-term ironing, and provides a reliable data foundation for intent recognition.

[0025] (7) Based on ergonomic test data, this invention sets speed thresholds (normal ironing speed 0.1~0.5m / s, hand tremor <0.03m / s) and duration thresholds (effective action acceleration establishment time >50ms, noise width <50ms), which can accurately distinguish between effective ironing actions and unconscious hand tremors, effectively filter physiological tremors, avoid frequent switching of fan mode due to slight tremors, and improve the stability of the system and user experience.

[0026] (8) The protection time interval setting of this invention integrates electromechanical characteristics (the inertial time of the fan from full speed to stop, 150~200ms) and human-machine interaction characteristics (the user's natural pause during reversal, 100~200ms). The range of 200~500ms can ensure that the motor can start in reverse after the inertial coasting has come to a stop, avoiding back electromotive force impact, and can also be highly consistent with the natural rhythm of the user's reversal, so that the system response is consistent with the user's psychological expectation, avoiding the problem of protection failure due to too short protection time or slow response due to too long protection time.

[0027] (9) The steam control of the iron and the fan control of the ironing board are linked together. When the iron is pushed forward, the steam will automatically turn on to assist in wrinkle removal, and when it is pulled back, the steam will automatically turn off to avoid wetting the ironed area. This realizes the full-process automated control from steam jet to fan mode switching, which further improves the ironing effect and user experience.

[0028] (10) The decision-making computing power is concentrated at the iron end, and the ironing board only retains the actuator (wireless receiver, motor drive, fan), eliminating the logic control unit, physical buttons, foot switch and related wiring harness on the ironing board side in the traditional solution, which significantly reduces the circuit complexity and hardware cost of the matching ironing board. In addition, the iron and ironing board are controlled collaboratively through wireless communication, completely eliminating the foot switch. Users can switch the fan mode without using their feet, greatly reducing operator fatigue and improving the ergonomic experience. Attached Figure Description

[0029] Figure 1 This is a schematic flowchart of the fan-assisted ironing method of the present invention; Figure 2 This is a schematic diagram of the frame structure of the fan-coordinated control ironing system of the present invention. Detailed Implementation

[0030] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of this invention. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0031] Traditional high-end ironing systems still rely on manual intervention for fan control. Users need to manually switch between suction and blower modes via a foot switch or a physical button on the side of the iron, resulting in fragmented operation and lag in control. This makes it difficult to achieve the professional process of "pushing forward to suction and fix wrinkles, then pulling back to blower for cooling and shaping" during high-frequency reciprocating ironing, thus affecting the ironing effect. In addition, existing systems lack an effective reversing protection mechanism; directly switching the fan mode may cause the motor to overheat or damage the drive circuit.

[0032] To address this, the present invention proposes a fan-assisted ironing method based on motion intention recognition, comprising the following steps: Acquire inertial motion data of the smart iron during the ironing process; Based on the inertial motion data, gravity interference is removed through attitude calculation to obtain the true motion direction of the smart iron in the ironing direction; Based on the actual direction of movement, the system identifies the user's ironing intention. When the intention is to push forward, a suction command is sent to the smart ironing board, controlling the fan of the smart ironing board to execute the suction mode. When the intention is to pull backward, a blower command is sent to the smart ironing board, controlling the fan to execute the blower mode. When a change in the movement direction of the smart iron is detected, a reversal protection mechanism is activated, prohibiting the sending of mode switching commands that are opposite to the current fan mode within a predetermined protection time interval.

[0033] For ease of understanding, the following explains some key terms in this embodiment: Inertial motion data refers to data collected by inertial sensors that reflects the motion state of an object, typically including acceleration and angular velocity data. This data is used to describe the motion posture and trajectory of a smart iron in three-dimensional space.

[0034] Attitude estimation is an algorithmic process that estimates the attitude of an object in space by fusing data from inertial sensors. Its purpose is to separate the acceleration component caused by gravity from the raw motion data, thereby obtaining the object's true acceleration.

[0035] The actual direction of movement refers to the direction in which the smart iron actually moves on the ironing surface, after removing the influence of gravity. This direction is the basis for recognizing the user's ironing intention.

[0036] Ironing intent refers to the user's operational intention expressed through the movement of the smart iron during the ironing process. Specifically, it includes a push-forward intent, which is the user's desire for the iron to move forward for ironing; and a pull-back intent, which is the user's desire for the iron to move backward for ironing.

[0037] Suction and blower commands are control signals sent by the smart iron to the smart ironing board, instructing the board's fan to perform corresponding suction or blower operations. Suction mode is typically used to hold garments in place and remove wrinkles, while blower mode is used to create an air cushion, prevent indentations, or cool and set the garment.

[0038] A smart ironing board is a device that works in conjunction with a smart iron. It has a built-in fan that can execute suction or blowing modes based on received instructions. The fan is the actuator that enables the suction and blowing functions.

[0039] The commutation protection mechanism is a protective measure designed to prevent the fan from frequently switching operating modes in a short period of time, which could lead to motor overload, overheating, or damage.

[0040] The predetermined protection time interval refers to a preset period of time during which the wind turbine mode switching is prohibited after the commutation protection mechanism is activated. This time interval is set to provide sufficient buffer for the wind turbine to ensure its stable operation and extend its service life.

[0041] Specifically, this method first acquires inertial motion data of the smart iron during the ironing process. This inertial motion data can be collected using inertial sensors built into the smart iron. For example, a single-axis or multi-axis accelerometer can be used to acquire acceleration information of the iron in the main ironing direction, or a simple tilt sensor can be used to sense changes in the iron's posture. These sensors can provide basic dynamic information about the iron during its movement.

[0042] Furthermore, based on the acquired inertial motion data, gravity interference is removed through attitude calculation to obtain the true direction of motion of the smart iron in the ironing direction. Attitude calculation can be implemented in various ways. For example, simple low-pass or high-pass filtering can be applied to the acceleration data to attempt to separate the gravity component, thereby obtaining the net acceleration of the iron. Alternatively, the direction of motion of the iron can be roughly estimated based on the change in the tilt angle of the accelerometer. Thus, it can be preliminarily determined whether the iron is moving forward or backward.

