Automatic airing method, device and system based on robot and storage medium

Abstract

The invention relates to an automatic airing method, device and system based on a robot and a storage medium. The method comprises the steps that in response to a clothes airing instruction, a service robot is controlled to obtain an idle target clothes hanger which is hung on a clothes airing rod in advance; a service robot is controlled to move the target clothes hanger to the position of clothes to be aired, and the target clothes hanger is controlled to clamp target aired clothes from the position of the clothes to be aired; and controlling the service robot to move the target clothes hanger for clamping the target airing clothes to the position of the clothes airing rod, and hanging the target clothes hanger on an idle clothes rod hanging point on the clothes airing rod. The problem that in the prior art, clothes airing still depends on manpower seriously can be solved.

Description

Technical Field

[0001] This invention relates to the field of automated drying technology, and in particular to a robot-based automated drying method, apparatus, system, and storage medium. Background Technology

[0002] With the widespread adoption of smart washing machines, the washing and drying processes have become highly automated. However, the subsequent airing of clothes still heavily relies on manual labor, posing a significant "last mile" challenge to smart home automation. Existing technologies attempt to address this issue, but all have obvious limitations. Summary of the Invention

[0003] This invention provides a robot-based automated clothes drying method, system, and storage medium, which can solve the problem that clothes drying still heavily relies on manual labor in traditional technologies.

[0004] To address the aforementioned technical problems, this invention provides a robot-based automated clothes drying method, applied to an automated clothes drying system; the automated clothes drying system includes a clothes drying pole, a service robot corresponding to and cooperating with the clothes drying pole, and a clothes rack corresponding to and cooperating with the clothes drying pole and the service robot;

[0005] The drying method includes:

[0006] In response to the instruction to dry clothes, the service robot is controlled to obtain a vacant target clothes rack that has been pre-installed on the clothesline;

[0007] The service robot is controlled to move the target clothes rack to the location of the clothes to be dried, and the target clothes rack is controlled to pick up the target clothes from the location of the clothes to be dried;

[0008] The control service robot moves and picks up the target clothes rack for drying clothes and places it on the clothes drying pole, and hangs the target clothes rack on an empty hanging point on the clothes drying pole.

[0009] In addition, the present invention also proposes a robot-based automated drying device for use in an automated drying system; the automated drying system includes a clothesline, a service robot that cooperates with the clothesline, and a clothes rack that cooperates with the clothesline and the service robot.

[0010] The drying device includes:

[0011] The idle clothes rack acquisition module is used to respond to the clothes drying command and control the service robot to acquire the idle target clothes rack that has been pre-installed on the clothes drying pole;

[0012] The clothing clamping control module is used to control the service robot to move the target clothes rack to the location of the clothes to be dried, and to control the target clothes rack to clamp the target clothes to be dried from the location of the clothes to be dried;

[0013] The clothes hanger hanging control module is used to control the service robot to move and pick up the target clothes hanger of the target clothes to the clothes drying pole, and hang the target clothes hanger on an empty clothes rod hanging point on the clothes drying pole.

[0014] Furthermore, this invention also proposes an automated drying system, comprising:

[0015] Clothes drying rack;

[0016] Service robots;

[0017] Clothes rack; and

[0018] The controller is connected to the clothesline, the service robot, and the clothes rack.

[0019] The controller is used to implement the method steps in the robot-based automated drying method described above.

[0020] 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 robot-based automated drying method as described above.

[0021] The beneficial effects of the technical solution provided by this invention include:

[0022] After clothes are automatically washed and dried by intelligent washing and drying equipment, they can be automatically dried using the robot-based automated drying method provided by this invention. Specifically, under the action of the user-input clothing drying command, a service robot is controlled to remove an empty target clothes rack pre-installed on the clothesline and move it to the location of the clothes to be dried, so that the target clothes rack automatically clamps the clothes to be dried (target clothes). Then, the service robot can be controlled to move the target clothes rack and the clamped target clothes back to an empty hanging point on the clothesline. In this way, the automatic drying of washed and dried clothes can be achieved, solving the problem that clothing drying still heavily relies on manual labor in traditional technologies, thereby solving the "last mile" problem of smart home automation. Attached Figure Description

[0023] 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.

[0024] Figure 1This is a schematic diagram of the steps of the robot-based automated drying method described in an embodiment of the present invention. Figure 1 ;

[0025] Figure 2 This is a schematic diagram of the steps of the robot-based automated drying method described in an embodiment of the present invention. Figure 2 ;

[0026] Figure 3 This is a schematic diagram of the steps of the robot-based automated drying method described in an embodiment of the present invention. Figure 3 ;

[0027] Figure 4 This is a schematic block diagram of the automated drying system described in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of the robot-based automated drying device described in an embodiment of the present invention. Figure 1 ;

[0029] Figure 6 This is a schematic diagram of the structure of the robot-based automated drying method described in an embodiment of the present invention. Figure 2 ;

[0030] Figure 7 This is a schematic diagram of the structure of the robot-based automated drying method described in an embodiment of the present invention. Figure 3 . Detailed Implementation

[0031] 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.

[0032] With the widespread adoption of smart washing machines, the washing and drying processes have become highly automated. However, the subsequent drying of clothes still heavily relies on manual labor, posing a significant "last mile" challenge to smart home automation. Existing technologies have attempted to address this issue, but all have obvious limitations. To solve the aforementioned technical problems, this invention proposes a robot-based automated drying method, device, and automated drying system.

[0033] like Figure 1 As shown, in some embodiments, the present invention proposes a robot-based automated drying method, applied to an automated drying system 100. For example... Figure 4As shown, the automated clothes drying system 100 may include a clothes drying pole 200, a service robot 100 corresponding to the clothes drying pole 200, and clothes racks 300 corresponding to the clothes drying pole 200 and the service robot 100. The clothes racks 300 are used to hang clothes waiting to be dried, the clothes drying pole 200 is used to hang idle clothes racks 300, or / and clothes racks 300 with clothes waiting to be dried, and the service robot 100 is used to move and retrieve clothes racks 300.

