Laundry treatment system and control method, apparatus and storage medium

Abstract

The application discloses a clothes processing system and a control method, device and storage medium. The control method comprises the following steps: in response to a control instruction, determining a working mode of collecting clothes; based on the working mode, controlling a clothes processing auxiliary robot to transfer clothes to be processed into a target clothes processing device; wherein the working mode comprises a first mode for transferring clothes in a specified clothes containing container and a second mode for collecting clothes. In this way, the clothes to be processed can be transferred into the target clothes processing device based on different working modes, different application scenario requirements can be met, the labor intensity related to clothes processing of the user is greatly reduced, and the automation level related to clothes processing is improved.

Description

Technical Field

[0001] This application relates to the field of clothing processing, and more particularly to a clothing processing system, control method, apparatus and storage medium. Background Technology

[0002] In the field of garment processing, garment processing equipment can be used to wash and dry clothes to reduce the intensity of household chores. However, before the garment processing equipment can process the clothes, users often need to collect the dirty clothes scattered around, open the door of the garment processing equipment and put them in, or pick up the dirty clothes that have already been piled up (such as dirty clothes in a laundry basket), open the door of the garment processing equipment and put them in, then close the door, and then turn on the machine and select the appropriate parameters for garment processing. After the clothes are processed, the user manually opens the door, takes out the processed clothes, and then dries or airs them, completing the entire garment processing process. From the entire processing process, the operations of collecting the clothes to be processed, sending them to the garment processing equipment, putting them in, and taking them out are all manual actions by the user, and are not automated operations.

[0003] In related technologies, a laundry transport robot can be used to transfer dirty clothes from a basket to a laundry processing device. However, this robot often needs to follow a pre-set map and node devices to retrieve clothes from a specific basket and transfer them to a pre-set washing machine. Specifically, this method has the drawback of a fixed movement path, which makes it easy to miss clothes that users have left elsewhere. This forces users to manually put the missed clothes into the laundry processing device, affecting the user experience. Summary of the Invention

[0004] In view of this, embodiments of this application provide a clothing handling system, control method, apparatus, and storage medium, which aim to simplify user operation and improve the level of automation related to clothing handling.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a control method for garment handling, applied to a garment handling auxiliary robot, the method comprising:

[0007] In response to control commands, determine the working mode for collecting clothing;

[0008] Based on the aforementioned working mode, the clothing processing auxiliary robot is controlled to transfer the clothing to be processed to the target clothing processing equipment; wherein, the working mode includes: a first mode for transferring clothing in a designated clothing container and a second mode for collecting clothing.

[0009] In some embodiments, if the operating mode is the first mode, controlling the garment handling auxiliary robot to transfer the garments to be processed to the target garment handling equipment based on the operating mode includes:

[0010] Based on the location information of each specified garment container and the target garment processing device, a movement path for transferring the garments to be processed is generated.

[0011] Based on the movement path, the garment container carrying clothing is grasped and loaded onto the garment processing auxiliary robot, and the clothing in the container is transferred to the target garment processing equipment; or, based on the movement path, the garment container is grasped and loaded onto the garment processing auxiliary robot, and the clothing on the garment processing auxiliary robot is transferred to the target garment processing equipment.

[0012] In some embodiments, before grasping and loading the garment container carrying clothing onto the garment handling assistive robot, the method further includes:

[0013] Based on the movement path, the object is moved to the current target garment container;

[0014] Acquire image information of the current target container;

[0015] Based on the image information, determine whether there is clothing inside the current target clothing container;

[0016] If clothing is present, the process of grasping and loading the clothing container onto the clothing handling auxiliary robot is performed.

[0017] If no clothing is present, the device will move to the next target location based on the movement path.

[0018] In some embodiments, before grasping and loading the clothing from the garment container onto the garment handling robot, the method further includes:

[0019] Based on the movement path, the object is moved to the current target garment container;

[0020] Acquire image information of the current target container;

[0021] Based on the image information, determine whether there is clothing inside the current target clothing container;

[0022] If clothing is present, the process of grabbing and loading the clothing from the clothing container onto the clothing handling auxiliary robot is performed.

[0023] If no clothing is present, the device will move to the next target location based on the movement path.

