Clothes flattening method based on visual guidance, clamping device and nursing system

Abstract

The invention provides a clothes flattening method based on visual guidance, a clamping device and a nursing system. The clothes flattening method based on visual guidance comprises the steps that S1, attribute information of clothes to be nursed is acquired; s2, the intelligent planning module generates a special clamping strategy based on the attribute information of the clothes; and S3, flattening the to-be-nursed clothes according to a special clamping strategy. A specific special clamping strategy is adopted for clothes of different types and materials, clamping force and tension applied to the to-be-nursed clothes are accurately controlled, the situation that the clothes are prone to wrinkling at the edge of the clamping plate device is effectively avoided, and it is guaranteed that the clothes are in a flattened state all the time and cannot be damaged by pulling in the nursing operation such as hanging ironing.

Description

Technical Field

[0001] This invention relates to the field of household appliance technology, and more specifically, to a visual guidance-based method for flattening clothing, a clamping device, and a care system. Background Technology

[0002] With the improvement of living standards and the increase in personalized needs, consumers have higher and higher requirements for clothing care. Garment steamers, as a common small appliance, use high-pressure steam generated by internal heating to continuously contact and soften clothing fibers, thereby smoothing out wrinkles and restoring the garment to a flat state. To achieve better flatness, users need to hold the garment steamer firmly while pressing it down, and use their hands or other auxiliary tools to keep the surface of the garment flat or straight.

[0003] Existing technologies typically utilize clamps or similar devices to hold clothing in place and maintain its flatness. For example, Chinese Patent Publication No. CN220665751U discloses a clothing securing device, including a middle frame and a clamp assembly disposed on the middle frame. The clamp assembly includes at least two clamp units, each clamp unit including two opposing sub-clamps. The two sub-clamps are detachably connected, and a clamping gap is formed between the two sub-clamps. The sub-clamps are configured to clamp clothing located within the clamping gap. While this solution can secure clothing for easier ironing, it cannot precisely control the clamping force for different clothing materials. This can easily lead to clamping wrinkles at the edges of the clamps. If ironing is performed under these conditions, the wrinkles will become more pronounced and penetrate deeper into the fabric fibers, resulting in poor garment care. Furthermore, existing technologies cannot precisely control the flattening tension for different clothing materials. For expensive and lightweight fabrics such as silk, wool, etc., there is a risk of tearing and damage.

[0004] In view of this, the present invention is hereby proposed. Summary of the Invention

[0005] The problem solved by this invention is that existing care systems cannot adaptively adjust the holding force and tension according to the type and material of the clothing, resulting in unsatisfactory care effects such as steaming and ironing, and large fluctuations in care effects between different types of clothing.

[0006] To address the aforementioned problems, this invention provides a visual guidance-based method for flattening clothing, comprising: S1, acquiring attribute information of the clothing to be cared for; S2, an intelligent planning module generating a special clamping strategy based on the attribute information of the clothing; and S3, flattening the clothing to be cared for according to the special clamping strategy.

[0007] Preferably, in step S1, the attribute information of the garment to be cared for is obtained through at least one of three methods: user input, user selection from a database, or real-time acquisition by the garment information acquisition module. The garment attribute information can be obtained in real-time by the garment acquisition module, and then the most probable options are provided to the user for selection. The combination of the garment acquisition module and user input improves the accuracy and efficiency of acquiring the garment attribute information.

[0008] Preferably, the attribute information of the clothing includes clothing type, clothing material, clothing length, and clothing details. The clothing type includes tops and pants. Tops include T-shirts, shirts, sweaters / knitwear, and jackets. T-shirts include basic styles, printed styles, long sleeves, short sleeves, crew necks, V-necks, stand collars, etc. The clothing material includes cotton, polyester, nylon, wool, silk, linen, spandex, blends, etc. The clothing length can be divided into adult and children's sizes.

[0009] Preferably, step S2 includes: the intelligent planning module queries and determines whether the database stores historical nursing records corresponding to the attribute information. If so, the nursing strategy in the historical nursing record is directly invoked; otherwise, a special clamping strategy is generated based on the clothing's attribute information. By searching historical nursing records, previous user operations can be retrieved, making the nursing system more in line with user habits and improving the stability of clothing with the same attribute information across different nursing batches. The database is built by the manufacturer and pre-stored in the storage unit of the nursing system.

