Clothing handling methods, apparatus, electronic devices and storage media

Abstract

This application provides a clothing handling method, apparatus, electronic device, and storage medium. The method involves controlling a gripper to pick up clothes to be dried inside a washing machine. During the picking process, based on detection data from sensors on the gripper, it is determined that the clothes are entangled. Finally, the gripper is controlled to move according to a preset first motion mode to untangle the clothes. This solves the problem of clothes becoming tangled during automatic drying, preventing individual garments from being dried successfully, reducing the frequency of human intervention during automatic drying, and improving the user's intelligent experience of automatic drying.

Description

Technical Field

[0001] This application relates to the field of smart electrical appliance technology, specifically to a clothing processing method, apparatus, electronic device, and storage medium. Background Technology

[0002] The concept of smart homes has gradually been applied to people's daily lives. One important function of smart homes is to free people from heavy housework, and automatic clothes drying is one such application.

[0003] Currently, existing automatic clothes drying technologies simply remove clothes from the washing machine, but they do not offer a clear solution for situations where multiple garments become tangled during the removal process.

[0004] This makes it difficult to guarantee that an individual garment can be successfully retrieved when the automatic clothes dryer is running; it may retrieve a bunch of tangled clothes instead of a single garment. Summary of the Invention

[0005] This application provides a clothing handling method, apparatus, electronic device, and storage medium to solve the problem of being able to individually remove tangled clothing when an automatic clothes dryer grabs clothes.

[0006] Firstly, this application provides a method for treating clothing, including:

[0007] Control the gripper to grab the clothes waiting to be dried inside the washing machine;

[0008] During the grasping process, based on the detection data detected by the sensors on the gripper, it is determined that the clothes to be dried are in an entangled state, which means that other clothes are wrapped around the clothes to be dried.

[0009] The gripper is controlled to move according to a preset first motion mode so as to release the clothes to be dried from the entangled state.

[0010] In one possible design, determining that the clothes to be dried are entangled based on detection data detected by sensors on the gripper includes:

[0011] Control the gripper to rise and detect the first drag force of the clothes to be dried on the gripper in real time;

[0012] If the first dragging force is greater than or equal to the preset pulling force, then the clothes to be dried are determined to be in the entangled state.

[0013] Optionally, after controlling the gripper to move according to a preset first motion mode, the method further includes:

[0014] Re-detect the second drag force of the clothes to be dried on the gripper;

[0015] If the second dragging force is less than the preset pulling force, then the clothes to be dried are determined to be free from the entanglement state.

[0016] In one possible design, after the second drag force of the clothes to be dried on the gripper is re-detected, the following is also included:

[0017] If the second dragging force is greater than or equal to the preset pulling force, it is determined that the grabbing of the clothes to be dried has failed;

[0018] Continue to control the gripper to move according to the preset first motion mode;

[0019] The system will continue to operate until the number of times the grabbing of the clothes to be dried fails to reach a preset number. Then, the grabbing will release the clothes and output a prompt message to prompt the user to manually release the entangled state.

[0020] In one possible design, after the second drag force of the clothes to be dried on the gripper is re-detected, the following is also included:

[0021] If the second dragging force is greater than or equal to the preset pulling force, it is determined that the grabbing of the clothes to be dried has failed;

[0022] The gripper is controlled to move according to a preset second motion mode;

[0023] The system continues until the number of times the grabbing of the clothes to be dried fails to reach the preset number, then controls the grabbing hand to release the clothes and outputs a prompt message to prompt the user to manually release the entangled state.

[0024] Optionally, before the clothes rack gripper grabs the clothes to be dried in the washing machine, the following steps are also included:

[0025] The identification information is obtained using an identification device. The identification information includes image information, which is used to determine the location and state characteristics of each of the clothes to be dried. And / or, the identification information includes the code of the clothes to be dried, which is used to determine the characteristics of the clothes to be dried.

[0026] Based on the identified information and the preset identification model, the clothes to be dried are determined.

[0027] In one possible design, after controlling the gripper to move according to a preset first motion mode, the following is also included:

[0028] If the entanglement is resolved, the gripper is controlled to transport the clothes to be dried to the preset drying position along a preset path;

[0029] Control the next gripper to grab another piece of clothing waiting to be dried inside the washing machine.

