Ironing method, ironing device, controller and ironing equipment

Abstract

The invention provides an ironing method, an ironing device, a controller and ironing equipment, and relates to the field of electronics and electrics. The method comprises the steps that a controller can obtain a target image of target clothes; the controller can judge whether the target clothes comprise protruding elements or not and whether the ironing plate touches the protruding elements or not. When the ironing plate touches the protruding element, the controller can control the ironing plate to move downwards by the protruding distance. The protruding distance is determined according to parameters of the ironing plate. The controller can control the ironing plate to iron the target clothes. According to the method, the automatic ironing efficiency and the ironing effect are improved.

Description

Technical Field

[0001] This application relates to the field of electronics and electricity, and particularly to an ironing method, an ironing device, a controller, and an ironing equipment. Background Art

[0002] With the improvement of living standards, ironing equipment such as hanging steam irons and electric irons is increasingly widely used in clothing care.

[0003] In the prior art, usually, the user needs to place the target clothing in a fixed area and then hold the ironing equipment to iron the clothing.

[0004] It can be seen that this ironing method has the problem of low automation. Summary of the Invention

[0005] This application provides an ironing method, an ironing device, a controller, and an ironing equipment to solve the problem of low automation in ironing in the prior art.

[0006] In a first aspect, this application provides an ironing method, including:

[0007] Obtain a target image of the target clothing;

[0008] When it is determined according to the target image that there is a convex element on the target clothing and the lower boundary of the ironing board contacts the upper boundary of the convex element, control the ironing board to open and move downward by a convex distance, and the convex distance is determined according to the ironing board parameters;

[0009] Control the ironing board to iron the target clothing.

[0010] Optionally, controlling the ironing board to iron the target clothing specifically includes:

[0011] Control the ironing board to press against the target clothing and stay for a first duration to iron the target clothing;

[0012] Control the ironing board to move downward by a first distance;

[0013] Control the ironing board to open and move downward by a second distance;

[0014] Loop the above process until the lower edge of the ironing board reaches the ironing lower boundary, and the ironing lower boundary is below the lower edge of the target clothing.

[0015] Optionally, controlling the ironing board to press against the target clothing specifically includes:

[0016] Obtain the pressure feedback by the ironing board in real time;

[0017] When the pressure is less than the first pressure threshold, control the ironing board to approach the target clothing;

[0018] When the pressure is greater than the second pressure threshold, control the ironing board to move away from the target clothing.

[0019] Optionally, the method further includes:

[0020] The sum of the first distance and the second distance is less than the height of the ironing board.

[0021] Optionally, according to the target image, it is determined that there are raised elements on the target clothing in a preset range, specifically including:

[0022] Obtain a comparison image of the clothing without raised elements;

[0023] According to the comparison image and the target image, compare and determine whether the target image includes raised elements.

[0024] In a second aspect, the present application provides an ironing device, including:

[0025] An acquisition module for acquiring a target image of the target clothing;

[0026] A processing module for controlling the ironing board to open and move downward by a raised distance when it is determined according to the target image that there are raised elements on the target clothing and the lower boundary of the ironing board contacts the upper boundary of the raised elements, and the raised distance is determined according to the ironing board parameters; controlling the ironing board to iron the target clothing.

[0027] Optionally, the processing module is specifically used for:

[0028] Control the ironing board to press tightly against the target clothing and stay for a first period of time to iron the target clothing;

[0029] Control the ironing board to move downward by a first distance;

[0030] Control the ironing board to open and move downward by a second distance;

[0031] Loop the above process until the lower edge of the ironing board reaches the ironing lower boundary, and the ironing lower boundary is below the lower edge of the target clothing.

[0032] Optionally, the processing module is specifically used for:

[0033] Obtain the pressure feedback by the ironing board in real time;

[0034] When the pressure is less than the first pressure threshold, control the ironing board to approach the target clothing;

[0035] When the pressure is greater than the second pressure threshold, control the ironing board to move away from the target clothing.

[0036] Optionally, the sum of the first distance and the second distance is less than the height of the ironing board.

[0037] Optionally, the processing module is specifically used for:

[0038] Obtain a comparison image of the clothing without protrusions;

[0039] Based on the comparison image and the target image, compare and determine whether the target image includes a protruding element.

[0040] In a third aspect, the present application provides a controller, including: a memory and a processor.

[0041] The memory is used to store computer instructions. The processor is used to execute the ironing method in the first aspect and any possible design of the first aspect according to the computer instructions stored in the memory.

