Clothes airing machine control method, clothes airing machine and storage medium

Abstract

The embodiment of the invention provides a control method of a clothes airing machine, the clothes airing machine and a storage medium, and the method comprises the steps: obtaining first image information collected in real time through an image collection unit under the condition that a lifting control instruction sent by a user terminal is received, carrying out the recognition of the first image information, and sending the recognition result to the user terminal; under the condition that no obstacle exists around the airing rod is recognized, the airing rod is controlled to move according to a first preset speed according to the lifting control instruction, first point cloud information collected in real time through the three-dimensional information collection unit is obtained in the process that the airing rod moves according to the first preset speed, the first point cloud information is recognized, and the first point cloud information is stored; and controlling the airing rod to move at a second preset speed according to the lifting control instruction under the condition that no obstacle exists on the moving path of the airing rod, and stopping the airing rod until the airing rod reaches a preset position. According to the scheme, the detection results of a plurality of sensors can be synthesized to control the movement of the airing rod, whether the airing rod encounters an obstacle or not is pre-judged in advance, and safe operation of the clothes airing machine is ensured.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of smart home, and in particular to a control method for a drying machine, a drying machine and a storage medium. Background Art

[0002] Traditional drying methods, such as using ordinary drying racks, are greatly affected by factors such as weather and space. In rainy or humid weather, it is difficult to dry clothes, and it is easy to breed bacteria and produce odors. Moreover, the height of traditional drying poles is fixed, which is inconvenient for people with limited height or mobility to hang and take clothes, and cannot meet the need to dry a large number of clothes at the same time. With the continuous development of intelligent device technology, drying machines with functions such as automatic lifting and automatic drying have begun to be widely used in people's home lives, providing a more convenient, efficient and intelligent drying experience.

[0003] Since the drying pole of the drying machine may be affected by obstacles during the process of lifting and lowering, it is necessary to detect obstacles and control the start and stop of the drying pole according to the detection results to prevent abnormal failures and damages of the drying machine. In related technologies, a microswitch is set in the main body of the drying machine, and the steel wire rope is straightened by the gravity of the drying pole itself and presses the microswitch. If an obstacle is encountered during the descent of the drying pole, the steel wire rope will loosen and the microswitch will be released, so that it can be detected that the drying pole is blocked by an obstacle. When an obstacle is encountered during the ascent of the drying pole, the resistance situation of the drying pole can be determined by the change in the current of the motor stalling. However, the detection error of the foregoing method is relatively large, and it is impossible to predict in advance whether the drying pole will encounter an obstacle, which easily causes abnormal failures of the drying machine and affects the user experience. Summary of the Invention

[0004] The embodiments of the present application provide a control method for a drying machine, a drying machine and a storage medium, which solve the problems in related technologies that the detection error is relatively large, and it is impossible to predict in advance whether the drying pole will encounter an obstacle, which easily causes abnormal failures of the drying machine and affects the user experience. It realizes the motion control of the drying pole by integrating the detection results of multiple sensors, can predict in advance whether the drying pole will encounter an obstacle, ensures the safe operation of the drying machine, and guarantees a good user experience.

[0005] In a first aspect, the embodiments of the present application provide a control method for a drying machine, and the method includes:

[0006] When receiving a lifting control instruction sent by a user terminal, obtain first image information collected in real time by the image acquisition unit, and identify the first image information to determine whether there are obstacles around the drying pole;

[0007] When it is recognized that there are no obstacles around the drying rod, control the drying rod to move at a first preset speed according to the lifting control instruction;

[0008] During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, and identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod;

[0009] When it is recognized that there are no obstacles on the moving path of the drying rod, control the drying rod to move at a second preset speed according to the lifting control instruction until it stops when reaching the preset position, and the second preset speed is greater than the first preset speed.

[0010] In a second aspect, an embodiment of the present application further provides a clothes dryer, and the device includes:

[0011] One or more processors;

[0012] A storage device configured to store one or more programs,

[0013] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the clothes dryer according to the embodiment of the present application.

[0014] In a third aspect, an embodiment of the present application further provides a non-volatile storage medium storing computer-executable instructions, and the computer-executable instructions are configured to execute the control method of the clothes dryer according to the embodiment of the present application when executed by a computer processor.

[0015] In the embodiments of the present application, when receiving a lifting control instruction sent by a user terminal, the first image information collected in real time by an image acquisition unit is obtained, and the first image information is recognized to determine whether there are obstacles around the drying rod. When it is recognized that there are no obstacles around the drying rod, the drying rod is controlled to move at a first preset speed according to the lifting control instruction. During the process of the drying rod moving at the first preset speed, the first point cloud information collected in real time by a three-dimensional information acquisition unit is obtained, and the first point cloud information is recognized to determine whether there are obstacles on the moving path of the drying rod. When it is recognized that there are no obstacles on the moving path of the drying rod, the drying rod is controlled to move at a second preset speed according to the lifting control instruction until it stops when reaching a preset position, and the second preset speed is greater than the first preset speed. In the above solution, by recognizing the first image information collected in real time by the image acquisition unit set in the host, it is possible to determine in advance whether there are obstacles around the drying rod before controlling the drying rod to move, preliminarily eliminate the interference of obstacles, and after controlling the drying rod to move, by recognizing the first point cloud information collected in real time by the three-dimensional information acquisition unit set in the host, it is possible to effectively judge whether there are sudden obstacles during the lifting process, further eliminate the interference of obstacles, with high detection accuracy. The motion control of the drying rod can be performed by integrating the detection results of multiple sensors, and it is possible to predict in advance whether the drying rod will encounter obstacles, ensuring the safe operation of the clothes dryer and guaranteeing a good user experience for the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flowchart of a control method for a clothes dryer provided by an embodiment of the present application;