[0043] Based on this, the user's ironing intention is identified according to the actual direction of movement. When a forward pushing intention is identified, a suction command is sent to the smart ironing board, controlling the board's fan to operate in suction mode; when a backward pulling intention is identified, a blower command is sent to the board, controlling the fan to operate in blower mode. For example, the intention can be identified by directly judging the instantaneous acceleration direction of the iron; that is, when the iron's acceleration direction is forward, it is identified as a forward pushing intention; when the acceleration direction is backward, it is identified as a backward pulling intention. Once the intention is identified, the corresponding command is sent to the smart ironing board.

[0044] Meanwhile, to protect the fan, a reversal protection mechanism is activated when a change in the movement direction of the smart iron is detected. This mechanism prohibits the sending of mode-switching commands opposite to the current fan mode within a predetermined protection time interval. Specifically, when the system detects that the iron's movement direction changes from pushing forward to pulling back, or from pulling back to pushing forward, a timer is immediately triggered. During the timer's operation, even if the iron's movement direction changes again, the system will not immediately send a command opposite to the current fan mode, thus avoiding frequent forward and reverse rotation of the fan. For example, a fixed short time interval can be set during which the fan mode remains unchanged to provide a buffer.

[0045] This invention achieves automatic coordinated control of the ironing board fan by recognizing the movement intention of the smart iron, solving the problems of fragmented operation and control lag caused by traditional manual switching modes. Users can automatically switch between suction and blowing modes based on the iron's forward or backward movement without additional operation during ironing, thus realizing a professional ironing process of "forward suction for wrinkle removal and backward blowing for cooling and shaping." Furthermore, the introduced reversing protection mechanism effectively avoids potential damage to the motor caused by frequent forward and reverse rotation of the fan, improving the system's reliability and lifespan.

[0046] In some embodiments of the present invention described above, a method is proposed to remove gravity interference through attitude calculation to obtain the true motion direction of the smart iron in the ironing direction. However, in actual ironing, the motion posture of the smart iron is complex and variable, and the inertial sensor data is easily affected by noise. If the attitude calculation method is not accurate or robust enough, the gravity component may not be effectively removed, resulting in an inaccurate obtained motion direction, which in turn affects the accuracy of subsequent ironing intention recognition and the reliability of fan-assisted control.

[0047] To address this, the present invention further proposes a specific method for removing gravity interference in attitude calculation, which includes: fusing acceleration sensing data and angular velocity sensing data, and using complementary filtering or Kalman filtering algorithms to calculate the current pitch and roll angles of the iron; constructing a rotation matrix from the iron's body coordinate system to the geographic coordinate system based on the pitch and roll angles; transforming the original acceleration vector in the iron's body coordinate system to the geographic coordinate system through the rotation matrix, and subtracting the gravity acceleration vector from the transformed acceleration to obtain the net acceleration; integrating the component of the net acceleration along the ironing direction to obtain the instantaneous velocity, and determining the true direction of motion based on the sign of the instantaneous velocity.

[0048] Specifically, to accurately remove gravitational interference and obtain the true direction of motion of the smart iron, it is first necessary to fuse accelerometer and angular velocity sensor data. Accelerometers can measure total acceleration, including gravitational acceleration, providing a stable attitude reference under static or low-frequency motion, but are susceptible to linear acceleration interference from the iron's own motion. Angular velocity sensors (gyroscopes) can measure the iron's angular velocity, and attitude changes can be obtained through integration, but they suffer from integration drift. To combine the advantages of both and overcome their respective disadvantages, this invention employs complementary filtering or Kalman filtering algorithms to calculate the iron's current pitch and roll angles. Complementary filtering uses low-pass filtering on the accelerometer data to obtain stable information on the direction of gravity, while simultaneously using high-pass filtering on the gyroscope data to capture rapid attitude changes. The two are then weighted and fused to obtain a smooth and responsive attitude estimate. Kalman filtering is an optimal estimation algorithm that, by establishing a system state model and an observation model, and utilizing a prediction and update mechanism, provides an optimal estimate of the iron's attitude even in the presence of noise. It offers more accurate and robust pitch and roll angles. Pitch and roll angles describe the degree of tilt of the iron relative to the horizontal plane and are key parameters for coordinate system transformation.

[0049] Based on this, a rotation matrix is ​​constructed from the iron body coordinate system (body coordinate system) to the geographic coordinate system according to the calculated pitch and roll angles.

[0050] The iron's coordinate system is a coordinate system fixed on the iron, whose axes change with the iron's movement; it is usually defined as: X-axis: Along the horizontal direction of the iron (left and right); Y-axis: along the longitudinal direction of the iron (front and back direction, i.e., the ironing direction); Z-axis: Perpendicular to the soleplate of the iron, upward (or downward).

[0051] A geographic coordinate system is a fixed reference coordinate system, and its Z-axis is usually aligned with the direction of gravity.

[0052] In the ironing scenario of this embodiment, the rotation matrix from the body coordinate system (b-frame) to the geographic coordinate system (n-frame, usually defined as Northeast-Sky ENU or Northeast-Earth NED) is constructed according to the rotation sequence, mainly involving the pitch angle θ (rotation around the X-axis) and the roll angle φ (rotation around the Y-axis). The iron's heading angle ψ (rotation around the Z-axis) changes little during ironing, always moving longitudinally along the ironing board; therefore, changes in the heading angle have a relatively small impact on gravity decomposition. The purpose of constructing the rotation matrix is ​​to transform the original acceleration vector measured in the body coordinate system to the geographic coordinate system, in order to accurately separate the gravity components. This rotation matrix is ​​typically obtained by multiplying Euler angles (including pitch, roll, and yaw angles; yaw angles can be simplified if they are not important or are handled in other ways) through a series of rotation transformation matrices.

[0053] Subsequently, the original acceleration vector in the iron's body coordinate system is transformed to the geographic coordinate system using the aforementioned rotation matrix. In the geographic coordinate system, the gravitational acceleration vector has a fixed direction and magnitude (for example, if the Z-axis of the geographic coordinate system points downwards, then the gravitational acceleration vector is [0, 0, g]). Therefore, by directly subtracting the gravitational acceleration vector from the transformed acceleration, the net acceleration purely generated by the iron's motion can be obtained. This step is crucial for accurately removing gravitational interference.