[0042] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer instructions are stored. When at least one processor of the controller executes the computer instructions, the controller executes the ironing method in the first aspect and any possible design of the first aspect.

[0043] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When at least one processor of the controller executes the computer instructions, the controller executes the ironing method in the first aspect and any possible design of the first aspect.

[0044] The ironing method, ironing device, controller, and ironing equipment provided by the present application obtain the target image of the target clothing; determine whether there is a protruding element on the target clothing and whether the ironing board touches the protruding element; when the ironing board touches the protruding element, control the ironing board to move downward by a protruding distance, and the protruding distance is determined according to the ironing board parameters; control the ironing board to iron the target clothing, so as to realize the judgment of the protruding element and the ironing of the protruding element, improving the automatic ironing efficiency and ironing effect. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0046] Figure 1 It is a schematic structural diagram of an ironing equipment provided by an embodiment of the present application;

[0047] Figure 2 It is a schematic structural diagram of an ironing module provided by an embodiment of the present application;

[0048] Figure 3 It is a schematic structural diagram of an ironing board provided by an embodiment of the present application;

[0049] Figure 4 Flow chart of an ironing method provided by an embodiment of the present application;

[0050] Figure 5 Schematic diagram of the movement process of an ironing board provided by an embodiment of the present application;

[0051] Figure 6 Schematic diagram of the process of an ironing method provided by an embodiment of the present application;

[0052] Figure 7 Schematic diagram of the process of an ironing provided by an embodiment of the present application;

[0053] Figure 8 Schematic diagram of the pressing of an ironing board provided by an embodiment of the present application;

[0054] Figure 9 Flow chart of an ironing method provided by an embodiment of the present application;

[0055] Figure 10 Flow chart of an ironing method provided by an embodiment of the present application;

[0056] Figure 11 Schematic diagram of the structure of an ironing device provided by an embodiment of the present application;

[0057] Figure 12 Schematic diagram of the hardware structure of a controller provided by an embodiment of the present application.

[0058] Reference numerals

[0059] 11 - Hanging module; 12 - Sensor module; 13 - Vertical movement module; 14 - Horizontal movement module; 15 - Ironing module; 16 - Controller; 17 - Main body module; 151 - First ironing board; 152 - Second ironing board; 153 - Steam port. Detailed implementation manners

[0060] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0061] In the description, claims and the above drawings of the present application, terms such as "first", "second", "third", "fourth", etc. are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances. For example, without departing from the scope of this article, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0062] With the improvement of living standards, ironing devices such as hanging steam irons and electric irons are increasingly widely used in clothing care. When using these ironing devices, it usually requires the user to place the target clothing in a fixed area and then manually iron it with the ironing device in hand. When using this ironing device, there are problems such as slow ironing speed and complex ironing processes. In addition, some more automated ironing devices, such as pressing irons, although they achieve semi-automated operation, still require manual assistance during the ironing process, and the operation process is also relatively complex. Moreover, some clothing care machines that do not require manual operation have problems such as relatively poor ironing effect and longer ironing time. In summary, the existing ironing devices or clothing care devices have low automation and unsatisfactory ironing effects.

[0063] In order to solve the above technical problems, an embodiment of the present application provides an ironing device. This ironing device can achieve automated ironing of clothing. And, in order to avoid possible pulling during the clothing ironing process, the present application also designs an ironing method that can achieve segmented ironing of clothing to improve the ironing effect of clothing.

[0064] Specifically, during ironing, the controller can spray high-temperature steam through the ironing board to soften the clothing, so as to achieve the effect of shaping the clothing during the step-by-step ironing action. During the ironing process, the ironing board can move downward after pressing the target clothing. The controller can introduce bulge recognition and, during the downward movement of the ironing board, identify the bulge elements of the target clothing under the ironing board in real time. When the controller identifies the bulge elements, the controller can first control the ironing board to move downward by a first distance L1, and then control the ironing board to open and move downward by a second distance L2. Thereafter, the controller can repeat the above actions until the ironing of the target clothing is completed. Among them, the sum of the first distance L1 and the second distance L2 is less than or equal to the width W of the ironing board. And, the sum of the first distance L1 and the second distance L2 is greater than 0. And during the above process, after the ironing board opens, the distance D between the two ironing boards is greater than 0. The ironing duration T after the ironing board presses the target clothing is greater than 0. When n cycles are completed, the total distance moved by the ironing board is greater than the length L of the target clothing.