[0030] Secondly, this application provides a garment processing device, comprising:

[0031] The acquisition module is used to acquire the detection data detected by the sensors on the gripper;

[0032] The processing module is used to control the gripper to pick up clothes to be dried inside the washing machine;

[0033] The processing module is also used to determine, during the grasping process, that the clothes to be dried are in an entangled state based on the detection data, wherein the entangled state is that other clothes are wrapped around the clothes to be dried.

[0034] The processing module is also used to control the gripper to move according to a preset first motion mode so that the clothes to be dried can be freed from the entanglement.

[0035] In one possible design, the processing module is further configured to determine, during the grasping process, based on the detection data, that the clothes to be dried are in an entangled state, including:

[0036] The processing module is also used to control the gripper to rise and to detect the first drag force of the clothes to be dried on the gripper in real time.

[0037] The processing module is further configured to determine that the clothes to be dried are in the entangled state if the first dragging force is greater than or equal to the preset force.

[0038] Optionally, after controlling the gripper to move according to a preset first motion mode, the processing module further includes:

[0039] The acquisition module is also used to re-detect the second drag force of the clothes to be dried on the gripper;

[0040] The processing module is further configured to determine that the clothes to be dried are released from the entanglement state if the second dragging force is less than the preset pulling force.

[0041] In one possible design, after the acquisition module re-detects the second drag force of the clothes to be dried on the gripper, it further includes:

[0042] The processing module is further configured to determine that the grabbing of the clothes to be dried has failed if the second dragging force is greater than or equal to the preset force.

[0043] The processing module is also used to continue controlling the gripper to move according to the preset first motion mode;

[0044] The processing module is further configured to control the gripper to release the clothes to be dried until the number of times the grabbing of the clothes to be dried fails reaches the preset number, and output a prompt message, the prompt message being used to prompt the user to manually release the entanglement state.

[0045] In one possible design, after the acquisition module re-detects the second drag force of the clothes to be dried on the gripper, it further includes:

[0046] The processing module is further configured to determine that the grabbing of the clothes to be dried has failed if the second dragging force is greater than or equal to the preset force.

[0047] The processing module is further configured to determine that the grabbing of the clothes to be dried has failed if the second dragging force is greater than or equal to the preset force.

[0048] The processing module is also used to control the gripper to move according to a preset second motion mode;

[0049] The processing module is further configured to control the gripper to release the clothes to be dried until the number of times the grabbing of the clothes to be dried fails reaches the preset number, and output a prompt message, the prompt message being used to prompt the user to manually release the entanglement state.

[0050] Optionally, before the processing module controls the gripper to pick up the clothes to be dried in the washing machine, it further includes:

[0051] The acquisition module is further configured to acquire identification information, the identification information including image information, the image information being used to determine the positional state features of each of the clothes to be dried, and / or, the identification information including the code of the clothes to be dried, the code being used to determine the features of the clothes to be dried;

[0052] The processing module is also used to determine the clothes to be dried based on the identified information and the preset identification model.

[0053] In one possible design, the processing module, after continuing to control the gripper to move according to the preset first motion mode, further includes:

[0054] The processing module is also used to control the gripper to transport the clothes to be dried to a preset drying position along a preset path if the entanglement state is released.

[0055] The processing module is also used to control the next gripper to grab another piece of clothing to be dried inside the washing machine.

[0056] Thirdly, this application provides a washing machine, comprising:

[0057] Processor; and,

[0058] Memory for storing the executable instructions of the processor;

[0059] The processor is configured to execute any of the possible clothing processing methods provided in the first aspect by executing the executable instructions.

[0060] Fourthly, this application also provides a storage medium storing a computer program for executing any of the possible garment processing methods provided in the first aspect.

[0061] This application provides a clothing handling method, apparatus, electronic device, and storage medium. The method involves controlling a gripper to pick up clothes to be dried inside a washing machine. During the picking process, based on detection data from sensors on the gripper, it is determined that the clothes are entangled. Finally, the gripper is controlled to move according to a preset first motion mode to untangle the clothes. This solves the problem of clothes becoming tangled during automatic drying, preventing individual garments from being dried successfully, reducing the frequency of human intervention during automatic drying, and improving the user's intelligent experience of automatic drying. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 A schematic diagram illustrating an automatic clothes-drying and clothing-grabbing scenario provided in this application;

[0064] Figure 2 A schematic flowchart illustrating a clothing processing method provided in an embodiment of this application;

[0065] Figure 3 A schematic flowchart illustrating another clothing processing method provided in an embodiment of this application;

[0066] Figure 4 A schematic diagram of the structure of a garment processing device provided in this application;

[0067] Figure 5 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort, including but not limited to combinations of multiple embodiments, are within the scope of protection of this application.

