Automatic clothes collecting control method and system, storage medium and clothes airing machine

Abstract

The invention provides an automatic clothes collecting control method and system, a computer readable storage medium and a clothes airing machine. The method is applied to the clothes airing machine comprising a movable clothes collecting device, the movable clothes collecting device is configured to move below an airing rod of the clothes airing machine and receive aired clothes released by the airing rod, and the method comprises the steps that the movable clothes collecting device is driven to move to a preset initial position; the clothes airing condition is determined, and an automatic clothes collecting instruction carrying clothes collecting movement information is generated according to the clothes airing condition and is issued to the movable clothes collecting device; in the moving process of the movable clothes collecting device according to the clothes collecting moving information, the corresponding target airing position on an airing rod is controlled to release the aired clothes; after it is determined that clothes collection is completed, the movable clothes collection device is driven to move to a preset clothes storage position. Automatic clothes collecting of the clothes airing machine is completed under cooperation of the movable clothes collecting device and the airing rod, the two hands of a user can be thoroughly liberated, and the intelligent degree of the clothes airing machine and the user experience are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drying and drying, and in particular to an automatic clothes collection control method, system, computer-readable storage medium and clothes drying machine. Background Art

[0002] With the popularization of intelligence and the improvement of people's living standards, electric clothes drying machines that can be electrically lifted and integrated with lighting, drying, sterilization and other functions have gradually become household appliances that most families will buy. However, existing clothes drying machines still require manual collection of clothes, which is cumbersome and time-consuming, and cannot completely free the hands, nor can it meet the needs of collecting clothes when no one is at home. Therefore, it is urgent to realize automatic collection of clothes to improve the intelligence of clothes drying machines. Summary of the invention

[0003] In order to solve at least one of the above-mentioned technical defects, the present invention provides an automatic clothes collection control method and a corresponding system, a computer-readable storage medium and a clothes drying machine according to the following technical solutions.

[0004] According to one aspect, an embodiment of the present invention provides an automatic clothes collection control method, which is applied to a clothes drying machine including a mobile clothes collection device, wherein the mobile clothes collection device is configured to move under a clothes drying rod of the clothes drying machine and receive clothes released by the clothes drying rod, and the method comprises the following steps:

[0005] Driving the mobile clothing collection device to move to a predetermined starting position;

[0006] Determine the clothes drying situation, generate an automatic clothes collecting instruction carrying clothes collecting movement information according to the clothes drying situation, and send it to the mobile clothes collecting device;

[0007] When the mobile clothes collecting device moves according to the clothes collecting movement information, the corresponding target drying position on the drying rod is controlled to release the clothes for drying;

[0008] After determining that the clothes collection is completed, the mobile clothes collection device is driven to move to a predetermined clothes storage position.

[0009] In a preferred embodiment, the determining of the clothes drying situation and generating an automatic clothes collecting instruction carrying clothes collecting movement information according to the clothes drying situation include:

[0010] Determine that there is a target drying position for the target clothes on the drying rod;

[0011] Determine the clothes collection moving path according to the predetermined starting position and the positional relationship between each of the projection points of the target drying positions on the ground;

[0012] Get the duration of the projection point stay;

[0013] According to the clothing collecting movement path and the duration of stay at the projection point, an automatic clothing collecting instruction carrying the clothing collecting movement information is generated.

[0014] In a preferred embodiment, after the corresponding target drying position on the drying rod is controlled to release the drying clothes, the method further comprises:

[0015] Obtain the clothes collection process information corresponding to the target drying position.

[0016] In a preferred embodiment, the obtaining of the clothes collection process information corresponding to the target drying position includes:

[0017] The Hall detection module is used to detect whether there are clothes for drying at the corresponding target drying position. If yes, the first clothes collection process information indicating that the clothes for drying at the target drying position have failed is generated. If no, the second clothes collection process information indicating that the clothes for drying at the target drying position have succeeded is generated; or

[0018] The first weighing module on the drying rod detects whether the load on the drying rod or the corresponding target drying position is reduced. If not, first clothes collecting process information indicating that the clothes collecting at the target drying position has failed is generated. If so, second clothes collecting process information indicating that the clothes collecting at the target drying position has succeeded is generated; or,

[0019] The second weighing module on the mobile clothes collecting device is used to detect whether the load-bearing capacity of the mobile clothes collecting device has increased. If not, first clothes collecting process information is generated indicating that clothes collecting at the target drying position has failed. If so, second clothes collecting process information is generated indicating that clothes collecting at the target drying position has succeeded.

[0020] In a preferred embodiment, during the movement of the mobile clothes collecting device according to the clothes collecting movement information, controlling the corresponding target drying position on the drying rod to release the clothes for drying includes:

[0021] During the movement of the mobile clothes collecting device according to the arrival order and arrival time of the target drying positions in the clothes collecting movement information, the target drying position is controlled to release the clothes for drying within a predetermined time after the arrival time of the corresponding target drying position, and the predetermined time is less than the stay time of the projection point.