[0065] The method of the present application can repeatedly iron clothing parts, and the ironing effect is better. During the downward movement of the ironing board when it is open, if the target clothing is pulled, the controller can restore it by repeatedly ironing the target clothing.

[0066] Hereinafter, an exemplary application scenario of the embodiments of the present application will be introduced.

[0067] Figure 1 FIG. 10 shows a schematic structural diagram of an ironing device provided by an embodiment of the present application. The ironing device 10 may include a clothes hanging module 11, a sensor module 12, a vertical movement module 13, a horizontal movement module 14, an ironing module 15, and a controller 16.

[0068] Among them, the controller 16 can be set at any position on the ironing device 10. Alternatively, the controller 16 can also be set at any position outside the ironing device 10. The controller 16 can be connected to the clothes hanging module 11, the sensor module 12, the vertical movement module 13, the horizontal movement module 14, and the ironing module 15. Optionally, the connection method can be a physical data line connection. Alternatively, the connection method can also be a wireless connection. Optionally, the controller 16 can obtain information from the sensor module 12 and generate control instructions according to the information to control the clothes hanging module 11, the vertical movement module 13, the horizontal movement module 14, and the ironing module 15.

[0069] Optionally, the ironing device 10 may further include a main body module 17. The main body module 17 may include parts such as a housing, a main body frame, and a base. The main body module 17 constitutes the support frame of the ironing device 10.

[0070] Optionally, the clothes hanging module 11 can be fixed on the top of the frame of the main body module 17. Optionally, at least one clothes hanger can be included in the clothes hanging module 11. As Figure 2 shown, a clothes hanger of the clothes hanging module 11 is presented. Optionally, when the clothes hanging module includes multiple clothes hangers, the multiple clothes hangers can be arranged in sequence along the Figure 2 x direction as shown. Optionally, the multiple clothes hangers in the clothes hanging module 11 can be connected by a conveyor belt. The controller 16 can control the forward and backward movement of the multiple clothes hangers and fix the target clothing to be ironed currently at the position where the frame of the main body module 17 is located as Figure 2 shown.

[0071] Optionally, a vertical movement module 13 is fixed on the frame of the main body module 17. The vertical movement module 13 can include two first movement components, and the two first movement components can be arranged on the left and right sides of the frame of the main body module 17 along the Figure 2 z-axis direction as shown. Alternatively, the left and right sides of the frame of the main body module 17 are the vertical movement module 13. Each first movement component can include at least one transmission belt. Each transmission belt can be connected to a connector on the horizontal outer frame of the horizontal movement module 14. The horizontal outer frame of the horizontal movement module 14 is parallel to the x-axis direction. The controller 16 can control the rotation of the first movement components of the vertical movement module 13 to achieve the effect of controlling the up and down movement of the horizontal outer frame of the horizontal movement module 14. Optionally, the horizontal outer frame can include two short sides in the x-axis direction and at least one long side in the y-axis direction. The horizontal movement module 14 can include two second movement components, and the two second movement components can be arranged on the frames on the left and right sides of the horizontal outer frame of the horizontal movement module 14. Alternatively, the two second movement components can be the frames on the left and right sides of the horizontal outer frame of the horizontal movement module 14. The second movement component can include two transmission belts. The two transmission belts are respectively connected to an ironing board in the ironing module 15 for controlling the separation or closing of the two ironing boards.

[0072] Optionally, the vertical movement module 13 and the horizontal movement module 14 are respectively connected to the controller 16. The vertical movement module 13 can be driven according to the control instruction sent by the controller 16 to make the horizontal movement module 14 connected to the vertical movement module 13 move up and down. The horizontal movement module 14 can be driven according to the control instruction sent by the controller 16 to make the two ironing boards in the ironing module 15 open or close.

[0073] Optionally, the ironing module 15 can be as Figure 2As shown. Specifically, the ironing module 15 may include a first ironing board 151 and a second ironing board 152. The two ironing boards may be respectively connected to the moving components of the horizontal movement module 14. The ironing module 15 is connected to the controller 16 and is configured to perform corresponding ironing operations according to the control instructions sent by the controller.

[0074] Optionally, the inner sides of the first ironing board 151 and / or the second ironing board 152 may be as Figure 3 shown. A plurality of steam outlets 153 may be provided on the inner sides of the ironing boards. Optionally, brushes may also be provided on the inner sides of the first ironing board 151 and / or the second ironing board 152. Optionally, rollers may also be provided on the inner sides of the first ironing board 151 and / or the second ironing board 152.

[0075] Optionally, the first ironing board 151 or the second ironing board 152 may be an independent support board.