[0017] Figure 2 It is a flowchart of a control method for a clothes dryer provided by an embodiment of the present application, including a process of dealing with the situation when obstacles are detected around the drying rod;

[0018] Figure 3 It is a flowchart of a control method for a clothes dryer provided by an embodiment of the present application, including a process of controlling the drying rod based on a drying rod retraction instruction;

[0019] Figure 4 It is a flowchart of a control method for a clothes dryer provided by an embodiment of the present application, including a process of dealing with the situation when drying objects are detected on the drying rod;

[0020] Figure 5 It is a flowchart of a control method for a clothes dryer provided by an embodiment of the present application, including a process of monitoring a first inclination and a first tensile value;

[0021] Figure 6A flowchart of a control method for a clothes dryer that includes a process of handling when the first inclination is abnormal or the first tensile value is abnormal provided by an embodiment of the present application;

[0022] Figure 7 A flowchart of a control method for a clothes dryer that includes a process of monitoring the second inclination and the second tensile value provided by an embodiment of the present application;

[0023] Figure 8 A flowchart of a control method for a clothes dryer that includes a process of handling when the second inclination is abnormal or the second tensile value is abnormal provided by an embodiment of the present application;

[0024] Figure 9 A structural block diagram of a control device for a clothes dryer provided by an embodiment of the present application;

[0025] Figure 10 A schematic structural diagram of a clothes dryer provided by an embodiment of the present application;

[0026] Figure 11 A schematic structural diagram of another clothes dryer provided by an embodiment of the present application. Detailed implementation manners

[0027] The following further elaborates on the embodiments of the present application in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the embodiments of the present application, rather than limiting the embodiments of the present application. Additionally, it should be noted that for the sake of description, only parts related to the embodiments of the present application are shown in the accompanying drawings, rather than all structures.

[0028] The terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally represents an "or" relationship between the associated objects before and after.

[0029] Figure 1The flowchart of a control method for a clothes dryer provided by an embodiment of the present application. The control method can be implemented with the processor unit of the clothes dryer as the execution subject and is used to control the clothes dryer. The clothes dryer includes a main body and a drying rod connected by a lifting device. The main body is provided with an image acquisition unit and a three-dimensional information acquisition unit. Specifically, the main body can include a processor unit and a power output device. The processor unit can be responsible for receiving sensor signals and coordinating the actions of each actuator to control the up and down movement of the drying rod. The power output device can include a motor and a transmission mechanism, which are used to control the retraction and release of the lifting device to realize the lifting adjustment of the drying rod. The lifting device can be a wire rope transmission device, a telescopic rod transmission device, etc., which is not limited in this application. The drying rod can be used to place items to be dried. The image acquisition unit can be used to monitor obstacles in the clothes drying area in real time and provide relevant image information to the processor unit. Specifically, it can be one or more cameras, etc., which is not limited in this application. The three-dimensional information acquisition unit can also be used to monitor obstacles in the clothes drying area in real time and provide relevant point cloud information to the processor unit. Specifically, it can be a lidar, a depth vision sensor, etc., which is not limited in this application. As Figure 1 shown, the control method specifically includes the following steps:

[0030] Step S101: When receiving a lifting control instruction sent by a user terminal, obtain first image information collected in real time by the image acquisition unit, and identify the first image information to determine whether there are obstacles around the drying rod.

[0031] Among them, the user terminal can be a device that communicates and interacts with the drying machine based on user operations, such as a smart phone, a tablet computer, or a smart home controller, etc. The user can send various control instructions to the drying machine through the user terminal to achieve remote or close-range operations on the drying machine. The lifting control instruction can be an instruction sent by the user to the drying machine through the user terminal, used to instruct the drying machine to control the drying rod to perform ascending or descending operations. For example, the drying rod retraction instruction, the drying rod ascending instruction, and the drying rod descending instruction, etc. The drying rod retraction instruction can instruct the drying machine to control the drying rod to ascend to the retracted position. The drying rod ascending instruction can instruct the drying machine to control the drying rod to ascend to a specified position. The drying rod descending instruction can instruct the drying machine to control the drying rod to descend to a specified position. Here, this application does not make any limitations. The first image information can include image data of the environment around the drying rod in a stationary state, recording features such as the distribution and shape of the drying rod itself and surrounding objects, providing basic information for obstacle recognition. In one embodiment, the recognition of the first image information can be based on algorithms such as SIFT (Scale-Invariant Feature Transform) and SURF (Speeded Up Robust Features) to extract features from the first image information, and input the extracted features into a set classifier, such as a support vector machine, a decision tree, etc., for obstacle and non-obstacle classification, so as to determine whether there are obstacles around the drying rod. In one embodiment, the recognition of the first image information can be based on deep learning networks such as Faster R-CNN (Faster Region Convolutional Neural Network) and SSD (SingleShot MultiBox Detector) to detect different categories of objects included in the first image information, and provide specific position and category information, so as to determine whether there are obstacles around the drying rod. In one embodiment, the recognition of the first image information can be to compare the first image information with a standard image library constructed in the case of no obstacles to determine whether there are obstacles around the drying rod.

[0032] Step S102, when it is recognized that there are no obstacles around the drying rod, control the drying rod to move at a first preset speed according to the lifting control instruction.

[0033] Among them, by recognizing the first image information, it can be preliminarily determined whether there are obstacles around the drying rod, and when it is recognized that there are no obstacles around the drying rod, control the drying rod to start moving. Since it is uncertain whether there are completely no obstacles in the moving path of the drying rod during the moving process of the drying rod, the drying rod can be controlled to move at a first preset speed, move the drying rod at a relatively low speed, reduce the collision risk, and ensure safety.

[0034] Step S103: During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, and identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod.

