Intelligent wardrobe capable of automatically folding and storing clothes and working method thereof

Abstract

The invention discloses an automatic clothes folding and storage intelligent wardrobe which comprises a wardrobe body and further comprises a rotary clothes hanger unit, a mechanical arm unit, a clothes folding machine unit, a visual identification module, a main control system and an illumination module. The wardrobe body is sequentially provided with a temporary clothes hanging area, a folded clothes placing area and a clothes storage hanging area from left to right; the folding clothes placing area is fixedly provided with a clothes storage grid unit, the upper portion of the clothes storage and hanging area is fixedly provided with a clothes hanging rod unit, the space among the clothes storage grid unit, the clothes hanging rod unit and a back plate of the wardrobe body is a mechanical arm moving area, and the rotary clothes hanger unit is fixedly arranged at the top of the temporary clothes hanging area. According to the clothes folding machine, clothes types are automatically recognized, clothes which do not need to be folded are rotated and hung in the clothes storage and hanging area, clothes which need to be folded are folded through the clothes folding machine and then stored in the clothes storage grids, a large amount of time and energy are saved, the clothes storage efficiency and quality are improved, and the requirements of modern families for intelligent and convenient home life are met.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to an automatic clothes folding and storage smart wardrobe and a working method thereof. Background Art

[0002] In modern fast-paced life, people have an increasingly high pursuit of convenience and efficiency in home life. As the core furniture for storing clothes, the degree of perfection of the functions of wardrobes directly affects people's life experience. Traditional wardrobes mainly rely on manual sorting and storage of clothes. This process not only consumes a lot of time and energy, but also the storage effect is often unsatisfactory, which is difficult to meet people's growing needs. With the rapid development of science and technology, smart homes have gradually entered people's lives. Smart home appliances such as smart refrigerators and smart washing machines have been widely used, bringing great convenience to people. However, in the field of wardrobes, the process of intelligence is relatively lagging. Although some wardrobes with simple smart functions have appeared on the market, such as induction lighting, automatic door opening and closing, etc., there is still a lack of innovative solutions in folding and storage, and there is a lack of a smart wardrobe product that can perfectly combine automatic folding and storage functions. This product not only needs to have efficient and reliable automatic folding capabilities, but also needs to be able to intelligently store according to the type of clothing and user needs, while maintaining a small size and low cost to meet the needs of home users. Therefore, the development of an automatic folding and storage smart wardrobe is of great practical significance for improving the smart home experience and solving user pain points. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic folding and storage smart wardrobe and a working method thereof, which can automatically identify the types of clothes, hang clothes that do not need to be folded in the storage hanging area, and fold clothes that need to be folded through a built-in clothes folding machine and then store them in the storage compartment. This can save a lot of time and energy, improve the efficiency and quality of clothing storage, meet the needs of modern families for intelligent and convenient home life, and improve the quality of life.

[0004] To achieve the above object, the present invention provides the following technical solutions: An automatic clothes folding and storage smart wardrobe comprises a cabinet body, a rotating hanger unit, a mechanical arm unit, a clothes folding machine unit, a visual recognition module, a main control system and a lighting module. The cabinet body is provided with a temporary clothes hanging area, a folded clothes placement area and a clothes storage hanging area from left to right. The folded clothes placement area is fixedly provided with a clothes storage grid unit. The upper part of the clothes storage hanging area is fixedly provided with a clothes hanging rod unit. The space between the clothes storage grid unit, the clothes hanging rod unit and the back plate of the cabinet body is a mechanical arm activity area. The rotating hanger unit is fixedly provided on the top of the temporary clothes hanging area. A plurality of push-type foldable hangers are hung below the rotating hanger unit. The rear row of the rotating hanger unit is provided with a plurality of push-type foldable hangers. The push-type foldable clothes hanger is opposite to the mechanical arm activity area in the length direction of the wardrobe, the mechanical arm unit is fixedly connected to the cabinet body and is located in the mechanical arm activity area, the mechanical arm unit is provided with an electric clamp, and the electric clamp activity range covers the folded clothing placement area and the hanging storage area, the clothes folding machine unit is fixedly arranged at the junction of the temporary hanging area and the folded clothing placement area, the clothes folding machine unit is provided with a clothes folding machine, the clothes folding machine is located directly below the push-type foldable clothes hanger in the rear row of the rotating hanger unit and is slidably connected to the cabinet body in a vertical direction, and the main control system is communicatively connected to the rotating hanger unit, the mechanical arm unit, the clothes folding machine unit, the visual recognition module, and the lighting module respectively.

[0005] Furthermore, the rotating hanger unit includes a hanger mounting plate, which is fixedly connected to the cabinet top plate via a hanging rod, and the hanger mounting plate is fixedly connected to an annular track, and a first driving pulley and a first driven pulley are respectively installed at both ends of the hanger mounting plate inside the annular track, the first driving pulley is driven by a first servo motor, and the first driven pulley is transmission-connected to the first driving pulley via a first belt, the first belt is evenly and fixedly connected to a plurality of first sliders, the first slider is rollingly and slidingly connected to the annular track, and hanger rings are fixedly connected on both sides of the first slider.

