Robot cooperative operation-oriented clothes hanger clamping control method, device and system

Abstract

The invention relates to a clamping hanger control method, device and system for robot cooperative operation and a storage medium. The control method comprises the following steps: in an idle state, controlling the clothes hanger clamping arms of the autonomous clothes hanger clamping system which is hung on a clothes airing rod in advance to be in an open state; in response to a clothes clamping instruction, the driving control mechanism is controlled to drive the clothes hanger clamping arms and the clothes hanger main body to clamp clothes to be aired; and in response to a clothes loosening instruction, controlling the driving control mechanism to drive the clothes hanger clamping arms and the clothes hanger main body to loosen the dried clothes. According to the invention, clothes can be actively clamped, and the robot clothes airing device can be accurately matched with a robot, so that a complex robot clothes airing operation mode can be converted into a simple'grabbing-moving-placing 'task.

Description

Technical Field

[0001] This invention relates to the field of automated clothes drying technology, and in particular to a method, device, system, and storage medium for controlling clothes hangers for robot collaborative operation. Background Technology

[0002] In the fields of smart homes and automated warehousing and logistics, robotic material handling technology is quite mature; however, it still faces significant challenges in handling flexible fabrics. Traditional clothing drying solutions primarily rely on robots operating ordinary hangers or fixed, automated clamping hangers. However, both of these methods have the following drawbacks:

[0003] The method of robots operating ordinary clothes hangers involves a high-precision robotic arm grasping the traditional clothes hanger and then performing complex "putting on, hanging, and slipping" actions to hang clothes. This method suffers from high technical bottlenecks, low efficiency, and limited functionality. As for fixed automatic clamping clothes hangers, there are spring-loaded clothes hangers that are opened by manual pressing or electric clothes drying racks that integrate fixed clamping modules. Both of these require manual operation, cannot cooperate with robots, have no independent power source, and have a low level of intelligence.

[0004] Therefore, there is an urgent need in this field to propose an intelligent clothes hanger solution that can actively perform the clamping of clothes and can cooperate precisely with robots, which can transform the complex robotic clothes drying operation into a simple "grab-move-place" task. Summary of the Invention

[0005] This invention provides a control method, system, and storage medium for a clothes hanger for robot collaborative operation. It can actively perform the clamping of clothes and can cooperate precisely with robots, transforming the complex robot clothes drying operation into a simple "grab-move-place" task.

[0006] To address the aforementioned technical problems, this invention provides a control method for a gripper hanger oriented towards robot collaborative operation, applied to an autonomous gripper hanger system for collaborative operation with a service robot and a clothesline. The autonomous gripper hanger system includes a hanger body, a hanger hook located at the top of the hanger body, a hanger clamping arm rotatably located at the bottom of the hanger body, and a drive control mechanism located on the hanger body, the drive control mechanism being connected to the hanger clamping arm.

[0007] The control method includes:

[0008] In the idle state, the clothes hanger arms of the self-operated clothes hanger system, which are pre-attached to the clothesline, are controlled to be in the open state.

[0009] In response to the clothing clamping command, the drive control mechanism is controlled to drive the clothes hanger clamping arm and the clothes hanger body to clamp the clothes to be dried;

[0010] In response to the garment release command, the drive control mechanism is controlled to drive the hanger clamp arm and the hanger body to release the dried garment.

[0011] Furthermore, this invention also proposes a clothes hanger control device for robot collaborative operation, applied to an autonomous clothes hanger system, for collaborative operation with service robots and clotheslines; the autonomous clothes hanger system includes a clothes hanger body, a clothes hanger hook located at the top of the clothes hanger body, a clothes hanger clamp arm rotatably located at the bottom of the clothes hanger body, and a drive control mechanism located on the clothes hanger body, the drive control mechanism being connected to the clothes hanger clamp arm;

[0012] The control device includes:

[0013] The first clothes hanger opening control module is used to control the clothes hanger clamping arms of the self-adhesive clothes hanger system, which is pre-hanging on the clothes drying rod, to be in an open state when idle.

[0014] A clothes hanger clamping control module is used to respond to a clothes clamping command and control the drive control mechanism to drive the clothes hanger clamping arm and the clothes hanger body to clamp the clothes to be dried.

[0015] The second clothes hanger opening control module is used to respond to the clothes release command and control the drive control mechanism to drive the clothes hanger clamp arm and the clothes hanger body to release the dried clothes.

[0016] Furthermore, this invention also proposes an autonomous clothes hanger system for collaborative use with service robots and clotheslines, comprising:

[0017] The garment hanger body includes a garment hanger hook located at the top of the garment hanger body and a rotatable garment hanger clamp arm located at the bottom of the garment hanger body.

[0018] A drive control mechanism is mounted on the main body of the hanger and connected to the hanger clamping arm; and

[0019] The controller is connected to the drive control mechanism;

[0020] The controller is used to implement the method steps in the control method for gripping clothes hangers for robot cooperative operation as described above.

[0021] Furthermore, the present invention also proposes a computer storage medium comprising: at least one instruction that, when executed by a computer, implements the method steps of the gripper control method for robot cooperative operation as described above.

[0022] The beneficial effects of the technical solution provided by this invention include:

[0023] When the self-clamping hanger system is not in use (i.e., in an idle state), the ends of the hanger clamp arms at the bottom can be separated from the hanger body, so that the self-clamping hanger system is in an open state. Moreover, when a command to clamp the clothes is received, the drive control mechanism on the hanger body can be controlled to drive the hanger clamp arms to rotate, so that the hanger clamp arms are close to the hanger body, and the clothes can be automatically clamped between the hanger clamp arms and the hanger body. Moreover, when a command to release the clothes is received, the drive control mechanism on the hanger body can be controlled to drive the hanger clamp arms to rotate in the opposite direction, so that the hanger clamp arms are away from the hanger body, thereby releasing the clothes clamped between the hanger clamp arms and the hanger body.