[0069] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0070] Currently, most smart home solutions still struggle to achieve truly intelligent and automated clothes drying. A major reason for this is that after washing machines finish, multiple garments often become tangled together, especially longer items like pants and skirts. If the automatic clothes-grabbing device doesn't distinguish between tangled and non-tangled items, it's highly likely to pick up multiple tangled garments simultaneously. This leads to several problems: tangled clothes are difficult to dry; drying tangled clothes may damage them; and the automatic drying process may fail to complete the next step, causing it to stop.

[0071] To address the problem that automatic clothes drying cannot proceed because the clothes to be dried are entangled during the grabbing process, this application proposes a clothes handling method, which will be described below with reference to specific embodiments.

[0072] Figure 1 This is a schematic diagram illustrating a scenario where an automatic clothes drying and garment-grabbing system is provided in this application. Figure 1As shown, after the washing machine 20 completes its final spin-drying cycle, the lid of the washing machine 20 opens, and the grabber 10 on the automatic clothes drying rack extends into the washing tub of the washing machine 20 to grab the clothes. Both the washing machine 20 and the grabber 10 are controlled by an intelligent control center. The intelligent control center is connected to a user interface, such as a mobile phone, tablet, dedicated controller, or PC. In one possible design, the intelligent control center is located in the cloud, and the user interface is connected to the cloud via a network, thereby enabling data interaction between the user interface and the cloud. In another possible design, the user interface and the intelligent control center are integrated into a single unit, allowing the user to directly input control commands at the control center to control the intelligent operation of multiple appliances.

[0073] Figure 2 This is a schematic flowchart illustrating a clothing processing method provided in an embodiment of this application. Figure 2 As shown, the specific steps of this clothing treatment method include:

[0074] S201, Control the gripper to grab the clothes to be dried inside the washing machine.

[0075] In this embodiment, the user can first set the washing mode or whether to allow drying via a terminal, such as a mobile phone. Because larger textile items like quilts and duvet covers require specific drying methods, the washing mode can be set to "large items," allowing the system to implement a targeted grabbing strategy. Alternatively, the system can choose not to automatically dry the clothes and simply indicate that the washing is complete. Understandably, when the user sets the mode or issues an automatic drying command, the intelligent control center will control the grabber 10 to grab the clothes to be dried inside the washing machine 20.

[0076] In one possible design, the gripper 10 is mounted on a clothesline, which can be either circular or straight. The gripper can move along the clothesline or move up and down at any position to grasp the clothes. Optionally, the gripper 10 can take various forms, such as a multi-claw gripper similar to that of a claw machine, or a gripper that unfolds after grasping to function as a retractable clothes hanger. Those skilled in the art can choose the shape and structure of the gripper 10 according to specific circumstances, and this application does not impose any limitations.

[0077] S202. During the grasping process, based on the detection data detected by the sensors on the gripper, it is determined that the clothes to be dried are in an entangled state.

[0078] In this step, the entangled state refers to the condition where other clothing is wrapped around the clothes to be dried.

[0079] Specifically, after the gripper 10 extends into the washing tub of the washing machine 20, it grabs one piece of clothing inside the tub, i.e., the garment to be dried. Then, the gripper 10 rises to attempt to lift the garment. At this time, the sensor 11 on the gripper 10 includes a tension sensor, which detects the dragging force of the garment on the gripper 10. If there is no entanglement, i.e., the garment is in a non-entangled state, the dragging force will be relatively small. A tension threshold can be preset. When the dragging force is greater than or equal to this tension threshold, it is determined that the garment is entangled, and the process proceeds to the next step S203. If the dragging force is less than the tension threshold, the garment is not entangled with other clothes, and the gripper 10 directly removes the garment from the washing tub. Then, the gripper 10 transports the garment to the drying position along a preset motion path. It is understandable that the gripper 10 can hold the clothes while they are being dried, or it can transfer the clothes to the clothes rack. Alternatively, the gripper 10 could have a telescopic clothes rack structure that unfolds after the clothes are removed from the washing tub, supporting them. Or, the hooks of the gripper 10 could extend to support the clothes.