[0006] Furthermore, the robotic arm unit includes a robotic arm back plate and an X-axis transmission mechanism, a Y-axis transmission mechanism and a Z-axis transmission mechanism distributed in three coordinates, the robotic arm back plate is fixedly connected to the cabinet and is located on the back of the cabinet, the X-axis transmission mechanism is fixedly connected to the robotic arm back plate, the Y-axis transmission mechanism is transmission-connected to the X-axis transmission mechanism, the Z-axis transmission mechanism is transmission-connected to the Y-axis transmission mechanism, the X-axis transmission mechanism, the Y-axis transmission mechanism and the Z-axis transmission mechanism are driven by the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor respectively, the Z-axis transmission mechanism is transmission-connected to a connecting plate, the connecting plate is equipped with a rotating servo motor, the rotating servo motor is transmission-connected to an electric clamp through a connecting seat, the electric clamp is equipped with two clamp fingers, the clamp fingers are symmetrically arranged, the clamp fingers are provided with parallel long and short clamp fingers, the long clamp fingers are located on the outside, and a stop block is fixedly arranged on the top of the short clamp finger.

[0007] Furthermore, the clothes folding machine unit includes a clothes folding machine and a fixed vertical plate, the fixed vertical plate is fixedly connected to one end of the back plate of the mechanical arm, the fixed vertical plate is fixedly connected with a vertical guide rail and a clothes folding machine transmission mechanism, elastic blocks are fixedly provided at both ends of the vertical guide rail, the clothes folding machine transmission mechanism is driven by a second servo motor, the clothes folding machine transmission mechanism is transmission-connected with a second slider, the second slider is slidably connected to the vertical guide rail, the clothes folding machine is fixedly connected to the second slider via a clothes folding machine mounting frame, the clothes folding machine is provided with a clothes folding mechanism, a clothes dropping mechanism and a clothes storage chamber, and the clothes storage chamber is located at the lower part of the clothes dropping mechanism.

[0008] Furthermore, the clothes hanging rod unit includes a clothes hanging rod, both ends of which are fixedly connected to the cabinet body, a number of hanging positions are evenly distributed on the clothes hanging rod, limiting blocks are fixedly provided at both ends of the hanging positions, each hanging position is provided with a groove, a film sensor is installed in the groove, the film sensor is communicatively connected to the main control system, and a wire slot box is fixedly provided at the bottom of the clothes hanging rod.

[0009] Furthermore, the clothing storage compartment unit is provided with a plurality of rectangular array clothing storage compartments, each clothing storage compartment unit is provided with an infrared reflection sensor and a clothing anti-following structure, the infrared reflection sensor is fixedly mounted on the bottom of the upper plate and is communicatively connected with the main control system, the clothing anti-following structure comprises a clothing stopper block, the number of the clothing stopper blocks is two, the clothing stopper block is fixedly connected to the lower plate of the clothing storage compartment and is located at one end of the lower plate of the clothing storage compartment facing the back plate of the cabinet.

[0010] Furthermore, the visual recognition module is a depth camera, which is installed on the top of the cabinet, and the shooting direction of the visual recognition module is facing the hanger ring at the right rear corner of the rotating hanger unit.

[0011] Furthermore, the main control system includes a touch screen, a control module, a storage module, a communication module and an AI image processing module, and the touch screen is installed on the wardrobe door panel.