[0035] Among them, during the process of the drying rod moving at the first preset speed, the three-dimensional information acquisition unit can continue to collect the spatial information of the moving path of the drying rod to provide more accurate environmental perception to prevent the influence of sudden obstacles. The first point cloud information can include point cloud data representing the positions and shapes of objects in the space around the drying rod, reflecting the spatial structure on the moving path of the drying rod to judge whether there are obstacles on the moving path. In one embodiment, identifying the first point cloud information can be to extract features from the first point cloud information based on deep learning networks such as PointNet or geometric statistical methods, and input the extracted features into a set classifier, such as a support vector machine, random forest, etc., for obstacle and non-obstacle classification, so as to determine whether there are obstacles on the moving path of the drying rod. In one embodiment, the first point cloud information can be converted in format and input into a target detection network, such as VoxelNet, PointRCNN, etc., to obtain information such as the position, size, and category of the obstacles. In one embodiment, identifying the first point cloud information can be to compare the first point cloud information with a standard point cloud library constructed in the case of no obstacles to determine whether there are obstacles on the moving path of the drying rod.

[0036] Step S104: When it is identified that there are no obstacles on the moving path of the drying rod, control the drying rod to move at the second preset speed according to the lifting control instruction until it stops when reaching the preset position, where the second preset speed is greater than the first preset speed.

[0037] Among them, by identifying the first point cloud information, it can be further judged whether there are obstacles on the moving path of the drying rod, and when it is identified that there are no obstacles on the moving path of the drying rod, control it to move at the second preset speed. Since it is determined that there are no obstacles on the moving path of the drying rod, the drying rod can be controlled to move at the second preset speed to move the drying rod at a relatively high speed, improve the efficiency of the drying rod reaching the preset position, and save the user's waiting time on the premise of ensuring safety. The preset position can be a preset reference position and also the target position set by the user through the lifting control instruction. For example, the drying rod rises to the highest position or descends to a height convenient for taking and placing clothes, etc.

[0038] As described above, when receiving the lifting control instruction sent by the user terminal, the first image information collected in real time by the image acquisition unit is obtained, and the first image information is recognized to determine whether there are obstacles around the drying rod. When it is recognized that there are no obstacles around the drying rod, the drying rod is controlled to move at the first preset speed according to the lifting control instruction. During the process of the drying rod moving at the first preset speed, the first point cloud information collected in real time by the three-dimensional information acquisition unit is obtained, and the first point cloud information is recognized to determine whether there are obstacles on the moving path of the drying rod. When it is recognized that there are no obstacles on the moving path of the drying rod, the drying rod is controlled to move at the second preset speed according to the lifting control instruction until it stops when reaching the preset position, and the second preset speed is greater than the first preset speed. In the above solution, by recognizing the first image information collected in real time by the image acquisition unit set on the host, it is possible to determine in advance whether there are obstacles around the drying rod before controlling the drying rod to move, preliminarily eliminate the interference of obstacles, and after controlling the drying rod to move, by recognizing the first point cloud information collected in real time by the three-dimensional information acquisition unit set on the host, it is possible to effectively judge whether there are sudden obstacles during the lifting process, further eliminate the interference of obstacles, with high detection accuracy. The motion control of the drying rod can be performed by integrating the detection results of multiple sensors, and it is possible to predict in advance whether the drying rod will encounter obstacles, ensuring the safe operation of the clothes dryer and guaranteeing a good user experience for the user.

[0039] Figure 2 The flowchart of a control method for a clothes dryer provided by an embodiment of the present application, which includes a process of processing when it is recognized that there are obstacles around the drying rod, is as Figure 2 shown, and the control method specifically includes the following steps:

[0040] Step S201, when receiving the lifting control instruction sent by the user terminal, obtain the first image information collected in real time by the image acquisition unit, and recognize the first image information to determine whether there are obstacles around the drying rod.

[0041] Step S202, when it is recognized that there are obstacles around the drying rod, output a first prompt signal and send a first prompt message to the user terminal, where the first prompt message is used to remind that there are obstacles around the drying rod.

[0042] Among them, if it is recognized that there are obstacles around the drying rod, for example, other items hanging near the drying rod, etc., a first prompt signal can be output. The first prompt signal can be a sound signal provided by a buzzer, a light signal provided by an indicator light, etc. The first prompt message can be information containing a notice to the user that there are obstacles around the drying rod, and specifically can be in the form of text, voice or image, etc. The first prompt message can be sent to the user terminal through a wireless communication module, and the wireless communication module can be WiFi, Bluetooth, etc.

[0043] Step S203: When it is recognized that there are no obstacles around the drying rod, control the drying rod to move at a first preset speed according to the lifting control instruction.

[0044] Step S204: During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, and identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod.

[0045] Step S205: When it is recognized that there are no obstacles on the moving path of the drying rod, control the drying rod to move at a second preset speed according to the lifting control instruction until it stops when reaching the preset position, where the second preset speed is greater than the first preset speed.

[0046] Step S206: When it is recognized that there are obstacles on the moving path of the drying rod, control the drying rod to stop moving, where a second prompt signal is output and a second prompt message is sent to the user terminal, and the second prompt message is used to remind that there are obstacles on the moving path of the drying rod.

[0047] Among them, if it is recognized that there are obstacles on the moving path of the drying rod, for example, accidentally approaching sundries, suddenly opened cabinet doors, etc., a second prompt signal can be output. The second prompt signal can be a sound signal provided by a buzzer, a light signal provided by an indicator light, etc. The second prompt message can be information including informing the user that there are obstacles on the moving path of the drying rod. Specifically, it can be in the form of text, voice or image, etc. The second prompt message can be sent to the user terminal through a wireless communication module, and the wireless communication module can be WiFi, Bluetooth, etc.