[0022] In a preferred embodiment, determining that there is a target drying position for drying target clothes on the drying rod includes:

[0023] Determine the presence of clothes for drying on the drying rod by using the Hall detection module or the first weighing module, and determine the drying position where the clothes for drying are located as the target drying position; or

[0024] Determine the presence of dried clothes on the drying rod by using the Hall detection module or the first weighing module and the clothes moisture detection module, and determine the drying position where the dried clothes are located as the target drying position; or

[0025] The image acquisition module is used to identify clothes on the clothes drying rod that are at risk of falling off, and the drying position where the clothes on the clothes drying rod that are at risk of falling off is located is determined as the target drying position.

[0026] In a preferred embodiment, before driving the mobile clothing collection device to move to a predetermined starting position, the method further comprises:

[0027] Receive clothing collection instructions;

[0028] Determine whether there is a human body within a predetermined distance through a human body detection module;

[0029] If yes, control the clothes drying rod to descend to the preset clothes collecting height;

[0030] If not, the step of driving the mobile clothing collecting device to move to a predetermined starting position is executed.

[0031] In addition, according to another aspect, an embodiment of the present invention provides an automatic clothing collection control system, comprising a controller and a mobile clothing collection device connected to the controller; wherein:

[0032] The mobile clothes receiving device is used to move under the clothes drying rod of the clothes drying machine and receive the clothes released by the clothes drying rod;

[0033] The controller is used to execute any of the above automatic clothing collection control methods.

[0034] According to another aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the automatic clothing collection control method described above is implemented.

[0035] According to another aspect, an embodiment of the present invention provides a clothes drying machine, wherein the computer includes one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to: execute the above-mentioned automatic clothes collecting control method.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention provides an automatic clothes collecting control method, system, computer-readable storage medium and clothes drying machine. The clothes drying machine is provided with a mobile clothes collecting device. Corresponding clothes collecting movement information is generated according to the clothes drying situation, and the mobile clothes collecting device is controlled to move according to the clothes collecting movement information and the clothes drying rod of the clothes drying machine synchronously releases the clothes to be dried. The automatic clothes collecting of the clothes drying machine is completed with the coordinated cooperation of the mobile clothes collecting device and the clothes drying rod, which can completely free the user's hands and significantly improve the intelligence level of the clothes drying machine and the user experience.

[0038] In addition, by obtaining the clothes collecting progress information of each target drying position, the actual clothes collecting situation of each target drying position is monitored in time, so as to respond promptly to the failure of clothes collecting and effectively improve the stability of the automatic clothes collecting function.

[0039] Additional aspects and advantages of the present invention will be given in part in the following description, which will become obvious from the following description, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0041] Figure 1 A structural diagram of a mobile clothing collection device provided in an embodiment of the present invention;

[0042] Figure 2 A method flow chart of an automatic clothes collection control method provided by an embodiment of the present invention;

[0043] Figure 3 This is a specific method flow chart of step S200 in the automatic clothing collection control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0045] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0046] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0047] The technical solution of the present application and how the technical solution of the present application solves the above technical problems of the prior art are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0048] The clothes drying machine in the embodiment of the present invention generally includes a main machine and a drying rod. The main machine is generally installed on the ceiling or suspended ceiling. The drying rod is arranged below the main machine through a steel wire rope or other lifting parts. The main machine is provided with a main controller (such as MCU), a motor and other devices. The main controller is connected to the motor through a motor driver, and the steel wire rope or the lifting part is controlled by the motor to perform lifting and lowering movements, thereby realizing automatic lifting and lowering of the drying rod. In addition, the clothes drying machine may also integrate functional modules such as lighting, drying, and disinfection, and the controller may issue instructions to realize the control of each functional module.

[0049] In an embodiment of the present invention, the clothes drying machine further comprises a mobile clothes collecting device, wherein the mobile clothes collecting device is configured to move under the clothes drying rod of the clothes drying machine and receive the clothes released by the clothes drying rod.

[0050] For this embodiment, the clothes drying machine host and the mobile clothes collecting device are both provided with wireless communication modules. The wireless communication module in the host is connected to the main controller. The mobile clothes collecting device is provided with a control module, which is connected to its wireless communication module. The mobile clothes collecting device is connected to the main controller through the wireless communication module, and the instructions and data related to the main controller are processed through the control module. The relevant modules on the clothes drying rod can be connected to the main controller through the control line. When there is no control line connection between the clothes drying rod and the host, the wireless communication module and the control module can be provided on the clothes drying rod. The relevant modules on the clothes drying rod can be connected to the main controller through the wireless communication module provided on the clothes drying rod, and the instructions and data related to the main controller are processed through the control module. Under this circuit structure, the host, clothes drying rod and mobile clothes collecting device of the clothes drying machine can realize information exchange between each other, and the clothes drying rod, the relevant modules on the clothes drying rod, the mobile clothes collecting device and the relevant modules and mechanisms on the mobile clothes collecting device can be controlled by the main controller.

