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: receiving initial configuration information sent by a terminal device bound with a clothes processing auxiliary robot; screening associated node devices based on identification information; establishing a pairing connection with each node device in the associated node devices based on the identification information; obtaining position information of the node devices; and generating node device information based on the identification information and the position information of the node devices that have been paired. In this way, automatic access of clothes processing related node devices and automatic generation of node device information can be realized, operation redundancy caused by access of non-associated devices can be avoided, user operation is simplified, labor intensity of the user related to clothes processing 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 in a laundry basket to a laundry processing device. However, this laundry transport robot often needs to perform the operation of retrieving clothes from a specific laundry basket and transferring them to a pre-set washing machine according to a pre-set map and node device. This requires the user to manually specify the process of this type of device for different processing of clothes and to perform complex operation control settings, which is not conducive to simplifying user operation and affects 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] Receive initial configuration information sent by the terminal device bound to the clothing handling auxiliary robot, the initial configuration information including: identification information of multiple node devices;

[0008] Filter associated node devices based on identification information;

[0009] Based on the identification information, a pairing connection is established with each node device in the associated node device;

[0010] Obtain the location information of each node device;

[0011] Node device information is generated based on the identification and location information of the paired and connected node devices.

[0012] In some embodiments, the associated node device includes at least one garment container and at least one garment handling device, and the method further includes:

[0013] At least one control process for clothing processing is generated based on the node device information;

[0014] The node device information includes at least the identification information and location information of each node device that has been paired with the clothing handling auxiliary robot.

[0015] In some implementations, establishing pairing connections with each node device in the associated node devices based on identification information includes:

[0016] Broadcast a pairing request, the pairing request carrying the identification information of at least one of the associated node devices;

[0017] Based on the returned pairing response, a pairing connection is established with the corresponding node device.

[0018] In some implementations, obtaining the location information of each node device includes:

[0019] Receive location information sent by the paired and connected node device; or...

[0020] The location information of each node device is determined based on Simultaneous Localization and Mapping (SLAM) technology.

[0021] In some implementations, generating at least one control flow for garment processing based on the node device information includes:

[0022] Based on the identification and location information of each node device that has been paired with the clothing handling auxiliary robot, at least one control flow for clothing handling with a specified navigation path is generated.

[0023] In some implementations, the node device information further includes: performance parameters of each node device paired with the garment handling assistive robot; the generation of node device information based on the identification and location information of the paired node devices further includes:

[0024] Send the identification information of the paired and connected node device to the server, and receive the performance parameters of the node device returned by the server; or, detect the performance parameters of the paired and connected node device based on the image sensor.

[0025] Add the performance parameters of the node device to the node device information;

[0026] The performance parameters include at least one of the following: model, size, weight, and capacity.

[0027] In some implementations, generating at least one control flow for garment processing based on the node device information includes:

[0028] Based on the identification information, location information, and performance parameters of each node device that has been paired with the garment handling auxiliary robot, at least one control flow for garment handling with a specified navigation path is generated.

[0029] In some implementations, the method further includes:

[0030] The terminal device receives updated configuration information, which includes: identification information of newly added node devices and / or identification information of node devices that need to be deleted from paired connections;

[0031] Update the paired and connected node devices based on the updated configuration information;

[0032] The node device information is updated based on the updated identification and location information of the paired and connected node devices.

[0033] In some implementations, the method further includes:

[0034] The control flow is sent to the terminal device.

[0035] Secondly, embodiments of this application provide a control device for garment handling, applied to a garment handling auxiliary robot, the control device comprising:

[0036] The receiving module is used to receive initial configuration information sent by the terminal device bound to the clothing handling auxiliary robot. The initial configuration information includes: identification information of multiple node devices.

[0037] The filtering module is used to filter associated node devices based on identification information;

[0038] The pairing module is used to establish pairing connections with each node device in the associated node devices based on the identification information.