[0048] As described above, by timely identifying obstacles around the drying rod or on the moving path of the drying rod, problems such as possible collisions and entanglements can be prevented in advance, the drying rod can be controlled to stop moving, damage to the drying rod and surrounding items can be avoided, and, by directly outputting a prompt signal and sending a prompt message to the user terminal, it is convenient for the user to understand the device status, promptly handle the obstacles, and restore the normal operation of the clothes dryer.

[0049] Figure 3 The figure is a flowchart of a control method for a clothes dryer including a process of controlling a drying rod based on a drying rod retraction instruction provided by an embodiment of the present application. As Figure 3 shown, the control method specifically includes the following steps:

[0050] Step S301: When receiving the drying rod retraction instruction sent by the user terminal, obtain the first image information collected in real time by the image acquisition unit, and identify the first image information to determine whether there are obstacles around the drying rod and whether there are drying objects on the drying rod.

[0051] Among them, the drying rod retraction instruction can be used to instruct the drying machine to control the drying rod to return from the extended state to the retracted or folded state. To ensure the normal retraction of the drying rod, in addition to determining whether there are obstacles around the drying rod, it is also necessary to synchronously determine whether there are drying objects on the drying rod.

[0052] Step S302: When it is recognized that there are no obstacles around the drying rod and there are no drying objects on the drying rod, control the drying rod to rise at the first preset speed according to the drying rod retraction instruction.

[0053] Step S303: During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, and identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod.

[0054] Step S304: When it is recognized that there are no obstacles on the moving path of the drying rod, control the drying rod to rise at the second preset speed according to the drying rod retraction instruction until it stops when reaching the drying rod retraction position, where the second preset speed is greater than the first preset speed.

[0055] As described above, by pre-identifying the first image information to determine whether there are drying objects on the drying rod and determining in advance whether the drying rod is in an idle state, the retraction control of the drying rod can be effectively coordinated with the drying rod retraction instruction, and the retraction action of the drying rod can be efficiently completed on the premise of ensuring safety.

[0056] Figure 4 The flowchart of a control method for a drying machine provided by an embodiment of the present application, which includes a process of processing when it is recognized that there are drying objects on the drying rod, as Figure 4 shown, the control method specifically includes the following steps:

[0057] Step S401: When receiving the drying rod retraction instruction sent by the user terminal, obtain the first image information collected in real time by the image acquisition unit, and identify the first image information to determine whether there are obstacles around the drying rod and whether there are drying objects on the drying rod.

[0058] Step S402: When it is recognized that there are drying objects on the drying rod, output a third prompt signal and send a third prompt message to the user terminal, where the third prompt message is used to remind that there are drying objects on the drying rod.

[0059] Among them, if it is recognized that there are drying items on the drying rod, a third prompt signal can be output. The third prompt signal can be a sound signal provided by a buzzer, a light signal provided by an indicator light, etc. The third prompt information can include information informing the user that there are drying items on the drying rod. Specifically, it can be in the form of text, voice, or image. The third prompt information can be sent to the user terminal through a wireless communication module, and the wireless communication module can be WiFi, Bluetooth, etc.

[0060] Step S403: When it is recognized that there are no obstacles around the drying rod and there are no drying items on the drying rod, control the drying rod to rise at a first preset speed according to the drying rod retraction instruction.

[0061] Step S404: During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, and identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod.

[0062] Step S405: When it is recognized that there are no obstacles on the moving path of the drying rod, control the drying rod to rise at a second preset speed according to the drying rod retraction instruction until it stops when reaching the drying rod retraction position, where the second preset speed is greater than the first preset speed.

[0063] As described above, by promptly recognizing the drying items existing on the drying rod and not performing the drying rod rising action, it can prevent the drying items from being clamped between the drying rod and the fixing device or other objects, resulting in damage to the drying items or the drying rod. Moreover, by directly outputting the prompt signal and sending the prompt information to the user terminal, it can facilitate the user to understand the device status, promptly handle the drying items, and restore the normal retraction of the drying rod.

[0064] Figure 5 The figure is a flowchart of a control method for a clothes dryer provided by an embodiment of the present application, which includes a process of monitoring the first inclination and the first tensile value. Specifically, an inclination sensor is provided on the drying rod, and a tensile sensor is provided at the connection between the drying rod and the lifting device. The inclination sensor can be a liquid pendulum type inclination sensor, a solid pendulum type inclination sensor, a gyro type inclination sensor, etc., and is used to monitor the inclination of the drying rod. The tensile sensor can adopt a flexible resistive strain gauge or a piezoresistive thin film sensor, and is used to monitor the mechanical deformation or force change at the connection between the drying rod and the lifting device, and indirectly judge the relaxation degree of the lifting device.

[0065] As Figure 5 shown, the control method specifically includes the following steps:

[0066] Step S501: When receiving the lifting control instruction sent by the user terminal, obtain the first image information collected in real time by the image acquisition unit, identify the first image information to determine whether there are obstacles around the drying rod, and obtain the first inclination measured in real time by the inclination sensor and the first tensile force value measured in real time by the tensile force sensor.

[0067] Among them, the first inclination can reflect the inclination state of the drying rod when it is in a stationary state. If the first inclination is relatively large, it may mean that there is looseness in the installation of the drying rod, it is abnormally jacked up, or the load distribution is uneven, etc. The first tensile force value can reflect the force state of the drying rod when it is in a stationary state. If the first tensile force value is too small, it may mean that the drying rod is abnormally jacked up, blocked, or there is looseness in the installation somewhere. If the first tensile force value is too large, it may mean that the drying rod is overloaded.

[0068] Step S502: When it is recognized that there are no obstacles around the drying rod, the first inclination is less than the preset inclination threshold, and the first tensile force value is within the preset tensile force range, control the drying rod to move at the first preset speed according to the lifting control instruction.