[0051] like Figure 1As shown, the mobile clothes collecting device 30 includes a clothes collecting container 31, a mobile base 32 arranged below the clothes collecting container 31, and a mobile mechanism 33 installed at the bottom of the mobile base 32. The mobile mechanism 33 includes a driving motor 331, a driving rod 332, and a roller 333 connected to the driving motor 331 through the driving rod 332. The driving motor 331 is turned on and drives the roller 333 to rotate under the control of the main controller, so that the mobile clothes collecting device 30 moves on the ground below the clothes drying rod of the clothes drying machine through the mobile mechanism 33 under the control of the main controller. In addition, the mobile mechanism also includes a steering gear, and the mobile clothes collecting device realizes steering through the steering gear. The mobile mechanism 33 is provided with a driving motor 331, and the driving motor 331 is turned on and drives the front roller to rotate and turn under the control of the main controller. The driving rod 332 also includes a linkage rod 3321, and the linkage rod 3321 is connected between the front wheel cross bar and the rear wheel cross bar, and can link the rear wheel to follow the front wheel to rotate and turn. Specifically, the control instructions of the main controller are sent to the control module of the mobile clothes collection device via the wireless communication module, and the control module controls the driving motor to perform the above operations. The mobile mechanism is simple and easy to control, and can effectively realize the movement requirements required for automatic clothes collection. As a preferred embodiment, the sides of the clothes collection container 31 are inclined, and the angle between the side and the bottom is an obtuse angle to ensure that the received clothes can be accurately retained in the container, effectively reducing the risk of clothes falling out of the container and getting dirty.

[0052] The mobile clothes collection device 30 may also include a raindrop detection module 34, which is installed on the clothes collection container 31 of the mobile clothes collection device 30 or on the outside of the mobile base 32, and is used to detect whether it is raining weather and feed back the detection result to the main controller. Specifically, the raindrop detection module detects whether it is raining weather under the control of the main controller through the control module and the wireless communication module on the mobile clothes collection device, and feeds back the detection result to the main controller. By setting a raindrop detection module on the mobile clothes collection device and monitoring whether it is raining weather, the clothes drying machine can respond to rainy weather in time, such as automatically triggering automatic clothes collection or automatic rain shelter to avoid clothes being wet.

[0053] The mobile clothes collecting device 30 may also include an infrared obstacle avoidance detection module 35, which is installed on the mobile clothes collecting device 30 to detect whether there are mobile obstacles and feed back the detection results to the main controller. Specifically, the infrared obstacle avoidance detection module detects whether there are mobile obstacles under the control of the main controller through the control module and the wireless communication module on the mobile clothes collecting device, and feeds back the detection results to the main controller. By setting an infrared obstacle avoidance detection module on the mobile clothes collecting device and monitoring whether there are mobile obstacles during the movement, the clothes drying machine can respond to mobile obstacles in a timely manner, such as automatically avoiding obstacles or changing the moving path of the mobile clothes collecting device, providing strong technical support for the realization of automatic clothes collecting.

[0054] The mobile clothes collection device 30 may further include a second weighing module 36, which is installed at the bottom of the clothes collection container of the mobile clothes collection device and is used to detect the load-bearing information of the mobile clothes collection device and feed it back to the main controller. By setting the second weighing module in the mobile clothes collection device, the clothes drying machine can accurately determine whether the mobile clothes collection device has successfully collected clothes through the main controller.

[0055] The automatic clothes collection control method provided in the embodiment of the present invention is applied to a clothes drying machine including the mobile clothes collection device, such as Figure 2 As shown, the method comprises the following steps:

[0056] Step S100: driving the mobile clothing collection device to move to a predetermined starting position.

[0057] For this embodiment, a predetermined starting position for the mobile clothes collecting device to perform automatic clothes collecting movement is pre-set, and the predetermined starting position is within a predetermined distance range from the clothes drying machine. The subsequent automatic clothes collecting steps can only be executed after it is determined that the mobile clothes collecting device is on standby at the predetermined starting position.

[0058] In a possible implementation, the clothes drying machine determines the relative position between the mobile clothes collecting device and the clothes drying rod through an infrared positioning module, thereby determining that the mobile clothes collecting device moves to a predetermined starting position. The infrared positioning module includes an infrared transmitting unit and an infrared receiving unit, and the infrared transmitting unit or the infrared receiving unit is installed on the clothes drying rod, and correspondingly, the infrared receiving unit or the infrared transmitting unit is installed on the mobile clothes collecting device.

[0059] When the infrared transmitting unit is installed on the clothes drying rod, the signal transmitting port of the infrared transmitting unit faces the predetermined starting position to transmit the infrared signal to the predetermined starting position. The infrared transmitting unit is connected to the main controller through the control line or wireless communication module, and realizes the continuous transmission of infrared signals under the control of the main controller through the control module on the clothes drying rod. The corresponding infrared receiving unit is installed on the mobile clothes collecting device, and the signal receiving port of the infrared receiving unit faces upward or tilted upward. The infrared receiving unit is connected to the control module of the mobile clothes collecting device. When the mobile clothes collecting device moves to the predetermined starting position, the infrared receiving unit receives the infrared signal and feeds it back to the control module of the mobile clothes collecting device, so that the control module feeds back the corresponding signal to the main controller through the wireless communication module, so that the clothes drying machine determines that the mobile clothes collecting device has moved to the predetermined starting position, and controls the mobile clothes collecting device to stop moving and stay at the predetermined starting position to wait. Among them, there is no obstacle between the installation position of the infrared transmitting unit on the clothes drying rod and the predetermined starting position to ensure the normal transmission and reception of infrared signals of the infrared positioning module. Preferably, the infrared transmitting unit is installed below either end of the clothes drying rod. Accordingly, the predetermined starting position is the projection position of the corresponding end of the clothes drying rod on the ground. The infrared receiving unit is installed on the outside of the side of the clothes collection container. This position can ensure that the reception and transmission of the infrared signal of the infrared positioning module will not be blocked by the clothes hanging to dry, thereby providing strong support for the realization of automatic clothes collection.