[0012] The present invention also provides a working method of the smart wardrobe, comprising the following steps: S1, system initialization: establish a workstation coordinate information table of the rotary hanger unit, establish a storage compartment coordinate information table of the storage compartment unit and correspond it to the infrared reflection sensor one by one, establish a clothes hanging position coordinate information table of the clothes hanging rod unit and correspond it to the film sensor one by one, input the corresponding information into the storage module of the main control system, and establish a clothing database; S2, start working: the user inputs the start command through the touch screen, and the main control system starts and activates the lighting module; S3, first station detection: the visual recognition module collects images of the hanger ring at the right rear corner of the rotating hanger unit, which is set as the first station. The main control system determines whether there are clothes and the type of clothes hung at the first station through image analysis. If the clothes need to be folded, it jumps to step S4; if the clothes do not need to be folded, it jumps to step S7; if there is no hanger or it is an empty hanger, it jumps to step S8; S4, spreading the clothes on the folding machine: the first servo motor is started to move the clothes at the first station to the left of the wardrobe for 2-3 stations, that is, to the third station or the fourth station and then stop, the second servo motor is started and drives the folding machine to move a certain distance upward until the hem of the clothes touches the folding machine, then the first servo motor is reversed to drive the collar of the clothes to move from the third station or the fourth station to the first station, and the folding machine continues to move upward until most of the clothes fall on the folding machine, the mechanical arm unit moves to make the clamping claw clamp the button of the push-type foldable hanger at the first station, so that the push-type foldable hanger is folded, and the collar of the clothes slides down under the action of gravity, and the clothes completely fall on the folding machine and remain in a flat state, and the push-type foldable hanger remains on the rotating hanger unit; S5, clothes folding: the clothes folding machine moves down to the bottom and starts folding clothes through the clothes folding mechanism, and the clamping fingers move to the clothes storage chamber. After the clothes folding is completed, the clothes dropping mechanism opens the clothes dropping plate, so that the folded clothes fall on the clamping fingers; S6, placing the folded clothes in the storage compartment: the main control system detects whether there are clothes in the storage compartment through the infrared reflection sensor, allocates the coordinates of an empty storage compartment, and controls the movement of the robot arm unit to make the gripper finger lift the folded clothes and transfer them to the allocated storage compartment, and the folded clothes are kept in the storage compartment through the clothes anti-following structure; S7, transferring the clothes that do not need to be folded to the clothes hanging rod unit: the main control system detects whether there are clothes hanging on the clothes hanging position through the film sensor, and then assigns the coordinates of an empty clothes hanging position, and controls the robot arm unit to move, so that the gripper fingers clamp the push-type foldable hanger at the first station, and transfer the push-type foldable hanger together with the clothes to the clothes hanging rod unit and hang it on the assigned clothes hanging position; S8, the rotating hanger unit rotates one station, and steps S3-S7 are repeated until the rotating hanger unit rotates one circle and all stations are inspected and the work is finished.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention is provided with a rotating clothes hanger unit, a mechanical arm unit, a clothes folding machine unit, a visual recognition module and a main control system. The rotating clothes hanger unit is used for users to hang dried clothes and drive the clothes to a specific workstation to facilitate the operation of the mechanical arm unit. The visual recognition module is used to identify whether the clothes need to be folded. The mechanical arm unit is used to transfer and store clothes. The clothes folding machine unit is used to fold clothes. The main control system realizes automatic identification of the types of clothes by controlling the rotating clothes hanger unit, the mechanical arm unit, the clothes folding machine unit and the visual recognition module, transfers and hangs clothes that do not need to be folded to the storage hanging area, and folds clothes that need to be folded by the clothes folding machine and then stores them in the storage compartment, thereby saving a lot of time and energy, improving the efficiency and quality of clothes storage, meeting the needs of modern families for intelligent and convenient home life, and improving the quality of life. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention (hidden cabinet doors and cabinet side panels, front view); Figure 2 This is a three-dimensional structural diagram of the present invention (with hidden cabinet doors and cabinet side panels, from the back view); Figure 3 This is a left view of the present invention (the cabinet side panel is hidden); Figure 4 It is a schematic diagram of the structure of the rotating clothes hanger unit; Figure 5 It is a schematic diagram of the structure of the robotic arm unit; Figure 6 It is a schematic diagram of the structure of the clothes folding machine unit; Figure 7 It is a schematic diagram of the structure of a clothes folding machine; Figure 8 for Figure 1 A partial enlarged view of the middle part; Fig. 9 for Figure 2 A partial enlarged view of point B in the middle; Fig.10 It is a schematic diagram of the structure of a push-type foldable clothes hanger; Fig.11 It is the control block diagram of the main control system; Fig.12 It is a work flow chart; In the figure: 01-cabinet, 0101-temporary hanging area, 0102-folded clothing placement area, 0103-storage hanging area, 0104-mechanical arm activity area, 02-rotating hanger unit, 0201-hanger mounting plate, 0202-first servo motor, 0203-first driving pulley, 0204-first driven pulley, 0205-first belt, 0206-annular track, 0207-first slider, 0208-hanger ring, 0209-press-type foldable hanger, 020901-button, 0210-suspender rod, 02A-first station, 02B-second station, 02C-third station, 02D-fourth station, 03-robot arm unit, 0301-X transmission mechanism, 030101-X servo motor, 0302-Y transmission mechanism, 030201-Y servo motor, 0303-Z transmission mechanism, 030301-Z servo motor, 0304-connecting plate, 0305-rotation servo motor, 0306-connecting seat, 0307-electric gripper, 0308-gripper Finger, 0309-long claw finger, 0310-short claw finger, 031001-block block, 0311-robot arm back plate, 04-folding machine unit, 0401-folding machine, 040101-clothing storage chamber, 040102-side flip plate, 040103-middle flip plate, 040104-drop plate, 040105-third servo motor, 040106-fourth servo motor, 040107-fifth servo motor, 0402-fixed vertical plate, 0403-vertical guide rail, 0404-folding machine transmission machine Structure, 040401-second servo motor, 0405-second slider, 0406-folder mounting frame, 0407-elastic block, 05-clothing storage unit, 0501-clothing storage, 0502-infrared reflection sensor, 0503-clothing stop block, 06-clothing hanging rod unit, 0601-clothing hanging rod, 0602-limiting block, 0603-clothing hanging position, 0604-film sensor, 0605-wire trough box, 07-visual recognition module, 08-main control system, 0801-touch screen, 09-lighting module. DETAILED DESCRIPTION