[0010] Preferably, the visual guidance-based clothing flattening method further includes:

[0011] S4. Obtain and determine whether the flattened image information of the current clothing meets the preset conditions. If yes, proceed to step S7; otherwise, proceed to step S5.

[0012] S5. Adjust the relevant parameters of the clamping arm and formulate a new nursing strategy;

[0013] S6. Flatten the garments again according to the new care strategy;

[0014] S7. The special clamping strategy in step S3 is associated with the attribute information of the clothing and stored in the database as a historical nursing record; or the new nursing strategy in step S6 is associated with the attribute information of the clothing and stored in the database as a historical nursing record.

[0015] This method can select appropriate customized clamping strategies based on attributes such as material and length, and make secondary adjustments based on the feedback of the clamping effect to further improve the flattening effect on the garment, thereby improving the final ironing effect. For the attribute information of this type of garment, if a corresponding care strategy exists in the database, it is replaced with the associated care strategy; if no corresponding care strategy exists in the database, the associated care strategy is stored in the database so that it can be directly called as a clamping strategy from historical care records during the next clamping operation, making the care system more intelligent and its actions more rational.

[0016] Preferably, the relevant parameters of the clamping arm in step S5 include the array pattern of clamping points, clamping path, flattening path, and general motion sequence. By analyzing the correlation between the specific shape of the folds and the relevant parameters, the relevant parameters can be adjusted in a targeted manner to improve the responsiveness of the nursing system.

[0017] Preferably, the specialized clamping strategy includes determining the sequence of movements of the clamping arm's movement path, clamping path, and flattening path based on the attribute information of the garment to be cared for. By constraining and controlling the specific motion trajectory of the clamping arm's movement, clamping, and flattening actions through the specialized clamping strategy, wrinkles are effectively prevented at the edges of the clamping arm, and irreversible damage to the garment is avoided.

[0018] The present invention also provides a clamping device for implementing the above-mentioned vision-guided clothing flattening method, including a clothing information acquisition module for acquiring attribute information of the hanging clothing; and an intelligent planning module connected to the clothing information acquisition module for generating a corresponding clamping strategy based on the attribute information of the clothing.

[0019] The present invention also provides a nursing system, including the above-mentioned clamping device, and further including a steaming arm linked with the clamping device.

[0020] Compared with existing technologies, the visual guidance-based garment flattening method, clamping device, and care system described in this invention have the following beneficial effects: 1) Specific and customized clamping strategies are adopted for garments of different types and materials, and the clamping force and tension applied to the garments to be cared for are precisely controlled to ensure that the garments are always flattened and will not be pulled or damaged during care operations such as steaming; 2) By prioritizing the use of historical care records, the care system is made more in line with user habits and the stability of garments with the same attribute information in different care batches is also improved; 3) By acquiring and analyzing flattening image information, the relevant parameters of the clamping arm are adjusted, and the garments are flattened a second time based on the adjusted parameters, further improving the care effect of steaming and other operations. Attached Figure Description

[0021] Figure 1This is a flowchart illustrating the visual guidance-based clothing flattening method described in Embodiment 1 of the present invention.

[0022] Figure 2 This is a flowchart illustrating the visual guidance-based clothing flattening method described in Embodiment 2 of the present invention.

[0023] Figure 3 This is a schematic diagram of the blessing action described in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the flattening action described in an embodiment of the present invention;

[0025] Figure 5 This is another schematic diagram of the flattening action described in an embodiment of the present invention. Detailed Implementation

[0026] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Without conflict, the technical features of the embodiments of the present invention can be combined with each other.

[0027] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0029] Example 1

[0030] like Figure 1 As shown, a visual guidance-based method for flattening clothing includes:

[0031] S1. Obtain the attribute information of the garment to be cared for;

[0032] The attribute information of the garments to be cared for is obtained in real time by a garment information acquisition module, which can be a camera, a scanner, or other existing technology. The attribute information includes garment type, material, length, brand logo, surface decorations, and other garment details, and may even include the garment's outline dimensions and folds.