[0080] Optionally, sensor 11 may also include a camera. During the process of gripper 10 grabbing the clothes and attempting to lift them, the camera acquires image data inside the washing tub. The control center automatically identifies the image data to determine whether the clothes to be dried have become tangled.

[0081] It should be noted that the tensile threshold can be dynamically adjusted based on the washing mode or drying object parameters set by the user on the control panel, or it can be adjusted based on the type of clothing to be dried identified by the camera's image data.

[0082] Optionally, sensor 11 may also include an RFID (Radio Frequency Identification) device to obtain the code of the clothes to be dried. The control center can determine the type of clothes to be dried based on the code, thereby determining the magnitude of the tension threshold.

[0083] S203. Control the gripper to move according to the preset first motion mode so that the clothes to be dried are freed from tangling.

[0084] In this step, after confirming that the clothes to be dried are tangled, the gripper can grasp the clothes and move them according to a preset first motion mode. The preset first motion mode can be implemented in many ways, such as the gripper making rapid up-and-down reciprocating movements, which produces a shaking effect. After a preset duration, if the sensors on the gripper, such as a tension sensor or a weight sensor, detect that the pulling force of the clothes is less than a preset tension threshold, then it is determined that the clothes have been untangled.

[0085] This embodiment provides a clothing handling method. By controlling a gripper to pick up clothes to be dried inside the washing machine, and during the picking process, based on detection data from sensors on the gripper, it is determined that the clothes are entangled. Finally, the gripper is controlled to move according to a preset first motion mode to untangle the clothes. This solves the problem of clothes becoming tangled during automatic drying, preventing individual garments from being dried successfully, reducing the frequency of human intervention during automatic drying, and improving the user's intelligent experience of automatic drying.

[0086] Figure 3 This is a schematic flowchart illustrating another clothing processing method provided in an embodiment of this application. Figure 3 As shown, the specific steps of this washing machine control method include:

[0087] S301. Obtain identification information using an identification device.

[0088] In this step, the identification information includes image information, which is used to determine the location and state characteristics of each of the clothes to be dried, and / or, the identification information includes the code of the clothes to be dried, which is used to determine the characteristics of the clothes to be dried.

[0089] Specifically, the sensor 11 on the gripper 10 includes a camera. As the gripper 10 extends into the washing tub of the washing machine 20, the camera continuously collects image information from inside the tub, including the color or pattern of each garment waiting to be dried. Alternatively, the sensor 11 on the gripper 10 may include an RFID device. The RFID device acquires the code of the garment waiting to be dried via wireless communication. The code corresponds to the characteristics of the garment, including color, style, and material. It is understood that the sensor 11 can simultaneously include both a camera and an RFID device, acquiring both image information and the code of the garment waiting to be dried.

[0090] S302. Based on the identification information and the preset identification model, determine the clothes to be dried.

[0091] In this step, when the identification information is image information, the preset identification model extracts the image features in the image information, uses the image recognition algorithm to distinguish each piece of clothing to be dried based on the image features, and then adjusts the position of the gripper 10 to ensure that a single piece of clothing to be dried can be grabbed.

[0092] When the identification information is the code of the clothes to be dried, the control center compares the code with the drying parameters set by the user terminal to determine whether the code of the clothes to be dried in the washing tub is within the drying code range set by the user terminal. If so, the clothes to be dried are captured.

[0093] Understandably, the two methods mentioned above can also be combined. For example, if it is first confirmed through coding that some clothes need to be automatically dried, then the corresponding clothes can be found and captured by combining the image data from the camera.

[0094] S303. During the gripping process, based on the detection data detected by the sensors on the gripper, it is determined that the clothes to be dried are in an entangled state.

[0095] Specifically, this step includes:

[0096] Control the gripper to rise and detect the first drag force of the clothes to be dried on the gripper in real time;

[0097] If the first dragging force is greater than or equal to the preset force, it is determined that the clothes to be dried are in the entangled state, and then step S304 is executed next;

[0098] If the first pulling force is less than the preset pulling force, the gripper is controlled to transport the clothes to be dried along the preset path to the preset drying position, and the next gripper is controlled to grab another piece of clothes to be dried in the washing machine. This continues until all the clothes in the washing machine are removed, or all the grippers used for grabbing are used. In one possible design, after the gripper has dried the clothes to the designated position, it releases the clothes to be dried, and other fixing devices secure the clothes to be dried. Then the gripper returns to the washing tub to continue grabbing clothes to be dried.