[0076] Taking the controller as the execution subject, the ironing method of the following embodiments is executed. Specifically, the execution subject may be the hardware device of the controller, or the software application in the controller that implements the following embodiments, or the computer-readable storage medium installed with the software application that implements the following embodiments, or the code of the software application that implements the following embodiments.

[0077] The technical solutions of the present application will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0078] Figure 4 The flowchart of an ironing method provided by an embodiment of the present application is shown. Based on the embodiment shown in Figures 1 to 3 and as shown in Figure 4 , taking the controller as the execution subject, the method of this embodiment may include the following steps:

[0079] S101. Obtain a target image of the target clothing.

[0080] In this embodiment, the controller may obtain a target image of the target clothing.

[0081] In one implementation, the camera may be disposed on the ironing device. The camera may capture a target image of the target clothing after the target clothing is completely loaded. The target image may include the complete target clothing.

[0082] In another example, the camera may be disposed at the lower end of the ironing device. The camera may capture a target image of the target clothing within a preset range at the lower end of the ironing board in real time.

[0083] S102. When it is determined from the target image that there is a raised element on the target clothing and the lower boundary of the ironing board contacts the upper boundary of the raised element, control the ironing board to open and move downward by a raised distance, where the raised distance is determined according to the ironing board parameters.

[0084] In this embodiment, the controller first determines whether there is a raised element on the target clothing according to the target image. After it is determined from the target image that there is a raised element on the target clothing, the controller can further determine whether the ironing board contacts the raised element. This contact specifically may include the lower end of the ironing board contacting the upper end of the raised element.

[0085] In one example, when the target image includes the complete target clothing, a comparison image of clothing with or without protrusions can be set in the controller. The controller can use the object image to compare with the target image to determine whether there is a raised element on the target clothing. Optionally, after determining the position of the raised element on the image, the controller can determine the position of the raised element in the actual scene. The controller can determine whether the ironing board contacts the raised element according to the position of the ironing board and the position of the raised element in the actual scene.

[0086] In another example, when the target image only includes the image of the target clothing within a preset range at the lower end of the ironing board, the controller can use a preset recognition algorithm to recognize whether there is a raised element on the target clothing captured in the target image and whether the ironing board contacts the raised element.

[0087] When it is determined that there is a raised element on the target clothing and the lower boundary of the ironing board contacts the upper boundary of the raised element, the controller can control the ironing board to open and move downward by a raised distance. This raised distance can be denoted as L3. Controlling the ironing board to open can prevent the situation that the ironing board continues to move downward and causes tugging with the raised element. The raised distance can be determined according to the parameters of the ironing board. Specifically, this extraction distance can be a distance less than the height W of the ironing board. Moving the ironing board downward by this raised distance can ensure that when the ironing board clamps again, the upper boundary of the raised element is within the ironing range of the ironing board, thus preventing the raised element from tugging with the ironing board.

[0088] S103. Control the ironing board to iron the target clothing.

[0089] In this embodiment, the controller can control the ironing board to perform the ironing operation after completing the movement of the raised distance. Or the controller can also control the ironing board to perform the ironing operation when it is determined that the ironing board does not contact the raised element.

[0090] In one example, the ironing operation can be as Figure 5 shown and includes the following steps:

[0091] Step 1: The controller can obtain the target clothing to be loaded. The length of the target clothing can be L.

[0092] Step 2: The controller controls the ironing board to clamp the target clothing and stays for a period of time to iron the target clothing.

[0093] Step 3: The controller controls the ironing board to move downward by a distance L1. This distance L1 can be a preset fixed value.

[0094] Step 4: The controller controls the ironing board to open by a distance D. This distance D is the distance between the first ironing board and the second ironing board when the ironing board is opened.

[0095] Step 5: The controller controls the ironing board to move downward by a distance L2. This distance L2 can be a preset fixed value. This L2 can be a value less than the height W of the ironing board.

[0096] The controller can execute n cycles of S202 to S205. When n cycles are completed, the ironing board can complete the ironing of the lower edge of the target clothing. Optionally, the detailed execution process of this process can be as Figure 7 shown.

[0097] For the ironing method provided in this application, the controller can obtain the target image of the target clothing. The controller can determine whether there are raised elements on the target clothing and whether the ironing board touches the raised elements. When the ironing board touches the raised elements, the controller can control the ironing board to move downward by the raised distance. The raised distance is determined according to the ironing board parameters. The controller can control the ironing board to iron the target clothing. In this application, by judging whether the ironing board touches the, the judgment of the raised elements is realized, improving the automatic ironing efficiency and ironing effect.