[0033] As an example of the present invention, the attribute information is obtained in real time through the clothing acquisition module. Simultaneously, some information that cannot be accurately determined but has a high probability is provided to the user for selection, such as material and brand identification. The combination of the clothing acquisition module and user input improves the accuracy and efficiency of acquiring clothing attribute information. The clothing attribute information can also be provided by the user through a human-computer interaction interface or directly selected from an existing database.

[0034] S2, the intelligent planning module generates a special clamping strategy based on the attribute information of the clothing;

[0035] In one specific embodiment provided in this application, clothing can be clamped or flattened using a pre-programmed clamping strategy. The pre-programmed clamping strategy refers to a pre-set general action sequence and / or general gripping trajectory for the clamping arm. The general action sequence includes the clamping arm performing vertical movement, horizontal clamping, and flattening in a certain order or simultaneously, and the sequence of applying horizontal and vertical tension sequentially or simultaneously during flattening. This can be a movement → clamping, or a movement → clamping → flattening, etc. Alternatively, after a certain interval following the flattening action, the clamping arm can be driven to move downwards, thereby cooperating with the hanger to stretch the clothing in the vertical direction.

[0036] Preferably, the general action sequence is movement → clamping. For example, the clamping arm maintains a fixed horizontal distance from the garment and moves up and down a certain distance to the hem area of ​​the garment. At this time, the hem area of ​​the garment is located in the working coverage area of ​​the clamping arm. During this process, the clamping arm never touches the garment. Then, at least one side of the clamping arm moves closer to the garment until the clamping point touches the surface of the garment. The clamping arm continues to move closer and applies a certain pressure to the garment to complete the clamping action.

[0037] For general gripping trajectories, it refers to the specific coordinate trajectory of the movement of the gripping arm and gripping point, including the movement path and gripping path. It can be a fixed parameter that does not take into account the type, length and other attributes of the clothing. For example, the movement trajectory along the vertical rail, the coordinate trajectory of horizontal movement for gripping, and the movement trajectory of gripping point reversal for tensioning. For example, moving downwards by 30cm, and then moving horizontally by 5cm, it is assumed that the gripping point can touch the surface of the clothing at this time. Then the gripping arm continues to move closer to the clothing by 0.3cm to complete the gripping action.

[0038] In a more intelligent implementation, the intelligent planning module generates a customized clamping strategy based on the garment's attribute information. The intelligent planning module refers to the control module, and the customized clamping strategy includes a customized gripping trajectory or a customized flattening trajectory. The customized gripping trajectory can also be associated with attributes such as garment type and length. For different garment types, the displacement parameters for downward movement, horizontal movement, and secondary horizontal movement for clamping are specifically set. For example, the general gripping trajectories for tops and pants are different. For tops such as T-shirts, shirts, sweaters / knitwear, and coats, the general gripping trajectory can be specifically set. Furthermore, for garments of significantly different lengths, such as those for adults and children, the corresponding general gripping trajectory also needs to be specifically set to ensure good adaptability to various garment types, ultimately resulting in excellent garment steaming performance.

[0039] Preferably, the specialized clamping strategy can be further refined according to the specific style and material of the garment. For example, for outerwear, it can be differentiated based on jackets, trench coats, overcoats, suits, denim jackets, and different materials such as cotton, polyester, nylon, wool, silk, linen, spandex, and blends. In this way, the clamping points and flattening force are automatically adjusted according to the material and thickness of the garment, ensuring that the clamping is both secure and does not damage the garment.

[0040] In one specific embodiment provided in this application, the intelligent planning module generates a special clamping strategy based on the attribute information of the clothing, specifically manifested as follows:

[0041] When the garment is a shirt, T-shirt, or trousers, or made of cotton or linen, a delicate care clamping strategy is generated. Because these garments have relatively simple designs, no complex features or details, and a relatively symmetrical silhouette, the delicate care clamping strategy can divide the garment into multiple flattening areas based on the distribution of wrinkles. Clamping and flattening actions can then be performed on these multiple flattening areas. Furthermore, cotton and linen fibers have high strength, requiring greater flattening force during wrinkle removal. Therefore, the delicate care clamping strategy involves a longer flattening stroke or greater flattening force for each flattening area.