[0060] When the infrared transmitting unit is installed on the mobile clothes collecting device, the signal transmitting port of the infrared transmitting unit faces upwards to transmit infrared signals to the infrared receiving unit installed on the clothes drying rod of the clothes drying machine. The mobile clothes collecting device is connected to the main controller through the wireless communication module. The infrared transmitting unit on the mobile clothes collecting device continuously transmits infrared signals under the control of the main controller through the control module of the mobile clothes collecting device. The corresponding infrared receiving unit is installed on the clothes drying rod of the clothes drying machine. The signal receiving port of the infrared receiving unit faces downwards. The infrared signal emitted only when the mobile clothes collecting device moves to the predetermined position can be received by the infrared receiving unit. Therefore, when the infrared receiving unit receives the infrared signal and feeds back to the control module on the clothes drying rod, the control module on the clothes drying rod feeds back the corresponding signal to the main controller through the control line or the wireless communication module on the clothes drying rod, so that the clothes drying machine determines that the mobile clothes collecting device has moved to the predetermined starting position, and controls the mobile clothes collecting device to stop moving and stay at the predetermined starting position to wait. Among them, there is no obstacle between the installation position of the infrared receiving unit on the clothes drying rod and the predetermined starting position to ensure the normal transmission and reception of infrared signals by the infrared positioning module. Preferably, the infrared transmitting unit is installed on the outside of the side of the clothes collection container, and the infrared receiving unit is installed below either end of the clothes drying rod. Accordingly, the predetermined starting position is the projection position of the corresponding end of the clothes drying rod on the ground. This position can ensure that the reception and transmission of the infrared signal of the infrared positioning module will not be blocked by the clothes drying, thereby providing strong support for the realization of automatic clothes collection.

[0061] In other possible implementation methods, the clothes drying machine can also determine the relative position of the mobile clothes collecting device and the clothes drying machine rod through a laser radar positioning module, a visual positioning module, etc.

[0062] By driving the mobile clothes collecting device to move to a predetermined starting position and then executing subsequent automatic clothes collecting steps, the clothes drying machine can first determine the relative position of the mobile clothes collecting device and the clothes drying machine rod before collecting clothes, so as to improve the efficiency of determining the clothes collecting movement information, thereby improving the efficiency of automatic clothes collecting.

[0063] Step S200: Determine the clothes drying situation, generate an automatic clothes collecting instruction carrying clothes collecting movement information according to the clothes drying situation, and send it to the mobile clothes collecting device.

[0064] In this embodiment, the clothing collection movement information is used to guide the mobile clothing collection device to move and collect clothing. The automatic clothing collection instruction carrying the clothing collection movement information is sent by the main controller to the mobile clothing collection device to drive the mobile clothing collection device to move according to the clothing collection movement information.

[0065] like Figure 3 As shown, the specific steps of step S200 are as follows:

[0066] Step S210: Determine whether there is a target drying position for drying target clothes on the drying rod.

[0067] The target drying clothes refer to the drying clothes that the user intends to collect. For example, the target drying clothes may be all the drying clothes on the drying rod, or the drying clothes that have been dried on the drying rod, or the drying clothes that are at risk of falling off and need to be collected urgently. The target drying position refers to the drying position on the drying rod of the clothes drying machine where the target drying clothes are dried, which can realize automatic collection of clothes at a fixed point and improve the flexibility of automatic collection of clothes.

[0068] Step S220: determining a clothes collection moving path according to the predetermined starting position and the positional relationship between each of the projection points of the target drying positions on the ground.

[0069] For this embodiment, the ground where the mobile clothes collection device is located is used as a virtual plane for determining the calculation of the clothes collection moving path, and the projection points of each target drying position on the ground are determined. Based on the Dijkstra algorithm, i.e., the shortest path algorithm, the clothes collection moving path is determined according to the predetermined starting position and the positional relationship between the projection points of each target drying position on the ground. The clothes collection moving path uses the predetermined starting position as the moving starting point, and traverses each projection point efficiently and accurately, so that the mobile clothes collection device moves to the bottom of each target drying position with the most efficient moving path and receives the clothes released by the target drying position. Among them, the clothes collection moving path includes the relative moving direction and moving distance between two points.

[0070] Step S230: Obtain the duration of the projection point's stay.

[0071] In a possible implementation, the duration of the projection point staying is preset when the clothes drying machine leaves the factory.

[0072] In one possible implementation, the projection point stay time is set according to user needs. The user can set or adjust the projection point stay time through a client bound to the clothes drying machine. The client sends the projection point stay time set by the user to the clothes drying machine through a wireless communication module.