[0069] Among them, if the first inclination is less than the preset inclination threshold, it can be regarded as the normal inclination degree of the drying rod. If the first tensile force value is within the preset tensile force range, it can be regarded as the normal force at the connection between the drying rod and the lifting device. The specific preset inclination threshold and preset tensile force range can be specifically set by developers according to the device characteristics and parameters of the actual application scenario, and are not limited in this application.

[0070] Step S503: During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, and identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod.

[0071] Step S504: When it is recognized that there are no obstacles on the moving path of the drying rod, control the drying rod to move at the second preset speed according to the lifting control instruction until it stops when reaching the preset position, and the second preset speed is greater than the first preset speed.

[0072] As described above, by adding the monitoring of the first inclination and the first tensile force value, it is possible to more accurately judge the inclination degree and force degree of the drying rod when it is in a stationary state, evaluate the balance state of the drying rod from different dimensions, more effectively evaluate the safety risks of the drying rod itself, and ensure the normal progress of the clothes drying operation.

[0073] Figure 6 It is a flowchart of a control method for a clothes dryer provided by an embodiment of this application, including the process of dealing with abnormal first inclination or abnormal first tensile force value. As Figure 6As shown, the control method specifically includes the following steps:

[0074] Step S601: When receiving a lifting control instruction sent by a user terminal, obtain first image information collected in real time by an image acquisition unit, identify the first image information to determine whether there are obstacles around the drying rod, and obtain a first inclination measured in real time by an inclination sensor and a first tensile force value measured in real time by a tensile force sensor.

[0075] Step S602: When the first inclination is greater than a preset inclination threshold or the first tensile force value is not within a preset tensile force range, output a fourth prompt signal and send a fourth prompt message to the user terminal, where the fourth prompt message is used to remind that the drying rod has abnormal force.

[0076] Among them, if the first inclination is greater than the preset inclination threshold, it can be regarded as the abnormal inclination of the drying rod. If the first tensile force value is not within the preset tensile force range, it can be regarded as the abnormal force at the connection between the drying rod and the lifting device. The above two situations may both reflect the abnormal force of the drying rod. For example, there may be looseness in a certain installation, being abnormally lifted, blocked, or uneven load distribution, etc. A fourth prompt signal can be output. The fourth prompt signal can be a sound signal provided by a buzzer, a light signal provided by an indicator light, etc. The fourth prompt message can be information including notifying the user that the drying rod has abnormal force, and can specifically be in the form of text, voice, or image, etc. The fourth prompt message can be sent to the user terminal through a wireless communication module, and the wireless communication module can be WiFi, Bluetooth, etc.

[0077] Step S603: When it is recognized that there are no obstacles around the drying rod, the first inclination is less than the preset inclination threshold, and the first tensile force value is within the preset tensile force range, control the drying rod to move at a first preset speed according to the lifting control instruction.

[0078] Step S604: During the process of the drying rod moving at the first preset speed, obtain first point cloud information collected in real time by a three-dimensional information acquisition unit, and identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod.

[0079] Step S605: When it is recognized that there are no obstacles on the moving path of the drying rod, control the drying rod to move at a second preset speed according to the lifting control instruction until it stops when reaching a preset position, where the second preset speed is greater than the first preset speed.

[0080] As described above, by promptly identifying the abnormalities in the first inclination and the first tensile force value corresponding to the drying rod in the stationary state, it is possible to prevent the control of the movement of the drying rod in the case of abnormal force on the drying rod, ensuring the stability and safety of the drying rod. Moreover, by directly outputting a prompt signal and sending a prompt message to the user terminal, it is convenient for the user to understand the condition of the drying rod, promptly check the drying rod, and resume normal clothes drying operations.

[0081] Figure 7 The figure is a flowchart of a control method for a clothes dryer provided in an embodiment of the present application, which includes a process of monitoring a second inclination and a second tensile force value. Specifically, an inclination sensor is provided on the drying rod, and a tensile force sensor is provided at the connection between the drying rod and the lifting device. As Figure 7 shown, the control method specifically includes the following steps:

[0082] Step S701: When receiving a lifting control instruction sent by the user terminal, obtain the first image information collected in real time by the image acquisition unit, and identify the first image information to determine whether there are obstacles around the drying rod.

[0083] Step S702: When it is identified that there are no obstacles around the drying rod, control the drying rod to move at a first preset speed according to the lifting control instruction.

[0084] Step S703: During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod, and obtain the second inclination measured in real time by the inclination sensor and the second tensile force value measured in real time by the tensile force sensor.

[0085] Among them, the second inclination can reflect the inclination state of the drying rod in the moving state. If the second inclination is relatively large, it may mean that there is looseness in the installation of the drying rod, it is abnormally lifted, blocked, etc. The second tensile force value can reflect the force state of the drying rod in the moving state. If the second tensile force value is too small, it may mean that the drying rod is abnormally lifted or there is looseness in the installation of a certain part. If the second tensile force value is too large, it may mean that it is abnormally blocked.

[0086] Step S704: When it is identified that there are no obstacles on the moving path of the drying rod, the second inclination is less than the preset inclination threshold value, and the second tensile force value is within the preset tensile force range, control the drying rod to move at a second preset speed according to the lifting control instruction until it stops when reaching the preset position, where the second preset speed is greater than the first preset speed.

[0087] Among them, if the second inclination is less than the preset inclination threshold, it can be regarded that the inclination degree of the drying rod is normal. If the second tensile value is within the preset tensile range, it can be regarded that the force on the connection between the drying rod and the lifting device is normal.

[0088] As described above, by adding the monitoring of the second inclination and the second tensile value, the inclination degree and the force degree of the drying rod in the moving state can be judged more accurately, the balance state of the drying rod during the moving process can be evaluated from different dimensions, the safety risk of the drying rod itself can be evaluated more effectively, and the normal progress of the clothes drying operation can be guaranteed.

