Intelligent garment steamer robot, system and method

Abstract

The invention relates to the technical field of garment hanging ironing, in particular to an intelligent hanging ironing robot, system and method.The intelligent hanging ironing robot comprises a base, a four-freedom-degree movement mechanism, a steam ironing head assembly, a garment fixing support and a fixing element; a temperature sensor, a first pressure sensor and a porous steam nozzle are arranged on the ironing head module, and an ironing electrical element is arranged in the ironing head module, so that water supplied in the liquid storage tank is sprayed out through the porous steam nozzle after being heated and atomized; the clothes fixing support is arranged on the base and comprises a main ironing plate and sleeve plates, the main ironing plate and the ironing head module are oppositely arranged, and the sleeve plates are arranged on the two sides of the main ironing plate; the fixing element is used for fixing clothes on the clothes fixing support. Through cooperation of all the components, the efficient, accurate, safe and convenient clothes ironing function is achieved, and better ironing experience is brought to a user.

Description

Technical Field

[0001] The present invention relates to the technical field of clothing hanging ironing, and particularly to an intelligent hanging ironing robot, system and method. Background Art

[0002] A hanging ironing machine continuously contacts clothes and fabrics with the hot steam generated inside to soften the fiber tissues of the clothes and fabrics, and flattens the clothes and fabrics through the actions of "pulling", "pressing" and "spraying", making the clothes and fabrics as good as new. For an ordinary hanging ironing machine, the main components include an inner core (steam heater), a body shell, a water tank, a steam nozzle, a steam conduit, a bracket, an ironing board and other accessories. The ironing board of the hanging ironing machine usually has two states; the ironing board is perpendicular to the vertical bracket of the hanging ironing machine and in a horizontal state for laying clothes to assist ironing; the ironing board is parallel to the vertical bracket of the hanging ironing machine and in a vertical state for storage to save space.

[0003] In the prior art, when the ironing board is generally in a horizontal state for laying clothes to assist ironing, it is necessary to hold the steam nozzle and continuously move the steam nozzle towards the ironing board so that each part of the clothes laid on the ironing board can be fully ironed. Holding the steam nozzle and moving it continuously is time-consuming and laborious, and the ironing is uneven. Summary of the Invention

[0004] To solve the above problems, through the coordinated cooperation of various components, the present invention realizes an intelligent hanging ironing robot, system and method with efficient, precise, safe and convenient clothing ironing functions, bringing a better ironing experience to users.

[0005] The technical solution adopted by the present invention is: an intelligent hanging ironing robot, including a base, a four-degree-of-freedom motion mechanism, a steam ironing head assembly, a clothing fixing bracket and a fixing element. The four-degree-of-freedom motion mechanism is arranged on the base. The four-degree-of-freedom motion mechanism includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module: the X-axis linear module is sequentially connected to the Y-axis linear module and the Z-axis linear module; the steam ironing head assembly includes a liquid storage tank, a flexible pipeline and an ironing head module. The liquid storage tank is arranged on the base. The flexible pipeline is used to connect the liquid storage tank with the ironing head module. The ironing head module is arranged on the Z-axis linear module. A temperature sensor, a first pressure sensor and a porous steam nozzle are arranged on the ironing head module. Ironing electrical components are arranged in the ironing head module to heat and atomize the water supplied from the liquid storage tank and spray it out through the porous steam nozzle; the clothing fixing bracket is arranged on the base. The clothing fixing bracket includes a main ironing board and a sleeve board. The main ironing board is arranged opposite to the ironing head module. The sleeve board is arranged on both sides of the main ironing board; the fixing element is used to fix the clothes on the clothing fixing bracket.

[0006] A further improvement to the above solution is that the X-axis linear module adopts a synchronous belt + slide rail structure, with a stroke of 600 - 1000 mm and is driven by a stepper motor.

[0007] A further improvement to the above solution is that the Y-axis linear module adopts a ball screw + slide rail structure, with a stroke of 1000 - 1500 mm and is driven by a stepper motor.

[0008] A further improvement to the above solution is that the temperature sensor is used to measure the temperature of the ironing head module, with a measurement range of 50 - 250 °C; the pressure range of the first pressure sensor is 0 - 20 N, and the aperture size of the porous steam nozzle is 0.5 - 1.2 mm.

[0009] A further improvement to the above solution is that the Z-axis linear module is provided with a second pressure sensor and an incremental encoder, with a stroke of 100 - 200 mm. The Z-axis linear module is provided with a rotary module, and the Z-axis linear module is connected to the ironing head module through the rotary module. The rotary module includes a harmonic reducer and an absolute encoder to achieve 360° continuous rotation.