[0024] In some embodiments, the method further includes:

[0025] Get the load capacity of the objects in each specified garment container;

[0026] The step of generating a movement path for the clothing to be processed based on the location information of each specified garment container and the target garment processing device includes:

[0027] Based on the specified loading capacity of each garment container, delete empty garment containers;

[0028] Based on the remaining loading capacity and location information of the garment containers and the location information of the target garment processing equipment, a movement path for transferring the garments to be processed is generated.

[0029] In some embodiments, if the operating mode is the second mode, controlling the garment handling auxiliary robot to transfer the garments to be processed to the target garment handling equipment based on the operating mode includes:

[0030] Spatial traversal is performed based on preset spatial map information, and image information is collected;

[0031] Based on the image information, determine whether clothing or a container for clothing exists;

[0032] If present, the clothing or the clothing in the clothing container is loaded onto the clothing handling auxiliary robot;

[0033] Once the amount of clothing on the clothing handling robot has reached the set amount for a single transport or the space has been traversed, the clothing is transferred to the target clothing handling equipment.

[0034] In some embodiments, before loading the clothing or clothing in the garment container onto the garment handling robot, the method further includes:

[0035] Pick up a clothing container that is not full of clothes and load it onto the loading platform of the clothing handling robot to serve as a container for receiving clothes later.

[0036] In some embodiments, the method further includes:

[0037] The total amount of clothing transferred to the target clothing processing equipment is counted.

[0038] Once the total amount of clothing reaches the rated processing capacity of the target clothing processing device or the space traversal is completed, a clothing processing start command is sent to the target clothing processing device.

[0039] Secondly, embodiments of this application provide a control device for garment handling, applied to a garment handling auxiliary robot, the control device comprising:

[0040] The working mode determination module is used to determine the working mode for collecting clothes in response to control commands;

[0041] The transfer control module is used to control the clothing processing auxiliary robot to transfer the clothing to be processed to the target clothing processing equipment based on the working mode; wherein, the working mode includes: a first mode for transferring clothing in a designated clothing container and a second mode for collecting clothing.

[0042] Thirdly, embodiments of this application provide a clothing handling auxiliary robot, including: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor, when running the computer program, executes the steps of the method described in the first aspect of embodiments of this application.

[0043] Fourthly, embodiments of this application provide a clothing processing system, including: the clothing processing auxiliary robot described in the third aspect of this application, at least one clothing container, and at least one clothing processing device.

[0044] Fifthly, embodiments of this application provide a storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect of embodiments of this application.

[0045] The technical solution provided in this application, in response to a control command, determines a working mode for collecting clothing; based on the working mode, it controls a clothing processing auxiliary robot to transfer clothing to be processed to a target clothing processing device; wherein, the working modes include: a first mode for transferring clothing from a designated clothing container and a second mode for collecting clothing. In this way, clothing to be processed can be transferred to the target clothing processing device based on different working modes, which can meet the needs of different application scenarios, greatly reduce the labor intensity of users related to clothing processing, and improve the automation level of clothing processing. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the clothing processing system according to an embodiment of this application;

[0047] Figure 2 This is a flowchart illustrating the control method for clothing processing according to an embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the control device for clothing processing according to an embodiment of this application;

[0049] Figure 4This is a schematic diagram of the structure of the clothing handling auxiliary robot according to an embodiment of this application. Detailed Implementation

[0050] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0052] Before introducing the control method for clothing processing according to the embodiments of this application, the clothing processing system according to the embodiments of this application will be described as follows:

[0053] like Figure 1 As shown, the clothing processing system of this application embodiment may include: a clothing processing auxiliary robot 100, a clothing container 200, and a clothing processing device 300.

[0054] Here, the clothing processing assistance robot 100 can be understood as an intelligent assistant for clothing processing, which can help users to intelligently process clothing, such as picking up clothing to be processed, transferring the clothing and placing it into the clothing processing device 300, or taking out the processed clothing from the clothing processing device 300 and transferring the clothing to the destination, thereby minimizing the user's labor intensity.

[0055] For example, the garment handling auxiliary robot 100 includes a loading platform, a displacement mechanism, a robotic arm, and a controller, wherein the displacement mechanism, robotic arm, and controller are all mounted on the loading platform. The displacement mechanism can move the loading platform under the control of the controller, and the robotic arm can move under the control of the controller, thereby performing specified operations on the relevant garments and / or garment containers 200. For example, the controller can drive a motion motor to move the displacement mechanism, and the controller can also drive a joint motor to move the joints of the robotic arm to complete the specified operation.