[0054] Finally, the component of the net acceleration along the ironing direction is integrated to obtain the instantaneous velocity of the iron. The ironing direction is usually the main direction of motion of the smart iron on the horizontal plane. By extracting the component of the net acceleration in the preset ironing direction and integrating it numerically (e.g., using Euler integral or trapezoidal integral), the instantaneous velocity of the iron in that direction can be calculated. The true direction of motion of the iron can be determined based on the sign of the instantaneous velocity. For example, if the instantaneous velocity is positive, it is determined to be a forward pushing motion; if it is negative, it is determined to be a backward pulling motion.

[0055] Through the above technical solution, this invention employs a complementary filtering or Kalman filtering algorithm that integrates acceleration and angular velocity sensing data. This effectively overcomes the limitations of single-sensor data, providing more stable and accurate estimates of the iron's attitude (pitch and roll angles). Based on this, a rotation matrix is ​​constructed to accurately transform the original acceleration vector in the body coordinate system to the geographic coordinate system, and the gravitational acceleration vector is precisely subtracted, thus obtaining the pure net acceleration. Integrating the component of this net acceleration along the ironing direction accurately calculates the instantaneous velocity of the iron, and its sign reliably determines the iron's true direction of motion. This significantly improves the accuracy and robustness of iron motion direction determination, providing a solid foundation for subsequent user ironing intention recognition, thereby ensuring the precision and responsiveness of the intelligent ironing board fan collaborative control, effectively improving ironing results and user experience.

[0056] In this embodiment, the actual motion components along the ironing direction are obtained through attitude calculation and coordinate system transformation. The specific steps are as follows: Step A: Sensor Fusion Complementary filtering algorithms or low-cost Kalman filtering can be used.

[0057] The accelerometer is used to measure the gravitational component to correct the tilt angle (low-frequency characteristic), and the gyroscope is used to integrate to obtain the dynamic angle (high-frequency characteristic), and the current pitch and roll angles of the iron are calculated.

[0058] Step B: Coordinate system transformation (gravity removal) The raw acceleration in the body coordinate system collected by the accelerometer The calculated attitude angles are then projected onto the geographic coordinate system using a rotation matrix.

[0059] Formula logic:

[0060] in, This is the rotation matrix from the body coordinate system to the geographic coordinate system. The gravitational acceleration vector is (0, 0, 9.8). This step eliminates the interference of the gravitational component on the judgment of horizontal motion (i.e., even if the user tilts the iron, the system can correctly identify the horizontal push-pull action).

[0061] Step C: Integral longitudinal velocity Extract the net acceleration along the longitudinal axis (Y-axis) of the iron. .

[0062] Instantaneous velocity for numerical integration calculation: .

[0063] Step D: Critical Correction A zero-velocity correction mechanism is introduced. When the original acceleration variance is detected to be extremely small (below...), a zero-velocity correction mechanism is implemented. When ), force the speed to be Set to zero to eliminate integral drift.

[0064] In actual ironing, inertial sensors are inevitably subject to noise interference, and prolonged integration calculations can easily lead to cumulative drift in speed data. This means that even when the smart iron is stationary, the calculated instantaneous speed may not be zero. Such false speed signals can interfere with the accurate recognition of ironing intentions, potentially causing unnecessary or erroneous switching of the smart iron's fan mode.

[0065] To address this issue, the present invention further proposes a zero-velocity correction step. This zero-velocity correction step specifically includes: when the variance of the original acceleration is detected to be lower than a predetermined variance threshold, determining that the iron is in a stationary state, and forcibly setting the instantaneous velocity to zero.

[0066] This zero-speed correction step aims to eliminate or significantly reduce instantaneous speed errors caused by sensor noise and integral drift, especially when the smart iron is stationary. By actively detecting and correcting the speed in a stationary state, the accuracy of speed data can be ensured, providing a reliable basis for subsequent ironing intention recognition.

[0067] Specifically, the variance of the original acceleration is an effective indicator for determining whether an object is stationary. When the smart iron is stationary, the signal output by its acceleration sensor fluctuates slightly around a baseline value, resulting in a small variance. Once the smart iron begins to move, the fluctuation of the acceleration signal increases significantly, and the variance also rises. Therefore, by setting a predetermined variance threshold and continuously monitoring the variance of the original acceleration data, the stationary and moving states of the smart iron can be accurately distinguished. This predetermined variance threshold is usually obtained through experimental calibration to adapt to different sensor characteristics and environmental noise levels. For example, the acceleration sampling values ​​over a period of time can be statistically analyzed, their variance calculated, and compared with the preset threshold. When the variance of the original acceleration remains below the predetermined variance threshold, the system considers the smart iron to be currently stationary or quasi-stationary. Once the smart iron is determined to be stationary, the system forcibly sets the instantaneous velocity previously calculated through integration to zero. This operation directly corrects non-zero velocity values ​​that may be caused by integral drift, ensuring that the velocity data accurately reflects the actual situation when the smart iron is stationary.

[0068] By introducing a zero-speed correction step, this invention effectively solves the speed error problem caused by inertial sensor integral drift. Specifically, when the smart iron is stationary, the stationary state of the smart iron can be accurately identified by detecting the variance of the original acceleration and comparing it with a predetermined variance threshold. Once the smart iron is confirmed to be stationary, the system forcibly sets the instantaneous speed calculated at this time to zero, thereby eliminating false speed signals caused by the accumulation of sensor noise. This greatly improves the accuracy of instantaneous speed, especially during ironing processes where the smart iron frequently starts and stops or remains stationary for a long time. Accurate instantaneous speed data ensures the reliability of ironing intention recognition, avoids erroneous intention judgments caused by speed drift, and thus ensures that the fan of the smart ironing board can accurately execute the suction or blowing mode according to the user's true intention, improving the smoothness of the ironing experience and the precision of control.