[0024] The clothes hanger control method for robot collaborative operation provided by this invention, through an autonomous clothes hanger system that works in coordination with service robots and clotheslines, can automatically clamp and dry clothes, and can automatically release clothes when they are dry. This enables the active execution of clamping and releasing clothes, and can work precisely with service robots. It can transform the complex robot clothes drying operation into a simple "grab-move-place" task, making it easy to automate the drying of clothes. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the steps in the clothes hanger control method for robot collaborative operation described in an embodiment of the present invention. Figure 1 ;

[0027] Figure 2 This is a schematic diagram of the steps in the clothes hanger control method for robot collaborative operation described in an embodiment of the present invention. Figure 2 ;

[0028] Figure 3 This is a simplified three-dimensional structural diagram of the autonomous clothes hanger system described in an embodiment of the present invention;

[0029] Figure 4 This is a simplified structural diagram of the autonomous clothes hanger system described in an embodiment of the present invention;

[0030] Figure 5 This is a simplified schematic diagram illustrating the structure of the autonomous clothes hanger system described in this embodiment of the invention, in conjunction with a service robot and a clothes drying pole.

[0031] Figure 6 This is a simplified structural diagram of the clothes hanger control device for robot collaborative operation described in an embodiment of the present invention. Figure 1 ;

[0032] Figure 7 This is a simplified structural diagram of the clothes hanger control device for robot collaborative operation described in an embodiment of the present invention. Figure 2 . Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In traditional technologies, the operation of ordinary clothes hangers by robots involves a high-precision robotic arm grasping the hanger and then performing complex "putting on, hanging, and slipping" actions to suspend clothing. This method suffers from high technical bottlenecks, low efficiency, and limited functionality. As for fixed automatic clamping hangers, existing products include spring-loaded hangers that open manually by pressing, or electric autonomous clamping hanger systems with integrated fixed clamping modules. Both require manual operation, cannot cooperate with robots, lack autonomous power sources, and have low levels of intelligence. To address these technical problems, this invention proposes a clamping hanger control method, device, and autonomous clamping hanger system for robot collaborative operation.

[0035] like Figure 1 As shown, in some embodiments, the present invention proposes a control method for a clothes hanger gripping system for robot collaborative operation, applied to an autonomous clothes hanger system 10, for collaborative operation with a service robot 20 and a clothes drying pole 30 (e.g., Figure 5 As shown). Figures 3 to 4 As shown, the autonomous clothes hanger system 10 may include a clothes hanger body 11, a clothes hanger hook 12 located at the top of the clothes hanger body 11, a clothes hanger clamping arm 13 rotatably located at the bottom of the clothes hanger body 11, and a drive control mechanism 14 located on the clothes hanger body 11, which is connected to the clothes hanger clamping arm 13. The drive control mechanism 14 can drive the clothes hanger clamping arm 13 to rotate, causing the clothes hanger clamping arm 13 to clamp or release from the clothes hanger body 11, thereby achieving the clamping and releasing of clothing. Furthermore, the clothes hanger hook 12 on the clothes hanger body 11 allows the clothes to be hung at the hanging point of the clothes drying rod 30, and the service robot 20 can retrieve and move the clothes using the clothes hanger hook 12.

[0036] Specifically, such as Figure 1 As shown, the control method for a gripper hanger for collaborative robot operation may include the following steps:

[0037] S100. In the idle state, the clothes hanger clamping arms 13 of the autonomous clothes hanger system 10, which is pre-attached to the clothes drying rod 30, are controlled to be in the open state.

[0038] S200, in response to the clothing clamping command, control and drive the control mechanism 14 to drive the clothes hanger clamp arm 13 and the clothes hanger body 11 to clamp the clothes to be dried.

[0039] S300, in response to the clothing release command, the control mechanism 14 drives the clothes hanger arm 13 and the clothes hanger body 11 to release the dried clothes.

[0040] When the autonomous clamping hanger system 10 is not in use (i.e., in an idle state), the end of the hanger clamp arm 13 at its bottom can be separated from the hanger body 11, so that the autonomous clamping hanger system 10 is in an open state; moreover, when a command to clamp the clothes is received, the drive control mechanism 14 on the hanger body 11 can be controlled to drive the hanger clamp arm 13 to rotate, so that the hanger clamp arm 13 is close to the hanger body 11, and the clothes can be automatically clamped between the hanger clamp arm 13 and the hanger body 11; moreover, when a command to release the clothes is received, the drive control mechanism 14 on the hanger body 11 can be controlled to drive the hanger clamp arm 13 to rotate in the opposite direction, so that the hanger clamp arm 13 is away from the hanger body 11, thereby releasing the clothes clamped between the hanger clamp arm 13 and the hanger body 11.

[0041] The clothes hanger control method for robot collaborative operation provided by this invention, through the autonomous clothes hanger system 10 that cooperates with the service robot 20 and the clothes drying pole 30, can automatically clamp and dry clothes, and can automatically release clothes when they are dry. It can realize the active execution of clamping and releasing clothes, and can cooperate precisely with the service robot 20. It can transform the complex robot clothes drying operation into a simple "grab-move-place" task, which facilitates the automated drying of clothes.

[0042] Furthermore, in this embodiment, the self-clamping hanger system 10 can maintain the basic shape of a traditional hanger (such as a triangle), while the hanger body 11 can be designed as an open-bottomed herringbone structure, with the hanger clamping arms 13 rotatably positioned at the open bottom of the hanger body 11. Alternatively, the hanger body 11 can also be designed as a complete triangular structure, with the hanger clamping arms 13 rotatably positioned at the bottom of the hanger body 11.

[0043] Furthermore, the hanger clamp arm 13 has a connecting end rotatably disposed at one end of the bottom of the hanger body 11, and a clamping end corresponding to the other end of the bottom of the hanger body 11. The hanger clamp arm 13 can be driven to rotate from the connecting end via the drive control mechanism 14, causing the clamping end of the hanger clamp arm 13 to close or separate from the bottom of the hanger body 11 (the end corresponding to the clamping end, or the entire bottom). When the clamping end of the hanger clamp arm 13 separates from the bottom of the hanger body 11, a clamping opening is formed between the clamping end of the hanger clamp arm 13 and the bottom of the hanger body 11, at which point the self-operated hanger clamping system 10 is in an open state; when the clamping end of the hanger clamp arm 13 closes with the bottom of the hanger body 11, the clamping opening between them is closed, at which point the self-operated hanger clamping system 10 is in a clamped state.

[0044] Specifically, in step S100, in the idle state, controlling the hanger clamping arms 13 of the autonomous clothes hanger system 10, which is pre-attached to the clothesline 30, to be in an open state may include the following steps:

[0045] S110. In the initial state, the self-closing clothes hanger system 10 is used for hanging and waiting clothes drying rod 30 via clothes hanger hooks 12.