[0034] Specifically, such as Figure 1 As shown, this robot-based automated drying method may include the following steps:

[0035] S100, in response to the clothes drying instruction, controls the service robot 100 to obtain the available target clothes rack 300 that is pre-installed on the clothes drying pole 200;

[0036] S200, control the service robot 100 to move the target clothes rack 300 to the place where the clothes are to be dried, and control the target clothes rack 300 to pick up the target clothes from the place where the clothes are to be dried;

[0037] S300, control service robot 100 to move and pick up target clothes rack 300 to clothes rod 200, and hang target clothes rack 300 on an empty clothes rod hanging point on clothes rod 200.

[0038] After clothes are automatically washed and dried by intelligent washing and drying equipment, they can be automatically dried using the robot-based automated drying method provided by this invention. Specifically, under the action of a user-input clothing drying command, the service robot 100 can be controlled to remove an empty target clothes rack 300 pre-installed on the clothesline 200 and move the target clothes rack 300 to the location of the clothes to be dried, so that the target clothes rack 300 automatically clamps the clothes to be dried (target clothes to be dried); then, the service robot 100 can be controlled to move and hang the target clothes rack 300 and the clamped target clothes to be dried back to an empty hanging point on the clothesline 200. In this way, the automatic drying of washed and dried clothes can be realized, which can solve the problem that clothing drying still relies heavily on manual labor in traditional technology, thereby solving the "last mile" problem of smart home automation.

[0039] Furthermore, in step S100, before controlling the service robot 100 to acquire an empty target clothes rack 300 pre-installed on the clothesline 200 in response to the clothes drying instruction, the following steps may be included:

[0040] S102. The multiple clothes racks 300 to be used are pre-hung at multiple hanging points on the clothes drying rod 200, and each clothes rack 300 to be used is in the open state.

[0041] In its initial state, the clothesline 200 can be fixed to the wall or other surface of the drying area. Generally, the clothesline 200 can be long and narrow, with multiple hanging points along its length at its bottom, allowing multiple clothes hangers 300 to be hung at these points. Furthermore, to facilitate the subsequent clamping of clothing using the clothes hangers 300, the clothes hangers 300 can be initially positioned in an open state, making it easy to clamp clothing using their open sections.

[0042] Furthermore, the clothes drying rod 200 can be equipped with a pressure sensor or an infrared sensor, which can be used to detect which hanging point is where the clothes drying rack 300 is hung, and whether there are clothes hanging on the clothes drying rack 300 (judged by changes in weight or volume).

[0043] S104. Obtain the power status of each clothes rack 300 to be used. When it is detected that the power of the clothes rack 300 is insufficient, control the clothes rod 200 to charge the clothes rack 300.

[0044] Furthermore, since the clothes rack 300 proposed in this embodiment has the function of actively clamping clothes, it requires electrical energy. Therefore, in order to maintain the normal clamping function of the clothes rack 300, it needs to have sufficient power. For the clothes rack 300 hanging on the clothes drying rod 200, its power status can be monitored, and it can be charged when its power is low. Moreover, in this embodiment, the clothes rack 300 can be charged through the clothes drying rod 200, so the clothes drying rod 200 can be used as a charging base station for the clothes rack 300, which is simple and convenient.

[0045] In some embodiments, the clothes drying rod 200 may include a main rod body equipped with a charging power supply, and a plurality of hanging points (which may be clothes hooks or clothes racks) located at the bottom of the main rod body. Each hanging point and / or the main rod body is provided with a first 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 200 and the clothes rack 300. Furthermore, the clothes rack 300 may include a hanger body equipped with a driving power supply, and hanger hooks provided on the hanger body. The hanger body and / or the hanger hooks are provided with a second charging connection structure. When the hanger hooks are hung on the hanging points, the first charging connection structure and the second charging connection structure are electrically connected, thereby enabling the charging power supply of the clothes drying rod 200 to charge the driving power supply of the clothes rack 300.

[0046] Furthermore, the second charging connection structure may include a wireless charging receiving coil integrated inside the hanger hook or in a structure connected to the hook, while the first charging connection structure may include a wireless charging transmitting module integrated on the main rod or the hanging point of the hanger. The wireless charging transmitting module and the wireless charging receiving coil cooperate to achieve wireless charging. In addition, the second charging connection structure may include a second charging contact on the hanger hook, while the first charging connection structure may include a first charging contact at the hanging point of the hanger. When the hanger hook is hung at the hanging point of the hanger, the second charging contact and the first charging contact are electrically connected, thus enabling the charging function.

[0047] In addition, the main pole of the clothes drying pole 200 may also be equipped with a main pole communication module, which can maintain network connection with all clothes racks 300 and service robot 100 to coordinate task allocation (such as instructing service robot 100 to pick up idle clothes racks, or controlling the charging of clothes racks 300).

[0048] Furthermore, the service robot 100 may include a robot body 110, a robotic arm mounted on the robot body 110, and an end effector 130 mounted on the robotic arm. The robot body 110 can receive external commands to control the movement of the robotic arm 120, causing the robotic arm 120 to drive the end effector 130 to move, thereby enabling the end effector 130 to perform actions such as picking up and placing the clothes rack 300 and moving the clothes rack 300. Moreover, the end effector 130 can be used to grasp and release the clothes rack 300.

[0049] Furthermore, the robot body 110 can be fixedly installed at the washing, drying, and airing location, and can be used exclusively for washing, drying, and airing. The robot body 110 can also be moved to the washing, drying, and airing location, or other locations, and can move autonomously or passively according to user needs. The robotic arm on the robot body 110 can be freely positioned; the robotic arm can also be folded, unfolding to achieve a longer extension length when in use, and retracting to reduce space occupation when not in use. The end effector 130 may include at least one gripping structure (such as a claw structure) located at the end of the robotic arm 120, which can grip the clothes rack 300 or other objects. Moreover, the end effector 130 is detachably mounted on the robotic arm 120 and can be replaced as needed to adapt to different usage scenarios.

[0050] Therefore, in step S100, in response to the clothes drying instruction, controlling the service robot 100 to obtain an available target clothes rack 300 pre-installed on the clothesline 200 may further include the following steps:

[0051] S110, in response to the clothes drying instruction, the robotic arm of the control service robot 100 moves the end effector 130 to the clothes drying pole 200.

[0052] In this embodiment, the clothes drying instruction can be issued by the user through a control device (such as a smartphone, tablet, computer, or other mobile terminal device, or the control device of the service robot 100), or it can be issued automatically by the control device (after detecting that the intelligent washing and drying equipment has completed washing the clothes). After receiving the clothes drying instruction, the service robot 100 can control its robotic arm 120 to move the end effector 130 at the end of the robotic arm 120 to the clothesline 200 on which the clothes rack 300 is pre-attached, in preparation for picking up the clothes rack 300 from the clothesline 200.