[0010] A further improvement to the above solution is that the Z-axis linear module is provided with a pressure feedback closed-loop control system, and the pressure control algorithm is:

[0011] Where: e(t) = P set -P actual , K p = 0.8, K i = 0.05, K d = 0.2.

[0012] A further improvement to the above solution is that the rotary module is provided with a direction compensation module, and the rotation angle is calculated through the trajectory curvature:

[0013] Where R is the curvature radius of the motion trajectory and v is the moving speed of the ironing head.

[0014] A further improvement to the above solution is that the steam nozzle is provided with a flow control system, and the steam volume calculation formula is:

[0015]

[0016] Where α is the material coefficient, T is the temperature, ΔP is the pressure difference, and ρ is the steam density.

[0017] A further improvement to the above solution is that the main ironing board and the sleeve board are both formed independently, and the sleeve board is telescopically and movably arranged on both sides of the main ironing board; the fixing element is a samarium-cobalt magnet for adsorbing and fixing the clothes on the main ironing board and the sleeve board.

[0018] An intelligent ironing system, including an intelligent ironing robot;

[0019] A visual processing unit, configured with:

[0020] A 20-megapixel CMOS sensor;

[0021] A fabric wrinkle detection model based on U-Net;

[0022] A fabric material classification CNN network;

[0023] A trajectory planning engine, implementing:

[0024] Region segmentation based on Delaunay triangulation;

[0025] Path optimization using an improved ant colony algorithm;

[0026] Smoothing processing of NURBS curve interpolation;

[0027] A multi-physical field coupling controller, integrating:

[0028] Temperature-pressure PID linkage control;

[0029] Steam-movement speed feedforward compensation;

[0030] Magnetic field-fabric tension balance adjustment;

[0031] The trajectory planning engine includes a deformation compensation module, establishing a thermal-mechanical coupling model:

[0032] ∈=β·ΔT+γ·F n

[0033] Where β = 1.2×10 -5 / °C, γ = 0.08 mm / N, and the trajectory coordinates are adjusted in real time.

[0034] An intelligent ironing method, including an intelligent ironing robot;

[0035] The intelligent ironing method includes

[0036] Step a, the shaping stage:

[0037] Generating an adaptive magnetic field distribution through an electromagnetic array;

[0038] Adjusting the tilt angle of the clothing fixing bracket according to the fabric thickness;

[0039] Step b, the visual processing stage:

[0040] Obtaining the three-dimensional topography of the fabric using multi-spectral imaging technology;

[0041] Segment the ironing area based on the HSV color space;

[0042] Step c, Trajectory generation stage:

[0043] Calculate the optimal path spacing d = 8 - 12 mm;

[0044] Generate a variable - density spiral scanning path;

[0045] Step d, Execution stage:

[0046] Implement a three - closed - loop control of speed - temperature - pressure;

[0047] Adjust the steam injection parameters according to real - time thermal imaging.

[0048] A further improvement to the above solution is that in step c, a hybrid path planning algorithm is adopted, including:

[0049] Use the equidistant offset algorithm for the flat area;

[0050] Use the improved Hamilton path for complex curved surfaces;

[0051] Use Bézier curves for smooth connection in the transition area;

[0052] Path optimization objective function:

[0053] min(w 1 ·T + w 2 ·E + w 3 ·S)

[0054] Where T is time, E is energy consumption, S is the safety factor, w1 = 0.5, w2 = 0.3, w3 = 0.2.

[0055] The beneficial effects of the present invention are:

[0056] Compared with the existing hanging ironing machine, the present invention can make the ironing head module move freely in three-dimensional space through the coordinated work of the X-axis, Y-axis and Z-axis linear modules of the four-degree-of-freedom motion mechanism, and accurately reach various parts of the clothes for ironing operations. Whether it is a large area of ​​the main body of the clothes or complex details such as the collar and cuffs, all-round and no-dead-angle ironing can be achieved, effectively avoiding the problem of uneven ironing that may occur in traditional ironing methods, and ensuring the overall flatness and aesthetics of the clothes. The reasonable layout of the liquid storage tank, flexible pipeline and ironing head module of the steam iron assembly ensures the stability and convenience of water supply. The temperature sensor monitors the temperature of the iron in real time to avoid damage to the clothes due to excessive temperature; the first pressure sensor can accurately adjust the steam pressure according to the material of the clothes and the actual ironing needs, so that clothes of different textures can get the right ironing force. The porous steam nozzle sprays the heated and atomized water evenly, which can not only quickly wet the clothing fibers and make them easier to shape, but also ensure uniform steam distribution and improve ironing efficiency. The structural design of the clothing fixing bracket provides support for the ironing process. The main ironing plate and the ironing head module are arranged opposite to each other, providing a stable ironing plane for the clothing; the sleeve plates on both sides are specially designed for the sleeve part, so that the sleeves can be fully and smoothly ironed. The presence of the fixing element further ensures that the clothing remains stable during the ironing process, prevents the clothing from shifting, and ensures the accuracy and consistency of ironing. Through the coordinated cooperation of various components, the present invention realizes an efficient, accurate, safe and convenient clothing ironing function, bringing users a better ironing experience.