[0089] Figure 8 It is a flowchart of a control method for a clothes dryer provided by an embodiment of the present application, which includes a process for handling when the second inclination is abnormal or the second tensile value is abnormal. As Figure 8 shown, the control method specifically includes the following steps:

[0090] Step S801: When receiving the lifting control instruction sent by the user terminal, obtain the first image information collected in real time by the image acquisition unit, and identify the first image information to determine whether there are obstacles around the drying rod.

[0091] Step S802: When it is recognized that there are no obstacles around the drying rod, control the drying rod to move at a first preset speed according to the lifting control instruction.

[0092] Step S803: During the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, identify the first point cloud information to determine whether there are obstacles on the moving path of the drying rod, and obtain the second inclination measured in real time by the inclination sensor and the second tensile value measured in real time by the tensile sensor.

[0093] Step S804: When it is recognized that there are no obstacles on the moving path of the drying rod, the second inclination is less than the preset inclination threshold, and the second tensile value is within the preset tensile range, control the drying rod to move at a second preset speed according to the lifting control instruction until it stops when reaching the preset position, where the second preset speed is greater than the first preset speed.

[0094] Step S805: When the second inclination is greater than the preset inclination threshold, or the second tensile value is not within the preset tensile range, control the drying rod to stop moving, output a fifth prompt signal, and send a fifth prompt message to the user terminal, where the fifth prompt message is used to remind that the force on the drying rod is abnormal.

[0095] Among them, if the second inclination is greater than the preset inclination threshold, it can be regarded as the abnormal inclination of the drying rod. If the second tensile value is not within the preset tensile range, it can be regarded as the abnormal force at the connection between the drying rod and the lifting device. The above two situations may both reflect the abnormal force of the drying rod. For example, if there is looseness, abnormal jacking, blocking, etc. in a certain installation, a fifth prompt signal can be output. The fifth prompt signal can be a sound signal provided by a buzzer, a light signal provided by an indicator light, etc. The fifth prompt message can be information including notifying the user that the drying rod has abnormal force. Specifically, it can be in the form of text, voice, or image, etc. The fifth prompt message can be sent to the user terminal through a wireless communication module, and the wireless communication module can be WiFi, Bluetooth, etc.

[0096] As described above, by timely identifying the abnormalities of the second inclination and the second tensile value corresponding to the drying rod in the moving state, it is possible to prevent the drying rod from continuing to move under the condition of abnormal force on the drying rod, ensuring the stability and safety of the drying rod. Moreover, by directly outputting the prompt signal and sending the prompt message to the user terminal, it is convenient for the user to understand the condition of the drying rod, stop the drying rod in time for inspection, and resume normal clothes drying operations.

[0097] Figure 9 The block diagram of a control device for a clothes dryer provided by an embodiment of the present application. This device is configured to execute the control method provided by the above embodiment, and has the corresponding functional modules and beneficial effects for executing the method. As Figure 9 shown, the device specifically includes:

[0098] The first recognition module 101 is configured to, when receiving the lifting control instruction sent by the user terminal, obtain the first image information collected in real time by the image acquisition unit, and recognize the first image information to determine whether there are obstacles around the drying rod;

[0099] The first control module 102 is configured to, when it is recognized that there are no obstacles around the drying rod, control the drying rod to move at a first preset speed according to the lifting control instruction;

[0100] The second recognition module 103 is configured to, during the process of the drying rod moving at the first preset speed, obtain the first point cloud information collected in real time by the three-dimensional information acquisition unit, and recognize the first point cloud information to determine whether there are obstacles on the moving path of the drying rod;

[0101] The second control module 104 is configured to, when it is recognized that there are no obstacles on the moving path of the drying rod, control the drying rod to move at a second preset speed according to the lifting control instruction until it stops when reaching the preset position. The second preset speed is greater than the first preset speed.

[0102] As described above, when receiving the lifting control instruction sent by the user terminal, the first image information collected in real time by the image acquisition unit is obtained, and the first image information is recognized to determine whether there are obstacles around the drying rod. When it is recognized that there are no obstacles around the drying rod, the drying rod is controlled to move at the first preset speed according to the lifting control instruction. During the process of the drying rod moving at the first preset speed, the first point cloud information collected in real time by the three-dimensional information acquisition unit is obtained, and the first point cloud information is recognized to determine whether there are obstacles on the moving path of the drying rod. When it is recognized that there are no obstacles on the moving path of the drying rod, the drying rod is controlled to move at the second preset speed according to the lifting control instruction until it stops when reaching the preset position, and the second preset speed is greater than the first preset speed. In the above solution, by recognizing the first image information collected in real time by the image acquisition unit set in the host, it is possible to determine in advance whether there are obstacles around the drying rod before controlling the drying rod to move, preliminarily eliminate the interference of obstacles, and after controlling the drying rod to move, by recognizing the first point cloud information collected in real time by the three-dimensional information acquisition unit set in the host, it is possible to effectively judge whether there are sudden obstacles during the lifting process, further eliminate the interference of obstacles, with high detection accuracy, and the motion control of the drying rod can be performed by integrating the detection results of multiple sensors, and it is possible to predict in advance whether the drying rod will encounter obstacles, ensuring the safe operation of the clothes dryer and guaranteeing the good use experience of users.

[0103] In a possible embodiment, it further includes a first prompting module, configured to:

[0104] When it is recognized that there are obstacles around the drying rod, output a first prompting signal and send a first prompting message to the user terminal, where the first prompting message is used to remind that there are obstacles around the drying rod.