[0053] Furthermore, when the end effector 130 is moved to the clothesline 200 by the robotic arm, it can be moved to a preset detection position (such as the first preset position) on the side of the clothesline 200, facilitating the detection and positioning of the entire clothesline 200 and all the clothes racks 300 on it. This allows the end effector 130 to be moved to the preset detection position (such as the first preset position) for detection each time it is used to pick up or place a clothes rack 300, improving detection accuracy and movement precision.

[0054] S120, the control service robot 100 detects multiple clothes racks 300 on the clothes drying pole 200 and locates a target clothes rack 300 that is idle and open on the clothes drying pole 200.

[0055] Before the end effector 130 retrieves a clothes rack 300 from the clothesline 200, it needs to detect and locate the available clothes racks 300. It needs to pinpoint the target clothes rack 300 (either in an idle or open state) on the clothesline 200 to facilitate subsequent retrieval. Typically, multiple clothes racks 300 are pre-installed on the clothesline 200. Some may be in use (occupied), while others may be unused (idle). Furthermore, idle clothes racks 300 are usually in an open state to hold clothes; while occupied clothes racks are already holding clothes and are therefore in a clamped state.

[0056] S130, the robotic arm of the control service robot 100 drives the end effector 130 to acquire the target clothes rack 300 and remove the target clothes rack 300 from the clothes drying pole 200.

[0057] After locating a target clothes rack 300 among the multiple clothes racks 300 on the clothes drying rod 200, the robotic arm can be controlled to drive the end effector 130 to move to the target clothes rack 300, clamp it, and then remove it from the clothes drying rod 200.

[0058] Furthermore, the service robot 100 may also include a vision detection and positioning module mounted on the robotic arm or end effector 130. The vision detection and positioning module can perform visual detection on objects, such as visually detecting multiple clothes racks 300 on the clothes drying rod 200, determining the status of each clothes rack 300, and positioning each clothes rack 300.

[0059] Therefore, further, in step S120, controlling the service robot 100 to detect the multiple clothes racks 300 on the clothesline 200 and locate a target clothes rack 300 that is idle and open on the clothesline 200 may further include the following steps:

[0060] S122. When the end effector 130 moves to the first preset position on the side of the clothes drying pole 200, the visual detection and positioning module of the control service robot 100 performs visual detection on the multiple clothes racks 300 on the clothes drying pole 200.

[0061] When the robotic arm 120 moves the end effector 130 to the first preset position for visual inspection of the clothesline 200 and clothes rack 300, the visual inspection and positioning module can be controlled to perform visual inspection of the clothesline 200 and the clothes rack 300 on it from the side. This inspection detects which hanging point on the clothesline 200 has a clothes rack 300 attached, and whether each clothes rack 300 is in an idle state and whether it is open. Generally, if a clothes rack 300 is in an idle state, it will be in an open state.

[0062] Furthermore, the clothesline 200 can be equipped with pressure sensors or infrared sensors to detect which hanging point on the clothesline 200 has a clothes rack 300 and whether there are clothes hanging on the clothes rack 300 (judged by weight or volume changes). It can also detect the clothes rack 300 that meets the requirements (i.e., the target clothes rack 300) from multiple clothes racks 300 and transmit the self-inspection results to the service robot 100 to achieve the positioning detection of the target clothes rack 300.

[0063] In addition, the service robot 100 can also combine the two detection modes mentioned above to cross-verify the target clothes racks 300 obtained from the two detection modes and make a comprehensive judgment to detect the clothes rack 300 that meets the requirements (i.e. the target clothes rack 300) from multiple clothes racks 300, making the detection and positioning of the target clothes rack 300 more accurate and reliable.

[0064] S124. When one of the multiple clothes racks 300 on the clothes drying rod 200 is detected to be in an idle and open state, the clothes rack 300 in the idle and open state is determined as the target clothes rack 300.

[0065] When the service robot 100 detects a clothes rack 300 that meets the requirements (i.e., is in an idle and open state) through its visual detection and positioning module, or / and when the clothes rack 200 detects a clothes rack 300 that meets the requirements through self-inspection, the clothes rack 300 can be set as a target clothes rack 300 that can be picked up and used.

[0066] Furthermore, when multiple clothes racks 300 meet the requirements, they can be queued according to the principle of being farthest from the first preset position or nearest from the first preset position, and the clothes rack 300 that is closest to or farthest from the first preset position can be set as the target clothes rack 300.

[0067] In addition, if there is no suitable clothes rack 300 on the clothesline 200, the drying operation can be paused and a prompt message can be sent to remind the user.

[0068] S126. The visual detection and positioning module of the control service robot 100 performs visual positioning on the target clothes rack 300 and obtains the current position information of the target clothes rack 300.

[0069] After identifying the target clothes rack 300, it can be located. Similarly, the target clothes rack 300 can be visually located using a visual detection and positioning module to obtain its current position information; alternatively, the position information of the target clothes rack 300 can be obtained through the hanging points (hanging point positions) on the clothesline 200. Thus, after confirming the target clothes rack 300, the hanging points (hanging point positions) on the clothesline 200 are also confirmed. The position information of these hanging points is then transmitted to the service robot 100 via the clothesline 200, allowing the service robot 100 to obtain the current position information of the target clothes rack 300.

[0070] Furthermore, in step S130, controlling the robotic arm of the service robot 100 to drive the end effector 130 to acquire the target clothes rack 300 and remove the target clothes rack 300 from the clothesline 200 may further include the following steps:

[0071] S132. Based on the current position information of the target clothes rack 300, control the robotic arm of the service robot 100 to move the end effector 130 to the target clothes rack 300.

[0072] After the target clothes rack 300 and its positioning information (i.e., current position information) are detected by the visual detection positioning module positioning mode or / and the clothes rack 200 self-detection positioning mode, the robotic arm 120 can be controlled to move the end effector 130 to the target clothes rack 300 according to the positioning information of the target clothes rack 300, so as to pick up the target clothes rack 300.

[0073] S134. When the end effector 130 moves to the target clothes rack 300, control the end effector 130 to acquire the target clothes rack 300.