[0056] It is understood that the loading platform has a carrying space for carrying the garment container 200. The loading platform can also be equipped with at least one sensor, such as a LiDAR and / or a camera, to facilitate the garment handling robot 100's localization and mapping based on Simultaneous Localization and Mapping (SLAM) technology. SLAM technology refers to enabling the robot to gradually create a complete map of its surrounding environment while moving; a complete map (a consistent map) means that the robot can travel unimpeded to every accessible corner of the environment. This SLAM technology can be implemented using LiDAR-based localization information and / or inter-frame matching based on image information captured by the camera. Specific implementation details can be found in related technologies, which will not be elaborated upon in this embodiment.

[0057] It is understood that the aforementioned controller can be an industrial control host with a built-in ROS (Robot Operating System). This controller communicates with the aforementioned LiDAR and / or camera to achieve SLAM functionality. The controller can also be configured with a wireless communication module or interface for communication with the outside world. For example, it can be configured with at least one of the following: a Wi-Fi module, a Bluetooth module, a Zigbee module, or a UART (Universal Asynchronous Receiver / Transmitter) interface.

[0058] It should be noted that the controller of the garment handling assistive robot 100 can establish a wireless communication connection with the garment container 200 and / or the garment handling equipment 300. The garment handling assistive robot 100 can also... Figure 1 The terminal device 400 and / or server 500 shown establish a wireless communication connection.

[0059] Here, the clothing container 200 serves as a container for storing clothes; for example, it can be a clothes basket. It is understood that there can be one or more clothing containers 200. For example, they can be placed in the hallway, bathroom, room, etc. of the user's residence, so that the user can conveniently put the clothes to be processed into the clothing container 200 nearby.

[0060] Here, the garment processing equipment 300 is used to perform relevant garment processing on the garments to be processed. For example, the garment processing equipment 300 can be a washing machine, dryer, folding machine, garment care machine, etc. It is understood that there can be one or more garment processing equipment 300 to meet various garment processing needs of users.

[0061] It is understood that the aforementioned garment container 200 and garment processing device 300 serve as node devices within the ROS system of the garment processing auxiliary robot 100. That is, the garment processing system of this embodiment comprises the garment processing auxiliary robot 100 and multiple node devices, including at least one garment container 200 and at least one garment processing device 300. Each node device can be equipped with a wireless communication module, and the garment processing auxiliary robot 100 and each node device, as well as the node devices themselves, can subscribe to and publish data to each other. For example, data interaction can be conducted via wired or wireless methods such as WIFI, UART, Bluetooth, and Zigbee. Furthermore, the garment processing auxiliary robot 100 can wirelessly connect and interact with the user APP (application) on the terminal device 400 and the server 500 (i.e., cloud platform).

[0062] Based on the aforementioned clothing handling system, this application provides a control method for clothing handling, applied to a clothing handling auxiliary robot, such as... Figure 2 As shown, the control method includes:

[0063] Step 201: In response to the control command, determine the working mode for collecting clothing.

[0064] Here, the garment handling robot can receive control commands sent by the user, such as control commands sent by the user through a terminal device, and determine the garment collection mode based on the received control commands. Exemplarily, the user can also input control commands to the garment handling robot via voice or other means, or via buttons on the garment handling robot; this embodiment does not limit this.

[0065] In one embodiment, the control command may carry indication information indicating the working mode, which includes: a first mode for transferring clothing from a designated garment container and a second mode for collecting clothing. Thus, the garment handling robot can determine the working mode based on the indication information. Exemplarily, the indication information may indicate that the current working mode is the first mode or the second mode, or it may indicate that the current working mode is the default working mode (e.g., the first mode), which is not limited in this embodiment.

[0066] Understandably, when the garment handling robot is first deployed, it can establish a binding relationship with the user's terminal device, allowing the user to control the robot through that device. For example, the user can send a binding request to the robot from their terminal device. This request can carry the terminal device's identifier, which the robot can store as authentication of the bound terminal device. Subsequently, the bound terminal device can interact with the robot to exchange data.

[0067] For example, after the garment handling assistive robot is powered on, the ROS system starts and can generate currently supported control flows based on historical configuration information. For instance, the garment handling assistive robot can obtain node device information pre-stored locally or on the server side, and generate at least one garment handling control flow with a specified navigation path based on the node device information; correspondingly, the aforementioned control instructions may include indication information of the control flow and operating mode selected by the user.