[0098] Based on the above embodiments, as Figure 6 shown, it is Figure 4 an example flowchart of the ironing method shown. Its specific steps can include:

[0099] S201: The controller sets the comparison image of the clothing without raised elements.

[0100] S202: The controller takes the target image of the target clothing and compares the target image with the comparison image.

[0101] S203: The controller determines whether there are raised elements according to the comparison result. If there are raised elements, the controller can sequentially execute step S204. Otherwise, the controller can jump to step S206.

[0102] S204. The controller can determine whether the lower edge of the ironing board touches the upper edge of the protruding element. If so, the controller can sequentially execute step S205. Otherwise, the controller can jump to step S206.

[0103] S205. The controller controls the ironing board to open and move downward by a distance L3. This distance L3 is the protruding distance. After the movement of the ironing board is completed, the controller can continue to execute step S206.

[0104] S206. The controller can execute the ironing cycle as Figure 5 shown.

[0105] Figure 7 Fig. shows a flowchart of an ironing method provided by an embodiment of the present application. Based on the embodiment shown in Figures 1 to 6 and as shown in Figure 7 , with the controller as the execution subject, the method of this embodiment can include the following steps:

[0106] S301. Control the ironing board to press against the target clothing and stay for a first duration to iron the target clothing.

[0107] In this embodiment, the controller can control the ironing board to approach the target clothing to achieve the ironing distance of the target clothing in this ironing section. Furthermore, the controller can control the ironing board to start ironing the target clothing within this ironing section. Optionally, when the ironing board reaches this ironing distance, the ironing board presses against the target clothing. As shown in Figure 8 (a), the target clothing can be pressed by the first ironing board and the second ironing board. Among them, the target clothing can be the area shown by the diagonal shadow.

[0108] In an example, the process of the controller approaching the target clothing can include:

[0109] Step 1. Obtain the pressure feedback by the ironing board.

[0110] In this step, when the ironing board approaches the target clothing, the pressure sensor on the ironing board can obtain the pressure generated by the ironing board squeezing the clothing.

[0111] Step 2. When the pressure is less than the first pressure threshold, control the ironing board to approach the target clothing.

[0112] In this step, when the pressure reaches the first pressure threshold, the controller can determine that the ironing board reaches the ironing distance. Otherwise, when the pressure is less than the first pressure threshold, the controller can continue to control the ironing board to move closer to the target clothing to approach the target clothing.

[0113] Step 3. When the pressure is greater than the second pressure threshold, control the ironing board to move away from the target clothing.

[0114] In this step, when the pressure is greater than the second pressure threshold, the controller can consider that the pressure on the target garment is too high and control the ironing board to move slightly away from the target garment so that the ironing board maintains the optimal ironing distance to iron the target garment. Optionally, the second pressure threshold can be a value slightly greater than the first pressure threshold.

[0115] In one example, when the ironing board presses tightly on the target garment at the current position, the ironing board can stay at the current position for a first duration to complete the ironing of the target garment at the current position. The first duration can be represented as T.

[0116] In this example, the position where the controller currently presses tightly can be the current position. After the controller completes the operation of pressing tightly on the target garment at the current position according to the above steps, the controller can control the ironing board to start ironing. Ironing the current position usually requires a first duration. During this first duration, the ironing board can spray high-temperature steam onto the target garment. The target garment can be softened by the high-temperature steam, thereby realizing the ironing of the target garment at the current position. Optionally, the first duration can be determined according to the ironing efficiency of the ironing device. Alternatively, the first duration can be determined according to the ironing program selected by the user.

[0117] S302. Control the ironing board to move downward by a first distance.

[0118] In this embodiment, the controller can control the ironing board to move downward by a first distance. Optionally, the first distance can be L1. Optionally, the value of L1 can be between 0 and 20 mm.

[0119] S303. Control the ironing board to open and move downward by a second distance.

[0120] In this embodiment, the controller can control the ironing board to open. The opened first ironing board and second ironing board can be as shown in Figure 8 (b). After controlling the first ironing board and the second ironing board to open, control them to move downward by a second distance. Optionally, the second distance can be represented as L2. The second distance can be determined according to the height W of the ironing board. Optionally, the sum of the first distance and the second distance is less than the height of the ironing board. The settings of the first distance and the second distance can avoid repeated ironing of the ironed area in S301.