[0042] The flattening action here involves maintaining pressure on the garment while driving the clamping points to move relative to the garment, thereby applying tension and completing the flattening process. This flattening action can be continuous. During this process, the clamping arms can work in conjunction with the hanger to create vertical tension on the garment. For example, the hanger can move upwards continuously or intermittently, and / or the clamping arms can move downwards. These actions can be simultaneous, alternating, or only one can occur intermittently, thus generating vertical tension on the garment and ensuring it remains taut in the vertical direction. This also helps the ironing components achieve their hanging-ironing effect. Meanwhile, the clamping points of the clamping arms move relative to the garment to generate horizontal tension. For example, there may be two clamping points that rotate or move in opposite directions; the specific movements of the clamping points are not limited. The flattening action can be to first apply vertical tension to the clothing and then apply horizontal tension to the clothing, or to first apply horizontal tension to the clothing and then apply vertical tension to the clothing, or to drive the motor to rotate simultaneously, thereby generating horizontal and vertical tension on the clothing at the same time, and finally generating a composite tension on the clothing in a scattering direction (similar to the "eight" direction).

[0043] When the garment type is an outerwear, sweatshirt, or made of silk, synthetic fibers, or blends, a gentle care clamping strategy is adopted. Because these garments have complex designs and intricate details, and because silk, synthetic fibers, and blends are prone to wrinkles if clamping or smoothing force is too strong, the gentle care clamping strategy only performs smoothing and clamping actions on the hem of the garment, without smoothing. The smoothing action involves maintaining a fixed horizontal distance between the clamping arm and the garment and moving it up and down a certain distance to the hem area. At least one side of the clamping arm then moves towards the garment until the clamping point touches the surface. The clamping point then moves relative to the garment in a vertical or horizontal direction, applying a tangential force to the surface and completing the smoothing action. The clamping arm then continues to move closer and apply pressure to the garment, completing the clamping action.

[0044] Of course, if both the clothing type and the clothing material meet the delicate care clamping strategy, the intelligent planning module generates the delicate care clamping strategy; if either the clothing type or the clothing material meets the gentle care clamping strategy, the intelligent planning module generates the gentle care clamping strategy; if neither the clothing type nor the clothing material meets the delicate care clamping strategy nor the gentle care clamping strategy, the intelligent planning module generates the pre-programmed care clamping strategy.

[0045] The following details a specific implementation of the intelligent planning module that generates a customized clamping strategy based on the clothing's attribute information:

[0046] When the garment style is a shirt and the material is cotton, a delicate care clamping strategy is generated.

[0047] The delicate care clamping strategy here divides the garment into multiple flattened areas, allowing for clamping and flattening actions on each of these areas. Specifically, based on the garment's length and width, it can generate first clamping points, second clamping points, and first flattening points. These clamping or flattening points include coordinates along the X, Y, and Z axes.

[0048] In this first clamping point, the Z-axis coordinate is typically determined by the garment length according to a preset ratio. The X-axis coordinate is typically determined by subtracting 5cm from the garment's outline on each side of the width. The Y-axis coordinate is typically a measured value. Here, the configuration of the measured Y-axis coordinate represents the Y-axis coordinate recorded when the garment is clamped by the clamping arm and the normal force acting on the garment meets preset conditions. These preset conditions could be a normal force of 1N or deformation of the garment.

[0049] The Z-axis coordinate at the first flattening point is usually determined by the garment length according to a second preset ratio. The X-axis coordinate is usually determined by subtracting 2cm from the garment width from the garment outline. The Y-axis coordinate is usually the same as the above measurements.

[0050] It should be emphasized that the first and second preset ratios here are empirical values. Usually, the flattening area divided by these empirical values ​​can reduce the deep wrinkles on the upper part of the garment through tension after the flattening action is completed.

[0051] It is recommended to determine the specific coordinates of the clamping and flattening points based on the actual flattening effect of the clothing. The relevant data listed in this application are only examples for understanding purposes, and this application is not limited to the relevant data.

[0052] The Z-axis coordinate of this second clamping point is usually determined by subtracting 5cm from the garment length from the garment outline. The X-axis coordinate is usually determined by subtracting 5cm from the garment width from the garment outline on each side. The Y-axis coordinate is the same as the above measurements.