[0046] In the initial state, multiple autonomous clothes hanger systems 10 can be hung on the clothes drying rod 30 via their hanger hooks 12, ready for use in clamping clothes.

[0047] S120. In the idle state, the autonomous clamping hanger system 10 controls its drive control mechanism 14 to drive the hanger clamp arm 13 to separate from the hanger body 11, so that the end of the hanger clamp arm 13 is in an open state.

[0048] When the self-closing clothes hanger system 10 is hung on the clothes drying rod 30 and ready for use, it can be in an open state, making it convenient to directly clamp the clothes during use.

[0049] Furthermore, in this embodiment, the hanger body 11 has a hollow internal structure with an installation cavity; its material is lightweight high-strength engineering plastic or composite material. Specifically, the hanger body 11 can be formed into a hollow triangular or elongated cavity (i.e., installation cavity) using a lightweight high-strength engineering plastic injection molding process. This cavity is used to accommodate all electrical components and ensures that the overall weight is lightweight to match the load capacity of the home service robot 20.

[0050] Furthermore, the drive control mechanism 14 may include a drive power supply 142 disposed in the mounting cavity of the hanger body 11, a micro drive motor 144 connected to the drive power supply 142, and a rotational transmission structure 146 (such as a linear transmission structure or a gear transmission structure) connected to the micro drive motor 144. The rotational transmission structure 146 is connected to the hanger clamp arm 13. Specifically, the rotational transmission structure 146 may employ a precision worm gear assembly or a planetary gear assembly, which can convert the rotational motion of the micro drive motor 144 into the linear opening and closing motion of the hanger clamp arm 13. Moreover, the precision worm gear assembly or planetary gear assembly has a self-locking characteristic, that is, the hanger clamp arm 13 can maintain its current state after power failure, which is energy-saving and safe. In addition, the volume of the micro drive motor 144 can be precisely calculated to be embedded in the mounting cavity of the hanger body 11. Furthermore, the drive power supply 142 may include at least one high-cycle-life pouch lithium-ion battery that can support more than 1000 charge-discharge cycles.

[0051] Furthermore, the inner side of the hanger arm 13 can be covered with a flexible material (such as silicone) to increase friction and prevent damage to clothing during clamping. The hanger arm 13 can also be made of a durable material, with the working surface (i.e., the inner side of the hanger arm 13) covered with a flexible material (a flexible food-grade silicone layer), providing a high coefficient of friction while preventing damage to fabric or leaving indentations. Moreover, the size of the clamping opening of the hanger arm 13 can be preset to accommodate clothing of different thicknesses.

[0052] In addition, the hanger body 11 may also house a hanger communication module that supports low-power communication protocols and can be used to receive control commands. Furthermore, the hanger communication module can employ an ultra-low-power Bluetooth system (SoC) and support Mesh networking. Each autonomous clamping hanger system 10 can have a unique MAC address, allowing for unique identification and location by the system. Moreover, the hanger body 11 may also house a hanger control unit (which can be a microcontroller) that can receive commands and control the forward and reverse rotation of the micro drive motor 144 to achieve the opening and closing of the hanger clamping arm 13. Additionally, the hanger control unit can also control the charging of the drive power supply 142. In summary, the hanger control unit is responsible for controlling motor drive, managing battery power, processing wireless commands, and reporting status information.

[0053] Furthermore, the main body 11 of the clothes hanger can also be equipped with a sensor system, including a Hall sensor, a miniature current sensor, and an inertial measurement unit. Among them, the Hall sensor can be used to detect the precise opening and closing position of the clamping arms to achieve closed-loop control; the miniature current sensor can be used to monitor the motor current, which can determine whether foreign objects are clamped or resistance is encountered, thereby achieving overload protection; the inertial measurement unit can be used to sense whether the clothes hanger is moved or whether it is in a hanging state.

[0054] Therefore, in step S110, the autonomous clamping clothes hanger system 10, through the clothes hanger hook 12 for hanging and waiting of the clothes drying rod 30, may further include the following steps:

[0055] S112. When the autonomous clamping clothes hanger system 10 is hung on the clothes drying rod 30 via the clothes hanger hook 12, the control drive control mechanism 14 is electrically connected to the clothes drying rod 30.

[0056] Specifically, the drive control mechanism 14 of the autonomous clothes hanger system 10 may further include a first charging connection structure connected to the drive power supply 142. The first charging connection structure is disposed on the clothes hanger body 11 and / or the clothes hanger hook 12 and is used to electrically connect to a second charging connection structure connected to a charging power supply on the clothes drying rod 30. When the autonomous clothes hanger system 10 is hung on the clothes drying rod 30 via the clothes hanger hook 12, the first charging connection structure of the autonomous clothes hanger system 10 can be electrically connected to the second charging connection structure of the clothes drying rod 30.

[0057] Furthermore, the clothes drying rod 30 may include a main rod body equipped with a charging power supply, and multiple clothes rod hanging points (which may be clothes rod hooks or clothes rod hanging slots) located at the bottom of the main rod body. Each clothes rod hanging point and / or the main rod body is provided with a second charging connection structure connected to the charging power supply. The charging power supply can be connected to an external power source to supply power to the clothes drying rod 30 and the clothes rack.

[0058] Furthermore, the first charging connection structure may include a wireless charging receiving coil integrated inside the clothes hanger hook 12 or in a structure connected to the hook, and the second charging connection structure may include a wireless charging transmitting module integrated on the main body of the clothes drying rod 30 or on the hanging point of the clothes rod. The wireless charging transmitting module and the wireless charging receiving coil cooperate to realize wireless charging. In addition, the first charging connection structure may include a first charging contact provided on the clothes hanger hook 12, and the second charging connection structure may include a second charging contact provided at the hanging point of the clothes rod. When the clothes hanger hook 12 is hung at the hanging point of the clothes rod, the second charging contact is electrically connected to the first charging contact, which can also realize the charging function.

[0059] S114. When the current power value of the drive control mechanism 14 is lower than the first preset power value, the drive control mechanism 14 is controlled to receive the electrical energy delivered by the clothes drying rod 30.