[0105] In a possible embodiment, it further includes a second prompting module, configured to:

[0106] When it is recognized that there are obstacles on the moving path of the drying rod, control the drying rod to stop moving, output a second prompting signal, and send a second prompting message to the user terminal, where the second prompting message is used to remind that there are obstacles on the moving path of the drying rod.

[0107] In a possible embodiment, the lifting control instruction is a drying rod retracting instruction, and the first recognition module 101 is further configured to:

[0108] Recognize the first image information to determine whether there are obstacles around the drying rod and whether there are drying objects on the drying rod;

[0109] Correspondingly, the first control module 102 is further configured to:

[0110] When it is recognized that there is no drying item on the drying rod, control the drying rod to rise at a first preset speed according to the drying rod retraction instruction;

[0111] The second control module 104 is further configured to:

[0112] Control the drying rod to rise at a second preset speed according to the drying rod retraction instruction until it stops when reaching the drying rod retraction position.

[0113] In a possible embodiment, it further includes a third prompt module, configured to:

[0114] When it is recognized that there is a drying item on the drying rod, output a third prompt signal and send a third prompt message to the user terminal, where the third prompt message is used to remind that there is a drying item on the drying rod.

[0115] In a possible embodiment, an inclination sensor is provided on the drying rod, a tension sensor is provided at the connection between the drying rod and the lifting device, and it further includes a first measurement module, configured to:

[0116] Obtain a first inclination measured in real time by the inclination sensor and a first tension value measured in real time by the tension sensor;

[0117] Correspondingly, the first control module 102 is further configured to:

[0118] When the first inclination is less than a preset inclination threshold and the first tension value is within a preset tension range, control the drying rod to move at a first preset speed according to the lifting control instruction.

[0119] In a possible embodiment, it further includes a fourth prompt module, configured to:

[0120] When the first inclination is greater than the preset inclination threshold or the first tension value is not within the preset tension range, output a fourth prompt signal and send a fourth prompt message to the user terminal, where the fourth prompt message is used to remind that the drying rod has abnormal force.

[0121] In a possible embodiment, an inclination sensor is provided on the drying rod, a tension sensor is provided at the connection between the drying rod and the lifting device, and it further includes a second measurement module, configured to:

[0122] Obtain a second inclination measured in real time by the inclination sensor and a second tension value measured in real time by the tension sensor;

[0123] Correspondingly, the second control module 104 is configured to:

[0124] When the second inclination is less than the preset inclination threshold and the second tensile force value is within the preset tensile force range, control the drying rod to move at a second preset speed according to the lifting control instruction.

[0125] In a possible embodiment, it further includes a fifth prompting module configured to:

[0126] When the second inclination is greater than the preset inclination threshold or the second tensile force value is not within the preset tensile force range, control the drying rod to stop moving, output a fifth prompting signal, and send a fifth prompting message to the user terminal. The fifth prompting message is used to remind that the drying rod has abnormal stress.

[0127] Figure 10 The structural schematic diagram of a clothes dryer provided by an embodiment of the present application is as Figure 10 shown. The device includes a processor 201, a memory 202, an input device 203, and an output device 204. The number of processors 201 in the device can be one or more. Figure 10 Here, one processor 201 is taken as an example. The processor 201, the memory 202, the input device 203, and the output device 204 in the device can be connected through a bus or other means. Figure 10 Here, connection through a bus is taken as an example. The memory 202, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the control method in the embodiment of the present application. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 202, that is, implements the above control method. The input device 203 can be configured to receive input digital or character information and generate key signal inputs related to the user settings and function control of the device. The output device 204 can include a display device such as a display screen. Specifically, Figure 11 The structural schematic diagram of another clothes dryer provided by an embodiment of the present application is as Figure 11 shown. The clothes dryer can include a main unit 302 and a drying rod 303 connected by a lifting device 301. The main unit 302 is provided with an image acquisition unit 304 and a three-dimensional information acquisition unit 305. An inclination sensor 306 can be provided on the drying rod 303, and a tensile force sensor 307 can be provided at the connection between the drying rod 303 and the lifting device 301.

[0128] The above-provided clothes dryer can be used to execute the control method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0129] The embodiment of the present application further provides a non-volatile storage medium including computer-executable instructions, which are configured to execute a control method described in the above embodiment when executed by a computer processor. The control method includes: when receiving a lifting control instruction sent by a user terminal, acquiring first image information collected in real time by an image acquisition unit, and identifying the first image information to determine whether there are obstacles around the drying rod; when it is identified that there are no obstacles around the drying rod, controlling the drying rod to move at a first preset speed according to the lifting control instruction; during the process of the drying rod moving at the first preset speed, acquiring first point cloud information collected in real time by a three-dimensional information acquisition unit, and identifying the first point cloud information to determine whether there are obstacles on the moving path of the drying rod; when it is identified that there are no obstacles on the moving path of the drying rod, controlling the drying rod to move at a second preset speed according to the lifting control instruction until it stops when reaching a preset position, where the second preset speed is greater than the first preset speed.

[0130] Storage medium - Any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media such as CD-ROM, floppy disk or magnetic tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory such as flash memory, magnetic media or optical storage; registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. Additionally, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system that is connected to the first computer system via a network (such as the Internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (such as in different computer systems connected via a network). The storage medium may store program instructions (such as specifically implemented as a computer program) executable by one or more processors.

[0131] Certainly, for a storage medium including computer-executable instructions provided by the embodiment of the present application, the computer-executable instructions are not limited to the above control method, and can also execute related operations in the control methods provided in any embodiment of the present application.

[0132] It should be noted that in the above embodiment of the control system, the included units and modules are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and are not configured to limit the protection scope of the embodiment of the present application.