[0074] When the end effector 130 moves to the target clothes rack 300, it can align with the clothes hanger hook of the target clothes rack 300. The end effector 130 may include a gripper structure at the end of the robotic arm 120, which can grip the clothes hanger hook of the target clothes rack 300 to acquire the target clothes rack 300.

[0075] S136. When the end effector 130 acquires the target clothes rack 300, the robot arm is controlled to move the end effector 130 and the target clothes rack 300 to the second preset position so as to remove the target clothes rack 300 from the clothes drying rod 200.

[0076] After the end effector 130 retrieves the target clothes rack 300 from the clothes drying rod 200, it can be moved to a position at a preset distance from the clothes drying rod 200 (i.e., the second preset position) to separate the target clothes rack 300 from the clothes drying rod 200 and prevent interference between them. Alternatively, the second preset position can be the same as the first preset position to simplify the movement trajectory of the end effector 130; or the second preset position can be different from the first preset position.

[0077] Furthermore, in step S200, controlling the service robot 100 to move the target clothes rack 300 to the location of the clothes to be dried, and controlling the target clothes rack 300 to pick up the target clothes from the location of the clothes to be dried, may include the following steps:

[0078] S210, the robotic arm of the control service robot 100 moves the end effector 130 and the target clothes rack 300 to the place where the clothes are to be dried, and inspects the clothes to be dried at the place where the clothes are to be dried.

[0079] After the end effector 130 obtains the target clothes rack 300 on the clothes drying rod 200, the robotic arm 120 can move it to the area where the clothes to be dried have been washed by the intelligent washing and drying equipment. Similarly, in order to facilitate the clamping of the clothes to be dried at the area where the clothes to be dried are located using the target clothes rack 300, the clothes to be dried also need to be detected and located first, and the clothes to be dried that meet the preset drying conditions can be found from multiple clothes to be dried.

[0080] Furthermore, the visual detection and positioning module can be used to visually detect and position the clothes to be dried, similar to the method used to detect and position the clothes rack 300 on the clothes drying rod 200. When a piece of clothing to be dried that is not tangled with other clothes and is not folded is detected, it can be determined that the clothing to be dried meets the preset drying conditions, making it convenient to clamp the individual, unfolded clothing to be dried using the clothes rack 300.

[0081] In addition, to facilitate the clamping and drying of clothes, multiple pieces of clothes to be dried can be separated and unfolded in advance by service robot 100, other devices or equipment, or by manual means. The separated and unfolded clothes to be dried can also be hung on the clothes drying basket so that they can be automatically clamped by clothes rack 300, and they are not easy to fall off after being clamped.

[0082] In addition, to facilitate the positioning of clothes to be dried, the clothes drying basket can be placed at the preset clothes retrieval location (i.e., where the clothes are to be dried), making it easier to grab the clothes to be dried.

[0083] S220. When a piece of clothing that meets the preset drying conditions is detected, it is determined to be the target clothing for drying.

[0084] When a garment that meets preset drying conditions (such as being separated and unfolded) is detected, that garment can be set as the target garment for drying. In addition, when multiple garments that meet preset drying conditions are detected, they can be arranged in order from near to far or from far to near, and the garment closest to or farthest from the target clothes rack 300 or end effector 130 can be set as the target garment for drying.

[0085] S230: Control the robotic arm to move the end effector 130 and the target clothes rack 300 it holds to the target clothes drying location, and control the target clothes rack 300 to hold the target clothes drying.

[0086] After identifying the target clothes drying area, its location information can be obtained. Then, based on the location information of the target clothes drying area, the robotic arm 120 can be controlled to drive the end effector 130 to move the target clothes drying rack 300 to the target clothes drying area, and the target clothes drying area can be retrieved by holding the target clothes drying area through the opening of the target clothes drying rack 300.

[0087] Furthermore, the clothes rack 300 may include a clothes rack body, a clamping drive structure disposed on the clothes rack body, and a clothes rack arm connected to the clamping drive structure and rotatably disposed on the clothes rack body. In this embodiment, the clothes rack 300 may maintain the basic shape of a traditional clothes rack (such as a triangle), while the clothes rack body may be configured as a herringbone structure with an open bottom, and the clothes rack arm may be rotatably disposed at the open position at the bottom of the clothes rack body. Alternatively, the clothes rack body may also be configured as a complete triangular structure, with the clothes rack arm rotatably disposed at the bottom of the clothes rack body.

[0088] Furthermore, the clothes hanger arm has a connecting end rotatably located at one end of the bottom of the clothes hanger body, and a clamping end corresponding to the other end of the bottom of the clothes hanger body. The clamping drive structure can drive the clothes hanger arm to rotate from the connecting end, causing the clamping end of the clothes hanger arm to close or separate from the bottom of the clothes hanger body (the end corresponding to the clamping end, or the entire bottom). When the clamping end of the clothes hanger arm separates from the bottom of the clothes hanger body, a clamping opening is formed between the clamping end of the clothes hanger arm and the bottom of the clothes hanger body, at which point the clothes hanger 300 is in an open state; when the clamping end of the clothes hanger arm closes to the bottom of the clothes hanger body, the clamping opening between them closes, at which point the clothes hanger 300 is in a clamped state.

[0089] Furthermore, the hanger body has a hollow internal structure with a mounting cavity; its material is lightweight, high-strength engineering plastic or composite material. The clamping drive structure and power supply can both be located within the mounting cavity of the hanger body. Further, the clamping drive structure may include a miniature drive motor connected to the power supply, and a rotational transmission structure (such as a linear transmission structure or a gear transmission structure) connected to the miniature drive motor, with the rotational transmission structure connected to the hanger clamping arms. Moreover, the inner side of the hanger clamping arms may be covered with a flexible material (such as silicone) to increase friction and prevent damage to clothing during clamping.

[0090] In addition, the hanger body can also house a hanger communication module that supports low-power communication protocols and can be used to receive control commands. Furthermore, the hanger body can 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 to achieve the opening and closing of the hanger arms. Moreover, the hanger control unit can also be used to control the charging of the drive power supply.

[0091] Therefore, in step S230, controlling the robotic arm to move the end effector 130 and the target clothes rack 300 to the target drying area, and controlling the target clothes rack 300 to clamp the target drying area, may further include the following steps:

[0092] S232. Control the robotic arm to move the target clothes rack 300 held by the end effector 130 to the target drying clothes, so that the end of the clothes rack arm of the target clothes rack 300 in the open state corresponds to the outside of the target drying clothes.