[0060] In this embodiment, since the autonomous clothes clamping hanger system 10 has the function of actively clamping clothes, it requires electrical energy. Therefore, in order to maintain the normal clamping function of the autonomous clothes clamping hanger system 10, its drive power supply 142 needs to have sufficient power. For the autonomous clothes clamping hanger system 10 hanging on the clothes drying rod 30, the power status of its drive power supply 142 can be monitored, and it can be charged when the power of the drive power supply 142 is insufficient (i.e., the current power value is lower than the first preset power value). Moreover, in this embodiment, the drive power supply 142 of the autonomous clothes clamping hanger system 10 can be charged through the clothes drying rod 30, so the clothes drying rod 30 can be used as a charging base station for the autonomous clothes clamping hanger system 10, which is simple and convenient.

[0061] S116. When the current power value of the drive control mechanism 14 reaches the first preset power value, the autonomous clamping clothes hanger system 10 is in standby mode.

[0062] When the current power value of the drive power supply 142 of the drive control mechanism 14 of the autonomous clothes hanger system 10 hanging on the clothes drying rod 30 reaches the first preset power value, the drive control mechanism 14 can drive the clothes hanger arm 13 to open and close, and the charging can be stopped, so that the autonomous clothes hanger system 10 is in standby state.

[0063] Furthermore, in step S200, in response to the clothing clamping command, the control mechanism 14 is controlled to drive the hanger clamping arm 13 and the hanger body 11 to clamp the clothes to be dried, which may include the following steps:

[0064] S210 When the service robot 20 receives the instruction to dry clothes, the idle autonomous clamping clothes hanger system 10 pre-installed on the clothes drying pole 30 is used for the service robot 20 to remove and transfer the clothes to be dried.

[0065] When clothes need to be dried, a clothes drying instruction can be sent to the service robot 20 (the instruction can be sent by the user through a mobile terminal device, or by the intelligent washing and drying equipment or its control device). Then, the service robot 20 will remove the idle autonomous clamping clothes hanger system 10 that is in the open state and is pre-hanging on the clothes drying rod 30, and move it to the place where the clothes are to be dried, in preparation for clamping the clothes to be dried.

[0066] S220, in response to the clothing clamping command, the control mechanism 14 drives the clothes hanger clamp arm 13 to close with the clothes hanger body 11 to clamp the clothes to be dried at the drying area.

[0067] When the autonomous clothes hanger system 10 is moved to the place where the clothes are to be dried, a clothes clamping command can be issued to it, so that its drive control mechanism 14 drives the clothes hanger clamp arm 13 to rotate, so that the open clothes hanger clamp arm 13 moves closer to the clothes hanger body 11 to close, thereby clamping the clothes to be dried through the clothes hanger clamp arm 13 and the clothes hanger body 11.

[0068] S230. After clamping the clothes to be dried, the autonomous clothes hanger system 10 and the clothes to be dried it hold are used by the service robot 20 to transfer and hang them on the empty clothes rack points on the clothes rack 30.

[0069] After the clothes to be dried are clamped by the autonomous clamping clothes hanger system 10, they can be transferred and hung on the clothes drying rod 30 by the service robot 20 at an empty hanging point on the clothes drying rod 30 for drying.

[0070] Furthermore, in step S210, when the service robot 20 receives the clothing drying instruction, the idle autonomous clamping clothes hanger system 10 pre-installed on the clothes drying pole 30 is used by the service robot 20 to remove and transfer the clothes to be dried, which may further include the following steps:

[0071] S212. When the service robot 20 receives the instruction to dry clothes, the current status information of all autonomous clothes hanger systems 10 pre-installed on the clothes drying pole 30 is used for the service robot 20 to obtain.

[0072] The current hanger status information of the autonomous clothes hanger system 10 may include whether it is in an idle state and whether it is in an open state. The preset status information requires that the autonomous clothes hanger system 10 is in an idle state and its hanger gripping arms 13 are in an open state. When the service robot 20 needs to retrieve an autonomous clothes hanger system 10 that meets the preset status information requirements from the clothesline 30, it needs to obtain the current hanger status information of all autonomous clothes hanger systems 10 on the clothesline 30.

[0073] Furthermore, in some embodiments, all autonomous clothes hanger systems 10 on the clothesline 30 can send their current hanger status information to the service robot 20, enabling the service robot 20 to obtain the current hanger status information of each autonomous clothes hanger system 10. For example, a sensor system can detect whether an autonomous clothes hanger system 10 is holding clothes to determine whether it is in an idle state; a sensor system can also detect whether the hanger arms 13 of the autonomous clothes hanger system 10 are open.

[0074] In addition, in some other embodiments, the service robot 20 may be equipped with a vision detection module, which can perform visual detection on the clothes drying rod 30 and all the autonomous clothes clamping hanger systems 10 hanging on it, and can detect and obtain the current hanger status information of each autonomous clothes clamping hanger system 10.

[0075] In addition, in some other embodiments, the clothes drying rod 30 may be equipped with a pressure sensor or an infrared sensor, which can detect whether a self-gripping hanger system 10 is hung at each hanging point on the clothes drying rod 30 (by weight or volume change), and can detect the hanging points of the self-gripping hanger system 10 from multiple hanging points to obtain the current hanger status information of the self-gripping hanger system 10 (wherein, the hanger clamps 13 of the idle self-gripping hanger system 10 hanging on the clothes drying rod 30 may be in the open state by default).

[0076] In addition, the current hanger status information of each autonomous clamping hanger system 10 can also be obtained by combining at least two detection methods in the above embodiments.

[0077] S214. When the current hanger status information of a certain autonomous clamping hanger system 10 meets the preset status information requirements, the autonomous clamping hanger system 10 that meets the requirements is used to set as the target autonomous clamping hanger system 10.

[0078] When an autonomous clothes hanger system 10 that meets the preset status information requirements is detected among the multiple autonomous clothes hanger systems 10 hanging on the clothesline 30, it can be set as the target autonomous clothes hanger system 10 to be picked up by the service robot 20. When the target autonomous clothes hanger system 10 is detected, its current position information can be obtained through the clothes hanger points of the clothesline 30.

[0079] S216. Based on the current location information of the target autonomous clamping clothes hanger system 10, the target autonomous clamping clothes hanger system 10 is used by the service robot 20 to obtain and remove the clothes hanger from the clothes drying pole 30 and transfer it to the place where the clothes are to be dried.