[0039] The acquisition module is used to acquire the location information of each of the node devices;

[0040] The information generation module is used to generate node device information based on the identification information and location information of the paired and connected node devices.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] The technical solution provided in this application embodiment receives initial configuration information sent by a terminal device bound to a clothing handling auxiliary robot; filters associated node devices based on identification information; establishes pairing connections with each node device in the associated node devices based on the identification information; obtains the location information of each node device; and generates node device information based on the identification and location information of the paired node devices. In this way, automatic access of all node devices related to clothing handling and automatic generation of node device information can be achieved, avoiding the operational redundancy caused by the access of non-associated devices, simplifying user operations, greatly reducing the labor intensity of users related to clothing handling, and improving the automation level of clothing handling. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the clothing processing system according to an embodiment of this application;

[0046] Figure 2 This is a flowchart illustrating the control method for clothing processing according to an embodiment of this application;

[0047] Figure 3 This is a schematic diagram of the control device for clothing processing according to an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of the structure of the clothing handling auxiliary robot according to an embodiment of this application. Detailed Implementation

[0049] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0050] 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.

[0051] 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:

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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).

[0061] 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:

[0062] Step 201: Receive initial configuration information sent by the terminal device bound to the clothing handling assist robot. The initial configuration information includes: identification information of multiple node devices.

[0063] 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.

[0064] For example, after the clothing handling robot is powered on, the ROS system starts up and can connect to the home's indoor WIFI under the user's operation, and connect to the terminal device and the server through the indoor WIFI; at the same time, the clothing handling robot's own WIFI, Bluetooth and other modules can generate a data hotspot for other node devices to access the ROS system.

[0065] For example, a user can send initial configuration information to the garment handling robot via a bound terminal device. This initial configuration information includes the identification information of multiple node devices in the current environment, such as, but not limited to, the identification information of the garment container and the garment handling equipment. It is understood that the initial configuration information sent by the terminal device may include the identification information of various home appliances in the home environment, such as the identification information of lighting fixtures, robot vacuum cleaners, air conditioners, humidifiers, etc. Here, the terminal device can be a portable handheld terminal such as a mobile phone or tablet, or a fixed device such as a desktop computer; this embodiment of the application does not limit this.

[0066] It should be noted that the identification information for each node device can be in the form of a QR code label, RFID (Radio Frequency Identification) label, device serial number, Bluetooth identification, or device identification in the Wi-Fi network. Essentially, the identification information for each node device only needs to uniquely identify it.

[0067] Step 202: Filter associated node devices based on identification information.

[0068] Understandably, after receiving the initial configuration information from the terminal device, the clothing handling robot can filter out related node devices that are relevant to clothing handling based on the identification information of other node devices that are unrelated to clothing handling, thus effectively eliminating invalid identification information of other home devices.

[0069] For example, the garment handling assistive robot can pre-store the mapping relationship between the identification information of each node device and the device category. The garment handling assistive robot can determine the device category to which each node device belongs based on the mapping relationship, and regard the node devices of the garment handling equipment category and the garment container category as associated node devices. Here, the associated node devices include at least one garment container and at least one garment handling device.

[0070] Step 203: Establish pairing connections with each node device in the associated node device based on the identification information.

[0071] Here, the garment handling robot can establish pairing connections with each node device in the associated node device network via broadcast. For example, the garment handling robot broadcasts a pairing request, which carries the identification information of at least one node device in the associated node device network; based on the returned pairing response, it establishes a pairing connection with the corresponding node device.

[0072] Understandably, the garment handling robot can broadcast the identification information of each node device in the associated node device as a whole, or in multiple broadcast data packets. After receiving a pairing request, the node device can determine whether to return a pairing response based on whether the pairing request carries its own identification information. If it is determined that the pairing request carries its own identification information, it returns a pairing response to the garment handling robot. In this way, a pairing connection can be established between the garment handling robot and each node device in the associated node device.

[0073] In other embodiments, the clothing handling robot can scan the identification information (e.g., QR code) of node devices in the surrounding environment based on an image sensor. If the scanned identification information is the same as the identification information of a node device in the associated node device, a pairing connection is established with the corresponding node device based on the identification information.

[0074] Step 204: Obtain the location information of each node device.

[0075] Here, the location information of each node device is obtained, including:

[0076] Receive location information sent by paired and connected node devices; or...

[0077] The location information of each node device is determined based on Simultaneous Localization and Mapping (SLAM) technology.

[0078] Understandably, after establishing pairing connections with each node device, the garment handling robot can send location requests to each node device and receive location information from the paired node devices, thus obtaining the location information of each node device. Understandably, each node device needs to be equipped with a positioning module (such as a GPS module) to generate its current location information and send it to the garment handling robot.