[0057] Intelligent hanging ironing system. In terms of wrinkle detection and fabric material identification, a 20-megapixel CMOS sensor, combined with a fabric wrinkle detection model based on U-Net, can accurately capture the fine wrinkle conditions on the fabric surface, providing detailed data support for subsequent precise ironing. The fabric material classification CNN network can quickly and accurately identify the fabric material, and formulate more suitable ironing parameters according to the characteristics of different materials, greatly improving the pertinence and professionalism of hanging ironing. In the trajectory planning engine part, based on the region segmentation of Delaunay triangulation, it can effectively divide the area of the fabric to be ironed, making the hanging ironing path planning more reasonable. The path optimization of the improved ant colony algorithm enables the hanging ironing robot to find the optimal path when performing tasks, reducing unnecessary movement, improving work efficiency while reducing energy consumption. The smoothing process of NURBS curve interpolation ensures the smoothness of the trajectory of the hanging ironing robot during movement, avoiding damage to the fabric caused by sudden path changes. The integrated temperature-pressure PID linkage control of the multi-physical field coupling controller can accurately adjust the temperature and pressure according to the fabric material and the real-time ironing situation, ensuring an ideal ironing effect in different situations. The steam-movement speed feedforward compensation enables the hanging ironing robot to accurately control the steam volume at different movement speeds, ensuring the uniformity of ironing. The magnetic field-fabric tension balance adjustment, through the magnetic field effect, balances the fabric tension in real time, preventing the fabric from being stretched and deformed due to uneven tension. The deformation compensation module in the trajectory planning engine adjusts the trajectory coordinates in real time by establishing a thermal-mechanical coupling model. It fully considers the deformation of the fabric caused by the action of heat and force during ironing, ensuring that the hanging ironing robot always works along the best trajectory, further improving the ironing quality, and achieving high precision, high efficiency and high reliability of intelligent hanging ironing.

[0058] Intelligent ironing method. During the shaping stage, the adaptive magnetic field distribution generated by the electromagnetic array can effectively fix the clothing, ensuring the stability of the clothing during the ironing process. Adjusting the tilt angle of the clothing fixing bracket according to the fabric thickness can adapt to the characteristics of different types of fabrics, avoiding uneven ironing caused by too thick or too thin fabrics, and improving the accuracy and flatness of ironing from the basic level. In the visual processing stage, the three-dimensional topography of the fabric obtained by the multispectral imaging technology provides detailed spatial information for subsequent ironing operations, enabling the ironing robot to better grasp the contour of the clothing. Segmenting the ironing area based on the HSV color space can accurately identify the parts that need to be processed, reduce unnecessary operations, improve work efficiency, and enhance the processing ability of specific areas of the clothing. In the trajectory generation stage, the hybrid path planning algorithm plays an important role. The use of the equidistant offset algorithm in the flat area ensures the uniformity of ironing; the improved Hamilton path is optimized for complex curved surfaces and can closely fit the complex shape of the clothing to achieve comprehensive and detailed ironing; the smooth connection of the Bézier curve in the transition area makes the movement of the ironing robot smoother, reducing the possible pauses or incoherences caused by sudden path changes. At the same time, the path optimization objective function comprehensively considers time, energy consumption, and safety factor, and through reasonable weight distribution, achieves the optimization balance of multiple objectives, improving work efficiency, reducing energy consumption, and ensuring safety during use. In the execution stage, the three closed-loop control of speed-temperature-pressure ensures the accuracy of ironing parameters, and stable operation can be carried out according to the preset requirements regardless of the clothing material. The adjustment of the steam injection parameters by real-time thermal imaging further improves the ironing effect, enabling the clothing to obtain the right amount of steam in different parts and achieving the ideal flatness and dryness. Overall, the combination of this solution and the intelligent ironing robot realizes efficient, accurate, and intelligent ironing operations. Description of the Drawings

[0059] Figure 1 It is a schematic structural diagram of the intelligent ironing robot of the present invention;

[0060] Figure 2 is Figure 1 a schematic structural diagram of another perspective of the intelligent ironing robot in