[0068] Step 202: Based on the working mode, control the clothing processing auxiliary robot to transfer the clothing to be processed to the target clothing processing equipment; wherein, the working mode includes: a first mode for transferring clothing in a designated clothing container and a second mode for collecting clothing.

[0069] Understandably, the first mode is used to transfer clothing based on a set movement path. The path is highly deterministic, predictable, and secure, making it suitable for application scenarios with high privacy requirements or where there are many people in a home environment, such as apartment buildings or dormitories. The second mode is used to transfer the collected clothing to the target clothing processing device, which can expand the range of clothing collection and is suitable for application scenarios with higher openness, such as where there are few people or no one in a home environment.

[0070] The control method of this application embodiment can transfer the clothes to be processed to the target clothes processing equipment based on different working modes, which can meet the needs of different application scenarios, greatly reduce the labor intensity of users related to clothes processing, and improve the automation level of clothes processing.

[0071] For example, if the working mode is the first mode, controlling the garment handling auxiliary robot to transfer the garments to be processed to the target garment handling equipment based on the working mode includes:

[0072] Based on the location information of each specified garment container and the target garment processing equipment, a movement path for the garments to be processed is generated.

[0073] Based on the movement path, the garment container carrying clothing is grasped and loaded onto the garment processing auxiliary robot, and the clothing in the container is transferred to the target garment processing equipment; or, based on the movement path, the garment container is grasped and loaded onto the garment processing auxiliary robot, and the clothing on the garment processing auxiliary robot is transferred to the target garment processing equipment.

[0074] For example, in the first mode, the user can specify the garment container and the target garment processing device to be transferred. For instance, the user can select the garment container and garment processing device that have been paired and connected to the garment processing robot on the instruction interface of the terminal device. The garment processing robot generates a movement path based on the location information corresponding to each specified garment container and target garment processing device.

[0075] It is understood that the clothing handling assistance robot can obtain the location information of each node device determined by the last scan or the location information of the target node device set in the initialization; for example, the clothing handling assistance robot can also locate itself based on the strength of signals such as WIFI and Bluetooth, indoor positioning and other technologies, and obtain the location information of each node device; for example, the clothing handling assistance robot can receive the location information sent by each node device after establishing a pairing connection with each node device. This application embodiment does not limit this.

[0076] Understandably, the garment handling robot can generate a movement path based on the location information of each specified garment container and the location information of the target garment handling equipment, using algorithms such as the shortest path, thereby reducing the movement distance of the garment handling robot to transfer garments and saving equipment power consumption.

[0077] For example, a garment handling robot can transport a designated garment container to a target garment handling device and then place the garments from the container into the device; alternatively, the robot can first load the garments from the designated container and then transport and place them into the target device. It is understood that if the robot directly loads the garments, it needs to have a pre-installed garment container or a pre-loaded garment container onto the platform.

[0078] Exemplarily, before grasping and loading a garment container carrying clothing onto a garment handling assistive robot, the control method further includes:

[0079] Based on the movement path, the object is moved to the current target container.

[0080] Acquire image information of the current target container;

[0081] Determine whether there is clothing inside the current target clothing container based on image information;

[0082] If clothing is present, the process involves grabbing and loading the clothing container onto the clothing handling robot.

[0083] If no clothing is present, the player will move to the next target location based on the movement path.

[0084] Here, a binocular camera can be installed on the garment handling robot. The camera captures images of the current target garment container and, based on these images and a pre-trained image recognition model, determines whether garments are present in the container. If garments are present, the container is loaded onto the robot's loading platform. If the current target garment container is empty, it moves to the next target location on its path. This process is repeated until all designated garment containers are transferred to the target garment handling equipment, where the garments to be processed are then placed.

[0085] It should be noted that after the garment handling robot loads the garment container, it will transfer the garment container to the vicinity of the target garment handling equipment. Using its robotic arm, it will place the garments from the garment container into the target garment handling equipment. Then, it will move to the next garment container until all the garment containers containing garments in all the designated garment containers have been transferred to the target garment handling equipment, so that all the garments to be processed are placed into the target garment handling equipment.

[0086] For example, before grabbing and loading clothes from the garment container onto the garment handling robot, the method further includes:

[0087] Based on the movement path, the object is moved to the current target container.