[0079] In one embodiment, the garment handling robot can use sensors to locate and mark the approximate positions of each node device on the map during the initial full-map scan of the workspace, and store the corresponding location information based on the identified identity information. For example, the identification information of a node device (taking a washing machine as an example) is a QR code label. When the garment handling robot recognizes the washing machine during the full-map scan, it searches for the QR code on the washing machine, acquires and processes the image. If it matches the QR code label sent during the initial user configuration, it matches the currently acquired location information with the identification information of the washing machine and records the corresponding information parameters in the established list or database. As another example, for Bluetooth identification, the Bluetooth identifier of the washing machine can be acquired during Bluetooth detection and its approximate location can be marked on the map. The machine vision function of the garment handling robot can be implemented by a camera, and it can also have basic machine vision recognition capabilities for the shapes of devices such as washing machines, garment baskets, and garment care machines.

[0080] Step 205: Generate node device information based on the identification and location information of the paired and connected node devices.

[0081] Here, the garment processing robot can filter associated node devices based on the identification information in the initial configuration information, establish pairing connections with each node device in the associated node devices, obtain the location information of each node device, and use the identification information and location information of each paired node device as the node device information of the garment processing robot.

[0082] In this way, automatic access to various node devices related to clothing processing and automatic generation of node device information can be achieved, avoiding the problem of operational redundancy caused by the access of non-related devices, simplifying user operations, greatly reducing the labor intensity of users related to clothing processing, and improving the level of automation in clothing processing.

[0083] For example, the node device information generated by the garment handling assistive robot can be in the form of a list as shown in Table 1:

[0084] Table 1

[0085]

[0086] To facilitate subsequent control functions and path planning, each node device can be assigned a node device identifier from the ROS system. In addition, the type of node device can be determined based on the identifier information of each node device, as shown in Table 1 above. 001 corresponds to clothing processing device 1, 002 corresponds to clothing container 1, and 003 corresponds to clothing container 2. The location information of 001 is L1, the location information of 002 is L2, and the location information of 003 is L3.

[0087] In existing technologies, after the device is connected to the garment handling system, the user typically needs to control the garment handling robot by sending commands to it according to their desired usage method and process. This makes controlling the garment handling robot cumbersome, requiring the user to continuously monitor the completion status of each node in the entire process, wasting the user's time, and the degree of automation does not meet the user's expectations. To address this problem, in some implementations, the control method further includes:

[0088] Step 206: Generate at least one control flow for clothing processing based on node device information.

[0089] Here, after generating the node device information, the garment handling assistive robot can generate at least one garment handling control flow with a specified navigation path based on the identification and location information of each node device paired with the garment handling assistive robot. Taking Table 1 as an example, control flows for garment handling with paths "L2→L1", "L3→L1", "L2→L3→L1", and "L3→L2→L1" can be generated.

[0090] It is understood that the control method of this embodiment can realize the automatic generation of the entire control process. Users do not need to control each step according to the expected process. By selecting the control process once, they can control the entire operation process of the clothing processing system. This simplifies user operation, greatly reduces the labor intensity of users related to clothing processing, and improves the automation level of clothing processing.

[0091] In some embodiments, the node device information further includes: performance parameters of each node device paired with the garment handling assistive robot; node device information is generated based on the identification information and location information of the paired and connected node devices; and further includes:

[0092] Send the identification information of the paired and connected node devices to the server, and receive the performance parameters of the node devices returned by the server; or, detect the performance parameters of the paired and connected node devices based on the image sensor.

[0093] Add the performance parameters of the node devices to the node device information;

[0094] The performance parameters include at least one of the following: model, size, weight, and capacity.

[0095] For example, the garment handling assistive robot can send the identification information of each paired node device to the server. The server can query the performance parameters of the node devices based on the identification information and return the performance parameters to the garment handling assistive robot. Here, the server can pre-register the mapping relationship between the identification information and performance parameters of each node device, and determine the performance parameters corresponding to each identification information based on the mapping relationship. Taking garment handling equipment as an example, the performance parameters can include: model, size, and capacity. The model indicates the function of the garment handling equipment, such as a washing machine, dryer, washer-dryer combo, or garment care machine, or further, a front-loading washing machine or a top-loading washing machine. The size indicates the height of the garment handling equipment, and the capacity indicates the weight of garments that the garment handling equipment can process in a single batch. Taking a garment container as an example, the performance parameters can include: size, weight, and capacity. The size indicates the height and outer diameter of the garment container, the weight indicates the empty weight of the garment container, and the capacity indicates the maximum weight of garments that the garment container can hold.