[0069] In actual ironing, the direction of movement of a smart iron may change frequently due to the user's unconscious shaking, brief pauses, or minor adjustments. If the intention is identified based solely on the instantaneous direction of movement, it may lead to misjudgment of the fan mode and frequent switching, thereby affecting the continuity of ironing and the user experience.

[0070] To address this, the present invention further proposes a specific method for identifying a user's ironing intention, which includes comparing the speed value corresponding to the actual direction of movement with a preset speed threshold. This step aims to introduce speed as a key parameter for judging user intention, in order to distinguish between intentional, continuous ironing actions and unintentional, brief movements. By quantitatively analyzing the speed value, movements not intended for ironing, caused by slight hand tremors or posture adjustments, can be effectively filtered out.

[0071] Specifically, if the movement speed of the smart iron exceeds a preset positive speed threshold, and this state lasts for more than a first predetermined time, the system will recognize that the user is performing a forward pushing intention. This judgment mechanism ensures that a forward pushing operation is only confirmed when the user pushes the iron forward with sufficient speed and continuity, thus avoiding accidental triggering of the suction mode due to brief forward shaking. For example, the positive speed threshold can be set according to the actual ironing needs and user habits to ensure the accuracy of recognition.

[0072] Accordingly, if the movement speed of the smart iron is less than a preset reverse speed threshold (i.e., the absolute value of the backward movement speed is greater than the reverse speed threshold), and the duration of this state also exceeds the first predetermined time, the system will recognize that the user is performing a pull-back intention. This mechanism is similar to the recognition principle of a push-forward intention, aiming to ensure that only when the user pulls the iron backward with sufficient speed and continuity will it be recognized as a pull-back operation, thereby avoiding the accidental triggering of the blower mode due to a brief backward sway. The first predetermined time is used to ensure the continuity of the movement, further enhancing the robustness of intention recognition.

[0073] Through the above technical solution, this invention, when identifying a user's ironing intention, not only considers the actual movement direction of the smart iron but also introduces a comprehensive judgment of the movement speed and duration. This multi-dimensional, temporal judgment mechanism can effectively filter out unconscious shaking, brief pauses, or minor adjustments that may occur during ironing, thereby avoiding misjudgment of intention caused by instantaneous changes in movement direction. Only when the movement speed and duration of the smart iron meet preset conditions is it confirmed as the user's true ironing intention, which significantly improves the accuracy and robustness of intention recognition. Therefore, the fan mode switching of the smart ironing board will be more precise and stable, avoiding frequent and unnecessary start-stop of the fan, thereby improving ironing comfort and efficiency and helping to extend the service life of the fan.

[0074] The present invention further proposes a scheme for specifically defining the preset speed threshold, the first predetermined time, and the predetermined protection time interval. Specifically, the absolute value of the preset speed threshold is set to 0.03~0.08 m / s, the first predetermined time is set to 40~60 ms, and the predetermined protection time interval is set to 200~500 ms.

[0075] The preset speed threshold is used to distinguish between conscious ironing actions and unconscious slight shaking or noise in a static state. If the threshold is too low, the system may misinterpret slight shaking as ironing actions, causing frequent fan starts or switches; if the threshold is too high, it may ignore slow but continuous ironing actions, resulting in untimely intent recognition. Setting the absolute value in the range of 0.03~0.08m / s can effectively filter out environmental noise and subtle non-ironing movements of the user's hands, while ensuring sensitive capture of actual ironing actions, thereby improving the accuracy of intent recognition. The first predetermined time is used to ensure that the recognized speed value is continuous, rather than a momentary fluctuation. If the duration is too short, the system may misinterpret brief speed changes as intent switching; if the duration is too long, it will cause a delay in intent recognition, affecting the user experience. Setting the first predetermined time in the range of 40~60ms can ensure the stability of intent recognition while taking into account the system's response speed, avoiding misjudgments caused by momentary interference, and ensuring that only clear and continuous movements are recognized as valid ironing intentions. The predetermined protection time interval is a key parameter of the reversing protection mechanism. It provides a buffer period when the smart iron's movement direction changes, during which a mode-switching command opposite to the current fan mode is prohibited. If the protection time interval is too short, the fan may frequently switch between forward and reverse modes in a short period, increasing motor wear, reducing equipment lifespan, and generating unnecessary noise. If the protection time interval is too long, the fan mode switching may be delayed, affecting ironing results. Setting the predetermined protection time interval within the range of 200~500ms effectively prevents the fan from frequently switching operating modes in a short period, thereby protecting the fan motor, extending equipment lifespan, and ensuring that the fan mode responds promptly and smoothly after the user completes the direction change, maintaining the smoothness of the ironing process.

[0076] By precisely defining the preset speed threshold, the first predetermined time, and the predetermined protection time interval through the above technical solutions, the smart iron can more accurately and stably identify the user's ironing intentions. Specifically, setting the absolute value of the preset speed threshold within the range of 0.03~0.08m / s effectively distinguishes between conscious ironing movements and unconscious micro-tremors, significantly reducing the false judgment rate. Simultaneously, setting the first predetermined time to 40~60ms ensures the continuity and stability of intention recognition, avoiding erroneous responses caused by momentary interference, thereby improving the accuracy of intention recognition and the system's response speed. Furthermore, by setting the predetermined protection time interval to 200~500ms, necessary buffer time is provided for the fan when the smart iron's movement direction changes, effectively preventing the fan from frequently switching between suction and blowing modes in a short period. This not only significantly reduces wear on the fan motor, extending its service life, but also reduces operating noise and ensures a smooth transition between fan modes, thus providing users with a smoother, more efficient, and more comfortable ironing experience.

[0077] To accurately distinguish between effective ironing and ineffective shaking, this embodiment sets up a dual judgment standard: (1) Velocity threshold ( ): Setting value: (i.e., 5 cm / s).

[0078] Setting Basis: Ergonomic testing shows that the typical push-pull speed during normal ironing is... Between, and the speed fluctuations caused by involuntary hand tremors are usually smaller. This threshold can effectively filter out physiological jitters.