[0073] In one possible implementation, the duration of the projection point's stay is calculated based on the height distance of the clothes drying rod relative to the clothes collection container of the mobile clothes collection device. Specifically, first, the distance between the current height of the clothes drying rod and the mobile clothes collection device is detected, and then the time required for the clothes to fall from the current height of the clothes drying rod to the clothes collection container of the mobile clothes collection device is calculated, and the duration of the projection point's stay is determined based on the time required for the fall, and the duration of the projection point's stay is greater than the time required for the fall. Generally, the duration of the projection point's stay is 0.5 to 1.5 seconds greater than the time required for the fall, to ensure that the mobile clothes collection device moves to the projection point corresponding to the next target drying position only after successfully receiving the fallen clothes. This method can achieve efficient and accurate automatic clothes collection.

[0074] Step S240: generating an automatic clothes collecting instruction carrying clothes collecting movement information according to the clothes collecting movement path and the duration of staying at the projection point.

[0075] For this embodiment, the automatic clothes collecting instruction is used to drive the mobile clothes collecting device to move to the projection points corresponding to each target drying position in sequence along the clothes collecting moving path and stay for a period of time according to the stay time of the projection points to receive the clothes released from the corresponding target drying position on the drying rod.

[0076] Step S300: When the mobile clothes collection device moves according to the clothes collection movement information, the corresponding target drying position on the drying rod is controlled to release the clothes for drying.

[0077] For this embodiment, during the movement of the mobile clothes collecting device according to the clothes collecting movement information, the main controller synchronously controls the corresponding target drying position on the drying rod according to the clothes collecting movement information to release the clothes for drying, so as to ensure that the mobile clothes collecting device can receive the released clothes for drying during the stay period.

[0078] Each drying position on the drying rod is provided with a drying switch mechanism. When it is turned on under the control of the main controller, the support member for supporting the clothes hanger hook in the drying switch mechanism is retracted, and the drying clothes are released along with the clothes hanger.

[0079] Step S400: After determining that the clothes collection is completed, driving the mobile clothes collection device to move to a predetermined clothes storage position.

[0080] After the mobile clothes collection device traverses the projection points corresponding to each target drying position according to the clothes collection movement information, it can be determined that the automatic clothes collection is completed, and then the main controller controls the mobile clothes collection device to move to the predetermined clothes storage device through the wireless communication module. The predetermined clothes storage device can be selected and determined by the user by constructing a balcony or whole house map in the client bound to the clothes drying machine.

[0081] The automatic clothes collecting control method provided by the present invention is applied to a clothes drying machine provided with a mobile clothes collecting device. Corresponding clothes collecting movement information is generated according to the clothes drying situation, and the mobile clothes collecting device is controlled to move according to the clothes collecting movement information and the clothes drying rod of the clothes drying machine synchronously releases the clothes to be dried. The automatic clothes collecting of the clothes drying machine is completed with the coordinated cooperation of the mobile clothes collecting device and the clothes drying rod, which can completely free the user's hands and significantly improve the intelligence level of the clothes drying machine and the user experience.

[0082] In some embodiments, after controlling the corresponding target drying position on the drying rod to release the clothes for drying in step S300, it also includes: obtaining clothes collection process information corresponding to the target drying position.

[0083] For this embodiment, while controlling the corresponding target drying position on the drying rod to release the clothes, the clothes drying rod and / or the mobile clothes collection device synchronously feed back the associated detection data of the clothes collection process information to the main controller. The clothes collection process information is used to indicate whether the clothes collected at the target drying position are successfully collected. By obtaining the clothes collection process information of each target drying position, the main controller can timely monitor the actual clothes collection situation of each target drying position, so as to respond to the failure of clothes collection in time, and effectively improve the stability of the automatic clothes collection function. Acquiring the clothes collection process information corresponding to the target drying position can be achieved by one or more of the following methods:

[0084] In a possible implementation, the Hall detection module is used to detect whether there are clothes drying at the corresponding target drying position to obtain the clothes collection process information. Specifically, each drying position on the clothes drying rod of the clothes drying machine is equipped with a Hall detection module, and the Hall detection module is connected to the main controller through a control line or a wireless communication module on the clothes drying rod. The control module on the clothes drying rod is used to directly detect whether there are clothes drying at the target drying position under the control of the main controller and feedback to the main controller. The associated detection data of the clothes collection process information is the clothes detection data of the Hall detection module. After the main controller receives the clothes detection data fed back by the clothes drying rod of the clothes drying machine through the wireless communication module, it analyzes the associated detection data of the clothes collection process information, and determines whether there are clothes drying at the corresponding target drying position according to the clothes detection data. If yes, it means that the clothes drying has not been successfully released, and then the first clothes collection process information indicating that the clothes drying at the target drying position has failed is generated. If no, it means that the clothes drying has been successfully released, and then the second clothes collection process information indicating that the clothes drying at the target drying position has been successfully collected is generated. This method can accurately determine whether the clothes drying at any target drying position are successfully released, so as to determine whether the clothes drying at the corresponding target drying position is automatically collected successfully.