[0080] The service robot 20 may have a robotic arm and a clothes hanger gripping structure mounted on the robotic arm. Based on the current position information of the target autonomous clothes hanger gripping system 10, the robotic arm can drive the clothes hanger gripping structure to move to the target autonomous clothes hanger gripping system 10, grip it, remove it from the clothes drying rod 30, and then transfer it to the area where clothes are to be dried, preparing to use the target autonomous clothes hanger gripping system 10 to grip the clothes at the area where clothes are to be dried.

[0081] Furthermore, when multiple target autonomous clamping clothes hanger systems 10 are detected, the multiple target autonomous clamping clothes hanger systems 10 can be sorted according to preset rules, and then the farthest or the closest of the multiple target autonomous clamping clothes hanger systems 10 can be taken in sequence.

[0082] Furthermore, in step S220, in response to the clothing clamping command, the control mechanism 14 drives the hanger clamping arm 13 to close with the hanger body 11, which may further include the following steps:

[0083] S222, In response to the clothing clamping command, the open clothes hanger arm 13 of the target autonomous clothes hanger system 10 is used for the service robot 20 to move and extend into the inside of the clothes to be dried or to contact the edge of the clothes to be dried.

[0084] When the service robot 20 moves the target autonomous clamping hanger system 10 to the area where clothes are to be dried, the system can clamp a piece of clothing to be dried. When clamping the clothing, the system can position the clamping end of the open hanger arm 13 at the edge of the clothing, directly clamping the edge through the hanger arm 13 and the hanger body 11; alternatively, the clamping end of the open hanger arm 13 can extend into the inside of the clothing, increasing the clamping width and making the clamping more stable.

[0085] S224, the control drive mechanism 14 drives the open hanger arm 13 to approach the hanger body 11 and close.

[0086] When the hanger arm 13 of the target autonomous clamping hanger system 10 moves and extends into the inside of the clothes to be dried or contacts the edge of the clothes to be dried, the hanger arm 13 can be driven to rotate by the drive control mechanism 14, so that the hanger arm 13 moves closer to the hanger body 11 and closes, so that the open hanger arm 13 changes to the closed state, thereby clamping the clothes between the hanger arm 13 and the hanger body 11.

[0087] Furthermore, in step S230, after clamping the clothes to be dried, the autonomous clothes hanger system 10 and the clothes to be dried it hold are used by the service robot 20 to transfer and hang them on the empty clothes rack points on the clothes rack 30, which may further include the following steps:

[0088] S232. After clamping the clothes to be dried, the autonomous clothes hanger system 10 sends a clothes hanger hanging instruction to the service robot 20.

[0089] After the autonomous clothes hanger system 10 clamps the clothes to be dried by the clothes hanger arm 13 and the clothes hanger body 11, its sensor system can detect the state of the clamped clothes, and thus send a clothes hanger hanging command to the service robot 20.

[0090] S234. When the service robot 20 receives the clothes hanger hanging instruction, the autonomous clothes hanger system 10 and the clothes to be dried held by it are used by the service robot 20 to move them to the clothes drying pole 30.

[0091] When the service robot 20 receives the hanger hanging instruction from the autonomous clothes hanger system 10, it can move the autonomous clothes hanger system 10 and the clothes to be dried, which are held by the clothes hanger clamping structure, and transfer them to the clothes drying rod 30.

[0092] S236. When the service robot 20 obtains an empty clothesline hanging point on the clothesline 30, the autonomous clothes hanger system 10 and the clothes to be dried held therein are used by the service robot 20 to hang them at the empty clothesline hanging point.

[0093] When the service robot 20 moves the autonomous clothes-holding hanger system 10 and the clothes it holds to the clothesline 30, it can detect and locate any available hanging points on the clothesline 30 using the service robot 20's vision detection module or the clothesline 30's built-in detection sensors (such as gravity sensors and / or infrared sensors). Then, the service robot 20 can hang the autonomous clothes-holding hanger system 10 and the clothes it holds on the detected and located available hanging points to dry the clothes.

[0094] Furthermore, in step S300, in response to the clothing release command, the control mechanism 14 drives the hanger clamp arm 13 and the hanger body 11 to release the dried clothes, which may include the following steps:

[0095] S310. When the clothes held by the autonomous clothes-holding system 10 are drying, the autonomous clothes-holding system 10 and the dried clothes held by it are used by the service robot 20 to remove them from the clothesline 30.

[0096] Specifically, by monitoring environmental information such as temperature and humidity in the drying environment, it can be determined that the clothes can be dried after a preset drying time under these conditions. Once the preset drying time has elapsed, it can be determined that the clothes held by the autonomous clothes clamping system 10 are dry, and they can then be collected. When it is time to collect the dried clothes, the service robot 20 can remove the autonomous clothes clamping system 10 and the dried clothes it holds from the clothesline 30, and then move it to the clothes collection location in preparation for collection.

[0097] S320, in response to the clothing release command, the control mechanism 14 drives the clothes hanger arm 13 to separate from the clothes hanger body 11, so as to release the dried clothes and let them fall into the preset clothing collection structure.

[0098] When the autonomous clothes clamping system 10 and the dried clothes it holds are transferred to the clothes collection location, the service robot 20 or other mechanism can issue a clothes release command to the autonomous clothes clamping system 10. After receiving the clothes release command, the autonomous clothes clamping system 10 can drive the drive control mechanism 14 to drive the clothes clamp arm 13 to rotate, so that the clothes clamp arm 13 moves away from the clothes hanger body 11, thereby opening the clothes clamp arm 13 and releasing the dried clothes held between the clothes clamp arm 13 and the clothes hanger body 11, so that the dried clothes fall into the preset clothes collection structure (such as a clothes collection basket).

[0099] S330 After the clothes are detached from the drying rack, the autonomous clamping clothes hanger system 10 is used to allow the service robot 20 to move and hang them on the empty clothes hanger points on the clothes drying rod 30.

[0100] After the autonomous clothes hanger system 10 releases the clothes it is holding and they fall, the service robot 20 can move and reset the autonomous clothes hanger system 10 and hang it on an empty clothes rod hanging point on the clothes drying rod 30, and put its clothes hanger arms 13 in an open state to prepare for the next time to hold clothes.