[0088] Acquire image information of the current target container;

[0089] Determine whether there is clothing inside the current target clothing container based on image information;

[0090] If clothing is present, the process involves grabbing and loading the clothing from the container onto the clothing handling robot.

[0091] If no clothing is present, the player will move to the next target location based on the movement path.

[0092] Here, a binocular camera can be installed on the garment handling robot. The robot captures image information of the current target garment container using the binocular camera and compares this image information with a pre-trained image recognition model to determine whether garments are present in the container. If garments are present, they are loaded onto the garment handling robot (e.g., into a pre-installed garment container or a pre-loaded garment container). If no garments are present in the current target garment container (i.e., the container is empty), the robot moves to the next target location on its path. This process is repeated until all garments in the designated containers have been transferred to the target garment handling equipment.

[0093] It should be noted that after loading clothes, the clothing handling robot can also determine whether the amount of clothes it has loaded has reached the set amount, such as the full capacity of the clothing container. If so, it will transfer the loaded clothes and put them into the target clothing handling equipment, and then continue to transfer the remaining clothes in the clothing container according to the movement path until all the clothes in the designated clothing container have been transferred to the target clothing handling equipment.

[0094] In some embodiments, the control method further includes:

[0095] Get the load capacity of the objects in each specified garment container;

[0096] Based on the location information of each specified garment container and the target garment processing equipment, a movement path for the garments to be processed is generated, including:

[0097] Based on the specified loading capacity of each garment container, delete empty garment containers;

[0098] Based on the remaining load capacity and location information of the garment containers, as well as the location information of the target garment processing equipment, a movement path for transferring the garments to be processed is generated.

[0099] For example, the garment handling robot can also obtain the amount of garments loaded in each designated garment container. Each garment container can be equipped with a weight sensor, and since each garment container is paired with the garment handling robot, the robot can receive weight detection data sent by each container. Thus, when generating a movement path, the garment handling robot can remove empty garment containers, retaining only the valid ones, thereby improving the accuracy of the generated movement path.

[0100] In practical applications, considering that the objects placed in a non-empty garment container may not be clothing, but rather children's toys or other objects, the above-mentioned optimized movement path generation method can be further combined with the aforementioned image-based garment detection technology. In this way, based on weight detection technology and visual detection technology, it can be ensured that the garments in the effective garment container are transferred to the target garment processing equipment, thereby improving the operational intelligence level of the garment processing auxiliary robot.

[0101] In some embodiments, if the operating mode is the second mode, controlling the garment handling auxiliary robot to transfer the garments to be processed to the target garment handling equipment based on the operating mode includes:

[0102] Spatial traversal is performed based on preset spatial map information, and image information is collected;

[0103] Determine the presence of clothing or clothing containers based on image information;

[0104] If present, load the clothes or clothes in the container onto the clothing handling robot;

[0105] Once the amount of clothing on the clothing handling robot has reached the set amount for a single transport or the space has been traversed, the clothing is transferred to the target clothing handling equipment.

[0106] Here, the preset spatial map information can be the spatial map information constructed by the clothing handling assistive robot based on SLAM technology. The clothing handling assistive robot can perform spatial traversal based on this spatial map information to collect whether there are clothes or clothing containers on the path. For example, based on image information collected by visual sensing technology and the set image classification model for identifying clothes or clothing containers, it can determine whether there are clothes or clothing containers on the path. If there are, the clothes in the clothing container are loaded onto the clothing handling assistive robot (for example, placed into the clothing container pre-installed on the clothing handling assistive robot or a pre-loaded clothing container).

[0107] Understandably, based on this clothing search working mode, the clothing handling assistance robot can expand the range of clothing picking, thereby enabling it to automatically place all the clothing to be processed into the target clothing processing equipment.

[0108] Understandably, if the amount of clothing on the clothing handling robot reaches the set amount for a single transport, for example, the rated loading capacity of the clothing container on the clothing handling robot, then the clothing needs to be transferred to the target clothing handling equipment, and then the remaining space needs to be traversed until the space traversal is completed, and all the clothing to be processed is placed into the target clothing handling equipment.

[0109] For example, if the garment handling robot is not pre-installed with a container for holding garments, the control method further includes the following steps before loading garments or garments from the container onto the garment handling robot:

[0110] Pick up a clothing container that is not full and load it onto the loading platform of the clothing handling robot to serve as a container for receiving clothing later.