[0015] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] See also Figure 1-Figure 12 , an embodiment provided by the present invention: An automatic folding and storing smart wardrobe comprises a cabinet body 01, a rotating hanger unit 02, a mechanical arm unit 03, a folding machine unit 04, a visual recognition module 07, a main control system 08 and a lighting module 09. The cabinet body 01 is provided with a temporary hanging area 0101, a folded clothes placement area 0102 and a storage hanging area 0103 from left to right. The folded clothes placement area 0102 is fixedly provided with a storage grid unit 05 for the smart wardrobe to place folded clothes. The upper part of the storage hanging area 0103 is fixedly provided with a clothes hanging rod unit 06 for The space between the storage unit 05, the clothes hanging rod unit 06 and the back plate of the cabinet body 01 is the robot arm activity area 0104. The rotating hanger unit 02 is fixedly arranged on the top of the temporary hanging area 0101. A plurality of push-type foldable hangers 0209 are hung below the rotating hanger unit 02. The user hangs the dried clothes on the push-type foldable hangers 0209. The clothes are driven to a specific workstation by the rotation of the rotating hanger unit 02, which is convenient for the control operation of the main control system 08. The push-type foldable hangers 0209 in the rear row are directly opposite to the mechanical arm activity area 0104 in the length direction of the wardrobe, so that the mechanical arm unit 03 can operate the push-type foldable hangers 0209 through the electric clamps 0307. The mechanical arm unit 03 is fixedly connected to the cabinet body 01 and is located in the mechanical arm activity area 0104. The mechanical arm unit 03 is provided with electric clamps 0307. The activity range of the electric clamps 0307 covers the folded clothes placement area 0102 and the storage and hanging area 0103. The clothes folding machine unit 04 is fixedly arranged in the temporary hanging area At the junction of cabinet 0101 and folded clothes placement area 0102, the folding machine unit 04 is provided with a folding machine 0401. The folding machine 0401 is located directly below the push-type foldable hangers 0209 in the rear row of the rotating hanger unit 02 and is slidably connected to the cabinet body 01 in the vertical direction. The main control system 08 is respectively communicated with the rotating hanger unit 02, the robotic arm unit 03, the folding machine unit 04, the visual recognition module 07, and the lighting module 09. The lighting module 09 is arranged in the cabinet body 01 to provide a sufficient bright light environment for the visual recognition module 07.

[0017] Wherein, buttons 020901 are arranged on both sides of the push-type foldable clothes hanger 0209, and by pressing the buttons 020901, the clothes support 020902 can be folded downward so that the clothes can fall off the clothes hanger.

[0018] The rotating hanger unit 02 includes a hanger mounting plate 0201, which is fixedly connected to the top plate of the cabinet 01 through a suspension rod 0210, and is fixedly connected to a circular track 0206. The hanger mounting plate 0201 is respectively provided with a first driving pulley 0203 and a first driven pulley 0204 at both ends of the circular track 0206. The first driving pulley 0203 is driven by a first servo motor 0202, and the first driven pulley 0204 is connected to the first driving pulley through a first belt 0205. The first belt 0205 is evenly and fixedly connected with a plurality of first sliders 0207, the first sliders 0207 are rollingly and slidingly connected with the annular track 0206, and hanger rings 0208 are fixedly connected on both sides of the first sliders 0207. The hanger rings 0208 are used to hang the push-type foldable hanger 0209. Under the driving action of the first servo motor 0202, the push-type foldable hanger 0209 moves along the annular track 0206. The hanger rings 0208 are provided with a plurality of workstations. For the convenience of description, Figure 4 As shown, the position of the hanger ring 0208 at the right rear corner of the rotating hanger unit 02 is set as the first station 02A, the position of the hanger ring 0208 on the left side of the first station 02A is set as the second station 02B, and so on.

[0019] The robot unit 03 includes a robot back plate 0311 and an X-axis transmission mechanism 0301, a Y-axis transmission mechanism 0302 and a Z-axis transmission mechanism 0303 distributed in three coordinates. The robot back plate 0311 is fixedly connected to the cabinet 01 and is located at the back of the cabinet 01. The X-axis transmission mechanism 0301 is fixedly connected to the robot back plate 0311, the Y-axis transmission mechanism 0302 is transmission-connected to the X-axis transmission mechanism 0301, and the Z-axis transmission mechanism 0303 is transmission-connected to the Y-axis transmission mechanism 0302. The driving mechanism 0302 and the Z-axis transmission mechanism 0303 are driven by belt drive or screw module drive, the X-axis transmission mechanism 0301, the Y-axis transmission mechanism 0302, and the Z-axis transmission mechanism 0303 are driven by the X-axis servo motor 030101, the Y-axis servo motor 030201, and the Z-axis servo motor 030301 respectively, the Z-axis transmission mechanism 0303 is connected to the connecting plate 0304, the connecting plate 0304 is equipped with a rotating servo motor 0305, and the rotating servo motor 0305 is connected to the electric clamp through the connecting seat 0306 0307, ​​the X-axis transmission mechanism 0301, the Y-axis transmission mechanism 0302 and the Z-axis transmission mechanism 0303 control the electric gripper 0307 to move in the robot arm activity area 0104, the rotary servo motor 0305 controls the rotation of the electric gripper 0307, ​​the electric gripper 0307 is equipped with two gripper fingers 0308, the gripper fingers 0308 are symmetrically arranged, the electric gripper 0307 controls the gripper fingers 0308 to close inward or open outward to realize the clamping and releasing functions of the gripper fingers 0308, and the gripper fingers 0308 are provided with parallel long claw fingers 0309 and short claw finger 0310, the long claw finger 0309 is located on the outside, and a stop block 031001 is fixedly set on the top of the short claw finger 0310, the long claw finger 0309 is mainly used to hold the folded clothes after the clothes are folded, and the short claw finger 0310 is used to clamp the buttons 020901 on both sides of the push-type foldable clothes hanger 0209 to fold the push-type foldable clothes hanger 0209 and to clamp the push-type foldable clothes hanger 0209 when transferring clothes that do not need to be folded, and the stop block 031001 is used to prevent the push-type foldable clothes hanger 0209 from slipping.