[0085] In one possible implementation, the clothes collection process information is obtained by detecting whether the load-bearing capacity on the clothes drying rod or the corresponding target drying position is reduced through a first weighing module on the clothes drying rod. Specifically, a first weighing module is installed on the clothes drying rod of the clothes drying machine, or each drying position on the clothes drying rod is installed with a first weighing module. The first weighing module is connected to the main controller through a control line or a wireless communication module on the clothes drying rod. The control module on the clothes drying rod is used to detect the moment when the clothes are released from the corresponding target drying position of the clothes drying rod or whether the load-bearing capacity of the target drying position is reduced under the control of the main controller. The associated detection data is the load-bearing information of the first weighing module. After the main controller receives the load-bearing information fed back by the clothes drying rod of the clothes drying machine through the wireless communication module, it analyzes the associated detection data of the clothes collection process information, and determines whether the load-bearing of the clothes drying rod at the current moment is reduced compared with the previous one or whether the load-bearing on the corresponding target drying position is reduced according to the clothes load-bearing information. If not, it means that the clothes drying has not been successfully released, and the first clothes collection process information representing the failure of clothes collection at the target drying position is generated. If not, it means that the clothes drying has been successfully released, and the second clothes collection process information representing the success of clothes collection at the target drying position is generated. When only one first weighing module is set, it is possible to determine at a low cost whether the clothes drying has been successfully released. When the first weighing module is set for each drying position, it is possible to accurately determine whether the clothes drying at any target drying position have been successfully released, thereby determining whether the corresponding target drying position has automatically collected the clothes successfully.

[0086] In one possible implementation, the clothes collecting process information is obtained by detecting whether the load-bearing capacity of the mobile clothes collecting device increases through a second weighing module on the mobile clothes collecting device. Specifically, the mobile clothes collecting device is equipped with a second weighing module, and the second weighing module is specifically installed at the bottom of the clothes collecting container of the mobile clothes collecting device. The second weighing module detects whether the load-bearing capacity of the mobile clothes collecting device corresponding to the target drying position at the moment of releasing clothes increases under the control of the main controller through the control module and the wireless communication module of the mobile clothes collecting device. The associated detection data of the clothes collecting process information is the load-bearing information of the second weighing module. After the main controller receives the load-bearing information fed back by the mobile clothes collecting device through the wireless communication module of the host, the main controller analyzes the associated detection data of the clothes collecting process information, and determines whether the load-bearing capacity of the mobile clothes collecting device at the current moment increases compared with the previous one according to the clothes load-bearing information. If not, it means that the mobile clothes collecting device has not successfully received the clothes for drying, and then the first clothes collecting process information indicating that the clothes for drying at the target drying position has failed is generated. If not, it means that the mobile clothes collecting device has successfully received the clothes for drying, and then the second clothes collecting process information indicating that the clothes for drying at the target drying position has successfully is generated. This method can accurately determine whether the mobile clothes collection device has successfully received the clothes hung out to dry at any target drying position, thereby determining whether the corresponding target drying position has automatically collected the clothes successfully.

[0087] For this embodiment, if the clothes collecting process information obtained by the main controller is the first clothes collecting process information indicating that the clothes collecting at the target drying position has failed, the stay time of the mobile clothes collecting device at the projection point of the target drying position can be further extended, and the target drying position can be controlled to release the clothes for drying again to deal with the situation of clothes collecting failure, thereby ensuring the stability of the automatic clothes collecting function.

[0088] In some embodiments, step S300 controls the corresponding target drying position on the drying rod to release the drying clothes during the movement of the mobile clothes collecting device according to the clothes collecting movement information, specifically including: during the movement of the mobile clothes collecting device according to the arrival order and arrival time of the target drying positions in the clothes collecting movement information, controlling the target drying position to release the drying clothes within a predetermined time after the arrival time of the corresponding target drying position.

[0089] For this embodiment, the clothes collecting movement information includes the order and arrival time of the projection points of each target drying position moved by the clothes collecting mobile device from a predetermined starting position. The arrival time of a target drying position is calculated based on the arrival time of the previous target drying position and the arrival time required to reach the target drying position from the previous target drying position. The arrival time is calculated based on the distance between two target drying positions to be arrived at successively corresponding to the mobile clothes collecting path and the moving speed of the mobile clothes collecting device.

[0090] For this embodiment, the predetermined time length is shorter than the duration of the projection point stay, so as to ensure that the mobile clothes collecting device can receive the released clothes for drying during the stay period.

[0091] With respect to this embodiment, during the movement of the mobile clothes collecting device according to the target drying position arrival sequence and arrival time in the clothes collecting movement information, the main controller controls the target drying position to release the clothes for drying within a predetermined time after the arrival time of the corresponding target drying position. Specifically, the main controller controls the support member for supporting the clothes hanger hook in the drying switch mechanism of the target drying position to be retracted, and the clothes for drying are released along with the clothes hanger.

[0092] In some embodiments, the step S210 of determining that there is a target drying position for the target clothes on the drying rod may be implemented in any of the following ways:

[0093] In one possible implementation, the presence of clothes to be dried on the drying rod is determined through a Hall detection module or a first weighing module, and the drying position where the clothes are dried is determined as a target drying position. Specifically, each drying position on the clothes drying rod is installed with a Hall detection module or a first weighing module, and the Hall detection module or the first weighing module is connected to the main controller through a control line or a wireless communication module on the drying rod. The control module on the drying rod is used to detect whether there are clothes to be dried on each drying position on the drying rod under the control of the main controller, and determine the drying position where the clothes are dried as the target drying position.