[0061] Figure 3 is Figure 1 a schematic structural diagram of the ironing head module of the intelligent ironing robot in

[0062] Description of reference numerals: base 1, four-degree-of-freedom motion mechanism 2, X-axis linear module 21, Y-axis linear module 22, Z-axis linear module 23, second pressure sensor 231, incremental encoder 232, rotation module 233, steam ironing head assembly 3, liquid storage tank 31, flexible pipe 32, ironing head module 33, temperature sensor 331, first pressure sensor 332, porous steam nozzle 333. Clothing fixing bracket 4, main ironing board 41, sleeve board 42, fixing element 5. Detailed implementation manners

[0063] For ease of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0064] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0066] As Figures 1 to 3As shown in the figure, in an embodiment of the present invention, an intelligent hanging ironing robot is involved, which includes a base 1, a four-degree-of-freedom motion mechanism 2, a steam ironing head assembly 3, a clothing fixing bracket 4, and a fixing element 5. The four-degree-of-freedom motion mechanism 2 is arranged on the base 1. The four-degree-of-freedom motion mechanism 2 includes an X-axis linear module 21, a Y-axis linear module 22, and a Z-axis linear module 23: The X-axis linear module 21 is sequentially connected to the Y-axis linear module 22 and the Z-axis linear module 23; The steam ironing head assembly 3 includes a liquid storage tank 31, a flexible pipeline 32, and an ironing head module 33. The liquid storage tank 31 is arranged on the base 1. The flexible pipeline 32 is used to connect the liquid storage tank 31 and the ironing head module 33. The ironing head module 33 is arranged on the Z-axis linear module 23. A temperature sensor 331, a first pressure sensor 332, and a porous steam nozzle 333 are arranged on the ironing head module 33. Ironing electrical components (not shown in the figure) are arranged inside the ironing head module 33 to heat and atomize the water supplied in the liquid storage tank 31 and spray it out through the porous steam nozzle 333; The clothing fixing bracket 4 is arranged on the base 1. The clothing fixing bracket 4 includes a main ironing board 41 and a sleeve board 42. The main ironing board 41 is arranged opposite to the ironing head module 33. The sleeve board 42 is arranged on both sides of the main ironing board 41; The fixing element 5 is used to fix the clothing on the clothing fixing bracket 4. Through the coordinated work of the X-axis, Y-axis, and Z-axis linear modules 23 of the four-degree-of-freedom motion mechanism 2 of the present invention, the ironing head module 33 can move freely in three-dimensional space and accurately reach various parts of the clothing for ironing operations. Whether it is the large-area main part of the clothing or complex detail areas such as the collar and cuffs, it can achieve all-round and dead-angle-free ironing, effectively avoiding the problem of uneven ironing that may occur in traditional ironing methods, and ensuring the overall flatness and beauty of the clothing. The reasonable layout of the liquid storage tank 31, the flexible pipeline 32, and the ironing head module 33 of the steam ironing head assembly 3 ensures the stability and convenience of water supply. The temperature sensor 331 monitors the ironing head temperature in real time to avoid damaging the clothing due to excessive temperature; The first pressure sensor 332 can accurately adjust the steam pressure according to the clothing material and actual ironing requirements, so that different textures of clothing can obtain just the right ironing force. The porous steam nozzle 333 evenly sprays the heated and atomized water, which can not only quickly moisten the clothing fibers to make them easier to shape, but also ensure uniform steam distribution and improve the ironing efficiency. The structural design of the clothing fixing bracket 4 provides support for the ironing process. The main ironing board 41 is arranged opposite to the ironing head module 33, providing a stable ironing plane for the clothing; The sleeve boards 42 on both sides are specifically designed for the sleeve parts, enabling the sleeves to be fully and smoothly ironed. The existence of the fixing element 5 further ensures that the clothing remains stable during the ironing process, prevents the clothing from shifting, and guarantees the accuracy and consistency of ironing. Through the coordinated cooperation of each component, the present invention realizes the functions of efficient, accurate, safe, and convenient clothing ironing, bringing a better ironing experience to users.