[0101] Furthermore, in step S310, when the clothes held by the autonomous clothes-holding system 10 are drying, the autonomous clothes-holding system 10 and the dried clothes it holds are used by the service robot 20 to remove them from the clothesline 30, which may further include the following steps:

[0102] S312. When the clothes being dried are held by the autonomous clothes hanger system 10 on the clothesline 30, the autonomous clothes hanger system 10 sends a clothes hanger retrieval command to the service robot 20.

[0103] Once the clothes on the clothesline 30 have been dried for the preset time, it can be determined that the clothes are dry. Then, the autonomous clothes hanger system 10 can send a clothes hanger retrieval command to the service robot 20, so that the service robot 20 can pick up and transfer the autonomous clothes hanger system 10 on the clothesline 30.

[0104] S314. When the service robot 20 receives the instruction to retrieve the clothes hanger, the autonomous clothes hanger system 10 and the dried clothes it holds are used for the service robot 20 to remove them from the clothesline 30.

[0105] According to the received instruction to remove the clothes hanger, the service robot 20 can drive the clothes hanger clamping structure to move to the autonomous clothes hanger clamping system 10 hanging on the clothes drying rod 30 through the mechanical arm, and remove the autonomous clothes hanger clamping system 10 and the dried clothes it clamps from the clothes drying rod 30.

[0106] Furthermore, in step S320, in response to the garment release command, the control mechanism 14 drives the hanger clamp arm 13 to separate from the hanger body 11, which may further include the following steps:

[0107] S322, Autonomous Clothes Hanger System 10 is used by service robot 20 to transfer clothes to the clothing collection location.

[0108] After the service robot 20 removes the autonomous clothes-holding hanger system 10, which is holding dried clothes, from the clothesline 30, it can continue to move the clothes to the clothes collection location equipped with a clothes collection structure (such as a clothes collection basket). At this time, a clothes release command can be issued to the autonomous clothes-holding hanger system 10.

[0109] S324. In response to the garment release command, the control drive mechanism 14 drives the hanger clamp arm 13 to rotate away from the hanger body 11 so that the hanger clamp arm 13 separates from the hanger body 11.

[0110] Upon receiving the instruction to release the clothing, the autonomous clothes hanger system 10 can cause the drive control mechanism 14 to drive the clothes hanger clamp arm 13 to separate from the clothes hanger body 11, so that the two will release the dried clothing and let it fall.

[0111] Furthermore, in step S200, after the control drive mechanism 14 drives the clothes hanger clamp arm 13 and the clothes hanger body 11 to clamp the clothes to be dried, as... Figure 2 As shown, it may also include the following steps:

[0112] S400 detects the real-time power value of the autonomous clothes hanger system 10 that clamps and holds clothes for drying, and charges it accordingly.

[0113] Furthermore, step S400 may further include the following steps:

[0114] S410 When the autonomous clothes clamping system 10 clamps the clothes to be dried and hangs them on the clothes drying rod 30, the control drive control mechanism 14 is electrically connected to the clothes drying rod 30.

[0115] As can be seen from the above embodiments, after the autonomous clothes hanger system 10 is hung on the clothes drying rod 30, electromagnetic connection can be achieved through the electromagnetic coil structure provided on both, and electrical connection can also be achieved through the charging contact structure directly provided on both. This allows the clothes drying rod 30 to detect the real-time power value of the autonomous clothes hanger system 10, so as to determine whether the real-time power value of the drive power supply 142 of the autonomous clothes hanger system 10 meets the minimum power value (i.e., the second preset power value) required to drive the clothes hanger clamp arm 13 to rotate.

[0116] S420. When the real-time power value of the drive control mechanism 14 is lower than the second preset power value, the drive control mechanism 14 is controlled to receive the electrical energy delivered by the clothes drying rod 30, and the drive control mechanism 14 is controlled to drive the clothes hanger clamp arm 13 to maintain the clamping state.

[0117] When the real-time power level of the drive power supply 142 of the autonomous clothes clamping hanger system 10 is detected to be lower than the second preset power level, it can be considered that the drive power supply 142 cannot provide enough power to drive the clothes hanger arm 13 to rotate, so as to clamp and release the clothes. Therefore, it is necessary to charge the autonomous clothes clamping hanger system 10 at this time. This can be achieved by controlling the clothes drying rod 30 to charge the drive power supply 142 of the autonomous clothes clamping hanger system 10 through the electromagnetic coil structure and / or charging contact structure provided on both.

[0118] Moreover, when the self-clamping clothes hanger system 10 clamps the clothes and hangs them on the clothes drying rod 30, the clothes hanger clamp arm 13 always remains in a clamped state to keep the clothes clamped.

[0119] In addition, such as Figure 6 As shown, in other embodiments, the present invention also proposes a clothes hanger control device for robot collaborative operation, applied to an autonomous clothes hanger system 10, for collaborative operation with a service robot 20 and a clothes drying pole 30 (e.g., Figure 5 As shown). Figures 3 to 4 As shown, the autonomous clothes hanger system 10 may include a clothes hanger body 11, a clothes hanger hook 12 located at the top of the clothes hanger body 11, a clothes hanger clamping arm 13 rotatably located at the bottom of the clothes hanger body 11, and a drive control mechanism 14 located on the clothes hanger body 11, which is connected to the clothes hanger clamping arm 13. The drive control mechanism 14 can drive the clothes hanger clamping arm 13 to rotate, causing the clothes hanger clamping arm 13 to clamp or release from the clothes hanger body 11, thereby achieving the clamping and releasing of clothing. Furthermore, the clothes hanger hook 12 on the clothes hanger body 11 allows the clothes to be hung at the hanging point of the clothes drying rod 30, and the service robot 20 can retrieve and move the clothes using the clothes hanger hook 12.

[0120] Specifically, such as Figure 6As shown, the clothes hanger control device 1000 for robot collaborative operation may include:

[0121] The first clothes hanger opening control module 1002 is used to control the clothes hanger clamping arms 13 of the autonomous clothes hanger system 10, which is pre-hanging on the clothes drying rod 30, to be in an open state when idle.

[0122] The clothes hanger clamping control module 1004 is used to respond to the clothes clamping command and control the drive control mechanism 14 to drive the clothes hanger clamping arm 13 and the clothes hanger body 11 to clamp the clothes to be dried.