[0094] In one possible implementation, the presence of dried clothes on the drying rod is determined through a Hall detection module or a first weighing module, and a clothes moisture detection module, and the drying position where the clothes are located is determined as a target drying position. Specifically, each drying position on the drying rod of the clothes drying machine is installed with a Hall detection module or a first weighing module for detecting whether there are clothes on the drying position. Each drying position is also installed with a clothes moisture detection module for detecting whether the clothes on the drying position have been dried. The Hall detection module or the first weighing module, and the clothes moisture detection module are connected to a main controller through a control line or a wireless communication module on the drying rod, and are implemented through the control module on the drying rod to detect whether there are dried clothes on each drying position on the drying rod under the control of the main controller, and the drying position where the clothes are located is determined as the target drying position.

[0095] In one possible implementation, an image acquisition module is used to identify clothes that are at risk of falling off the clothes drying rod. Specifically, an image acquisition module is installed on the clothes drying rod of the clothes drying machine. The image acquisition module is connected to a main controller via a control line or a wireless communication module on the clothes drying rod. The control module on the clothes drying rod is used to acquire images containing clothes that are at risk of falling off the clothes drying rod under the control of the main controller, and analyze whether there are clothes that are at risk of falling off the clothes drying rod based on the images, and determine the drying position where the clothes that are at risk of falling off are located as the target drying position.

[0096] Through the above method, the application scenarios of automatic clothes collection can be enriched. There is no need to limit the collection of all clothes on the clothes drying rod at one time. Instead, the clothes to be automatically collected can be intelligently determined according to the actual clothes drying situation, flexibly adapting to the user's automatic clothes collection needs, and further improving the intelligence of the clothes drying machine and the user experience.

[0097] In some embodiments, before the step S100 drives the mobile clothes collecting device to move to the predetermined starting position, it also includes: receiving a clothes collecting instruction; determining whether there is a human body staying within a predetermined distance through a human body detection module; if so, controlling the clothes drying rod to descend to a predetermined clothes collecting height; if not, executing the step S100 to drive the mobile clothes collecting device to move to the predetermined starting position.

[0098] For this embodiment, after receiving the clothes collection instruction, it is intelligently identified whether it is manual clothes collection or automatic clothes collection. Specifically, the clothes drying machine is provided with a human body detection module, which is installed on the main unit or clothes drying rod of the clothes drying machine, and is directly connected to the main controller through a control line or indirectly through a wireless communication module. After the main controller receives the clothes collection instruction, under the control of the main controller, the human body detection module detects whether there is a human body staying within a predetermined distance of the clothes drying machine. If there is a human body staying, it is automatically identified as manual clothes collection, and the clothes drying rod is controlled to drop to a predetermined clothes collection height. If there is no human body staying, it is automatically identified as automatic clothes collection, and the control starts to execute the automatic clothes collection control method provided by the embodiment of the present invention. By determining whether there is a human body staying near the clothes drying machine through the human body detection module to intelligently identify whether the clothes collection is manual or automatic, it can adapt to the user's clothes collection habits and further improve the intelligence of the clothes drying machine and the user experience.

[0099] In some embodiments, when the raindrop detection module of the mobile clothes collection device detects rainy weather, it can automatically send a clothes collection instruction to the main controller of the clothes drying machine, so that the clothes drying machine executes the automatic clothes collection control method provided by the present invention and realizes automatic clothes collection. If the mobile clothes collection device is already carrying clothes for drying, when the raindrop detection module detects rainy weather, it can automatically move to a position where no raindrops are detected to prevent the clothes for drying in the clothes collection container from getting wet. This method can automatically trigger automatic clothes collection or automatic rain shelter to prevent clothes for drying from getting wet, further improving the intelligence of the clothes drying machine and the user experience.

[0100] In some embodiments, when the infrared obstacle avoidance detection module of the mobile clothes collection device detects a moving obstacle on the moving path, it can automatically avoid the obstacle or send a request to change the moving path to the main controller of the clothes drying machine to prevent the mobile clothes collection device from deducing the moving obstacle or causing the mobile obstacle to roll over. This method can provide strong technical support for the stability of the automatic clothes collection function.

[0101] In addition, according to another aspect, an embodiment of the present invention provides an automatic clothing collection control system, comprising a controller and a mobile clothing collection device connected to the controller; wherein:

[0102] The mobile clothes receiving device is used to move under the clothes drying rod of the clothes drying machine and receive the clothes released by the clothes drying rod;

[0103] The controller is used to execute any of the above automatic clothing collection control methods.

[0104] In some embodiments, the system also includes a drying switch structure connected to the main controller, and the drying switch mechanism is set at each drying position on the clothes drying rod of the clothes drying machine, and is used to open and release the drying clothes on the clothes drying rod under the control of the main controller.

[0105] The contents of the method embodiments of the present invention are all applicable to the system embodiments. The functions specifically implemented by the system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method. Please refer to the description in the method embodiments for details, which will not be repeated here.

[0106] In addition, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the automatic clothing collection control method described in any of the above embodiments is implemented. Wherein, the computer-readable storage medium includes but is not limited to any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (EraSable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, the storage device includes any medium that can store or transmit information in a readable form by a device (for example, a computer, a mobile phone), which can be a read-only memory, a disk or an optical disk, etc.