[0067] The X-axis linear module 21 adopts a synchronous belt + slide rail structure, with a stroke of 600 - 1000 mm and is driven by a stepper motor; the Y-axis linear module 22 adopts a ball screw + slide rail structure, with a stroke of 1000 - 1500 mm and is driven by a stepper motor. In this embodiment, the X-axis synchronous belt + slide rail structure, combined with the stepper motor drive, can achieve fast and stable linear motion within a stroke of 600 - 1000 mm. The use of the synchronous belt not only has a high transmission efficiency but also can effectively reduce the running noise, enabling the hanging ironing robot to move precisely and efficiently in the X-axis direction and quickly locate the area of the clothing to be ironed. The Y-axis adopts a ball screw + slide rail structure. Within a stroke of 1000 - 1500 mm, relying on the high-precision and high-load characteristics of the ball screw, it ensures the stable operation of the hanging ironing robot in the Y-axis direction, providing strong support for ironing large-area clothing. The stepper motor drive can accurately control the displacement amount, ensuring the uniformity and accuracy of the ironing process, effectively improving the ironing quality, and enabling the intelligent hanging ironing robot to meet the needs of different clothing and different ironing scenarios.

[0068] The temperature sensor 331 is used to measure the temperature of the ironing head module 33, with a measurement range of 50 - 250 °C; the pressure range of the first pressure sensor 332 is 0 - 20 N, and the pore size of the porous steam nozzle 333 is 0.5 - 1.2 mm. In this embodiment, the temperature sensor 331 accurately measures the temperature of the ironing head module 33 within the range of 50 - 250 °C, which can ensure the precise control of the temperature during the ironing process. Different fabrics have different requirements for ironing temperature. This sensor can real-time feedback the temperature information, enabling the intelligent hanging ironing robot to automatically adjust the heating power according to the fabric characteristics, avoiding damaging the clothing due to too high temperature or failing to achieve the ideal ironing effect due to insufficient temperature. The first pressure sensor 332 with a pressure range of 0 - 20 N enables the robot to accurately sense the pressure applied to the clothing during ironing. For clothing with different materials and thicknesses, it can automatically adjust the pressure size, ensure uniform pressure distribution, improve the ironing flatness, and prevent the clothing from deforming due to excessive local pressure. The design of the pore size of the porous steam nozzle 333 of 0.5 - 1.2 mm can effectively control the steam output volume and coverage range. Uniform and appropriate steam output can quickly soften the clothing fibers, cooperate with the ironing action, improve the ironing efficiency and quality, and help the intelligent hanging ironing robot achieve high-quality and all-round ironing operations.

[0069] The Z-axis linear module 23 is provided with a second pressure sensor 231 and an incremental encoder 232, with a stroke of 100 - 200 mm. The Z-axis linear module 23 is provided with a rotary module 233, and the Z-axis linear module 23 is connected to the ironing head module 33 through the rotary module 233. The rotary module 233 includes a harmonic reducer and an absolute encoder, realizing 360° continuous rotation. In this embodiment, the second pressure sensor 231 on the Z-axis linear module can accurately sense the pressure change during the ironing process. Cooperating with the precise measurement of displacement by the incremental encoder 232, it can realize the dynamic adjustment of the ironing pressure within a stroke of 100 - 200 mm, ensuring that different materials of clothes can obtain just the right pressure during ironing, avoiding overpressure damage or poor ironing effect caused by insufficient pressure. The presence of the rotary module 233 greatly improves the flexibility of the hanging ironing robot. The harmonic reducer has a high transmission ratio, high precision, and high torque transmission capacity, ensuring that the ironing head module 33 can rotate continuously and smoothly at 360°. The absolute encoder then real-time feedbacks the rotation angle information, enabling the robot to flexibly adjust the angle of the ironing head according to the shape of the clothes and the ironing requirements, effectively improving the comprehensiveness and fitting degree of ironing and reducing wrinkle omission.

[0070] The Z-axis linear module 23 is equipped with a pressure feedback closed-loop control system, and the pressure control algorithm is:

[0071]

[0072] Where: e(t) = P set -P actual , K p = 0.8, K i = 0.05, K d = 0.2.

[0073] The rotary module 233 is provided with a direction compensation module, and the rotation angle is calculated through the trajectory curvature:

[0074]

[0075] Where R is the radius of curvature of the motion trajectory and v is the moving speed of the ironing head.

[0076] The steam nozzle is provided with a flow control system, and the steam volume calculation formula is:

[0077]

[0078] Where α is the material coefficient, T is the temperature, ΔP is the pressure difference, and ρ is the steam density.

[0079] The main ironing board 41 and the sleeve board 42 are both independently formed. The sleeve board 42 is telescopically and movably arranged on both sides of the main ironing board 41. The fixing element 5 is a samarium-cobalt magnet, which is used to adsorb and fix the clothes on the main ironing board 41 and the sleeve board 42. In this embodiment, the independent design of the main ironing board 41 and the sleeve board 42 and the telescopic movement of the sleeve board 42 on both sides of the main ironing board 41 greatly improve the flexibility and applicability of hanging ironing. It can flexibly adjust the ironing parts and areas according to different clothing types, such as shirts, coats, etc., effectively solving the problem that it is difficult for traditional ironing tools to handle details such as sleeves and collars. Using a samarium-cobalt magnet as the fixing element 5 to firmly adsorb the clothes on the main ironing board 41 and the sleeve board 42 avoids the displacement of the clothes during the ironing process. This not only ensures the smoothness and continuity of ironing, reduces the generation of wrinkles, but also improves the ironing efficiency. At the same time, the samarium-cobalt magnet has strong stability and heat resistance, and can continuously play a role in a high-temperature ironing environment to ensure the adsorption effect.