[0079] (2) Direction Judgment Logic (Trend Locking): The system not only determines the sign of acceleration (because the direction of acceleration reverses during deceleration), but also bases its judgment on the velocity vector. The main determination is made based on the symbol.

[0080] Forward determination: (duration) ).

[0081] Pull-back judgment: (duration) ).

[0082] In actual ironing, if the steam function fails to effectively coordinate with the iron's movement and the user's ironing intention, it may lead to steam waste, poor ironing results, or even damage to clothing due to continuous steam output when the iron is stationary. To address this, the present invention proposes a steam coordination control step. This step aims to link the steam generation function of the smart iron with the user's current ironing intention and the iron's movement to optimize ironing results, save energy, and protect clothing. Specifically, when the system recognizes a forward-pushing intention according to the above method, i.e., when the smart iron is moving forward to perform ironing, the steam function is simultaneously activated. This means that the steam generator begins to generate and spray steam as the iron moves forward. This can be achieved by the microcontroller unit inside the smart iron immediately activating the heating element and / or pumping mechanism of the steam generator upon receiving the forward-pushing intention signal, ensuring that steam is immediately available when the ironing action occurs, thus improving ironing efficiency and results.

[0083] Simultaneously, when the system detects that the smart iron is stationary (e.g., when the user pauses ironing or adjusts clothing) or is attempting to pull it back, it shuts off the steam function. Shutting off the steam function means stopping steam generation and emission. This is achieved by the microcontroller sending a shutdown command to the steam generator, causing it to stop heating or pumping. This effectively avoids unnecessary water and electricity consumption when the iron is stationary or moving backward, prevents clothing from being damaged by prolonged exposure to steam, and enhances safety.

[0084] Through the aforementioned steam coordination control steps, the steam function of the smart iron can closely coordinate with the user's actual ironing intentions and the iron's movement. When the user pushes the iron forward, the steam is activated simultaneously, ensuring that the clothes receive the appropriate amount of moisture and heat during ironing, thereby improving ironing efficiency and results. When the iron is stationary or pulled back, the steam function automatically shuts off, effectively avoiding unnecessary steam consumption, preventing damage to clothes from prolonged exposure to steam, and saving energy. This intelligent steam management mechanism makes the ironing process more precise, efficient, and energy-saving, significantly improving the user experience and ironing quality.

[0085] The sampling frequency of the inertial motion data is not less than 100Hz, and the suction command and blower command are transmitted to the smart ironing board via wireless communication in the 2.4GHz or 5.8GHz frequency band.

[0086] Specifically, the sampling frequency of inertial motion data refers to the number of times per second that the inertial measurement unit (IMU) built into the smart iron collects data from inertial sensors (such as accelerometers and gyroscopes). Setting the sampling frequency of inertial motion data to no less than 100Hz means collecting at least 100 data points per second. A higher sampling frequency ensures that even rapid or subtle changes in motion during ironing can be captured promptly and accurately, providing a high-density, high-precision raw data stream for subsequent attitude calculation, gravity interference removal, and determination of the true direction of motion.

[0087] Simultaneously, the suction and blowing commands are transmitted to the smart ironing board via wireless communication in the 2.4GHz or 5.8GHz frequency band. For example, Wi-Fi, Bluetooth, or proprietary radio frequency (RF) communication protocols can be used. The wireless transmission module inside the smart iron encapsulates the generated suction or blowing commands into wireless data packets and transmits them through the selected frequency band (such as the 2.4GHz ISM band or the 5.8GHz U-NII band). The built-in wireless receiving module of the smart ironing board is responsible for receiving these wireless signals, demodulating and decoding them to obtain control commands. These frequency bands typically have good data transmission rates and anti-interference capabilities, ensuring low latency and high reliability of command transmission, thereby guaranteeing that the fan of the smart ironing board can quickly respond to the control commands issued by the smart iron.

[0088] In addition, embodiments of the present invention also disclose a fan-coordinated ironing system based on motion intention recognition, comprising: The smart iron, which serves as the main control unit, has a built-in inertial measurement unit, a microcontroller unit, and a wireless transmission module. The microcontroller unit is configured to execute the steps of the above method. The smart ironing board, as the controlled end, has a built-in wireless receiver module, motor drive circuit and bidirectional fan. The smart ironing board drives the bidirectional fan to perform the corresponding suction or blowing mode according to the received suction command or blowing command.

[0089] The smart iron at the master control end acts as the decision-making center, while the smart ironing board at the controlled end has no autonomous decision-making power and only executes speed or turning commands from the iron.

[0090] The core innovation of this embodiment lies in the fact that by wirelessly communicating with the smart iron (as the main control unit) and the smart ironing board (as the controlled unit), the system automatically switches the fan mode based on the motion intention recognition result, thus avoiding the operational fragmentation caused by manual intervention. At the same time, the system architecture inherits the reversal protection mechanism, which effectively prevents motor damage caused by frequent forward and reverse rotation of the bidirectional fan, thereby improving ironing efficiency and equipment reliability.

[0091] Specifically, the smart iron's built-in inertial measurement unit continuously collects inertial motion data during the ironing process. The microcontroller, after removing gravitational interference through attitude calculation, accurately identifies the user's pushing or pulling ironing intention and sends corresponding suction or blowing commands to the smart ironing board via the wireless transmitter module. Upon receiving the command, the smart ironing board transmits it to the motor drive circuit via the wireless receiver module, thereby driving the bidirectional fan to execute the corresponding mode: pushing forward triggers suction mode to fix and remove wrinkles from clothing, while pulling back triggers blowing mode to create an air cushion for cooling and shaping. During this process, the microcontroller simultaneously executes a reversal protection mechanism, locking the mode command transmission when the direction of movement changes to prevent the bidirectional fan from frequently reversing within a predetermined protection time interval.

[0092] Through the above technical solution, the system achieves automatic coordination between ironing actions and fan modes, eliminating the need for manual operation via foot pedals or physical buttons. When ironing areas such as cuffs at high frequency, users can naturally complete the professional process of "push forward to suck in air, pull back to blow air" without needing to consciously switch modes. Simultaneously, this reversing protection mechanism significantly reduces the motor heat load and back EMF impact risk of the bidirectional fan, effectively extending the service life of the motor drive circuit and improving the overall smoothness and reliability of the ironing system.