[0096] For example, a garment handling robot can collect performance parameters of each paired and connected node device based on image sensors (such as cameras), for example, by identifying the performance parameters of each node device based on image recognition technology.

[0097] It is understandable that the garment handling assistance robot can add the performance parameters of each paired and connected node device to the node device information. For example, the node device information generated by the garment handling assistance robot can be in the form of a list as shown in Table 2:

[0098] Table 2

[0099]

[0100] Parameter set 1 may include at least one of model, size and capacity, while parameter set 2 and parameter set 3 may include at least one of size, weight and capacity.

[0101] For example, at least one control flow for clothing processing is generated based on node device information, including:

[0102] Based on the identification information, location information, and performance parameters of each node device that has been paired with the clothing handling robot, at least one control flow for clothing handling with a specified navigation path is generated.

[0103] Understandably, the garment handling robot can analyze the parameters and location information of each node device in the ROS system based on the generated node device information, and generate at least one integrated control flow. For example, when a laundry basket and washing machine are connected to the ROS system, after analysis and functional integration, an optional flow of "get clothes → wash → put clothes back" is obtained and sent to the user's APP. The user can directly click on this flow next time to make the washing machine robot complete all operations according to the flow. As another example, when a laundry basket, washing machine, and garment care machine are connected to the ROS system, after analysis and functional integration, optional flows such as "get clothes → wash → care → put clothes back", "get clothes → wash → put clothes back", and "get clothes → care → put clothes back" are obtained, and the user can choose one of them to perform the operation.

[0104] For example, the clothing handling assistive robot can store the generated node device information locally or on the server side, so that the clothing handling assistive robot only needs to be configured once, and does not need to be configured by the user again. After subsequent power-on, the clothing assistive robot can automatically generate at least one control process for clothing handling based on the node device information stored locally or remotely.

[0105] For example, the generated clothing processing control flow can be just one. For instance, based on the common logic of clothing processing, the optimal clothing processing control flow can be generated, such as the control flow of "getting clothes → washing → caring for → putting clothes back", which can reduce user operations and improve user experience.

[0106] In some embodiments, the control method further includes:

[0107] Send control flow to terminal devices.

[0108] Here, users can receive control processes intelligently generated by the clothing processing robot via a terminal device. For example, the terminal device can display the control processes generated by the clothing processing robot in the form of lists, icons, etc., and determine the target control process based on the user's selection. The terminal device sends a command to start the target control process to the clothing processing robot, so that the clothing processing robot can execute the target control process, thereby realizing automatic control of clothing processing, reducing manual intervention, minimizing labor intensity, and improving the level of intelligence in clothing processing.

[0109] In some embodiments, the control method further includes:

[0110] Receive updated configuration information sent by the terminal device. The updated configuration information includes: the identification information of the newly added node device and / or the identification information of the node device that needs to be deleted from the paired connection.

[0111] Update the paired and connected node devices based on the updated configuration information;

[0112] Update the node device information based on the updated identification and location information of the paired and connected node devices.

[0113] Optionally, the garment handling robot can update its control process based on the updated node device information.

[0114] Understandably, if the equipment in the application environment changes—for example, if clothing processing equipment is added, removed, or replaced, or if clothing containers are added, removed, or replaced—then the node devices in the ROS system need to be updated. Users can send updated configuration information to the clothing processing robot based on the already bound terminal devices. This updated configuration information includes: the identification information of newly added node devices and / or the identification information of node devices that need to be deleted from paired connections.

[0115] It should be noted that users can change their already bound terminal devices and / or authorize newly added terminal devices to bind with the clothing handling robot as needed. That is, the already bound terminal device can be one that has been bound before. For example, the user sends a binding request to the clothing handling robot via a new terminal device. After confirming that a bound terminal identifier already exists, the clothing handling robot can send a verification request to that terminal device, receive the verification information input by the user (e.g., authorization code information), and confirm the verification is successful based on this information (e.g., if the verification information matches the authorization code information preset by the clothing handling robot, then the verification is successful). This establishes a binding relationship with the new terminal device, enabling data interaction with it.