[0080] An intelligent hanging ironing system includes an intelligent hanging ironing robot;

[0081] A visual processing unit, configured with: a 20-million-pixel CMOS sensor; a fabric wrinkle detection model based on U-Net; a cloth material classification CNN network; a trajectory planning engine, realizing: region segmentation based on Delaunay triangulation; path optimization of an improved ant colony algorithm; smooth processing of NURBS curve interpolation; a multi-physical field coupling controller, integrating: temperature-pressure PID linkage control; steam-movement speed feedforward compensation; magnetic field-fabric tension balance adjustment; The trajectory planning engine includes a deformation compensation module, establishing a thermal-mechanical coupling model: ∈ = β·ΔT + γ·F n ; where β = 1.2×10 -5 / °C, γ = 0.08 mm / N, and the trajectory coordinates are adjusted in real time. In this embodiment, in terms of wrinkle detection and fabric material identification, a 20-million-pixel CMOS sensor is combined with a fabric wrinkle detection model based on U-Net, which can accurately capture the fine wrinkle conditions on the fabric surface, providing detailed data support for subsequent precise ironing. The fabric material classification CNN network can quickly and accurately identify the fabric material, and formulate more suitable ironing parameters according to the characteristics of different materials, greatly improving the pertinence and professionalism of hanging ironing. In the trajectory planning engine part, the region segmentation based on Delaunay triangulation can effectively divide the area of the fabric to be ironed, making the hanging ironing path planning more reasonable. The path optimization of the improved ant colony algorithm enables the hanging ironing robot to find the optimal path when performing tasks, reducing unnecessary movements, improving work efficiency while reducing energy consumption. The smoothing process of NURBS curve interpolation ensures the smoothness of the trajectory of the hanging ironing robot during movement, avoiding damage to the fabric caused by sudden path changes. The integrated temperature-pressure PID linkage control of the multi-physical field coupling controller can accurately adjust the temperature and pressure according to the fabric material and the real-time ironing situation, ensuring an ideal ironing effect in different situations. The steam-movement speed feedforward compensation enables the hanging ironing robot to accurately control the steam volume at different movement speeds, ensuring the uniformity of ironing. The magnetic field-fabric tension balance adjustment uses the magnetic field effect to balance the fabric tension in real time, preventing the fabric from being stretched and deformed due to uneven tension. The deformation compensation module in the trajectory planning engine adjusts the trajectory coordinates in real time by establishing a thermal-mechanical coupling model. The deformation of the fabric caused by the action of heat and force during ironing is fully considered, ensuring that the hanging ironing robot always works along the best trajectory, further improving the ironing quality, and achieving high precision, high efficiency, and high reliability of intelligent hanging ironing.

[0082] In the above embodiment, for the X-axis module: HIWIN MGN12H slide rail, with a stroke of 800 mm, equipped with a 20-mm-wide synchronous belt, and the step angle of the stepper motor is 1.8°; for the Y-axis module: THK SRS15 ball screw, with a lead of 10 mm, a stroke of 1200 mm, and a repeat positioning accuracy of ±0.02 mm; for the Z-axis module: the pressure sensor uses TE Connectivity FX1901 (range 0-30 N), and the encoder resolution is 1000 PPR; for the rotary module 233: HarmonicDrive SHG-25-50-2UH, with a reduction ratio of 50:1, equipped with a multi-turn absolute encoder.

[0083] Image acquisition: Sony IMX586 sensor, shooting resolution 5120×3840, frame rate 30fps; Wrinkle detection: U-Net model input size 512×512, output probability map threshold 0.65, inference time <200ms; Material classification: ResNet-18 network, supporting the identification of four categories of cotton / linen / silk / chemical fiber, accuracy rate ≥92%.

[0084] Region segmentation: The maximum side length limit of Delaunay triangulation is 15mm, and the minimum interior angle >30°; Path optimization: Improved ant colony algorithm parameter settings: α = 1.5, β = 2.2, ρ = 0.3, number of iterations 100 times; Curve interpolation: NURBS curve order 3, control point spacing 8mm, fitting error <0.5mm; Deformation compensation: Thermal expansion coefficient β = 1.2×10 -5 / ℃, mechanical deformation coefficient γ = 0.08mm / N, compensation formula:

[0085] Δx = β·(T current -T base )·x 0 +γ·F n .