[0020] The folding machine unit 04 comprises a folding machine 0401 and a fixed vertical plate 0402, wherein the fixed vertical plate 0402 is fixedly connected to one end of the mechanical arm back plate 0311, the fixed vertical plate 0402 is fixedly connected to a vertical guide rail 0403 and a folding machine transmission mechanism 0404, elastic blocks 0407 are fixedly arranged at both ends of the vertical guide rail 0403, which play a buffering and protective role when the folding machine 0401 moves to the extreme position, the folding machine transmission mechanism 0404 adopts belt drive or screw module drive, the folding machine transmission mechanism 0404 is driven by a second servo motor 040401, the folding machine transmission mechanism 0404 is transmission-connected to a second slider 0405, the second slider 0405 is slidably connected to the vertical guide rail 0403, the folding machine 0401 is fixedly connected to the second slider 0405 via a folding machine mounting frame 0406, and under the driving action of the second servo motor 040401, the folding machine 0401 moves along the vertical guide rail 0403. 03 moves up and down, the folding machine 0401 is provided with a folding mechanism, a dropping mechanism and a storage chamber 040101, the storage chamber 040101 is located at the lower part of the dropping mechanism, the folding mechanism is provided with a side flip plate 040102, a middle flip plate 040103, a third servo motor 040105 and a fourth servo motor 040106, the third servo motor 040105 and the fourth servo motor 040106 respectively control the side flip plate 040102, the middle flip plate The flipping of 040103 is used for folding clothes. The clothes dropping mechanism is provided with a clothes dropping board 040104 and a fifth servo motor 040107. The fifth servo motor 040107 controls the closing or opening of the clothes dropping board 040104. When the clothes dropping board 040104 is in the closed state, it forms a flat clothes folding platform together with the side flip plate 040102 and the middle flip plate 040103. When the clothes dropping board 040104 is opened, the folded clothes can fall down into the clothes storage cavity 040101.

[0021] Among them, the clothes hanging rod unit 06 includes a clothes hanging rod 0601, both ends of which are fixedly connected to the cabinet body 01, and a number of hanging positions 0603 are evenly arranged on the clothes hanging rod 0601 for hanging clothes that do not need to be folded. Limit blocks 0602 are fixedly arranged at both ends of the clothes hanging positions 0603 to prevent the hangers from sliding. Each clothes hanging position 0603 is provided with a groove, and a film sensor 0604 is installed in the groove to feedback whether there is a hanger on this hanging position. The film sensor 0604 is communicatively connected to the main control system 08, and a wire slot box 0605 is fixedly arranged at the bottom of the clothes hanging rod 0601 to facilitate the threading of the film sensor 0604 and maintain its appearance.

[0022] Among them, the clothing storage compartment unit 05 is provided with a plurality of rectangular array clothing storage compartments 0501, each clothing storage compartment unit 0501 is provided with an infrared reflection sensor 0502 and a clothing anti-following structure, the infrared reflection sensor 0502 is fixedly installed on the bottom of the upper plate and is communicated with the main control system 08, and is used to feedback whether there are clothes placed in this clothing storage compartment, and the clothing anti-following structure includes a clothing stop block 0503, and the number of the clothing stop blocks 0503 is two. The clothing stop block 0503 is fixedly connected to the lower plate of the clothing storage compartment 0501 and is located at one end of the lower plate of the clothing storage compartment 0501 facing the back plate of the cabinet body 01, so as to prevent the clothes from following the movement of the clamp finger 0308 when the clamp finger 0308 returns after storing the folded clothes in the clothing storage compartment 0501, so as to ensure that the clothes remain in the clothing storage compartment 0501.

[0023] Among them, the visual recognition module 07 is a depth camera, which is installed on the top of the cabinet 01. The shooting direction of the visual recognition module 07 is facing the hanger ring 0208 at the right rear corner of the rotating hanger unit 02, and is used to obtain the accurate position of the push-type foldable hanger 0209 and the information of the clothes hung there.

[0024] Among them, the main control system 08 includes a touch screen 0801, a control module, a storage module, a communication module and an AI image processing module. The touch screen 0801 is installed on the wardrobe door panel for human-computer interaction. The control module is used for calculation and control. The storage module is used to store clothing information, preset information, system operation data, etc. The AI ​​image processing module integrates artificial intelligence algorithms for clothing recognition.