[0116] After receiving updated configuration information, the garment handling robot can establish a pairing connection with newly added node devices based on their identification information, and can cancel the pairing connection of corresponding node devices based on their identification information. The robot can also further acquire the location information of the newly added node devices and update the node device information based on the updated identification and location information of the paired node devices. It is understood that the updated node device information may also include the performance parameters of the newly added node devices. The process of acquiring the location information and / or performance parameters of the new node devices can be referred to the foregoing description and will not be repeated here.

[0117] For example, the garment handling assistive robot can update the control process based on the updated node device information and send the updated control process to the terminal device, so that the user can select the target control process based on the updated control process, thereby enabling the garment handling assistive robot to perform operation control based on the target control process.

[0118] Understandably, the garment handling assistance robot can update the node device information stored locally or on the server side based on the updated node device information, enabling the garment handling assistance robot to generate corresponding control processes based on the latest node device information, resulting in a high degree of intelligence and a good user experience.

[0119] 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.

[0120] The control device for clothing handling in this application embodiment is applied to a clothing handling auxiliary robot, such as... Figure 3 As shown, the control device for garment processing includes: a receiving module 301, a filtering module 302, a pairing module 303, an acquisition module 304, and an information generation module 305. The receiving module 301 receives initial configuration information sent by a terminal device bound to the garment processing auxiliary robot. This initial configuration information includes identification information for multiple node devices. The filtering module 302 filters associated node devices based on the identification information. The pairing module 303 establishes pairing connections with each node device in the associated node devices based on the identification information. The acquisition module 304 acquires the location information of each node device. The information generation module 305 generates node device information based on the identification and location information of the paired node devices.

[0121] In some embodiments, the associated node device includes at least one garment container and at least one garment processing device. The control device further includes a process generation module 306, which generates at least one control process for garment processing based on the node device information. The node device information includes at least the identification information and location information of each node device that has been paired with the garment processing auxiliary robot.

[0122] In some embodiments, the pairing module 303 is specifically used for:

[0123] Broadcast a pairing request, which carries the identification information of at least one of the associated node devices;

[0124] Based on the returned pairing response, a pairing connection is established with the corresponding node device.

[0125] In some embodiments, the acquisition module 304 is specifically used for:

[0126] Receive location information sent by paired and connected node devices; or...

[0127] The location information of each node device is determined based on Simultaneous Localization and Mapping (SLAM) technology.

[0128] In some embodiments, the process generation module 306 is specifically used for:

[0129] Based on the identification and location information of each node device that has been paired with the clothing handling robot, at least one control flow for clothing handling with a specified navigation path is generated.

[0130] In some embodiments, the node device information further includes: performance parameters of each node device paired with the garment handling assistive robot; the information generation module 305 is also used for:

[0131] Send the identification information of the paired and connected node devices to the server, and receive the performance parameters of the node devices returned by the server; or, detect the performance parameters of the paired and connected node devices based on the image sensor.

[0132] Add the performance parameters of the node devices to the node device information;

[0133] The performance parameters include at least one of the following: model, size, weight, and capacity.

[0134] In some embodiments, the process generation module 306 is specifically used for:

[0135] Based on the identification information, location information, and performance parameters of each node device that has been paired with the clothing handling robot, at least one control flow for clothing handling with a specified navigation path is generated.

[0136] In some embodiments, the receiving module 301 is further configured to receive updated configuration information sent by the terminal device, the updated configuration information including: identification information of newly added node devices and / or identification information of node devices that need to be deleted from paired connections; the pairing module 303 is further configured to update the paired node devices based on the updated configuration information; the information generation module 305 is further configured to update the node device information based on the updated identification information and location information of the paired node devices; and the process generation module 306 is further configured to update the control process based on the updated node device information.

[0137] In some embodiments, the control device for garment processing further includes a sending module 307 for sending control flow to a terminal device.

[0138] In practical applications, the receiving module 301, filtering module 302, pairing module 303, acquisition module 304, information generation module 305, process generation module 306, and sending module 307 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 implement its functions.

[0139] 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.