[0111] Here, the garment handling robot can sequentially search for garment containers in the nearest order until it finds a partially filled container, and then load that container onto the loading platform. For example, the garment handling robot can determine whether the garment container is full based on the aforementioned image detection technology. In one embodiment, empty garment containers can be pre-set at designated locations. The garment handling robot can move to these designated locations beforehand, load the empty containers, and then perform the subsequent garment transfer work. This effectively reduces the time and energy consumption of the aforementioned container search process.

[0112] In some embodiments, the control method further includes:

[0113] The total amount of clothing transferred to the target clothing processing equipment was recorded.

[0114] Once the total amount of clothing reaches the rated processing capacity of the target clothing processing equipment or the space traversal is completed, a clothing processing start command is sent to the target clothing processing equipment.

[0115] Understandably, in the second mode, the clothing handling robot has a wider range and greater flexibility in picking up clothing, which may lead to a situation where the total amount of clothing to be processed exceeds the rated processing capacity of the target clothing handling device. Therefore, the clothing handling robot can count the total amount of clothing already transferred. If it determines that the total amount of clothing has reached the rated processing capacity of the target clothing handling device, it sends a clothing processing start command to the target clothing handling device, thereby automatically initiating clothing processing control. For example, after the target clothing handling device finishes processing the clothing, it can send an instruction to the clothing handling robot, which can then remove the clothing from the target clothing handling device and transfer it to a designated destination (e.g., a container in the clothing drying area). The clothing handling robot can continue to traverse the remaining space until the space is completely traversed, thus completing the processing of all clothing to be processed in the home environment.

[0116] In order to implement the method of the embodiments of this application, the embodiments of this application also provide a control device for clothing processing. The control device for clothing processing corresponds to the control method for clothing processing described above, and each step in the control method embodiment for clothing processing is also fully applicable to the control device embodiment for clothing processing.

[0117] The control device for clothing handling in this application embodiment is applied to a clothing handling auxiliary robot, such as... Figure 3As shown, the control device for garment processing includes a working mode determination module 301 and a transfer control module 302. The working mode determination module 301 determines the working mode for collecting garments in response to control commands. The transfer control module 302 controls the garment processing auxiliary robot to transfer the garments to be processed to the target garment processing equipment based on the working mode. The working modes include a first mode for transferring garments from a designated garment container and a second mode for collecting garments.

[0118] In some embodiments, if the operating mode is the first mode, the transfer control module 302 is specifically used for:

[0119] Based on the location information of each specified garment container and the target garment processing equipment, a movement path for the garments to be processed is generated.

[0120] Based on the movement path, the garment container carrying clothing is grasped and loaded onto the garment processing auxiliary robot, and the clothing in the container is transferred to the target garment processing equipment; or, based on the movement path, the garment container is grasped and loaded onto the garment processing auxiliary robot, and the clothing on the garment processing auxiliary robot is transferred to the target garment processing equipment.

[0121] In some embodiments, before the transfer control module 302 grasps and loads the garment container carrying the clothing onto the garment handling auxiliary robot, it is further configured to:

[0122] Based on the movement path, the object is moved to the current target container.

[0123] Acquire image information of the current target container;

[0124] Determine whether there is clothing inside the current target clothing container based on image information;

[0125] If clothing is present, the process involves grabbing and loading the clothing container onto the clothing handling robot.

[0126] If no clothing is present, the player will move to the next target location based on the movement path.

[0127] In some embodiments, before the transfer control module 302 grasps and loads the clothes from the garment container onto the garment handling auxiliary robot, it is further configured to:

[0128] Based on the movement path, the object is moved to the current target container.

[0129] Acquire image information of the current target container;

[0130] Determine whether there is clothing inside the current target clothing container based on image information;

[0131] If clothing is present, the process involves grabbing and loading the clothing from the container onto the clothing handling robot.

[0132] If no clothing is present, the player will move to the next target location based on the movement path.

[0133] In some embodiments, the control device for garment processing further includes: an acquisition module 303, configured to acquire the loading amount of the objects loaded in each specified garment container; correspondingly, the transfer control module 302 generates a movement path for transferring the garments to be processed based on the location information corresponding to each specified garment container and the target garment processing device, including: deleting empty garment containers based on the loading amount of each specified garment container; and generating a movement path for transferring the garments to be processed based on the loading amount and location information of the remaining garment containers and the location information of the target garment processing device.