[0121] S304. Repeat the above process until the lower edge of the ironing board reaches the ironing lower boundary, and the ironing lower boundary is located below the lower edge of the target garment.

[0122] In this embodiment, the controller may return to step S301 after controlling the ironing board to open and move downward by a second distance, and control the ironing board to press against the target clothing. Optionally, this loop ends until the lower edge of the ironing board reaches the ironing lower boundary. Optionally, the ironing lower boundary is located below the target clothing. Optionally, the distance between the ironing lower boundary and the target clothing is usually a fixed value. For example, the fixed value may be W / 2. The W may be the height of the ironing board.

[0123] For the ironing method provided in this application, the controller may first press against the target clothing to achieve ironing of the target clothing. The controller may also move a first distance in the pressed state to achieve ironing of the target clothing within the range of the first distance. The controller may also separate the ironing board and move a second distance. The controller may loop the above steps after completing the movement of the second distance until the target clothing is completely ironed. In this application, by obtaining the cyclic ironing process, the automatic ironing efficiency and ironing effect are improved.

[0124] Based on the above embodiment, Figure 9 shows a flowchart of an ironing method provided in an embodiment of this application. Based on the Figures 1 to 8 embodiment shown, as Figure 9 shown, with the controller as the execution subject, the method of this embodiment may include the following steps:

[0125] S401. Control the ironing board of the ironing module to press against the target clothing and iron the target clothing.

[0126] S402. Obtain a first acting force generated by pulling on the convex element of the target clothing during the process of the ironing board moving downward by a first distance.

[0127] In this embodiment, after the ironing board moves the first distance, the controller may obtain the first acting force generated by pulling on the convex element through a pressure sensor disposed at the lower boundary of the ironing board. Optionally, the moving speed of the ironing board may be determined according to the preset ironing speed of the ironing device. Optionally, the first ironing board and the second ironing board may move synchronously.

[0128] In one example, the controller may obtain the first acting force in real time during the process of the ironing board moving downward by a first distance. When the first acting force is greater than or equal to the acting force threshold, the controller may stop moving downward and execute step S403.

[0129] In one example, when the ironing board moves downward by a first distance, if the first acting force obtained by the controller is less than the acting force threshold, the controller can move downward by the first distance again. After moving the first distance, the controller can obtain the first acting force again. The controller can compare the first acting force with the acting force threshold. The controller can loop the process of moving downward by the first distance until the first acting force is greater than or equal to the acting force threshold. Alternatively, the controller can control the ironing board to move downward by the first distance multiple times until the lower boundary of the ironing board reaches the ironing lower boundary.

[0130] S403. When the first acting force is greater than or equal to the acting force threshold, control the ironing board to open and move downward by a second distance.

[0131] In this embodiment, the controller can be preset with an acting force threshold. When the first acting force is greater than or equal to the acting force threshold, the controller can consider that the ironing board encounters a convex element. Otherwise, the controller can consider that the first acting force is only a change caused by a slight convexity on the surface of the clothing. Therefore, when the first acting force is greater than or equal to the acting force threshold,

[0132] Optionally, the opening distance at which the first ironing board and the second ironing board open can be determined according to the thickness of the target clothing. The thickness of the target clothing can be determined according to the pressing distance between the first ironing board and the second ironing board when the first ironing board and the second ironing board press the target clothing. For example, the thickness of the target clothing can be the pressing distance, and the opening distance can be twice the thickness.

[0133] Optionally, after the ironing board moves the second distance, the convex element can be within the ironing range of the ironing board.

[0134] S404. Loop the above process until the lower edge of the ironing board reaches the ironing lower boundary, and the ironing lower boundary is below the lower edge of the target clothing.

[0135] For the ironing method provided in this application, the controller can control the ironing board to press and iron the target clothing. The controller can control the ironing board to move downward by a first distance. The controller can obtain the first acting force generated by the tug-of-war between the convex element and the ironing board through a pressure sensor arranged at the lower boundary of the ironing board. When the first acting force is greater than or equal to the acting force threshold, the controller can control the ironing board to open and move downward by a second distance. The controller can loop the above process until the lower edge of the ironing board reaches the ironing lower boundary. The ironing lower boundary is below the lower edge of the target clothing. In this application, by obtaining the first acting force between the ironing board and the convex element, the judgment of the convex element and the ironing of the convex element are realized, improving the automatic ironing efficiency and ironing effect.

[0136] Based on the above embodiments, as Figure 10 shown, it is Figure 9 an example flowchart of the ironing method shown. Its specific steps may include:

[0137] S501. A reaction force F1 that the ironing board may encounter during normal movement can be set in the controller. This F1 is the force threshold. This F1 can be a preset range.