[0099] It should be noted that the first drag force can be an empirical value obtained from a large number of experiments, or it can be a dynamic threshold corresponding to different types of clothes to be dried. The first drag force is detected by a sensor 11 on the gripper, which may include a force sensor.

[0100] S304. Control the gripper to move according to the preset first motion mode.

[0101] In this step, when it is determined that the clothes to be dried are tangled, the gripper can grasp the clothes and perform rapid up-and-down reciprocating motion within a preset time period, causing the gripper to vibrate. This utilizes gravity and inertia to shake off any other clothes tangled on the clothes to be dried. It is understood that those skilled in the art can choose the implementation method of the preset first motion mode according to the actual situation, and are not limited to the up-and-down reciprocating motion of this embodiment.

[0102] S305. Retest the second drag force of the clothes to be dried on the gripper.

[0103] In this step, the sensor 11 is used to re-detect the second drag force of the clothes to be dried on the gripper 10. If the second drag force is greater than or equal to the preset force, step S306 is executed; if the second drag force is less than the preset force, step S310 is executed.

[0104] S306. If the second drag force is greater than or equal to the preset force, then the attempt to grab the clothes to be dried has failed.

[0105] In this step, once a crawling failure is identified, the number of failed crawls will be accumulated.

[0106] S307. Determine whether the number of failed capture attempts has reached the preset number.

[0107] In this step, if the number of failed capture attempts is less than the preset number, then step S308 is executed; if the number of failed capture attempts is equal to the preset number, then step S309 is executed.

[0108] It should be noted that the purpose of setting a preset number of times is to avoid damaging the clothes being dried by too many untangling operations, or to prevent the automatic drying program from getting stuck in an infinite loop due to excessive tangling.

[0109] It should also be noted that users can personalize the preset number of times, such as increasing or decreasing the preset number of times based on the type of clothes to be dried. For some clothes, such as silk fabrics, which are more easily damaged, the preset number of times can be reduced or even set to 0. This can minimize the damage to the clothes caused by handling them in a tangled state.

[0110] S308. Continue to control the gripper to move according to the preset first motion mode or second motion mode.

[0111] In this step, after confirming that the gripping has failed, the gripper can be controlled to move according to either the first or second motion mode. For example, the first motion mode is an upward reciprocating motion within a preset time; the second motion mode is a conical oscillation or a rotation opposite to the direction of rotation of the washing machine within a preset time. In one possible design, the washing machine can be turned on to agitate other clothes waiting to be dried using the drum wall or pulsator, while the gripper holds the clothes still, thus untangling them. In other words, other clothes tangled on the clothes waiting to be dried are disentangled by the drum wall or pulsator.

[0112] It should be noted that those skilled in the art can choose the specific implementation method of the first motion mode and the second motion mode according to the actual situation, and this application does not limit it.

[0113] S309. Control the gripper to release the clothes to be dried and output a prompt message.

[0114] In this step, the prompt message is used to prompt the user to manually untangle the entangled state.

[0115] In this step, when the number of failed grabbing attempts equals the preset number, the grabber releases the clothes to be dried and exits the washing machine tub. Then, it sends a notification message to the user's control device, such as a mobile phone, and can also issue a buzzer alarm or a voice prompt, allowing the user to intervene and resolve the entangled state of the clothes to be dried.

[0116] S310. If the second drag force is less than the preset force, then the clothes to be dried are determined to be free from entanglement.

[0117] In this step, if the second dragging force detected by sensor 11 is less than the preset pulling force, it can be determined that the clothes to be dried are no longer tangled with other clothes, that is, the tangling state is resolved.

[0118] S311. Control the gripper to transport the clothes to be dried to the preset drying position along the preset path.

[0119] In this step, after the clothes to be dried are untangled, the gripper lifts the clothes out of the washing tub and transports them to a preset drying position along a pre-set path. Optionally, once the clothes reach the preset drying position, the intelligent control center can control other devices to support or secure the clothes, and the gripper releases the clothes so that they can be retrieved from the washing machine 20 again.

[0120] S312, Control the next gripper to grab another piece of clothing waiting to be dried inside the washing machine.

[0121] In this embodiment, multiple grippers are provided. After one gripper completes its gripping action, the next gripper can begin a new round of gripping. This allows for the rapid removal of clothes from the washing machine for drying.