[0134] In some embodiments, if the operating mode is the second mode, the transfer control module 302 is specifically used for:

[0135] Spatial traversal is performed based on preset spatial map information, and image information is collected;

[0136] Determine the presence of clothing or clothing containers based on image information;

[0137] If present, load the clothes or clothes in the container onto the clothing handling robot;

[0138] Once the amount of clothing on the clothing handling robot has reached the set amount for a single transport or the space has been traversed, the clothing is transferred to the target clothing handling equipment.

[0139] In some embodiments, before the transfer control module 302 loads the clothing or clothing in the garment container onto the clothing handling auxiliary robot, it is further configured to:

[0140] Pick up a clothing container that is not full and load it onto the loading platform of the clothing handling robot to serve as a container for receiving clothing later.

[0141] In some embodiments, the transfer control module 302 is further configured to:

[0142] The total amount of clothing transferred to the target clothing processing equipment was recorded.

[0143] Once the total amount of clothing reaches the rated processing capacity of the target clothing processing equipment or the space traversal is completed, a clothing processing start command is sent to the target clothing processing equipment.

[0144] In practical applications, the working mode determination module 301, the transfer control module 302, and the acquisition module 303 can be implemented by the processor in the garment processing control device. Of course, the processor needs to run the computer program in the memory to realize its functions.

[0145] It should be noted that the clothing processing control device provided in the above embodiments is only illustrated by the division of the above-described program modules. In practical applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the clothing processing control device and the clothing processing control method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0146] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide a clothing handling auxiliary robot. Figure 4 This is merely an exemplary structure of the garment handling robot, not the entire structure; implementation is possible as needed. Figure 4 The structure shown may be part or all of the structure.

[0147] like Figure 4 As shown, the garment handling assistive robot 100 provided in this embodiment includes at least one processor 101, a memory 102, a user interface 103, and at least one network interface 104. The various components in the garment handling assistive robot 100 are coupled together via a bus system 105. It can be understood that the bus system 105 is used to realize the connection and communication between these components. In addition to a data bus, the bus system 105 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 4 The general labeled all buses as Bus System 105.

[0148] The user interface 103 in this embodiment may include a display, keyboard, mouse, trackball, click wheel, buttons, touchpad, or touch screen, etc.

[0149] The memory 102 in this embodiment is used to store various types of data to support the operation of the garment handling assistive robot. Examples of such data include any computer programs used to operate on the garment handling assistive robot.

[0150] The clothing processing control method disclosed in this application embodiment can be applied to or implemented by the processor 101. The processor 101 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the clothing processing control method can be completed by the integrated logic circuit of the hardware in the processor 101 or by instructions in the form of software. The processor 101 mentioned above may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 101 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of this application can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in the memory 102. The processor 101 reads the information in the memory 102 and combines its hardware to complete the steps of the clothing processing control method provided in the embodiments of this application.

[0151] In an exemplary embodiment, the garment handling assistive robot may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0152] It is understood that the garment handling assistive robot also includes the aforementioned loading platform, displacement mechanism and robotic arm, and the processor 101 corresponds to the aforementioned controller.

[0153] It is understood that memory 102 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0154] In an exemplary embodiment, this application also provides a clothing processing system, including: a clothing processing auxiliary robot according to this application, at least one clothing container, and at least one clothing processing device. See details below. Figure 1 The relevant descriptions will not be repeated here.

[0155] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 102 storing a computer program. This computer program can be executed by the processor 101 of the clothing handling auxiliary robot to complete the steps of the method described in this application embodiment. The computer-readable storage medium can be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM, etc.