[0053] The Z-axis coordinate of this second flattening point is usually determined by subtracting 1cm from the garment's outline to get the garment length. The X-axis coordinate is usually determined by subtracting 2cm from the garment's outline to get the garment width. The Y-axis coordinate is usually the same as the above measurements.

[0054] The above-mentioned delicate care clamping strategy makes full use of the characteristics of the garment, such as the lack of complex features or details, relatively symmetrical outline, and the need to apply greater flattening force to the material, which can cause less scratching of the garment and reduce deep wrinkles.

[0055] When the garment style is a shirt and the material is silk, a gentle care clamping strategy is generated.

[0056] The gentle care and clamping strategy here only performs smoothing and clamping actions on the hem of the garment, without flattening it. Specifically, a first smoothing point, a second smoothing point, and a third flattening point can be generated based on the garment's length and width. These smoothing or clamping points include coordinates along the X, Y, and Z axes.

[0057] In this configuration, the Z-axis coordinate of the first smoothing point is typically determined by the garment length according to a third preset ratio. The X-axis coordinate is usually a predicted value, and the Y-axis coordinate is usually a measured value. The preset X-axis coordinate is configured such that the position of the garment's placket corresponding to the clamping arm's gripping point is used as the X-axis coordinate, which is typically located at the initial stroke position of the clamping arm's gripping point. The measured Y-axis coordinate is configured such that it is the Y-axis coordinate recorded when the clamping arm's gripping point is in contact with the garment.

[0058] The Z-axis coordinate of this second smoothing point is usually determined by the garment length according to the fourth preset ratio. The X-axis coordinate is usually determined by subtracting 2cm from the garment width inwards from the garment outline. The Y-axis coordinate is usually the above-mentioned measurement value.

[0059] It should be emphasized that the third and fourth preset ratios here are empirical values. Usually, after the smoothing action is completed with these empirical values, the result can be obtained by adjusting the hanging state of the clothes.

[0060] The Z-axis and X-axis coordinates of the third clamping point are usually the same as those of the second smoothing point, only the Y-axis coordinate is a new measurement. This new measurement is configured such that the Y-axis coordinate recorded when the garment is held by the clamping arm and the normal force acting on it meets a preset condition is used as the new measurement value. This preset condition could be a normal force of 0.5N or deformation of the garment.

[0061] The above-mentioned gentle care clamping strategy takes into full account the complex features or details on the garment that are prone to snagging. Alternatively, for materials such as silk, synthetic fibers, or blends, excessive clamping or smoothing force can easily cause clamping or smoothing wrinkles. Therefore, the gentle care clamping strategy only applies smoothing and clamping actions to the hem of the garment, without performing any smoothing actions.

[0062] Preferably, S2 includes:

[0063] The system queries and determines whether historical care records containing this attribute information are stored in the database. If so, the care strategy from the historical records is directly invoked; otherwise, a customized clamping strategy is generated based on the garment's attribute information. This setting makes the care system more user-friendly and improves the stability of garment care. The data can be constructed by the manufacturer based on experimental data and stored on a computer-readable medium at the time of device shipment.

[0064] S3. Flatten the garments to be cared for using a special clamping strategy.

[0065] Specifically, before the clamping arm moves, the area to be flattened can be determined according to the type of clothing to be cared for. The movement path represents the path along the vertical rail to the area to be flattened. The clamping arm can move to the vicinity of the flattened area based on the movement path. Preferably, the opposing clamping arms maintain the maximum distance in the movement path to avoid snagging the clothing.

[0066] The clamping path represents the movement path of the clamping arm in clamping the garment. Along this path, the clamping points on the clamping arm gradually approach each other until they touch the garment. See details... Figure 3 Preferably, the clamping point can avoid certain details of the clothing, such as clothing labels or decorations, and the clamping force can also be adjusted according to the material of the clothing. Once the clamping force reaches a predetermined value, the clamping action is completed by default.