[0093] After determining the target clothes to be dried and their location information, the robotic arm 120 can be controlled to move the target clothes rack 300 held by the end effector 130 to the positioning position of the target clothes to be dried, and make the clamping end of the clothes rack 300 in the unfolded (i.e. in the open state) position of the clothes rack 300 correspond to the edge of the target clothes to be dried, so that the clamping end of the clothes rack arm and the clamping opening between the clothes rack body face the edge of the target clothes to be dried, making it easier to clamp the clothes through the clamping opening.

[0094] S234. Control the robotic arm to extend the clothes hanger arm of the target clothes rack 300 held by the end effector 130 from the outside to the inside of the target clothes to the preset clamping position.

[0095] After aligning the clamping opening of the target clothes rack 300 with the outer edge of the target clothes, the outer edge of the target clothes can be clamped directly. Alternatively, the target clothes rack 300 can be moved inward along the outer edge of the target clothes to a preset clamping position. This allows the clothes rack arm to clamp the target clothes wider, making the clamping of the target clothes more uniform and stable, and allowing the clamped target clothes to unfold better.

[0096] S236. The clamping drive structure of the target clothes rack 300 drives the clothes rack clamp arm to close with the clothes rack body to clamp the target clothes to be dried.

[0097] When clamping the target clothes for drying, the micro drive motor of the clamping drive structure drives the rotation transmission structure to work, which in turn drives the clothes hanger clamp arm to rotate, so that the clothes hanger clamp arm closes with the clothes hanger body, clamping the clothes in the clamping opening located between the clothes hanger clamp arm and the clothes hanger body.

[0098] Furthermore, in step S300, controlling the service robot 100 to move and pick up the target clothes rack 300 to the clothesline 200, and to hang the target clothes rack 300 on an empty hanging point on the clothesline 200, may include the following steps:

[0099] S310, control the robotic arm to move the end effector 130 and the target clothes rack 300 holding the target clothes to the clothes drying pole 200.

[0100] After clamping the target clothes for drying, the target clothes rack 300 holding the target clothes needs to be transferred back to the clothesline 200 for drying. At this time, the end effector 130 and the target clothes rack 300 holding the target clothes can be moved by the robotic arm to a third preset position (which can be the clothes detection position) detached from the clothes to be dried; then from the third preset position, the target clothes rack 300 holding the target clothes is moved to a preset drying position (which can also be the first preset position), which simplifies and standardizes the movement trajectory of the end effector 130.

[0101] S320. When the target clothes rack 300 and the target clothes it holds move to the preset drying position of the clothes drying rod 200, detect the empty clothes rod hanging point on the clothes drying rod 200.

[0102] Before hanging the target clothes rack 300 holding the target clothes on the clothes drying rod 200, it is necessary to first check whether the clothes drying rod 200 is in an idle state (i.e., without the clothes rack 300 hanging on it). In this embodiment, when the target clothes rack 300 holding the target clothes is moved to a preset drying position (or a first preset position), the idle clothes drying rod points on the clothes drying rod 200 are checked.

[0103] S330. When an empty clothesline hanging point is detected and located on the clothesline 200, the control robot arm hangs the end effector 130 and the target clothesline 300 it holds at the empty clothesline hanging point.

[0104] After detecting and locating the hanging point of an empty clothesline on the clothesline 200, the robotic arm 120 can be controlled to drive the end effector 130 to hang the target clothes rack 300, which holds the target clothes, at the empty clothesline hanging point.

[0105] Furthermore, when multiple empty clothesline hanging points are detected on the clothesline 200, the target clothes rack 300 holding the target clothes can be hung at one of the clothesline hanging points according to a preset hanging rule. For example, the multiple empty clothesline hanging points can be arranged according to a rule from near to far or from far to near, and the target clothes rack 300 holding the target clothes can be hung at the clothesline hanging point that is farthest or closest to the preset drying position (which may be the first preset position).

[0106] S340: Control the robotic arm to drive the end effector 130 to separate from the target clothes rack 300, and reset the robotic arm and end effector 130.

[0107] After the target clothes rack 300 is hung on the clothes drying rod 200, the end effector 130 can be separated from the target clothes rack 300 and moved to the preset drying position (which can be the first preset position) and then reset to prepare for the next operation of taking the clothes rack 300, clamping the clothes, and hanging the clothes to dry.

[0108] Furthermore, the service robot 100 may include a vision detection and positioning module mounted on the robotic arm or the end effector 130. Therefore, in step S320, detecting an empty clothesline hanging point on the clothesline 200 may include:

[0109] S322, Control the visual inspection and positioning module to inspect all clothes rod hanging points on the clothes drying rod 200.

[0110] After the target clothes rack 300 holding the target clothes to be dried is moved to the preset drying position, the visual detection and positioning module can also be used to visually detect and position the empty clothes rack hanging points on the clothes rack 200, so as to realize the detection and positioning of the hanging point positions of the empty clothes rack hanging points on the clothes rack 200.

[0111] In addition, pressure sensors or infrared sensors equipped on the clothesline 200 can be used to detect whether a clothes rack 300 is hung at each hanging point on the clothesline 200 (judged by weight or volume changes). It can also detect clothesline hanging points without clothes racks 300 (i.e., idle clothesline hanging points) from multiple clothesline hanging points, and obtain the hanging point position of the idle clothesline hanging point. The detection results can be transmitted to the service robot 100 to realize the detection and positioning of idle clothesline hanging points on the clothesline 200.

[0112] S324. When it is detected that there is an empty clothesline hanging point that conforms to the preset drying hanging point rules among all the clothesline hanging points on the clothesline 200, the empty clothesline hanging point is determined as the target empty hanging point.

[0113] You can select an idle clothesline from all the hanging points on the clothesline 200 as the target idle hanging point for hanging and holding the target clothes on the clothes rack 300. The preset hanging point rules can include the clothesline hanging point being idle, and can also include other conditions (such as the clothesline hanging point having a normal charging function, not being damaged, etc.).