[0156] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0157] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0158] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling garment processing, characterized in that, The method, applied to a garment handling auxiliary robot, includes: In response to control commands, determine the working mode for collecting clothing; Based on the aforementioned working mode, the clothing processing auxiliary robot is controlled to transfer the clothing to be processed to the target clothing processing equipment; wherein, the working mode includes: a first mode for transferring clothing in a designated clothing container and a second mode for collecting clothing; If the working mode is the first mode, controlling the garment processing auxiliary robot to transfer the garments to be processed to the target garment processing equipment based on the working mode includes: Based on the location information of each specified garment container and the target garment processing device, a movement path for transferring the garments to be processed is generated. The method further includes: obtaining the amount of clothing loaded in each specified clothing container; The step of generating a movement path for the clothing to be processed based on the location information of each specified garment container and the target garment processing device includes: Based on the specified loading capacity of each garment container, delete empty garment containers; Based on the remaining loading capacity and location information of the garment containers and the location information of the target garment processing equipment, a movement path for transferring the garments to be processed is generated. Based on the movement path, the garment container carrying clothing is grasped and loaded onto the garment processing auxiliary robot, and the clothing in the container is transferred to the target garment processing equipment; or, based on the movement path, the garment container is grasped and loaded onto the garment processing auxiliary robot, and the clothing on the garment processing auxiliary robot is transferred to the target garment processing equipment. Before grabbing and loading the garment container carrying clothing or the clothing in the garment container onto the garment handling robot, the method further includes: Based on the movement path, the object is moved to the current target garment container; Acquire image information of the current target container; Based on the image information, determine whether there is clothing inside the current target clothing container; If clothing is present, the process of grabbing and loading the clothing container or the clothing in the clothing container onto the clothing handling auxiliary robot is performed. If no clothing is present, the device will move to the next target location based on the movement path.

2. The method according to claim 1, characterized in that, If the operating mode is the second mode, controlling the garment processing auxiliary robot to transfer the garments to be processed to the target garment processing equipment based on the operating mode includes: Spatial traversal is performed based on preset spatial map information, and image information is collected; Based on the image information, determine whether clothing or a container for clothing exists; If present, the clothing or the clothing in the clothing container is loaded onto the clothing handling auxiliary robot; Once the amount of clothing on the clothing handling robot has reached the set amount for a single transport or the space has been traversed, the clothing is transferred to the target clothing handling equipment.

3. The method according to claim 2, characterized in that, Before loading the clothing or the clothing in the clothing container onto the clothing handling auxiliary robot, the method further includes: Pick up a clothing container that is not full of clothes and load it onto the loading platform of the clothing handling robot to serve as a container for receiving clothes later.

4. The method according to claim 2, characterized in that, The method further includes: The total amount of clothing transferred to the target clothing processing equipment is counted. Once the total amount of clothing reaches the rated processing capacity of the target clothing processing device or the space traversal is completed, a clothing processing start command is sent to the target clothing processing device.

5. A control device for garment handling, characterized in that, The control device, used in a garment handling auxiliary robot, includes: The working mode determination module is used to determine the working mode for collecting clothes in response to control commands; The transfer control module is used to control the clothing processing auxiliary robot to transfer the clothing to be processed to the target clothing processing equipment based on the working mode; wherein, the working mode includes: a first mode for transferring clothing in a designated clothing container and a second mode for collecting clothing; If the operating mode is the first mode, the transfer control module is specifically used for: Based on the location information of each specified garment container and the target garment processing equipment, a movement path for the garments to be processed is generated. Based on the movement path, the garment container carrying the clothes is grasped and loaded onto the garment processing auxiliary robot, and the clothes in the container are transferred to the target garment processing equipment; or, based on the movement path, the garment container is grasped and loaded onto the garment processing auxiliary robot, and the clothes on the garment processing auxiliary robot are transferred to the target garment processing equipment. The acquisition module is used to acquire the loading amount of the objects loaded in each specified garment container; correspondingly, the transfer control module generates a movement path for the garments to be transferred based on the location information of each specified garment container and the target garment processing equipment, including: deleting empty garment containers based on the loading amount of each specified garment container; and generating a movement path for the garments to be transferred based on the loading amount and location information of the remaining garment containers and the location information of the target garment processing equipment. Before the transfer control module grabs and loads the clothing container or the clothing inside the clothing container onto the clothing processing auxiliary robot, it is also used to: move to the current target clothing container based on the movement path; collect image information of the current target clothing container; determine whether there is clothing in the current target clothing container based on the image information; if there is clothing, then grab and load the clothing container or the clothing inside the clothing container onto the clothing processing auxiliary robot; if there is no clothing, then move to the next target position based on the movement path.

6. A clothing handling auxiliary robot, characterized in that, include: A processor and memory for storing computer programs that can run on the processor, wherein, The processor, when running a computer program, performs the steps of the method according to any one of claims 1 to 4.

7. A garment processing system, characterized in that, include: The garment handling robot, at least one garment container, and at least one garment handling device as described in claim 6.

8. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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