[0067] The flattening path characterizes the motion path of the gripping arm in flattening the garment; see details below. Figure 4-5 This mechanism guides the clamping points to move relative to the garment while maintaining a holding force, creating tension on the garment to ensure that the surface flatness of the area to be flattened conforms to a preset flatness, either overall or in segments. The tension applied to the garment during the flattening path can be adjusted according to the garment's material. The moving path, clamping path, and flattening path can move sequentially according to a general action sequence, or at least two of the three paths can move simultaneously.

[0068] Example 2

[0069] Because the specialized clamping strategy can only select a pre-set general action sequence and general clamping trajectory based on the attribute information of the clothing, its matching with the clothing to be cared for is still poor, resulting in unsatisfactory clamping and flattening effects. Ultimately, the clamping and flattening effect fluctuates greatly, and the flatness of the clamping surface meeting the requirements is a probabilistic event. Therefore, this application proposes the following solution:

[0070] The vision-guided clothing flattening method includes:

[0071] S1. Obtain the attribute information of the garment to be cared for;

[0072] S2. The intelligent planning module queries and determines whether the database stores historical nursing records with this attribute information. If so, it directly calls the nursing strategy in the historical nursing record; otherwise, it generates a special clamping strategy based on the attribute information of the clothing.

[0073] S3. Flatten the garments to be cared for according to the special clamping strategy;

[0074] S4. Obtain and determine whether the flattened image information of the current clothing meets the preset conditions. If yes, proceed to step S7; otherwise, proceed to step S5. The preset conditions are set specifically according to the attribute information.

[0075] The specialized clamping strategy includes determining the sequence of actions for the movement path, clamping path, and flattening path of the clamping arm based on the attribute information of the garment to be cared for.

[0076] The flattened image of the garment can be a partial or complete view of the garment being treated. Wrinkles on the garment's surface can be identified based on this image. Under illumination, wrinkles exhibit different levels of brightness; specifically, recessed areas of a wrinkle have lower grayscale values, while protruding areas have higher grayscale values. While grayscale values ​​themselves are affected by material color, light source intensity, and image processing, they cannot provide direct information, but can be used to calculate relevant indicators. The preset condition can be a flatness threshold, set according to the specific garment type, material, and other attributes. When the number, area, or degree of detected wrinkles is below this threshold, the garment is considered flattened; otherwise, it is considered not flattened. For the flattened image, image acquisition, image preprocessing, and feature extraction are performed sequentially, followed by flatness measurement according to industry standard T / CHEAA 0010—2019. The next step is to ensure the garment is flattened before performing ironing or other treatments.

[0077] S5. Adjust the relevant parameters of the clamping arm and formulate a new nursing strategy;

[0078] The analysis of the acquired flattened image information reveals the presence and specific state of wrinkles. If the flattened image shows wrinkles at the edge of the garment, it may be due to the clamping action. In this case, the clamping force is reduced and the clamping operation is repeated, or the silicone contact points are rotated or moved to the sides relative to the garment while clamping to keep the edges flat. To monitor and adjust the clamping force, the clamping point is a silicone contact point equipped with a pressure sensor to detect changes in the clamping force.

[0079] This operation is not a re-run of the special clamping strategy of step S2, but rather an evaluation based on the current flattened image information to determine the relationship between the clamping force, the array of clamping points, the general action sequence, the specific flattening path, and the flatness of the garment surface. Relevant data models or flattened image information corresponding to different garment types and lengths under different conditions can be established in advance in the database to quickly analyze the reasons for poor garment surface flatness. Based on the analysis results, the clamping path and flattening path are adjusted to change the clamping force, the array of clamping points, and even the timing of the clamping path and flattening path, thereby quickly adjusting the motion parameters of the clamping arm.

[0080] S6. Re-flatten the garments according to the new care strategy.

[0081] After the above actions are completed, the clamping device will collect the clothing image information at any action node to determine whether the effect achieved by the current action meets the requirements. If it does not meet the requirements, it will make secondary or multiple adjustments.

[0082] This method can select a suitable customized clamping strategy based on material, length, and other attribute information, and make secondary adjustments based on the feedback of the clamping effect to further improve the flattening effect on the garment, thereby improving the final ironing effect. The further operation can be ironing the garment or drying it.