[0114] Furthermore, in step S300, after hanging the target clothes rack 300 on an empty clothes rod hanging point on the clothes rod 200, as... Figure 2 As shown, it may also include the following steps:

[0115] S400: The target clothes rack 300 is charged and its power is checked. Since the clothes rack 300 needs to rotate its clamping arms to grip or release clothing, it requires a power supply. Therefore, to ensure the clothes rack 300 functions properly, its power supply needs to maintain sufficient power, which necessitates checking and charging its power supply.

[0116] Furthermore, the specific steps of step S400 are as follows:

[0117] S410: Control the target clothes rack 300 to establish an electrical connection with the clothes drying rod 200, and obtain the current power value of the target clothes rack 300.

[0118] As described above, after the target clothes rack 300 is hung on the clothes drying rod 200, they can be electromagnetically connected through the electromagnetic coil structure on both, and electrically connected through the charging contact structure directly connected to each other. This allows the clothes drying rod 200 to detect the current power value of the target clothes rack 300 to determine whether the current power value of the target clothes rack 300 meets the minimum power value (i.e., the preset power value) required to drive the clothes rack arm to rotate.

[0119] S420. When the current power level is detected to be lower than the preset power level, the clothes drying rod 200 is controlled to charge the target clothes drying rack 300.

[0120] When the current battery level of the target clothes rack 300 is detected to be lower than the preset battery level, it means that the drive power supply of the target clothes rack 300 cannot provide enough power to drive the clothes rack arm to rotate, so as to clamp and release the clothes. Therefore, it is necessary to charge the target clothes rack 300 at this time. This can be achieved by controlling the clothes drying rod 200 to charge the drive power supply of the target clothes rack 300 through the electromagnetic coil structure and / or charging contact structure set on both.

[0121] Furthermore, when the current power value of the target clothes rack 300 is detected to be higher than the preset power value, it means that the drive power of the target clothes rack 300 can provide enough power to drive the clothes rack arm to rotate, so as to clamp and release the clothes, that is, there is no need to charge the target clothes rack 300.

[0122] S430, Record and store target clothes rack 300 is in use.

[0123] Furthermore, the system can record and store information each time the target clothes rack 300 is charged, clothes are clamped or released using the target clothes rack 300, or the target clothes rack 300 is hung on or removed from the clothes drying rod 200. It can also indicate the usage status of the target clothes rack 300 (e.g., whether it is occupied). Additionally, it can record information such as the drying time and location of the target clothes on the target clothes rack 300 (i.e., the target clothes rack 300 and the hanging point on the clothes rod).

[0124] Furthermore, in step S300, after hanging the target clothes rack 300 on an empty clothes rod hanging point on the clothes rod 200, as... Figure 3 As shown, it may also include the following steps:

[0125] S500: Collect the target clothes drying on the target clothes rack 300. That is, the dried clothes can be collected at the same time as the clothes are being dried.

[0126] Furthermore, the specific steps of step S500 are as follows:

[0127] S510. After the target clothes on the target clothes rack 300 hanging on the clothes drying pole 200 are dried, control the robotic arm of the service robot 100 to move the end effector 130 to the target clothes rack 300.

[0128] For example, by monitoring environmental information such as temperature and humidity in the drying environment of the target clothes, it can be determined that the clothes will be dry after a preset drying time under these environmental conditions. Once the preset drying time has elapsed, the clothes can be considered dry and can then be collected.

[0129] Furthermore, by recording information such as the drying time and location of the target clothes, the robotic arm can be controlled to drive the end effector 130 to move to the target clothes rack 300 in preparation for removing the target clothes rack 300 from the clothes rod 200.

[0130] Alternatively, the method described above, which involves locating and detecting a target clothes rack 300 that is idle and open from the clothes drying rod 200, can also be used to detect and locate the target clothes rack 300 for drying clothes. This will not be elaborated further here.

[0131] S520: Control the end effector 130 to acquire the target clothes rack 300, and control the robotic arm to move the end effector 130 and the target clothes rack 300 it holds to the clothing collection position.

[0132] After the target clothes rack 300 holding the clothes to be dried is clamped onto the clothes drying rod 200, the robotic arm can be controlled to drive the end effector 130 to move onto the target clothes rack 300, remove it from the clothes drying rod 200, and then transfer it to the clothes collection location. This step is similar to the step described above of removing the empty clothes rack 300 from the clothes drying rod 200 and transferring it to the area where clothes are to be dried, and will not be repeated here.

[0133] S530. When the target clothes rack 300 reaches the clothing collection position, control the target clothes rack 300 to release its grip on the target clothes, so that the target clothes fall into the clothing collection structure at the clothing collection position.

[0134] When the target clothes rack 300 holding the dried clothes (i.e. the target clothes to be dried) is moved to the clothes collection position, the clamping drive structure of the target clothes rack 300 can be controlled to drive the clothes rack arm to rotate and release the clamping of the dried clothes, so that the dried clothes will automatically fall into the clothes collection structure (such as the clothes collection basket) below the clothes collection position.

[0135] S540: Control the robotic arm to move the end effector 130 and the target clothes rack 300 it is holding to the clothes drying rod 200, and hang the target clothes rack 300 on an empty clothes rod hanging point of the clothes drying rod 200.

[0136] After collecting the dried clothes clamped on the target clothes rack 300, the target clothes rack 300 can be hung back on the clothes drying rod 200. At this time, the usage status of the target clothes rack 300 can be updated from occupied to idle; moreover, the clothes hanger clamps of the target clothes rack 300 can be kept open.

[0137] In addition, such as Figure 5 As shown, in other embodiments, the present invention also proposes a robot-based automated drying device 1000, applied to an automated drying system 100. For example... Figure 4 As shown, the automated clothes drying system 100 may include a clothes drying pole 200, a service robot 100 corresponding to the clothes drying pole 200, and clothes racks 300 corresponding to the clothes drying pole 200 and the service robot 100. The clothes racks 300 are used to hang clothes waiting to be dried, the clothes drying pole 200 is used to hang idle clothes racks 300, or / and clothes racks 300 with clothes waiting to be dried, and the service robot 100 is used to move and retrieve clothes racks 300.

[0138] Specifically, such as Figure 5 As shown, the robot-based automated drying device 1000 may include:

[0139] The idle clothes rack acquisition module 1002 is used to control the service robot 100 to acquire the idle target clothes rack 300 that is pre-installed on the clothes drying pole 200 in response to the clothes drying instruction;

[0140] The clothing clamping control module 1004 is used to control the service robot 100 to move the target clothes rack 300 to the place where the clothes are to be dried, and to control the target clothes rack 300 to clamp the target clothes from the place where the clothes are to be dried.