[0025] The working method of the smart wardrobe comprises the following steps: S1, system initialization: establish the workstation coordinate information table of the rotating hanger unit 02, establish the storage compartment coordinate information table of the storage compartment unit 05 and make a one-to-one correspondence with the infrared reflection sensor 0502, establish the clothes hanging position coordinate information table of the clothes hanging rod unit 06 and make a one-to-one correspondence with the film sensor 0604, input the corresponding information into the storage module of the main control system 08, and establish a clothing database; S2, start working: the user hangs the dried clothes on the push-type foldable hanger 0209 of the rotating hanger unit 02, inputs the start command through the touch screen 0801, and the main control system 08 starts and activates the lighting module 09; S3, first station detection: the visual recognition module 07 collects images of the hanger ring 0208 at the right rear corner of the rotating hanger unit 02, which is set as the first station 02A. The main control system 08 determines whether there are clothes and the type of clothes hung at the first station 02A through image analysis. If the clothes are clothes that need to be folded (such as T-shirts), the process jumps to step S4. If the clothes are clothes that do not need to be folded (such as jackets), the process jumps to step S7. If there is no hanger or the hanger is empty, the process jumps to step S8. S4. Spread the clothes on the folding machine 0401: the first servo motor 0202 is started to move the clothes at the first station 02A to the left of the wardrobe for 2-3 stations, that is, to the third station 02C or the fourth station 02D and then stop. The second servo motor 040401 is started and drives the folding machine 0401 to move a certain distance upward until the hem of the clothes touches the folding machine 0401. Then the first servo motor 0202 is reversed to drive the collar of the clothes from the third station 02C or the fourth station 02D to the first station 02A. At the same time, the folding machine 0401 continues to move upward. Since the hem of the clothes falls on the tail of the folding machine 0401 and due to the friction, the hem of the clothes is at the folding machine 0401. 01 tail, and the collar part moves to the first station 02A with the movement of the push-type foldable hanger 0209. The lower half of the whole piece of clothing is on the folding machine 0401, and the upper half is inclined with the folding machine 0401, until most of the clothing falls on the folding machine 0401, the robot arm unit 03 moves to make the clamping finger 0308 clamp the button 020901 of the push-type foldable hanger 0209 at the first station 02A, so that the push-type foldable hanger 0209 is folded, and the collar of the clothing slides down under the action of gravity, and the clothing completely falls on the folding machine 0401 and remains in a flat state, so that the folding machine 0401 can fold the clothing, and the push-type foldable hanger 0209 still remains on the rotating hanger unit 02; S5, clothes folding: the clothes folding machine 0401 moves downward to the bottom and starts folding clothes through the clothes folding mechanism. The third servo motor 040105 and the fourth servo motor 040106 respectively turn over the side flip plate 040102 and the middle flip plate 040103 to realize the clothes folding function. The clamping finger 0308 moves to the clothes storage cavity 040101 and is in an open state. After the clothes folding is completed, the fifth servo motor 040107 is actuated to open the clothes dropping plate 040104, so that the folded clothes fall on the clamping finger 0308; S6. Place the folded clothes in the storage compartment 0501: The main control system 08 detects whether there are clothes in the storage compartment 0501 through the infrared reflection sensor 0502, and then assigns the coordinates of an empty storage compartment, and controls the robot arm unit 03 to move, so that the gripper finger 0308 lifts the folded clothes and transfers them to the assigned storage compartment, and the folded clothes are retained in the storage compartment through the clothing anti-following structure. During the placement process, the bottom of the gripper finger 0308 is higher than the clothing stop block 0503 and extends into the storage compartment 0501, then moves down to the lower plate of the storage compartment 0501, and then retracts. The clothes remain in the storage compartment under the obstruction of the clothing stop block 0503.

[0026] S7, transferring the clothes that do not need to be folded to the clothes hanging rod unit 06: the main control system 08 detects whether there are clothes hanging on the clothes hanging position 0603 through the film sensor 0604, and then allocates the coordinates of an empty clothes hanging position, and controls the robot arm unit 03 to move, so that the clamping claw 0308 clamps the push-type foldable hanger 0209 at the first station 02A, and transfers the push-type foldable hanger 0209 together with the clothes to the clothes hanging rod unit 06 and hangs it on the allocated clothes hanging position; S8, the rotating hanger unit 02 rotates one station, and steps S3-S7 are repeated until the rotating hanger unit 02 rotates one circle and all stations are detected, and the work is ended, and the processing of all clothes hung on the rotating hanger unit 02 is completed.