[0086] System working process: Image acquisition stage: Shoot the fabric under D65 standard light source, exposure time 8ms, generate 3D point cloud (accuracy ±0.1mm); Trajectory generation stage: Path spacing is adaptively adjusted; Ironing execution stage: Z-axis pressure closed-loop response time <50ms, steam temperature control accuracy ±2℃.

[0087] Implementation effect: Wrinkle elimination rate: 98.2% for cotton fabric, 95.7% for silk fabric; Trajectory tracking error: <0.3mm for straight segments, <0.8mm for curve segments; System energy consumption: Average power 850W, peak 1200W.

[0088] An intelligent ironing method, including an intelligent ironing robot; The intelligent ironing method includes

[0089] Step a, shaping stage: Generate an adaptive magnetic field distribution through an electromagnetic array; Adjust the inclination angle of the clothing fixing bracket 4 according to the fabric thickness;

[0090] Step b, visual processing stage: Use multi-spectral imaging technology to obtain the three-dimensional morphology of the fabric; Segment the ironing area based on the HSV color space;

[0091] Step c, trajectory generation stage: Calculate the optimal path spacing d = 8 - 12mm; Generate a variable-density spiral scanning path;

[0092] Step d, execution stage: Implement speed-temperature-pressure triple closed-loop control; Adjust the steam injection parameters according to real-time thermal imaging.

[0093] Step c: Adopt a hybrid path planning algorithm, including: using an equidistant offset algorithm for flat areas; using an improved Hamilton path for complex surfaces; using a Bézier curve for smooth connection in the transition area; path optimization objective function: where T is time, E is energy consumption, S is the safety factor, w1 = 0.5, w2 = 0.3, w3 = 0.2.

[0094] In this embodiment, in the shaping stage, the adaptive magnetic field distribution generated by the electromagnetic array can effectively fix the clothing, ensuring the stability of the clothing during the ironing process. By adjusting the inclination angle of the clothing fixing bracket 4 according to the fabric thickness, the characteristics of different types of fabrics can be adapted, avoiding the problem of uneven ironing caused by too thick or too thin fabrics, and improving the accuracy and flatness of ironing from the basic level. In the visual processing stage, the three-dimensional topography of the fabric obtained by the multispectral imaging technology provides detailed spatial information for subsequent ironing operations, enabling the hanging ironing robot to better grasp the contour of the clothing. Based on the HSV color space to segment the ironing area, the parts that need to be processed can be accurately identified, reducing unnecessary operations, improving work efficiency, and enhancing the processing ability of specific areas of the clothing. In the trajectory generation stage, the hybrid path planning algorithm plays an important role. The application of the equidistant offset algorithm in flat areas ensures the uniformity of ironing; the improved Hamilton path is optimized for complex surfaces and can closely fit the complex shape of the clothing to achieve comprehensive and detailed ironing; the smooth connection of the Bézier curve in the transition area makes the movement of the hanging ironing robot smoother, reducing the possible pauses or incoherences caused by sudden path changes. At the same time, the path optimization objective function comprehensively considers time, energy consumption, and safety factor, and realizes the optimization balance of multiple objectives by reasonably allocating weights, which not only improves work efficiency, but also reduces energy consumption and ensures safety during use. In the execution stage, the three-closed-loop control of speed-temperature-pressure ensures the accuracy of ironing parameters, and stable operation can be carried out according to the preset requirements regardless of the clothing material. The adjustment of the steam injection parameters by real-time thermal imaging further improves the ironing effect, enabling the clothing to obtain just the right amount of steam in different parts and achieving the ideal flatness and dryness. Generally speaking, the combination of this solution and the intelligent hanging ironing robot realizes efficient, accurate, and intelligent hanging ironing operations.

[0095] The above embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. An intelligent hanging ironing robot, characterized in that: include Base; A four-degree-of-freedom motion mechanism, wherein the four-degree-of-freedom motion mechanism is arranged on a base, and the four-degree-of-freedom motion mechanism comprises an X-axis linear module, a Y-axis linear module and a Z-axis linear module: the X-axis linear module is connected to the Y-axis linear module and the Z-axis linear module in sequence; A steam ironing head assembly, the steam ironing head assembly comprising a liquid storage tank, a flexible pipe and an ironing head module, the liquid storage tank is arranged on a base, the flexible pipe is used to connect the liquid storage tank with the ironing head module, the ironing head module is arranged on a Z-axis linear module, a temperature sensor, a first pressure sensor and a porous steam nozzle are arranged on the ironing head module, and an ironing electrical element is arranged in the ironing head module to spray the water supplied in the liquid storage tank through the porous steam nozzle after heating and atomizing; A clothing fixing bracket, the clothing fixing bracket is arranged on the base, the clothing fixing bracket comprises a main ironing board and a sleeve board, the main ironing board is arranged opposite to the ironing head module, and the sleeve boards are arranged on both sides of the main ironing board; as well as A fixing element is used to fix the clothes on the clothes fixing bracket.