[0141] The clothes hanger hanging control module 1006 is used to control the service robot 100 to move and pick up the target clothes hanger 300 of the target clothes to the clothes drying rod 200, and hang the target clothes hanger 300 on the empty clothes rod hanging point on the clothes drying rod 200.

[0142] In addition, such as Figure 6 As shown, the robot-based automated drying device 1000 may further include:

[0143] The clothes hanger charging control module 1008 is used to pre-hang multiple clothes hangers 300 to be used at multiple hanging points on the clothes drying rod 200, and to make each clothes hanger 300 to be used in an open state; to obtain the power status of each clothes hanger 300 to be used; and to control the clothes drying rod 200 to charge the clothes hanger 300 when the power of the clothes hanger 300 is detected to be insufficient.

[0144] Furthermore, the clothes hanger charging control module 1008 can also be used to control the target clothes hanger 300 to achieve electrical connection with the clothes drying rod 200, and obtain the current power value of the target clothes hanger 300; when the current power value is detected to be lower than the preset power value, the clothes drying rod 200 is controlled to charge the target clothes hanger 300.

[0145] In addition, such as Figure 7 As shown, the robot-based automated drying device 1000 may further include:

[0146] The clothing collection control module 1009 is used to control the robotic arm of the service robot 100 to move the end effector 130 to the target clothes rack 300 after the target clothes hanging on the clothes rack 300 are dried.

[0147] The end effector 130 is controlled to acquire the target clothes rack 300, and the robotic arm is controlled to move the end effector 130 and the target clothes rack 300 it is holding to the clothing collection position.

[0148] When the target clothes rack 300 reaches the clothing collection position, the target clothes rack 300 is controlled to release its grip on the target clothes, so that the target clothes fall into the clothing collection structure at the clothing collection position.

[0149] The robot arm moves its end effector 130 and the target clothes rack 300 it is holding to the clothes drying rod 200, and hangs the target clothes rack 300 on an empty hanging point of the clothes drying rod 200.

[0150] The robot-based automated drying device 1000 described in this embodiment corresponds to the robot-based automated drying method described above. The functions of each module in the robot-based automated drying device 1000 in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here.

[0151] Furthermore, in other embodiments, such as Figure 4 As shown, this invention proposes an automated clothes drying system 100, including a clothes drying pole 200, a service robot 100, a clothes rack 300, and a controller 400 connected to the clothes drying pole 200, the service robot 100, and the clothes rack 300. The controller 400 can control the operation of the clothes drying pole 200, the service robot 100, and the clothes rack 300. The controller 400 is used to implement the method steps in the robot-based automated clothes drying method described above, which will not be repeated here.

[0152] The technical solution proposed in this invention provides an intelligent clothes hanger (drying rack) specifically designed for service robot operation. It integrates a gripping mechanism (hanger arm), a drive unit (micro-drive motor and rotational transmission structure), energy source (drive power supply), and communication module, making the hanger itself an active grasping tool. A complete system is constructed, including the intelligent hanger, a dedicated drying rod, and a service robot. Through the collaboration of these three components, the complex hanging action is broken down into simple robot grasping and placement actions, greatly reducing the difficulty of robot operations and algorithm complexity. It achieves efficient and reliable non-destructive drying, capable of handling various fabrics from shirts and trousers to towels and socks, completely freeing up manpower. Automatic charging and status management functions are introduced to ensure the system's continuous operation and intelligent management.

[0153] The technical solution proposed in this invention truly achieves full automation: it realizes unmanned operation of the entire process from picking up clothes, drying them to collecting them, which is a major breakthrough in the field of smart homes; moreover, the robot's movement process is simple and quick, and the clothes hangers automatically recharge when idle.

[0154] Furthermore, in other embodiments, the present invention proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement all or part of the method steps of the robot-based automated drying method described above.

[0155] 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 included 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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 robot-based automated clothes drying method, applied to an automated clothes drying system; the automated clothes drying system includes a clothes drying pole, a service robot corresponding to and cooperating with the clothes drying pole, and a clothes rack corresponding to and cooperating with the clothes drying pole and the service robot; Its features are, The drying method includes: In response to the instruction to dry clothes, the service robot is controlled to obtain a vacant target clothes rack that has been pre-installed on the clothesline; The service robot is controlled to move the target clothes rack to the location of the clothes to be dried, and the target clothes rack is controlled to pick up the target clothes from the location of the clothes to be dried; The control service robot moves and picks up the target clothes rack for drying clothes and places it on the clothes drying pole, and hangs the target clothes rack on an empty hanging point on the clothes drying pole.

2. The robot-based automated drying method according to claim 1, characterized in that, The service robot includes a robot body, a robotic arm mounted on the robot body, and an end effector mounted on the robotic arm. The process of controlling a service robot to acquire a pre-installed, vacant target clothes rack in response to a clothes-drying command includes: In response to a clothes drying command, the robotic arm of the control service robot moves the end effector to the clothesline. The control service robot detects multiple clothes racks on the clothesline and locates a target clothes rack that is idle and open on the clothesline; The robotic arm of the control service robot drives the end effector to acquire the target clothes rack and remove the target clothes rack from the clothesline.

3. The robot-based automated drying method according to claim 2, characterized in that, The service robot includes a vision detection and positioning module mounted on the robotic arm or the end effector; The control service robot detects multiple clothes racks on the clothesline and locates a target clothes rack that is idle and open on the clothesline, including: When the end effector moves to the first preset position on the side of the clothes drying rod, the visual detection and positioning module of the service robot controls the visual detection of multiple clothes racks on the clothes drying rod. When it is detected that one of the multiple clothes racks on the clothesline is in an idle and open state, the clothes rack in the idle and open state is determined as the target clothes rack; The visual detection and positioning module of the service robot is controlled to perform visual positioning of the target clothes rack and obtain the current position information of the target clothes rack.

4. The robot-based automated drying method according to claim 3, characterized in that, The robotic arm of the control service robot drives the end effector to acquire the target clothes rack and remove the target clothes rack from the clothesline, including: Based on the current position information of the target clothes rack, the robotic arm of the control service robot is controlled to move the end effector to the target clothes rack. When the end effector moves to the target clothes rack, it is controlled to acquire the target clothes rack; When the end effector acquires the target clothes rack, the robotic arm is controlled to move the end effector and the target clothes rack to a second preset position so as to remove the target clothes rack from the clothes rack.