[0027] In another embodiment, the clothing anti-following structure includes a plurality of grid-shaped holes opened on the lower plate of the clothing storage compartment 0501, and the grid-shaped holes are open at one end of the lower plate of the clothing storage compartment 0501 toward the back of the cabinet body 01. When the clamping fingers 0308 are placing the folded clothing, the clamping fingers 0308 extend into the clothing storage compartment 0501 with the clothing, move downward, pass through the grid-shaped holes, and then return, and the clothing remains in the clothing storage compartment.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic clothes folding and storage smart wardrobe, comprising a cabinet body (01), characterized in that: The cabinet (01) further comprises a rotating hanger unit (02), a mechanical arm unit (03), a clothes folding machine unit (04), a visual recognition module (07), a main control system (08) and a lighting module (09). The cabinet (01) is provided with a temporary clothes hanging area (0101), a folded clothes placement area (0102) and a clothes storage hanging area (0103) from left to right. The folded clothes placement area (0102) is fixedly provided with a clothes storage grid unit (05). The clothes storage hanging area (0103) is provided with a storage grid unit (05). A clothes hanging rod unit (06) is fixedly arranged at the top of the wardrobe; the space between the clothes storage compartment unit (05), the clothes hanging rod unit (06) and the back plate of the cabinet body (01) is a mechanical arm activity area (0104); the rotating hanger unit (02) is fixedly arranged at the top of the temporary clothes hanging area (0101); a plurality of push-type foldable hangers (0209) are hung below the rotating hanger unit (02); the push-type foldable hangers (0209) located in the rear row of the rotating hanger unit (02) are arranged on the wardrobe The length direction faces the mechanical arm activity area (0104), the mechanical arm unit (03) is fixedly connected to the cabinet (01) and is located in the mechanical arm activity area (0104), the mechanical arm unit (03) is provided with an electric clamp (0307), the activity range of the electric clamp (0307) covers the folded clothing placement area (0102) and the storage hanging area (0103), and the clothes folding machine unit (04) is fixedly arranged between the temporary hanging area (0101) and the folded clothing placement area (0102), the folding machine unit (04) is provided with a folding machine (0401), the folding machine (0401) is located directly below the push-type foldable hangers (0209) in the rear row of the rotating hanger unit (02) and is slidably connected to the cabinet (01) in a vertical direction, and the main control system (08) is respectively connected to the rotating hanger unit (02), the mechanical arm unit (03), the folding machine unit (04), the visual recognition module (07), and the lighting module (09) for communication.

2. The automatic clothes folding and storage smart wardrobe according to claim 1, characterized in that: The rotating hanger unit (02) comprises a hanger mounting plate (0201), the hanger mounting plate (0201) being fixedly connected to a top plate of a cabinet body (01) via a suspension rod (0210), the hanger mounting plate (0201) being fixedly connected to a circular track (0206), the hanger mounting plate (0201) being respectively installed with a first driving pulley (0203) and a first driven pulley (0204) at two ends inside the circular track (0206), the first driving pulley (0203) being driven by a first servo motor (0202), the first driven pulley (0204) being transmission-connected to the first driving pulley (0203) via a first belt (0205), the first belt (0205) being evenly fixedly connected to a plurality of first sliders (0207), the first sliders (0207) being rollingly slidingly connected to the circular track (0206), and hanger rings (0208) being fixedly connected to both sides of the first slider (0207).

3. The automatic clothes folding and storage smart wardrobe according to claim 1, characterized in that: The robot unit (03) comprises a robot back plate (0311) and an X-axis transmission mechanism (0301), a Y-axis transmission mechanism (0302) and a Z-axis transmission mechanism (0303) distributed in three coordinates; the robot back plate (0311) is fixedly connected to the cabinet (01) and is located at the back of the cabinet (01); the X-axis transmission mechanism (0301) is fixedly connected to the robot back plate (0311); the Y-axis transmission mechanism (0302) is transmission-connected to the X-axis transmission mechanism (0301); the Z-axis transmission mechanism (0303) is transmission-connected to the Y-axis transmission mechanism (0302); the X-axis transmission mechanism (0301), the Y-axis transmission mechanism (0302) and the Z-axis transmission mechanism (0303) are respectively connected to the X-axis servo motor (03010) 1), driven by a Y-direction servo motor (030201) and a Z-direction servo motor (030301), the Z-direction transmission mechanism (0303) is transmission-connected with a connecting plate (0304), the connecting plate (0304) is installed with a rotating servo motor (0305), the rotating servo motor (0305) is transmission-connected with an electric clamp (0307) through a connecting seat (0306), the electric clamp (0307) is installed with two clamp fingers (0308), the clamp fingers (0308) are symmetrically arranged, the clamp fingers (0308) are provided with parallel long claw fingers (0309) and short claw fingers (0310), the long claw fingers (0309) are located on the outside, and a stop block (031001) is fixedly arranged at the top of the short claw finger (0310).

4. The automatic clothes folding and storage smart wardrobe according to claim 1, characterized in that: The clothes folding machine unit (04) comprises a clothes folding machine (0401) and a fixed vertical plate (0402), wherein the fixed vertical plate (0402) is fixedly connected to one end of a mechanical arm back plate (0311), the fixed vertical plate (0402) is fixedly connected to a vertical guide rail (0403) and a clothes folding machine transmission mechanism (0404), elastic blocks (0407) are fixedly arranged at both ends of the vertical guide rail (0403), and the clothes folding machine transmission mechanism (0404) is driven by a second servo motor (0404). 01), the folding machine transmission mechanism (0404) is transmission-connected to a second slider (0405), the second slider (0405) is slidably connected to a vertical guide rail (0403), the folding machine (0401) is fixedly connected to the second slider (0405) via a folding machine mounting frame (0406), the folding machine (0401) is provided with a folding mechanism, a dropping mechanism and a clothes storage chamber (040101), and the clothes storage chamber (040101) is located at the lower part of the dropping mechanism.