[0122] This embodiment provides a clothing handling method. By controlling a gripper to pick up clothes to be dried inside the washing machine, and during the picking process, based on detection data from sensors on the gripper, it is determined that the clothes are entangled. Finally, the gripper is controlled to move according to a preset first motion mode to untangle the clothes. This solves the problem of clothes becoming tangled during automatic drying, preventing individual garments from being dried successfully, reducing the frequency of human intervention during automatic drying, and improving the user's intelligent experience of automatic drying.

[0123] Figure 4 This is a schematic diagram of a garment processing device provided in this application. The garment processing device can be implemented through software, hardware, or a combination of both.

[0124] like Figure 4 As shown, the clothing processing device 400 provided in this embodiment includes:

[0125] The acquisition module 401 is used to acquire the detection data detected by the sensors on the gripper;

[0126] Processing module 402 is used to control the gripper to grab the clothes to be dried in the washing machine;

[0127] The processing module 402 is further configured to determine, during the grasping process, that the clothes to be dried are in an entangled state based on the detection data, wherein the entangled state is that other clothes are wrapped around the clothes to be dried.

[0128] The processing module 402 is also used to control the gripper to move according to a preset first motion mode so that the clothes to be dried can be freed from the entanglement.

[0129] In one possible design, the processing module 402 is further configured to determine, during the grasping process, based on the detection data, that the clothes to be dried are in an entangled state, including:

[0130] The processing module 402 is also used to control the gripper to rise and to detect the first drag force of the clothes to be dried on the gripper in real time;

[0131] The processing module 402 is further configured to determine that the clothes to be dried are in the entangled state if the first dragging force is greater than or equal to the preset force.

[0132] Optionally, after controlling the gripper to move according to a preset first motion mode, the processing module 402 further includes:

[0133] The acquisition module 401 is also used to re-detect the second drag force of the clothes to be dried on the gripper;

[0134] The processing module 402 is further configured to determine that the clothes to be dried are released from the entanglement state if the second dragging force is less than the preset pulling force.

[0135] In one possible design, after the acquisition module 401 re-detects the second drag force of the clothes to be dried on the gripper, it further includes:

[0136] The processing module 402 is further configured to determine that the grabbing of the clothes to be dried has failed if the second dragging force is greater than or equal to the preset force.

[0137] The processing module 402 is also used to continue controlling the gripper to move according to the preset first motion mode;

[0138] The processing module 402 is further configured to control the gripper to release the clothes to be dried until the number of times the grabbing of the clothes to be dried fails reaches the preset number, and output a prompt message, the prompt message being used to prompt the user to manually release the entanglement state.

[0139] In one possible design, after the acquisition module 401 re-detects the second drag force of the clothes to be dried on the gripper, it further includes:

[0140] The processing module 402 is further configured to determine that the grabbing of the clothes to be dried has failed if the second dragging force is greater than or equal to the preset force.

[0141] The processing module 402 is further configured to determine that the grabbing of the clothes to be dried has failed if the second dragging force is greater than or equal to the preset force.

[0142] The processing module 402 is also used to control the gripper to move according to a preset second motion mode;

[0143] The processing module 402 is further configured to control the gripper to release the clothes to be dried until the number of times the grabbing of the clothes to be dried fails reaches the preset number, and output a prompt message, the prompt message being used to prompt the user to manually release the entanglement state.

[0144] Optionally, before the processing module 402 controls the gripper to pick up the clothes to be dried in the washing machine, it further includes:

[0145] The acquisition module 401 is further configured to acquire identification information, the identification information including image information, the image information being used to determine the positional state features of each of the clothes to be dried, and / or, the identification information including the code of the clothes to be dried, the code being used to determine the features of the clothes to be dried;

[0146] The processing module 402 is further configured to determine the clothes to be dried based on the identified information and the preset identification model.

[0147] In one possible design, the processing module 402, after continuing to control the gripper to move according to the preset first motion mode, further includes:

[0148] The processing module 402 is further configured to control the gripper to transport the clothes to be dried to a preset drying position along a preset path if the entanglement state is resolved.

[0149] The processing module 402 is also used to control the next gripper to grab another piece of clothing to be dried inside the washing machine.

[0150] It is worth noting that, Figure 4 The garment processing device provided in the illustrated embodiment can execute the method provided in any of the above method embodiments. Its specific implementation principle, technical features, explanation of technical terms and technical effects are similar, and will not be repeated here.

[0151] Figure 5 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 5 As shown, the electronic device 500 may include at least one processor 501 and a memory 502. Figure 5 The example shown is an electronic device using a processor.