[0123] The second clothes hanger opening control module 1006 is used to respond to the clothes release command and control the drive control mechanism 14 to drive the clothes hanger clamp arm 13 and the clothes hanger body 11 to release the dried clothes.

[0124] In addition, such as Figure 7 As shown, the clothes hanger control device 1000 for robot collaborative operation may further include:

[0125] The charging control module 1008 is used to detect the real-time power value of the autonomous clothes hanger system 10 that clamps and holds clothes for drying, and to charge it.

[0126] The clothes hanger gripping control device 1000 for robot collaborative operation described in this embodiment corresponds to the clothes hanger gripping control method for robot collaborative operation described above. The functions of each module in the clothes hanger gripping control device 1000 for robot collaborative operation described in this embodiment are explained in detail in the corresponding method embodiments, and will not be repeated here.

[0127] In addition, such as Figures 3 to 4 As shown, in some other embodiments, the present invention also proposes an autonomous clothes hanger system 10 for cooperating with a service robot 20 and a clothes drying pole 30. The autonomous clothes hanger system 10 may include a clothes hanger body 11, a clothes hanger hook 12 disposed at the top of the clothes hanger body 11, and a clothes hanger clamping arm 13 rotatably disposed at the bottom of the clothes hanger body 11; it also includes a drive control mechanism 14 disposed on the clothes hanger body 11 and connected to the clothes hanger clamping arm 13, and a controller 15 connected to the drive control mechanism 14.

[0128] The controller 15 can be used to implement the method steps in the robot-cooperative operation-oriented clothes hanger control method described above, which will not be repeated here. Furthermore, the specific structure of the autonomous clothes hanger system has been described in detail in the above embodiments and will not be repeated here.

[0129] This invention provides a highly integrated, robot-operable autonomous clothes hanger system. The drive mechanism, energy, communication, and control modules are miniaturized and integrated into the hanger body, enabling it to autonomously execute gripping / releasing commands. This redefines the hanger from a mere "tool" into an "intelligent agent" with sensing, execution, and communication capabilities. A standardized interface integrating mechanical, electrical, and communication functions (located on the hanger hook) is defined, allowing any service robot supporting this interface to seamlessly grasp and manipulate the hanger. This enables interoperability between robots and hangers from different manufacturers, significantly reducing the integration complexity and cost at the robot end and promoting industry ecosystem development. Execution intelligence (gripping control) is decentralized to each hanger node, with service robots only responsible for movement and task scheduling, achieving optimized allocation of computing power and reducing overall system cost. A dedicated clothes drying pole enables "seamless" charging and status monitoring of a large number of intelligent hangers, constructing a sustainable energy management system. The dedicated drying pole ensures automatic charging and status monitoring of the hanger cluster, guaranteeing the system's readiness and high availability.

[0130] Furthermore, in other embodiments, the present invention proposes a computer-readable storage medium storing computer-executable instructions for a processor to execute in order to implement all or part of the method steps of the gripper control method for robot cooperative operation as described above.

[0131] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0132] Based on the same inventive concept, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program that runs on the processor, and the processor executes the computer program to implement all or part of the method steps described above.

[0133] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0134] Memory can be used to store computer programs and / or models. The processor performs various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0135] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0136] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0137] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0138] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0139] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A control method for gripping a clothes hanger for collaborative robot operation, applied to an autonomous gripping clothes hanger system for cooperation with a service robot and a clothes drying rack; the autonomous gripping clothes hanger system includes a clothes hanger body, a clothes hanger hook disposed at the top of the clothes hanger body, a clothes hanger clamp arm rotatably disposed at the bottom of the clothes hanger body, and a drive control mechanism disposed on the clothes hanger body, the drive control mechanism being connected to the clothes hanger clamp arm; Its features are, The control method includes: In the idle state, the clothes hanger arms of the self-operated clothes hanger system, which are pre-attached to the clothesline, are controlled to be in the open state. In response to the clothing clamping command, the drive control mechanism is controlled to drive the clothes hanger clamping arm and the clothes hanger body to clamp the clothes to be dried; In response to the garment release command, the drive control mechanism is controlled to drive the hanger clamp arm and the hanger body to release the dried garment.

2. The control method for a gripper hanger for robot collaborative operation according to claim 1, characterized in that, The step of responding to a clothing clamping command by controlling the drive control mechanism to drive the clothes hanger clamping arm and the clothes hanger body to clamp the clothes to be dried includes: When the service robot receives the instruction to dry clothes, the idle autonomous clamping clothes rack system pre-installed on the clothes rack is used by the service robot to remove and transfer the clothes to be dried. In response to the clothing clamping command, the drive control mechanism is controlled to drive the clothes hanger clamping arm to close with the clothes hanger body to clamp the clothes to be dried at the drying area; After clamping the clothes to be dried, the autonomous clamping clothes hanger system and the clothes to be dried it hold are used by the service robot to transfer and hang them on the empty clothes rack points on the clothes rack.

3. The control method for a gripper hanger for robot collaborative operation according to claim 2, characterized in that, When the service robot receives a clothing drying instruction, the pre-installed, idle autonomous clothes hanger system on the clothesline is used by the service robot to remove and transfer the clothes to the drying area, including: When the service robot receives the instruction to dry clothes, the current status information of all the autonomous clothes hanger systems pre-installed on the clothesline is used for the service robot to obtain; When the current hanger status information of a certain autonomous clamping hanger system meets the preset status information requirements, the autonomous clamping hanger system that meets the requirements is used to be set as the target autonomous clamping hanger system. Based on the current location information of the target autonomous clamping clothes hanger system, the target autonomous clamping clothes hanger system is used for the service robot to acquire, remove from the clothesline, and transfer to the place where clothes are to be dried.

4. The control method for a gripper hanger for robot collaborative operation according to claim 3, characterized in that, The step of responding to a garment clamping command by controlling the drive control mechanism to drive the hanger clamping arm to close with the hanger body includes: In response to a clothing clamping command, the open clamping arms of the target autonomous clamping hanger system are used to allow the service robot to move and extend into the inside of the clothing to be dried or to contact the edge of the clothing to be dried. The drive control mechanism is controlled to drive the open hanger arm to move closer to the hanger body and close.