5. The automatic clothes folding and storage smart wardrobe according to claim 1, characterized in that: The clothes hanging rod unit (06) comprises a clothes hanging rod (0601), both ends of the clothes hanging rod (0601) are fixedly connected to the cabinet body (01), a plurality of clothes hanging positions (0603) are evenly arranged on the clothes hanging rod (0601), limiting blocks (0602) are fixedly arranged at both ends of the clothes hanging positions (0603), each clothes hanging position (0603) is provided with a groove, a film sensor (0604) is installed in the groove, the film sensor (0604) is communicatively connected to the main control system (08), and a wire slot box (0605) is fixedly arranged at the bottom of the clothes hanging rod (0601).

6. The automatic clothes folding and storage smart wardrobe according to claim 1, characterized in that: The clothing storage compartment unit (05) is provided with a plurality of clothing storage compartments (0501) in a rectangular array, each clothing storage compartment unit (0501) is provided with an infrared reflection sensor (0502) and a clothing anti-following structure, the infrared reflection sensor (0502) is fixedly mounted on the bottom of the upper plate and is communicatively connected to the main control system (08), the clothing anti-following structure comprises a clothing stopper block (0503), the number of the clothing stopper blocks (0503) is two, the clothing stopper blocks (0503) are fixedly connected to the lower plate of the clothing storage compartment (0501) and are located at one end of the lower plate of the clothing storage compartment (0501) facing the back plate of the cabinet body (01).

7. The automatic clothes folding and storage smart wardrobe according to claim 1, characterized in that: The visual recognition module (07) is a depth camera, and the visual recognition module (07) is installed on the top of the cabinet (01). The shooting direction of the visual recognition module (07) faces the hanger ring (0208) at the right rear corner of the rotating hanger unit (02).

8. The automatic clothes folding and storage smart wardrobe according to claim 1, characterized in that: The main control system (08) comprises a touch screen (0801), a control module, a storage module, a communication module and an AI image processing module, and the touch screen (0801) is installed on the wardrobe door panel.

9. The working method according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, system initialization: establishing a workstation coordinate information table of the rotating hanger unit (02), establishing a clothes storage compartment coordinate information table of the clothes storage compartment unit (05) and making a one-to-one correspondence with the infrared reflection sensor (0502), establishing a clothes hanging position coordinate information table of the clothes hanging rod unit (06) and making a one-to-one correspondence with the film sensor (0604), inputting the corresponding information into the storage module of the main control system (08), and establishing a clothing database; S2, start working: the user inputs a start command through the touch screen (0801), and the main control system (08) starts and activates the lighting module (09); S3, first station detection: the visual recognition module (07) collects images of the hanger ring (0208) at the right rear corner of the rotating hanger unit (02), which is set as the first station (02A). The main control system (08) determines whether there are clothes hung at the first station (02A) and the type of clothes through image analysis. If the clothes need to be folded, the main control system (08) jumps to step S4; if the clothes do not need to be folded, the main control system jumps to step S7; if there is no hanger or the hanger is empty, the main control system jumps to step S8; S4. Spreading the clothes on the folding machine (0401): the first servo motor (0202) is started to move the clothes at the first station (02A) to the left of the wardrobe by 2-3 stations, that is, to the third station (02C) or the fourth station (02D) and then stop. The second servo motor (040401) is started and drives the folding machine (0401) to move a certain distance upward until the hem of the clothes touches the folding machine (0401). Then, the first servo motor (0202) is reversed to drive the collar of the clothes to move from the third station (02C) or the fourth station (02D) to the first station (02A). The folding machine (0401) continues to move upward until most of the clothes fall on the folding machine (0401), and the robot arm unit (03) moves to make the clamping finger (0308) clamp the button (020901) of the push-type foldable hanger (0209) at the first station (02A), so that the push-type foldable hanger (0209) is folded, and the collar of the clothes slides downward under the action of gravity, and the clothes completely fall on the folding machine (0401) and remain in a flat state, and the push-type foldable hanger (0209) remains on the rotating hanger unit (02); S5, clothes folding: the clothes folding machine (0401) moves downward to the bottom and starts folding clothes through the clothes folding mechanism, and the clamping claw finger (0308) moves to the clothes storage chamber (040101). After the clothes folding is completed, the clothes dropping mechanism opens the clothes dropping plate (040104), so that the folded clothes fall on the clamping claw finger (0308); S6, placing the folded clothes in the storage compartment (0501): the main control system (08) detects whether there are clothes in the storage compartment (0501) through the infrared reflection sensor (0502), allocates the coordinates of an empty storage compartment, and controls the robot arm unit (03) to move, so that the gripper finger (0308) lifts the folded clothes and transfers them to the allocated storage compartment, and the folded clothes are left in the storage compartment through the clothes anti-following structure; S7, transferring the clothes that do not need to be folded to the clothes hanging rod unit (06): the main control system (08) detects whether there are clothes hanging on the clothes hanging position (0603) through the film sensor (0604), and then allocates the coordinates of an empty clothes hanging position, and controls the robot arm unit (03) to move, so that the gripper finger (0308) clamps the push-type foldable clothes hanger (0209) at the first work station (02A), and transfers the push-type foldable clothes hanger (0209) together with the clothes to the clothes hanging rod unit (06), and then hangs it on the allocated clothes hanging position; S8, the rotating hanger unit (02) rotates one station, and steps S3-S7 are repeated until the rotating hanger unit (02) rotates one circle and all stations are inspected, and the work is finished.

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