[0133] It should be noted that the numbering of each step in this solution is only used to describe the overall design framework of this solution, and does not represent an inevitable sequence between steps. On the basis that the overall implementation process conforms to the overall design framework of this solution, it belongs to the protection scope of this solution. The sequence in the form of words during description is not an exclusive limitation on the specific implementation process of this solution. Those skilled in the art should understand that the embodiments of this application can be provided as methods, systems, or computer program products. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. The memory may include non-permanent memory in computer-readable media, random access memory (RAM), and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash RAM. The memory is an example of computer-readable media.

[0134] It should also be noted that the term "including", "comprising", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity, or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, commodity, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, commodity, or device including the element.

[0135] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for controlling a clothes drying machine, characterized in that: The clothes drying machine comprises a main machine and a clothes drying rod connected by a lifting device, the main machine is provided with an image acquisition unit and a three-dimensional information acquisition unit, and the control method comprises: When receiving the lifting control instruction sent by the user terminal, obtaining the first image information collected in real time by the image acquisition unit, and identifying the first image information to determine whether there are obstacles around the clothes drying rod; When it is identified that there are no obstacles around the clothes drying rod, the clothes drying rod is controlled to move at a first preset speed according to the lifting control instruction; When the clothes-drying rod moves at a first preset speed, first point cloud information collected in real time by the three-dimensional information collection unit is obtained, and the first point cloud information is identified to determine whether there is an obstacle on the moving path of the clothes-drying rod; When it is identified that there are no obstacles on the moving path of the drying rod, the drying rod is controlled to move at a second preset speed according to the lifting control instruction until it reaches a preset position and stops, and the second preset speed is greater than the first preset speed.

2. The control method of the clothes drying machine according to claim 1, characterized in that: After identifying the first image information, the method further includes: When it is identified that there are obstacles around the clothes-drying rod, a first prompt signal is output, and first prompt information is sent to the user terminal, where the first prompt information is used to remind that there are obstacles around the clothes-drying rod.

3. The control method of the clothes drying machine according to claim 1 or 2, characterized in that: After identifying the first point cloud information, the method further includes: When it is identified that there is an obstacle on the moving path of the clothes-drying rod, the clothes-drying rod is controlled to stop moving, a second prompt signal is output, and a second prompt information is sent to the user terminal, wherein the second prompt information is used to remind that there is an obstacle on the moving path of the clothes-drying rod.

4. The control method of the clothes drying machine according to claim 1, characterized in that: The lifting control instruction is a drying rod folding instruction, and the identifying the first image information to determine whether there are obstacles around the drying rod includes: Identify the first image information to determine whether there are obstacles around the drying rod and whether there are objects to be dried on the drying rod; Correspondingly, controlling the drying rod to move at a first preset speed according to the lifting control instruction includes: When it is identified that there is no drying object on the drying rod, controlling the drying rod to rise at a first preset speed according to the drying rod folding instruction; The step of controlling the drying rod to move at a second preset speed according to the lifting control instruction until it reaches a preset position and stops includes: According to the drying rod folding instruction, the drying rod is controlled to rise at a second preset speed until it reaches the drying rod folding position and stops.

5. The control method of the clothes drying machine according to claim 4, characterized in that: After identifying the first image information, the method further includes: When it is identified that there are objects to be dried on the drying rod, a third prompt signal is outputted, and third prompt information is sent to the user terminal, where the third prompt information is used to remind the user that there are objects to be dried on the drying rod.

6. The control method of the clothes drying machine according to claim 1, characterized in that: The drying rod is provided with a tilt sensor, and a tension sensor is provided at the connection between the drying rod and the lifting device. When a lifting control instruction sent by a user terminal is received, the method further includes: Acquire a first inclination obtained by real-time measurement by the inclination sensor and a first tension value obtained by real-time measurement by the tension sensor; Correspondingly, controlling the drying rod to move at a first preset speed according to the lifting control instruction includes: When the first inclination is less than a preset inclination threshold and the first tension value is within a preset tension range, the drying rod is controlled to move at a first preset speed according to the lifting control instruction.

7. The control method of the clothes drying machine according to claim 6, characterized in that: After acquiring the first inclination obtained by real-time measurement by the inclination sensor and the first tension value obtained by real-time measurement by the tension sensor, the method further includes: When the first inclination is greater than the preset inclination threshold, or the first tension value is not within the preset tension range, a fourth prompt signal is output, and a fourth prompt message is sent to the user terminal, wherein the fourth prompt message is used to remind that the drying rod has abnormal force.

8. The control method of the clothes drying machine according to claim 1, characterized in that: The drying rod is provided with a tilt sensor, and a tension sensor is provided at the connection between the drying rod and the lifting device. In the process of the drying rod moving at a first preset speed, the method further includes: Acquire a second inclination obtained by real-time measurement by the inclination sensor and a second tension value obtained by real-time measurement by the tension sensor; Correspondingly, controlling the drying rod to move at a second preset speed according to the lifting control instruction includes: When the second inclination is less than a preset inclination threshold and the second tension value is within a preset tension range, the drying rod is controlled to move at a second preset speed according to the lifting control instruction.

9. The control method of the clothes drying machine according to claim 8, characterized in that: After acquiring the second inclination obtained by real-time measurement by the inclination sensor and the second tension value obtained by real-time measurement by the tension sensor, the method further includes: When the second inclination is greater than the preset inclination threshold, or the second tension value is not within the preset tension range, the clothes-drying rod is controlled to stop moving, a fifth prompt signal is output, and a fifth prompt message is sent to the user terminal, wherein the fifth prompt message is used to remind the user that abnormal force is occurring on the clothes-drying rod.

10. A clothes drying machine, comprising: one or more processors; A storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the control method of the clothes drying machine according to any one of claims 1-9.

11. A non-volatile storage medium storing computer executable instructions, wherein the computer executable instructions are configured to execute the control method of the clothes drying machine according to any one of claims 1 to 9 when executed by a computer processor.

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