5. The control method for a gripper hanger for robot collaborative operation according to claim 3, characterized in that, After clamping the clothes to be dried, the autonomous clothes hanger system and the clothes it clamps are used by the service robot to transfer and hang them on the clothesline at available hanging points on the clothesline, including: After clamping the clothes to be dried, the autonomous clothes hanger system sends a hanger hanging instruction to the service robot; When the service robot receives the instruction to hang the clothes hanger, the autonomous clothes hanger system and the clothes to be dried it hold are used by the service robot to move them to the clothes drying pole. When the service robot finds an available hanging point on the clothesline, the autonomous clamping clothes hanger system and the clothes to be dried it hold are used by the service robot to hang them on the available hanging point.

6. The control method for a gripper hanger for robot collaborative operation according to claim 1, characterized in that, The step of responding to a clothing release command by controlling the drive control mechanism to drive the hanger clamp arm and the hanger body to release the dried clothing includes: When the clothes held by the autonomous clothes clamping system are drying, the autonomous clothes clamping system and the dried clothes it holds are used for the service robot to remove them from the clothesline. In response to the clothing release command, the drive control mechanism is controlled to drive the clothes hanger clamp arm to separate from the clothes hanger body, so as to release the dried clothes and let them fall into the preset clothing collection structure; After the clothes are detached from the drying rack, the autonomous clamping clothes rack system is used for the service robot to move and hang them on the empty clothes rack points on the clothes rack.

7. The control method for a gripper hanger for robot cooperative operation according to claim 6, characterized in that, When the clothes are dried using the autonomous clothes-holding system, the autonomous clothes-holding system and the dried clothes it holds are used by a service robot to remove them from the clothesline, including: When the clothes held by the autonomous clothes clamping system on the clothesline are drying, the autonomous clothes clamping system sends a command to the service robot to retrieve the clothes clamp. When the service robot receives the clothes rack retrieval instruction, the autonomous clothes rack system and the dried clothes it holds are used for the service robot to remove them from the clothesline.

8. The control method for a clothes hanger for robot cooperative operation according to claim 6, characterized in that, The step of responding to a garment release command by controlling the drive control mechanism to separate the hanger clamp arm from the hanger body includes: The autonomous clothes hanger system is used by the service robot to move the clothes to the collection location; In response to a garment release command, the drive control mechanism is controlled to rotate the hanger clamp arm away from the hanger body, so as to separate the hanger clamp arm from the hanger body.

9. The control method for a gripper hanger for robot collaborative operation according to claim 1, characterized in that, In the idle state, controlling the clothes hanger arms of the self-contained clothes hanger system pre-attached to the clothesline to be in the open state includes: In its initial state, the autonomous clamping clothes hanger system is used for hanging clothes on a drying rack and for standby use via clothes hanger hooks; In the idle state, the autonomous clamping hanger system controls its drive control mechanism to separate the hanger clamp arm from the hanger body, so that the end of the hanger clamp arm is in an open state.

10. The control method for a gripper hanger for robot cooperative operation according to claim 9, characterized in that, The self-contained clothes hanger system uses clothes hanger hooks for hanging clothes on drying racks and for use in general, including: When the autonomous clamping clothes hanger system is hung on the clothes drying rod via the clothes hanger hook, the drive control mechanism is electrically connected to the clothes drying rod. When the current power value of the drive control mechanism is lower than the first preset power value, the drive control mechanism is controlled to receive the electrical energy delivered by the clothes drying rod. When the current power value of the drive control mechanism reaches the first preset power value, the autonomous clamping clothes hanger system is in standby mode.

11. The control method for a gripper hanger for robot cooperative operation according to claim 1, characterized in that, After the drive control mechanism drives the clothes hanger clamp arm and the clothes hanger body to clamp the clothes to be dried, the method further includes: When the autonomous clothes clamping system clamps and hangs clothes on the clothes drying rod, the drive control mechanism is electrically connected to the clothes drying rod. When the real-time power value of the drive control mechanism is lower than the second preset power value, the drive control mechanism is controlled to receive the electrical energy delivered by the clothes drying rod, and the drive control mechanism is controlled to drive the clothes hanger clamp arm to maintain the clamping state.

12. The control method for a gripper hanger for robot cooperative operation according to claim 10 or 11, characterized in that, The drive control mechanism includes a drive power supply disposed on the hanger body, a drive motor connected to the drive power supply, a transmission structure connected to the output end of the drive motor and connected to the hanger clamp arm, and a first charging connection structure connected to the drive power supply. The first charging connection structure is disposed on the hanger body and / or the hanger hook and is electrically connected to a second charging connection structure connected to a charging power supply on the clothes drying rod.

13. A clothes hanger control device for robot collaborative operation, applied to an autonomous clothes hanger system, for cooperating with a service robot and a clothes drying rack; the autonomous clothes hanger system includes a clothes hanger body, a clothes hanger hook disposed at the top of the clothes hanger body, a clothes hanger clamp arm rotatably disposed at the bottom of the clothes hanger body, and a drive control mechanism disposed on the clothes hanger body, the drive control mechanism being connected to the clothes hanger clamp arm; Its features are, The control device includes: The first clothes hanger opening control module is used to control the clothes hanger clamping arms of the self-adhesive clothes hanger system, which is pre-hanging on the clothes drying rod, to be in an open state when idle. A clothes hanger clamping control module is used to respond to a clothes clamping command and control the drive control mechanism to drive the clothes hanger clamping arm and the clothes hanger body to clamp the clothes to be dried. The second clothes hanger opening control module is used to respond to the clothes release command and control the drive control mechanism to drive the clothes hanger clamp arm and the clothes hanger body to release the dried clothes.

14. An autonomous clothes hanger system for use in conjunction with a service robot and a clothes drying rack; characterized in that, include: The garment hanger body includes a garment hanger hook located at the top of the garment hanger body and a rotatable garment hanger clamp arm located at the bottom of the garment hanger body. A drive control mechanism is located on the main body of the hanger and connected to the hanger clamping arm; as well as The controller is connected to the drive control mechanism; The controller is used to implement the method steps in the control method for gripping clothes hangers for robot cooperative operation as described in any one of claims 1-12.

15. A computer storage medium, characterized in that, The computer storage medium includes at least one instruction that, when executed by a computer, implements the method steps of the gripper control method for robot cooperative operation as described in any one of claims 1-12.

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