5. The robot-based automated drying method according to claim 2, characterized in that, The control service robot moves the target clothes rack to the location of the clothes to be dried, and controls the target clothes rack to pick up the target clothes from the location of the clothes to be dried, including: The robotic arm of the control service robot moves the end effector and the target clothes rack to the location where the clothes are to be dried, and detects the clothes to be dried at the location. When a piece of clothing that meets the preset drying conditions is detected, it is identified as the target clothing for drying. The robotic arm is controlled to move the end effector and the target clothes rack it is holding to the target clothes drying location, and the target clothes rack is controlled to hold the target clothes drying.

6. The robot-based automated drying method according to claim 5, characterized in that, The clothes rack includes a clothes rack body, a clamping drive structure disposed on the clothes rack body, and a clothes rack clamp arm connected to the clamping drive structure and rotatably disposed on the clothes rack body; The control robotic arm moves the end effector and the target clothes rack to the target location for drying clothes, and controls the target clothes rack to clamp the target clothes for drying, including: The robotic arm is controlled to move the target clothes rack held by the end effector to the target clothes drying location, so that the end of the clothes rack clamp arm in the open state corresponds to the outer side of the target clothes drying location. The robotic arm is controlled to extend the clothes hanger arm of the target clothes rack, which is held by the end effector, from the outside to the inside of the target clothes to a preset clamping position. The clamping drive structure of the target clothes rack drives the clothes rack arm to close with the clothes rack body to clamp the target clothes to be dried.

7. The robot-based automated drying method according to claim 2, characterized in that, The control service robot moves and picks up the target clothes rack containing the target clothes to the clothesline, and hangs the target clothes rack on an empty hanging point on the clothesline, including: The robotic arm is controlled to move the end effector and the target clothes rack holding the target clothes to the clothes drying pole; When the target clothes rack and the target clothes it holds move to the preset drying position of the clothes drying rod, the empty clothes rod hanging point on the clothes drying rod is detected; When an empty clothesline hanging point is detected and located on the clothesline, the robotic arm is controlled to hang the end effector and the target clothesline held thereon at the empty clothesline hanging point. The robotic arm is controlled to drive the end effector to separate from the target clothes rack, and the robotic arm and the end effector are reset.

8. The robot-based automated drying method according to claim 7, characterized in that, The service robot includes a vision detection and positioning module mounted on the robotic arm or the end effector; The detection of available hanging points on the clothesline includes: The vision detection and positioning module is controlled to detect all the hanging points on the clothesline. When it is detected that there is an empty clothesline hanging point that conforms to the preset drying hanging point rules among all the empty clothesline hanging points on the clothesline, the empty clothesline hanging point is determined as the target empty clothesline hanging point.

9. The robot-based automated drying method according to claim 1, characterized in that, After hanging the target clothes rack on an empty clothesline hanging point on the clothesline, the method further includes: Control the target clothes rack to establish an electrical connection with the clothes drying rod, and obtain the current power value of the target clothes rack; When the current battery level is detected to be lower than the preset battery level, the clothesline is controlled to charge the target clothes rack. Record and store that the target clothes rack is in use.

10. The robot-based automated drying method according to claim 2, characterized in that, After hanging the target clothes rack on an empty clothesline hanging point on the clothesline, the method further includes: After the target clothes drying on the target clothes rack hanging on the clothes drying pole are dried, the robotic arm of the service robot is controlled to move the end effector to the target clothes rack. The end effector is controlled to acquire the target clothes rack, and the robotic arm is controlled to move the end effector and the target clothes rack it holds to the clothing collection position. When the target clothes rack reaches the clothing collection position, the target clothes rack is controlled to release its grip on the target clothes, so that the target clothes fall into the clothing collection structure at the clothing collection position; The robotic arm is controlled to move the end effector and the target clothes rack it is holding to the clothes drying pole, and hang the target clothes rack on an empty hanging point of the clothes drying pole.

11. The robot-based automated drying method according to claim 1, characterized in that, Before responding to a clothes-drying command and controlling the service robot to acquire a pre-installed vacant target clothes rack, the process further includes: Multiple clothes racks to be used are pre-installed at multiple hanging points on the clothes drying rod, with each of the clothes racks to be used in an open state. The power status of each of the clothes racks to be used is obtained. When the power of a clothes rack is detected to be insufficient, the clothes rack is controlled to charge the clothes rack.

12. The robot-based automated drying method according to claim 11, characterized in that, The clothes drying rod includes a main rod body equipped with a charging power supply, and a plurality of clothes rod hanging points located at the bottom of the main rod body. Each clothes rod hanging point and / or the main rod body is provided with a first charging connection structure connected to the charging power supply. The clothes rack includes a clothes rack body equipped with a driving power supply, and a clothes rack hook provided on the clothes rack body. The clothes rack body and / or the clothes rack hook are provided with a second charging connection structure. When the clothes hanger hook is hung on the clothes rod hanging point, the first charging connection structure is electrically connected to the second charging connection structure.

13. A robot-based automated clothes drying device, applied to an automated clothes drying system; the automated clothes drying system includes a clothes drying pole, a service robot corresponding to and cooperating with the clothes drying pole, and a clothes rack corresponding to and cooperating with the clothes drying pole and the service robot; Its features are, The drying device includes: The idle clothes rack acquisition module is used to respond to the clothes drying command and control the service robot to acquire the idle target clothes rack that has been pre-installed on the clothes drying pole; The clothing clamping control module is used to control the service robot to move the target clothes rack to the location of the clothes to be dried, and to control the target clothes rack to clamp the target clothes to be dried from the location of the clothes to be dried; The clothes hanger hanging control module is used to control the service robot to move and pick up the target clothes hanger of the target clothes to the clothes drying pole, and hang the target clothes hanger on an empty clothes rod hanging point on the clothes drying pole.

14. An automated drying system, characterized in that, include: Clothes drying rack; Service robots; Clothes rack; as well as The controller is connected to the clothesline, the service robot, and the clothes rack. The controller is used to implement the method steps in the robot-based automated drying method 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 robot-based automated drying method as described in any one of claims 1-12.

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