[0093] The smart iron serves as the main control unit, and its built-in inertial measurement unit includes a three-axis accelerometer and a three-axis gyroscope. The microcontroller unit fuses the acceleration sensing data from the three-axis accelerometer and the angular velocity sensing data from the three-axis gyroscope through attitude calculation to obtain the true direction of motion.

[0094] In this embodiment, the inertial measurement unit consists of a three-axis accelerometer and a three-axis gyroscope. The three-axis accelerometer measures the linear acceleration of the smart iron in three orthogonal directions, including components of gravitational acceleration and the iron's own acceleration. The accelerometer can detect changes in the iron's tilt angle and acceleration or deceleration along each axis. The three-axis gyroscope measures the angular velocity of the smart iron about its three orthogonal axes, i.e., the speed and direction of its rotation. The gyroscope provides instantaneous information on changes in the iron's attitude, which is crucial for capturing the iron's rotation and tumbling movements.

[0095] The microcontroller unit is the core processing unit of the smart iron, and one of its main functions is to process and analyze the raw sensor data output by the inertial measurement unit. To obtain the iron's true direction of motion, the microcontroller unit performs an attitude calculation process. Attitude calculation is a technique that converts raw sensor data into the object's attitude in three-dimensional space (such as pitch, roll, and yaw angles). In this process, the microcontroller unit integrates acceleration sensing data from a three-axis accelerometer and angular velocity sensing data from a three-axis gyroscope. Fusion algorithms, such as the aforementioned complementary filtering or Kalman filtering algorithms, effectively combine the advantages of the accelerometer in providing a stable attitude reference over a long period (through the direction of gravity) with the advantages of the gyroscope in providing precise angular velocity changes over a short period (avoiding drift), thereby outputting more accurate and stable iron attitude information. Through this data fusion and attitude calculation, the microcontroller unit can accurately separate the true linear motion component in the ironing direction from the overall motion of the iron, providing reliable input for subsequent ironing intention recognition.

[0096] The above technical solution clarifies that the inertial measurement unit (IMU) consists of a three-axis accelerometer and a three-axis gyroscope. The microcontroller unit fuses the acceleration and angular velocity sensor data for attitude calculation, effectively overcoming the inherent limitations of a single sensor. The three-axis accelerometer provides information on gravity direction and linear acceleration, while the three-axis gyroscope accurately measures angular velocity. By fusing these two types of data, the real-time attitude of the smart iron can be calculated more accurately, thus precisely obtaining the iron's true direction of motion in the ironing direction after removing gravity interference. This precise direction of motion information is fundamental to recognizing the user's ironing intention, significantly improving the accuracy and stability of intention recognition. This, in turn, ensures the timeliness and effectiveness of the intelligent ironing board and fan coordinated control, enhancing the overall ironing experience.

[0097] The microcontroller unit, as the core processing unit of the smart iron, is responsible for receiving sensor data from the inertial measurement unit, executing complex algorithms such as attitude calculation and motion intention recognition, and sending control commands to the smart ironing board based on the recognition results. Furthermore, it also has the ability to control the smart iron's own functional modules, such as the steam generator. The microcontroller unit is configured to simultaneously activate the steam generator when a forward pushing intention is detected, and to keep the steam generator off when a backward pulling intention is detected. Its implementation typically includes an embedded processor, memory, input / output interfaces, etc., capable of running preset firmware programs. When the microcontroller unit recognizes that the user is performing a forward ironing operation based on inertial motion data, it immediately sends a start command to the steam generator inside the smart iron. Upon receiving the command, the steam generator quickly heats the water in the internal water tank, generating high-temperature steam, which is then ejected through the steam vents on the iron's soleplate. This synchronous activation mechanism ensures that steam is supplied promptly when steam-assisted ironing is needed, improving ironing efficiency and effectiveness. When the microcontroller detects that the user is performing a pull-back ironing operation, it ensures that the smart iron's steam generator is turned off. This means that even if the steam generator was previously on, the microcontroller will send a shutdown command or keep it off when the pull-back intention is detected. This is designed to avoid continuously generating steam when it is not needed (such as when sorting or repositioning clothes), thereby saving energy, reducing limescale buildup, and preventing clothes from becoming excessively wet.

[0098] The steam generator of the smart iron is the core component used to generate steam, and it typically consists of a heating element, a water tank, a pump (optional), and a steam jet mechanism. When the heating element heats the water in the water tank, the water vaporizes to produce steam, which is then expelled through nozzles on the soleplate of the iron to soften clothing fibers and remove wrinkles.

[0099] The following example will provide a more detailed explanation of the above technical solution: (1) Shirt ironing scene In a smart ironing scenario, User A is using a smart ironing system to iron a shirt. The system includes a smart iron and a smart ironing board. The smart iron has a built-in inertial measurement unit, a microcontroller unit, and a wireless transmitter module, while the smart ironing board has a built-in wireless receiver module, a motor drive circuit, and a bidirectional fan.

[0100] When user A begins ironing, the inertial measurement unit of the smart iron continuously acquires inertial motion data of the iron during the ironing process at a sampling frequency of no less than 100Hz. This data includes acceleration sensing data from a three-axis accelerometer and angular velocity sensing data from a three-axis gyroscope. After receiving this data, the microcontroller unit immediately initiates an attitude calculation process to remove gravitational interference. Specifically, the microcontroller unit fuses the acceleration and angular velocity sensing data and uses a complementary filtering algorithm to calculate the current pitch and roll angles of the iron. Then, based on the calculated pitch and roll angles, a rotation matrix is ​​constructed from the iron's body coordinate system to the geographic coordinate system. Next, the original acceleration vector in the iron's body coordinate system is transformed to the geographic coordinate system using this rotation matrix, and the gravitational acceleration vector is subtracted from the transformed acceleration to obtain the net acceleration. To further improve accuracy, the system also performs a zero-velocity correction step: when the variance of the original acceleration is detected to be lower than a predetermined variance threshold, the iron is determined to be stationary, and the subsequently calculated instantaneous velocity is forcibly set to zero.