2. The intelligent hanging ironing robot according to claim 1, characterized in that: The X-axis linear module adopts a synchronous belt + slide rail structure, with a stroke of 600-1000mm and is driven by a stepper motor; The Y-axis linear module adopts a ball screw + slide rail structure, with a stroke of 1000-1500mm and is driven by a stepper motor.

3. The intelligent hanging ironing robot according to claim 1, characterized in that: The temperature sensor is used to measure the temperature of the ironing head module, and the measuring range is 50-250° C.; the pressure range of the first pressure sensor is 0-20N, and the aperture size of the porous steam nozzle is 0.5-1.2mm.

4. The intelligent hanging ironing robot according to claim 1, characterized in that: The Z-axis linear module is provided with a second pressure sensor and an incremental encoder, with a stroke of 100-200 mm. The Z-axis linear module is provided with a rotating module, and the Z-axis linear module is connected to the ironing head module through the rotating module. The rotating module includes a harmonic reducer and an absolute value encoder to achieve 360° continuous rotation; The Z-axis linear module is equipped with a pressure feedback closed-loop control system, and the pressure control algorithm is: Where: e(t) = P set -P actual , K p =0.8, K i =0.05, K d =0.

2.

5. The intelligent hanging ironing robot according to claim 4, characterized in that: The rotation module is provided with a direction compensation module, which calculates the rotation angle by the trajectory curvature: Where R is the radius of curvature of the motion trajectory, and v is the moving speed of the iron head.

6. The intelligent hanging ironing robot according to claim 1, characterized in that: The steam nozzle is provided with a flow control system, and the steam volume calculation formula is: Where α is the material coefficient, T is the temperature, ΔP is the pressure difference, and ρ is the steam density.

7. The intelligent hanging ironing robot according to claim 1, characterized in that: The main ironing board and the sleeve board are both independently formed, and the sleeve boards are telescopically arranged on both sides of the main ironing board; the fixing elements are samarium cobalt magnets, which are used to adsorb and fix clothes on the main ironing board and the sleeve board.

8. An intelligent ironing system, characterized in that: The intelligent hanging ironing robot comprising any one of claims 1 to 7; Vision Processing Unit, Configuration: 20-megapixel CMOS sensor; Fabric wrinkle detection model based on U-Net; CNN network for cloth material classification; Trajectory planning engine, implementing: Region segmentation based on Delaunay triangulation; Path optimization based on improved ant colony algorithm; Smoothing of NURBS curve interpolation; Multiphysics coupled controller, integrating: Temperature-pressure PID linkage control; Steam-motion speed feed-forward compensation; Magnetic field-fabric tension balance adjustment; The trajectory planning engine includes a deformation compensation module to establish a thermal-mechanical coupling model: ∈=β·ΔT+γ·F n Where β = 1.2 × 10 -5 / ℃, γ=0.08mm / N, real-time adjustment of trajectory coordinates.

9. An intelligent hanging ironing method, characterized in that: The intelligent hanging ironing robot comprising any one of claims 1 to 7; Smart ironing methods include Step a, finalization stage: Producing an adaptive magnetic field distribution by an electromagnetic array; Adjust the tilt angle of the clothing fixing bracket according to the thickness of the fabric; Step b, visual processing stage: Use multispectral imaging technology to obtain the three-dimensional morphology of fabrics; Segment the ironing area based on HSV color space; Step c, trajectory generation phase: Calculate the optimal path spacing d = 8-12mm; Generate a variable density spiral scanning path; Step d, execution phase: Implement speed-temperature-pressure three-loop closed-loop control; Adjust steam injection parameters based on real-time thermal imaging.

10. The intelligent hanging ironing method according to claim 9, characterized in that: Step c, using a hybrid path planning algorithm, includes: Use an equidistant offset algorithm for flat areas; Use improved Hamilton path for complex surfaces; The transition area is smoothly connected using Bézier curves; Path optimization objective function: min(w1·T+w2·E+w3·S) Where T is time, E is energy consumption, S is safety factor, w1=0.5, w2=0.3, w3=0.2.

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