[0138] S502. The controller can obtain the first acting force F2 fed back by the ironing board in real time. The controller can compare this F2 with F1. If F2 > F1, it indicates that there is a tug-of-war between the ironing board and the target clothing. At this time, the controller can execute step S503. Otherwise, if F2 is less than or equal to F1, it means that the ironing board has not encountered a raised element and can continue to iron normally downward.

[0139] In one example, the F1 used in step S502 can be the maximum value within the value range of the preset F1 in step S501.

[0140] S503. If F2 > F1, it indicates that there is a tug-of-war between the ironing board and the target clothing. At this time, the controller determines that the ironing board has encountered a raised element.

[0141] S504. When the ironing board encounters a raised element, the controller can control the ironing board to open and move downward by a distance L3. This distance L3 is the raised distance. This is similar to step S205 and will not be elaborated here.

[0142] S505. The controller can execute the ironing cycle as Figure 5 shown.

[0143] Figure 11 shows a schematic structural diagram of an ironing device provided by an embodiment of the present application. As Figure 11 shown, the ironing device 20 in this embodiment is used to implement the operations corresponding to the controller in any of the above method embodiments. The ironing device 20 in this embodiment includes:

[0144] An acquisition module 21, configured to acquire a target image of the target clothing;

[0145] A processing module 22, configured to control the ironing board to open and move downward by the raised distance when it is determined according to the target image that the target clothing has a raised element and the lower boundary of the ironing board contacts the upper boundary of the raised element, where the raised distance is determined according to the ironing board parameters; and control the ironing board to iron the target clothing.

[0146] Optionally, the processing module 22 is specifically configured to:

[0147] Control the ironing board to press tightly against the target clothing and stay for a first duration to iron the target clothing;

[0148] Control the ironing board to move downward by a first distance;

[0149] Control the ironing board to open and move downward by a second distance;

[0150] Loop the above process until the lower edge of the ironing board reaches the lower ironing boundary, which is located below the lower edge of the target clothing.

[0151] Optionally, the processing module 22 is specifically configured to:

[0152] Obtain the pressure feedback by the ironing board in real time;

[0153] When the pressure is less than the first pressure threshold, control the ironing board to be close to the target clothing;

[0154] When the pressure is greater than the second pressure threshold, control the ironing board to be away from the target clothing.

[0155] Optionally, the sum of the first distance and the second distance is less than the height of the ironing board.

[0156] Optionally, the processing module 22 is specifically configured to:

[0157] Obtain a comparison image of the clothing without protrusions;

[0158] Compare and determine whether the target image includes protruding elements according to the comparison image and the target image.

[0159] The ironing device 20 provided by the embodiments of the present application can execute the above method embodiments. For the specific implementation principles and technical effects, reference can be made to the above method embodiments, which will not be elaborated here in this embodiment.

[0160] Figure 12 Shows a schematic hardware structure diagram of a controller provided by the embodiments of the present application. As Figure 12 shown, the controller 30 is used to implement the operations corresponding to the controller in any of the above method embodiments. The controller 30 of this embodiment may include: a memory 31, a processor 32, and a communication interface 34.

[0161] The memory 31 is used to store computer instructions. The memory 31 may include a high-speed random access memory (Random Access Memory, RAM), and may also include non-volatile storage (Non-Volatile Memory, NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk, or an optical disc, etc.

[0162] A processor 32 is configured to execute computer instructions stored in a memory to implement the ironing method in the above embodiments. For specific details, reference may be made to the relevant descriptions in the foregoing method embodiments. The processor 32 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0163] Optionally, the memory 31 may be either independent or integrated with the processor 32.

[0164] When the memory 31 is a device independent of the processor 32, the controller 30 may further include a bus 33. The bus 33 is used to connect the memory 31 and the processor 32. The bus 33 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0165] A communication interface 34 may be connected to the processor 31 through the bus 33. The processor 32 may control the communication interface 34 to implement communication with the sensor.

[0166] The controller provided in this embodiment can be used to execute the above ironing method, and its implementation manner and technical effects are similar, which will not be elaborated here in this embodiment.

[0167] This application also provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the methods provided in the above various embodiments.

[0168] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of computer instructions from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, the computer-readable storage medium is coupled to the processor, so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an Application Specific Integrated Circuits (ASIC). In addition, the ASIC can be located in the user equipment. Of course, the processor and the computer-readable storage medium can also exist as discrete components in the communication device.