[0101] Subsequently, the microcontroller integrates the component of net acceleration along the ironing direction to obtain the instantaneous velocity, and determines the true direction of the iron's movement based on the sign of the instantaneous velocity. For example, when user A pushes the iron forward, the system detects the iron's velocity value along the ironing direction. The microcontroller compares this velocity value with a preset velocity threshold; for example, if the velocity value is greater than the positive velocity threshold (e.g., 0.05 m / s) and the duration exceeds a first predetermined time (e.g., 50 ms), it is recognized as a pushing intention. At this time, the microcontroller sends a suction command to the smart ironing board via a wireless transmission module in the 2.4 GHz band. After receiving the command, the smart ironing board's wireless receiving module immediately drives the bidirectional fan to execute the suction mode, smoothly adhering the shirt to the ironing board, facilitating precise ironing by user A. Simultaneously, the smart iron's steam generator is activated to provide steam-assisted ironing.

[0102] When user A finishes pushing the iron forward and begins to pull it backward, the system detects a change in the iron's direction of movement. The microcontroller determines this as a pull-back intention based on the sign of the instantaneous speed (e.g., if the speed value is less than the reverse speed threshold and the duration exceeds 50ms). At this point, the microcontroller sends a blower command to the smart ironing board. Upon receiving the blower command, the smart ironing board switches its bidirectional fan to blower mode, creating an air cushion under the shirt to prevent the garment from being directly pressed down by the iron and creating new wrinkles, and also to aid in cooling and shaping. Simultaneously, the smart iron's steam generator shuts off, stopping steam output.

[0103] It is worth noting that when the iron's movement direction changes, such as switching from push-forward to pull-back, or vice versa, the microcontroller immediately activates the reversal protection mechanism. Within a predetermined protection time interval (e.g., 300ms), the system prohibits sending mode-switching commands that are opposite to the current fan mode. This means that even if the iron's movement direction changes rapidly again within a short period, the fan will not immediately reverse. For example, in suction mode, even if a brief pull-back intention is detected, it will not immediately switch to blower mode within 300ms. This mechanism effectively avoids the problems of motor overheating and back EMF damage to the drive circuit caused by frequent forward and reverse rotation of the bidirectional fan, significantly improving the system's reliability and lifespan.

[0104] Through the aforementioned coordinated control, user A no longer needs to manually operate a foot switch or physical button to switch fan modes when ironing areas requiring frequent reciprocating ironing, such as shirt cuffs. The automatic coordination between the iron's motion intention recognition and the fan mode and steam function allows for a smooth execution of the professional ironing process: "pull forward to suck in air for wrinkle removal, pull back to blow air for cooling and shaping," greatly improving operational convenience and ironing results. Compared to existing technologies where users need to manually switch fan modes, resulting in fragmented operation and control lag, this solution achieves seamless integration and intelligent control of the ironing process, resolving the pain points of traditional ironing systems in fan control.

[0105] (2) Sleeve ironing scene In another typical smart ironing scenario, User B is using the same smart ironing system to iron the cuff area of ​​a shirt. Cuff ironing is characterized by rapid, short-distance reciprocating motion, which places higher demands on the system's response speed and reversal protection mechanism.

[0106] Phase 1: Forward Wrinkle Removal User B holds the smart iron, aligns it with the shirt cuff, and begins to push the iron forward. As the pushing motion continues, the iron's speed rapidly increases to 0.2 m / s. The smart iron's built-in inertial measurement unit collects the iron's inertial motion data in real time at a sampling frequency of 100 Hz.

[0107] Upon receiving the data, the microcontroller immediately performs attitude calculation: fusing acceleration and angular velocity sensor data, it calculates the current pitch and roll angles of the iron using a complementary filtering algorithm; based on the calculated attitude angles, it constructs a rotation matrix, transforms the original acceleration vector in the body coordinate system to the geographic coordinate system, and subtracts the gravitational acceleration vector to obtain the net acceleration; it integrates the component of the net acceleration along the ironing direction to obtain the instantaneous velocity v = +0.2 m / s. The microcontroller then compares the instantaneous velocity with a preset velocity threshold v. thThe speed was compared to ±0.05 m / s. Since v = +0.2 m / s > +0.05 m / s, and this speed value lasted for more than 50 ms, the system determined it to be a "valid forward push action" and identified it as user B's forward push intention.

[0108] Based on this identification result, the system executes the following coordinated response: the microcontroller unit of the smart iron sends a suction command (CMD) to the smart ironing board via a 2.4GHz wireless transmission module. SUCTION After receiving the command, the wireless receiving module of the smart ironing board immediately drives the bidirectional fan to execute the suction mode, firmly adhering the cuff fabric to the ironing board and ensuring that the fabric will not slip during the ironing process; at the same time, the smart iron turns on the steam generator, outputting steam with a 40% PWM duty cycle to help soften the fibers and efficiently remove wrinkles.

[0109] Phase Two: Reversal Transition User B pushes the iron to the end of the cuff, preparing to change direction and pull it back. During this transition phase, User B naturally slows down, the iron's speed gradually decreases to zero, and then it begins to accelerate in the opposite direction.

[0110] The system monitors the iron's speed in real time: when the instantaneous speed v drops below +0.05 m / s, the microcontroller unit determines "action stopped"; the smart iron immediately shuts off the steam generator and sends a stop command (CMD) to the smart ironing board. STOP When the fan stops operating, the reversing protection mechanism activates, and the system enters a 300ms protection timer. During this reversing transition, user B's hand may experience slight tremors, causing the iron to generate a tiny reverse speed. Assuming the system detects a tiny negative speed (e.g., -0.02m / s), but this speed value does not exceed the reverse speed threshold of -0.05m / s, or although it briefly exceeds the threshold but occurs within the 300ms protection time interval, the system determines this as an invalid action, maintaining the fan's stopped state and not triggering reversal. This mechanism effectively filters out physiological hand tremors, preventing the fan from frequently starting and stopping due to minor disturbances.