[0107] The contents of the method embodiments of the present invention are all applicable to the storage medium embodiments. The functions specifically implemented by the storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method. Please refer to the description in the method embodiments for details, which will not be repeated here.

[0108] In addition, an embodiment of the present invention further provides a clothes drying machine.

[0109] The clothes drying machine includes: one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to execute the automatic clothes collection control method described in any of the above embodiments.

[0110] The contents of the method embodiments of the present invention are all applicable to the clothes drying machine embodiments. The functions specifically implemented by the clothes drying machine embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method. Please refer to the description in the method embodiments for details, which will not be repeated here.

[0111] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0112] The above descriptions are only some embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic clothing collection control method, characterized in that: Applied to a clothes drying machine including a mobile clothes collecting device, the mobile clothes collecting device being configured to move under a clothes drying rod of the clothes drying machine and receive clothes for drying released by the clothes drying rod, the method comprising the following steps: Driving the mobile clothing collection device to move to a predetermined starting position; Determine the clothes drying situation, generate an automatic clothes collecting instruction carrying clothes collecting movement information according to the clothes drying situation, and send it to the mobile clothes collecting device; When the mobile clothes collecting device moves according to the clothes collecting movement information, the corresponding target drying position on the drying rod is controlled to release the clothes for drying; After determining that the clothes collection is completed, the mobile clothes collection device is driven to move to a predetermined clothes storage position.

2. The automatic clothes collection control method according to claim 1, characterized in that: The determining of the clothes drying situation and generating an automatic clothes collecting instruction carrying clothes collecting movement information according to the clothes drying situation include: Determine that there is a target drying position for the target clothes on the drying rod; Determine the clothes collection moving path according to the predetermined starting position and the positional relationship between each of the projection points of the target drying positions on the ground; Get the duration of the projection point stay; According to the clothing collecting movement path and the duration of stay at the projection point, an automatic clothing collecting instruction carrying the clothing collecting movement information is generated.

3. The automatic clothes collection control method according to claim 1, characterized in that: After the corresponding target drying position on the drying rod is controlled to release the drying clothes, the method further includes: Obtain the clothes collection process information corresponding to the target drying position.

4. The automatic clothes collection control method according to claim 3, characterized in that: The obtaining of the clothes collection process information corresponding to the target drying position includes: The Hall detection module is used to detect whether there are clothes for drying at the corresponding target drying position. If yes, the first clothes collection process information indicating that the clothes for drying at the target drying position have failed is generated. If no, the second clothes collection process information indicating that the clothes for drying at the target drying position have succeeded is generated; or The first weighing module on the drying rod detects whether the load on the drying rod or the corresponding target drying position is reduced. If not, first clothes collecting process information indicating that the clothes collecting at the target drying position has failed is generated. If so, second clothes collecting process information indicating that the clothes collecting at the target drying position has succeeded is generated; or, The second weighing module on the mobile clothes collecting device is used to detect whether the load-bearing capacity of the mobile clothes collecting device has increased. If not, first clothes collecting process information is generated indicating that clothes collecting at the target drying position has failed. If so, second clothes collecting process information is generated indicating that clothes collecting at the target drying position has succeeded.

5. The automatic clothes collection control method according to claim 2, characterized in that: The step of controlling the corresponding target drying position on the drying rod to release the drying clothes during the movement of the mobile clothes collecting device according to the clothes collecting movement information comprises: During the movement of the mobile clothes collecting device according to the arrival order and arrival time of the target drying positions in the clothes collecting movement information, the target drying position is controlled to release the clothes for drying within a predetermined time after the arrival time of the corresponding target drying position, and the predetermined time is less than the stay time of the projection point.

6. The automatic clothes collection control method according to claim 2, characterized in that: The step of determining that there is a target drying position for target clothes on the drying rod comprises: Determine the presence of clothes for drying on the drying rod by using the Hall detection module or the first weighing module, and determine the drying position where the clothes for drying are located as the target drying position; or Determine the presence of dried clothes on the drying rod by using the Hall detection module or the first weighing module and the clothes moisture detection module, and determine the drying position where the dried clothes are located as the target drying position; or The image acquisition module is used to identify clothes on the clothes drying rod that are at risk of falling off, and the drying position where the clothes on the clothes drying rod that are at risk of falling off is located is determined as the target drying position.

7. The automatic clothes collection control method according to claim 1, characterized in that: Before driving the mobile clothing collection device to move to a predetermined starting position, the method further comprises: Receive clothing collection instructions; Determine whether there is a human body within a predetermined distance through a human body detection module; If yes, control the clothes drying rod to descend to the preset clothes collecting height; If not, the step of driving the mobile clothing collecting device to move to a predetermined starting position is executed.

8. An automatic clothes collection control system, characterized in that: It includes a controller and a mobile clothing collection device connected to the controller; wherein: The mobile clothes receiving device is used to move under the clothes drying rod of the clothes drying machine and receive the clothes released by the clothes drying rod; The controller is used to execute the automatic clothing collection control method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the automatic clothing collection control method according to any one of claims 1 to 7 is implemented.

10. A clothes drying machine, comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the automatic clothing collection control method according to any one of claims 1 to 7.

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