[0140] 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 only an exemplary structure of the garment handling robot, not the entire structure; it can be implemented as needed. Figure 4 The structure shown may be part or all of the structure.

[0141] 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.

[0142] The user interface 103 in this embodiment may include a display, keyboard, mouse, trackball, click wheel, buttons, touchpad, or touch screen, etc.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0152] 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: The robot receives initial configuration information sent by a terminal device bound to the garment handling assistive robot. The initial configuration information includes: identification information of multiple node devices; the initial configuration information also includes identification information of node devices unrelated to garment handling. Filter associated node devices based on identification information; Based on the identification information, a pairing connection is established with each node device in the associated node device; Obtain the location information of each node device; Node device information is generated based on the identification and location information of the paired and connected node devices; Based on the node device information, at least one control flow for clothing processing with a specified navigation path is generated; The associated node device includes at least one garment container and at least one garment processing device; the node device information includes at least: the identification information and location information of each node device that has been paired with the garment processing auxiliary robot; The node device information also includes: performance parameters of each node device paired with the clothing handling auxiliary robot; the generation of node device information based on the identification and location information of the paired node devices also includes: Send the identification information of the paired and connected node device to the server, and receive the performance parameters of the node device returned by the server; or, detect the performance parameters of the paired and connected node device based on the image sensor. Add the performance parameters of the node device to the node device information; The performance parameters include at least one of the following: model, size, weight, and capacity.

2. The method according to claim 1, characterized in that, The step of establishing pairing connections with each node device in the associated node devices based on the identification information includes: Broadcast a pairing request, the pairing request carrying the identification information of at least one of the associated node devices; Based on the returned pairing response, a pairing connection is established with the corresponding node device.

3. The method according to claim 1, characterized in that, The step of obtaining the location information of each node device includes: Receive location information sent by the paired and connected node device; or... The location information of each node device is determined based on Simultaneous Localization and Mapping (SLAM) technology.

4. The method according to claim 1, characterized in that, The process of generating at least one control flow for clothing processing with a specified navigation path based on the node device information includes: Based on the identification and location information of each node device that has been paired with the clothing handling auxiliary robot, at least one control flow for clothing handling with a specified navigation path is generated.

5. The method according to claim 1, characterized in that, The process of generating at least one control flow for clothing processing with a specified navigation path based on the node device information includes: Based on the identification information, location information, and performance parameters of each node device that has been paired with the garment handling auxiliary robot, at least one control flow for garment handling with a specified navigation path is generated.

6. The method according to claim 1, characterized in that, The method further includes: The terminal device receives updated configuration information, which includes: identification information of newly added node devices and / or identification information of node devices that need to be deleted from paired connections; Update the paired and connected node devices based on the updated configuration information; The node device information is updated based on the updated identification and location information of the paired and connected node devices.

7. The method according to claim 1, characterized in that, The method further includes: The control flow is sent to the terminal device.

8. A control device for garment handling, characterized in that, The control device, used in a garment handling auxiliary robot, includes: The receiving module is used to receive initial configuration information sent by the terminal device bound to the clothing handling auxiliary robot. The initial configuration information includes: identification information of multiple node devices; the initial configuration information also includes identification information of node devices unrelated to clothing handling. The filtering module is used to filter associated node devices based on identification information; The pairing module is used to establish pairing connections with each node device in the associated node devices based on the identification information. The acquisition module is used to acquire the location information of each of the node devices; The information generation module is used to generate node device information based on the identification information and location information of the paired and connected node devices; The process generation module is used to generate at least one control process for clothing processing with a specified navigation path based on the node device information. The associated node devices include at least one garment container and at least one garment processing device; the node device information includes at least: the identification information and location information of each node device that has been paired with the garment processing auxiliary robot; the node device information also includes: the performance parameters of each node device that has been paired with the garment processing auxiliary robot. The information generation module is also used to: send the identification information of the paired and connected node devices to the server, and receive the performance parameters of the node devices returned by the server; or, detect the performance parameters of the paired and connected node devices based on the image sensor; and add the performance parameters of the node devices to the node device information; wherein the performance parameters include at least one of the following: model, size, weight, and capacity.

9. 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 7.

10. A garment processing system, characterized in that, include: The garment handling auxiliary robot, at least one garment container, and at least one garment handling device as described in claim 9.

11. 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 7.

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