[0152] The memory 502 is used to store programs. Specifically, the program may include program code, which includes computer operation instructions.

[0153] The memory 502 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0154] The processor 501 is used to execute computer execution instructions stored in the memory 502 to implement the methods described in the above embodiments.

[0155] The processor 501 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0156] Optionally, the memory 502 can be either standalone or integrated with the processor 501. When the memory 502 is a device independent of the processor 501, the electronic device 500 may further include:

[0157] Bus 503 is used to connect the processor 501 and the memory 502. The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not mean there is only one bus or one type of bus.

[0158] Optionally, in a specific implementation, if the memory 502 and the processor 501 are integrated on a single chip, the memory 502 and the processor 501 can communicate through an internal interface.

[0159] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used in the methods described in the above embodiments.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for treating clothing, characterized in that, include: The gripper is controlled to grab the clothes to be dried inside the washing machine. The gripper is equipped with a tension sensor to detect the dragging force of the clothes to be dried on the gripper. During the grasping process, the gripper is controlled to rise, and the first drag force of the clothes to be dried on the gripper is detected in real time; If the first dragging force is greater than or equal to the preset force, then the clothes to be dried are determined to be in an entangled state; the entangled state is that other clothes are wrapped around the clothes to be dried. The gripper is controlled to move according to a preset first motion mode so as to release the clothes to be dried from the entangled state.

2. The clothing treatment method according to claim 1, characterized in that, After controlling the gripper to move according to a preset first motion mode, the method further includes: Re-detect the second drag force of the clothes to be dried on the gripper; If the second dragging force is less than the preset pulling force, then the clothes to be dried are determined to be free from the entanglement state.

3. The clothing treatment method according to claim 2, characterized in that, After re-detecting the second drag force of the clothes to be dried on the gripper, the method further includes: If the second dragging force is greater than or equal to the preset pulling force, it is determined that the grabbing of the clothes to be dried has failed; Continue to control the gripper to move according to the preset first motion mode; The system will continue to operate until the number of times the grabbing of the clothes to be dried fails to reach a preset number. Then, the grabbing will release the clothes and output a prompt message to prompt the user to manually release the entangled state.

4. The clothing treatment method according to claim 2, characterized in that, After re-detecting the second drag force of the clothes to be dried on the gripper, the method further includes: If the second dragging force is greater than or equal to the preset pulling force, it is determined that the grabbing of the clothes to be dried has failed; The gripper is controlled to move according to a preset second motion mode; The system will continue to operate until the number of times the grabbing of the clothes to be dried fails to reach a preset number. Then, the grabbing will release the clothes and output a prompt message to prompt the user to manually release the entangled state.

5. The garment treatment method according to any one of claims 1-4, characterized in that, Before the clothes rack gripper grabs the clothes to be dried in the washing machine, the following is also included: The identification information is obtained using an identification device. The identification information includes image information, which is used to determine the location and state characteristics of each of the clothes to be dried. And / or, the identification information includes the code of the clothes to be dried, which is used to determine the characteristics of the clothes to be dried. The clothes to be dried are determined based on the identification information and the preset identification model.

6. The garment treatment method according to any one of claims 1-3, characterized in that, After controlling the gripper to move according to a preset first motion mode, the method further includes: If the entanglement is resolved, the gripper is controlled to transport the clothes to be dried to the preset drying position along a preset path; Control the next gripper to grab another piece of clothing waiting to be dried inside the washing machine.

7. A garment processing device, characterized in that, include: The acquisition module is used to acquire detection data detected by the tension sensor on the gripper, wherein the tension sensor is used to detect the dragging force of the clothes to be dried on the gripper; The processing module is used to control the gripper to pick up clothes to be dried inside the washing machine; The processing module is also used to control the gripper to rise during the gripping process and to detect the first drag force of the clothes to be dried on the gripper in real time; if the first drag force is greater than or equal to a preset force, it is determined that the clothes to be dried are in an entangled state; the entangled state is that other clothes are wrapped around the clothes to be dried. The processing module is also used to control the gripper to move according to a preset first motion mode so that the clothes to be dried can be freed from the entanglement.

8. An electronic device, characterized in that, include: processor; as well as, Memory for storing the executable instructions of the processor; The processor is configured to execute the garment processing method according to any one of claims 1 to 6 by executing the executable instructions.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the clothing processing method according to any one of claims 1 to 6.

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