[0169] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically-Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable read-only memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0170] The present application also provides a computer program product. The computer program product includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. At least one processor of the device can read the computer instructions from the computer-readable storage medium, and the execution of the computer instructions by at least one processor enables the device to implement the methods provided by the above various embodiments.

[0171] The embodiment of the present application also provides a chip. The chip includes a memory and a processor. The memory is used to store computer instructions, and the processor is used to call and run the computer instructions from the memory, so that the device installed with the chip executes the methods in the above various possible embodiments.

[0172] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or modules can be in electrical, mechanical or other forms.

[0173] Among them, each module can be physically separated. For example, it can be installed at different positions of one device, or installed on different devices, or distributed to multiple network units, or distributed to multiple processors. Each module can also be integrated together. For example, it can be installed in the same device, or integrated in a set of code. Each module can exist in the form of hardware, or can also exist in the form of software, or can also be implemented in the form of software plus hardware. The present application can select some or all of the modules according to actual needs to achieve the purpose of the solution of this embodiment.

[0174] When the integrated module is implemented in the form of a software functional module, it can be stored in a computer-readable storage medium. The above-mentioned software functional module is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods of the various embodiments of the present application.

[0175] It should be understood that although the steps in the flowcharts in the above embodiments are displayed in sequence according to the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and they can be executed in other orders. Moreover, at least a part of the steps in the figure can include multiple sub-steps or multiple stages. These sub-steps or stages do not necessarily have to be executed at the same time, but can be executed at different times, and their execution order does not necessarily have to be in sequence, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An ironing method, characterized in that, The method includes: Obtaining a target image of the target clothing; When it is determined according to the target image that there is a raised element on the target clothing and the lower boundary of the ironing board contacts the upper boundary of the raised element, controlling the ironing board to open and move downward by a raised distance, where the raised distance is determined according to the ironing board parameters; Controlling the ironing board to iron the target clothing.

2. The method according to claim 1, characterized in that, The controlling the ironing board to iron the target clothing specifically includes: Controlling the ironing board to press against the target clothing and stay for a first period of time to iron the target clothing; Controlling the ironing board to move downward by a first distance; Controlling the ironing board to open and move downward by a second distance; Repeating the above process until the lower edge of the ironing board reaches the ironing lower boundary, where the ironing lower boundary is below the lower edge of the target clothing.

3. The method according to claim 2, characterized in that, The controlling the ironing board to press against the target clothing specifically includes: Obtaining in real time the pressure feedback by the ironing board; When the pressure is less than a first pressure threshold, controlling the ironing board to approach the target clothing; When the pressure is greater than a second pressure threshold, controlling the ironing board to move away from the target clothing.

4. The method according to claim 2, characterized in that, The method further includes: The sum of the first distance and the second distance is less than the height of the ironing board.

5. The method according to any one of claims 1-4, characterized in that, The determining that there is a raised element on the target clothing according to the target image specifically includes: Obtaining a comparison image of clothing without raised elements; Comparing and determining whether the target image includes a raised element according to the comparison image and the target image.

6. An ironing device, characterized in that, The device includes: An acquisition module for obtaining a target image of the target clothing; A processing module for, when it is determined according to the target image that there is a raised element on the target clothing and the lower boundary of the ironing board contacts the upper boundary of the raised element, controlling the ironing board to open and move downward by a raised distance, where the raised distance is determined according to the ironing board parameters; controlling the ironing board to iron the target clothing.

7. A controller, characterized in that, The controller includes: a memory, a processor; The memory is used to store computer instructions; the processor is used to implement the method according to any one of claims 1 to 5 based on the computer instructions stored in the memory.

8. An ironing equipment, characterized in that, The ironing device includes: a clothes hanging module, a sensor module, a vertical movement module, a horizontal movement module, an ironing module, and the controller according to claim 7; The sensor module is connected to the controller and is used to send image information of the target clothing to the controller; The vertical movement module and the horizontal movement module are connected to the controller and the ironing module and are used to control the movement of the ironing module according to control instructions sent by the controller when the controller executes the method according to any one of claims 1 to 5; The ironing module is connected to the controller and is used to perform an ironing operation when the ironing module approaches the target clothing.

9. A computer-readable storage medium, characterized in that, Computer instructions are stored in the computer-readable storage medium, and when the computer instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 5.

10. A computer program product, characterized in that, The computer program product includes computer instructions which, when executed by a processor, implement the method according to any one of claims 1 to 5.

Images