[0083] Preferably, the visual guidance-based clothing flattening method further includes:

[0084] S7. Associate the care strategy of the clamping arm with the attribute information of the clothing and store it in the database as a historical care record.

[0085] For the attribute information of this type of clothing, if a corresponding care strategy exists in the database, it will be replaced with the associated care strategy; if there is no corresponding care strategy in the database, the associated care strategy will be stored in the database so that it can be directly called as a care strategy of historical care records the next time it is clamped, making the care system more intelligent and the actions more reasonable.

[0086] The present invention also provides a clamping device, including

[0087] The frame has vertical rails inside.

[0088] A clothes hanger set within a frame for hanging clothes;

[0089] A clamping arm that moves up and down relative to clothing via a vertical rail can clamp and / or flatten clothing.

[0090] The clamping device also includes a clothing information acquisition module for collecting attribute information of the hanging clothing;

[0091] The intelligent planning module connects to the clothing information collection module and generates corresponding clamping strategies based on the clothing's attribute information.

[0092] The clamping device can employ different clamping strategies for different materials of clothing to generate adaptive clamping force and tension, thereby achieving the best flattening effect, improving the yield of garment steaming products and effectively preventing damage to clothing.

[0093] Preferably, the clamping arm includes opposing horizontal rails, with at least two movable silicone contacts on the same horizontal rail, and the opposing horizontal rails also have an array of the same movable silicone contacts. The clamping arm can also be a structure with opposing clamping plates, claws, magnetic attraction, negative pressure adsorption, etc.

[0094] The present invention also provides a garment care system, including the clamping device and an ironing arm linked to the clamping device. The garment care system has the same beneficial effects as the visually guided garment smoothing method, and will not be described in detail here.

[0095] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A method for flattening clothing based on visual guidance, characterized in that, include: S1. Obtain the attribute information of the garment to be cared for; S2, the intelligent planning module generates a special clamping strategy based on the attribute information of the clothing; S3. Flatten the garments to be cared for using a special clamping strategy.

2. The method for flattening clothing based on visual guidance according to claim 1, characterized in that, In step S1, attribute information of the garment to be cared for is obtained through at least one of the following three methods: user input, user selection from the database, or real-time collection by the garment information collection module.

3. The method for flattening clothing based on visual guidance according to claim 2, characterized in that, The attribute information of the clothing includes clothing type, clothing material, clothing length, and clothing details.

4. The method for flattening clothing based on visual guidance according to claim 1, characterized in that, Step S2 includes: querying and determining whether the database stores historical nursing records corresponding to the attribute information. If so, the nursing strategy in the historical nursing record is directly called as the special clamping strategy; otherwise, a special clamping strategy is generated based on the attribute information of the clothing.

5. The method for flattening clothing based on visual guidance according to claim 1, characterized in that, The visual guidance-based clothing flattening method further includes: S4, acquiring and determining whether the current flattened image information of the clothing meets the preset conditions; if yes, proceed to step S7; if no, proceed to step S5; S5, adjusting the relevant parameters of the clamping arm and forming a new nursing strategy; S6, performing the flattening action on the clothing again according to the new nursing strategy; S7, associating the special clamping strategy in step S3 with the attribute information of the clothing and storing it in the database as a historical nursing record; or associating the new nursing strategy in step S6 with the attribute information of the clothing and storing it in the database as a historical nursing record.

6. The method for flattening clothing based on visual guidance according to claim 5, characterized in that, The relevant parameters of the clamping arm in step S5 include the array mode of the clamping points, the clamping path, the flattening path, and the general motion sequence.

7. The visual guidance-based method for flattening clothing according to any one of claims 6, characterized in that, The specialized clamping strategy includes determining the sequence of actions for the movement path, clamping path, and flattening path of the clamping arm based on the attribute information of the garment to be cared for.

8. A clamping device for implementing the vision-guided garment flattening method according to any one of claims 1-7, characterized in that, It includes a clothing information collection module for collecting attribute information of hanging clothing; and an intelligent planning module connected to the clothing information collection module to generate corresponding clamping strategies based on the attribute information of the clothing.

9. A nursing system, characterized in that, The device includes the clamping device as described in claim 8, and also includes a garment steamer arm that is linked to the clamping device.

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