[0111] Phase 3: Pull-back shaping After the 300ms protection timer expired, user B explicitly pulled the iron backward, reaching a speed of -0.15m / s. The microcontroller detected v = -0.15m / s < -0.05m / s, and the duration exceeded 50ms, determining it as a "valid pull-back action" and recognizing it as user B's intention to pull backward. At this point, the protection timer had ended, allowing the reverse mode switch to proceed.

[0112] The system response is as follows: The smart iron keeps the steam generator off to prevent steam from wetting the already ironed cuff area; the microcontroller unit sends a blower command (CMD) to the smart ironing board via a wireless transmitter module.BLOW After receiving the instruction, the intelligent ironing board drives the bidirectional fan to switch to blower mode, forming an air cushion under the cuff fabric to lift the area that has just been ironed; the warm airflow passes through the air cushion to accelerate the cooling of the cuff, allowing the fibers to quickly set in a stretched state and preventing them from rebounding and creating new wrinkles.

[0113] Through the coordinated control of the above three stages, in the typical high-frequency, short-distance reciprocating motion scenario of ironing shirt cuffs, user B can automatically complete the following intelligent responses without any manual or foot operation: When pushed forward: Automatic suction to fix the fabric and steam jet to remove wrinkles; During reversal: The fan automatically stops, enters protection timing, and filters out hand tremors; When pulling back: automatically switches to blower cooling and shaping, and keeps steam off.

[0114] Compared with existing technologies, this solution demonstrates significant advantages in ironing complex areas such as cuffs: In traditional solutions, users need to step on the switch with their foot or manually switch the fan mode while ironing at high frequency, which is labor-intensive and difficult to synchronize; while this solution achieves seamless connection of "pushing forward to suck and pulling back to blow" through millisecond-level motion intention recognition and fan coordinated control, which not only greatly improves the convenience of operation, but also ensures the reliability and lifespan of the fan under frequent forward and reverse operation through the reversing protection mechanism, truly realizing the automation of professional ironing process.

[0115] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fan cooperative control ironing method based on motion intention recognition, characterized in that, Includes the following steps: Acquire inertial motion data of the smart iron during the ironing process; Based on the inertial motion data, gravity interference is removed through attitude calculation to obtain the true motion direction of the smart iron in the ironing direction; The user's ironing intention is identified based on the actual direction of movement. When a forward pushing intention is identified, a suction command is sent to the smart ironing board to control the fan of the smart ironing board to execute the suction mode; when a backward pulling intention is identified, a blower command is sent to the smart ironing board to control the fan to execute the blower mode. When a change in the movement direction of the smart iron is detected, a reversal protection mechanism is activated, prohibiting the sending of mode switching commands that are opposite to the current fan mode within a predetermined protection time interval.

2. The fan coordinated control ironing method based on motion intention recognition according to claim 1, characterized in that, The attitude calculation to remove gravity interference further includes: By integrating acceleration and angular velocity sensor data, complementary filtering or Kalman filtering algorithms are used to calculate the current pitch and roll angles of the iron. Construct a rotation matrix from the iron body coordinate system to the geographic coordinate system based on the pitch angle and roll angle; The original acceleration vector in the iron body coordinate system is transformed to the geographic coordinate system through the rotation matrix, and the gravitational acceleration vector is subtracted from the transformed acceleration to obtain the net acceleration. Integrate the component of the net acceleration along the ironing direction to obtain the instantaneous velocity, and determine the true direction of motion based on the sign of the instantaneous velocity.

3. The fan coordinated control ironing method based on motion intention recognition according to claim 2, characterized in that, It also includes a zero-speed correction step: when the variance of the original acceleration is detected to be lower than a predetermined variance threshold, it is determined that the iron is stationary and the instantaneous velocity is forcibly set to zero.

4. The fan-assisted ironing method based on motion intention recognition according to claim 1, characterized in that, The identification of the user's ironing intent includes: Compare the velocity value corresponding to the actual direction of motion with a preset velocity threshold. If the speed value is greater than the positive speed threshold and the duration exceeds the first predetermined time, it is identified as a forward pushing intention; If the speed value is less than the reverse speed threshold and the duration exceeds the first predetermined time, it is identified as a pull-back intention.

5. The fan-coordinated ironing method based on motion intention recognition according to claim 4, characterized in that, The absolute value of the preset speed threshold is set to 0.03~0.08m / s, the first predetermined time is set to 40~60ms, and the predetermined protection time interval is set to 200~500ms.

6. The fan-assisted ironing method based on motion intent recognition according to claim 1 or 4, characterized in that, It also includes steam coordinated control steps: When a forward push intention is detected, the steam function is activated simultaneously. When the system is identified as stationary or as an intention to pull back, the steam function is turned off.

7. The fan-assisted ironing method based on motion intention recognition according to claim 1, characterized in that, The sampling frequency of the inertial motion data is not less than 100Hz, and the suction command and blower command are transmitted to the smart ironing board via wireless communication in the 2.4GHz or 5.8GHz frequency band.

8. A fan-coordinated ironing system based on motion intention recognition, characterized in that, include: The smart iron, serving as the main control unit, has a built-in inertial measurement unit, a microcontroller unit, and a wireless transmission module. The microcontroller unit is configured to execute the steps of the method described in any one of claims 1 to 7. The intelligent ironing board, as the controlled end, has a built-in wireless receiving module, a motor drive circuit, and a bidirectional fan. The intelligent ironing board drives the bidirectional fan to perform the corresponding suction or blowing mode according to the received suction command or blowing command.

9. The fan-coordinated ironing system based on motion intention recognition according to claim 8, characterized in that, The inertial measurement unit includes a three-axis accelerometer and a three-axis gyroscope. The microcontroller unit fuses the acceleration sensing data from the three-axis accelerometer and the angular velocity sensing data from the three-axis gyroscope through attitude calculation to obtain the true direction of motion.

10. The fan-coordinated ironing system based on motion intention recognition according to claim 8, characterized in that, The microcontroller unit is also configured to: simultaneously turn on the steam generator of the smart iron when a push-forward intention is detected; and keep the steam generator of the smart iron off when a pull-back intention is detected.

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