Airing control method and device, electronic equipment and computer readable storage medium

Abstract

The embodiment of the invention provides an airing control method and device, electronic equipment and a computer readable storage medium, and relates to the field of smart home. The method comprises the steps that a first image of an airing environment is acquired, at least one sub-image is determined from the first image, and each sub-image is an imaging area of a sunlight irradiation area; for each subimage, determining a target subimage according to the color information of the subimage; coordinates of boundary points of the target subimage are converted from an image coordinate system to a mechanical arm coordinate system, coordinates of a target sunlight irradiation area corresponding to the target subimage in the mechanical arm coordinate system are obtained, the mechanical arm coordinate system takes a clamping point of a mechanical arm as an original point, and the clamping point is a point where the mechanical arm makes contact with a corresponding clothes hanger of the to-be-adjusted clothes; and controlling the mechanical arm to move the to-be-adjusted clothes to the target sunlight irradiation area according to the coordinate of the target sunlight irradiation area in the mechanical arm coordinate system. According to the embodiment of the invention, the effect of continuously airing clothes in the sun is achieved, and the airing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for controlling the drying of clothes. Background Technology

[0002] With societal development, people's demand for healthy and intelligent clothes drying is becoming increasingly urgent. In the past, people upgraded from a simple drying pole to a hand-cranked lifting pole, solving the problem of convenient raising and lowering; then, they upgraded from hand-cranked poles to electric poles, solving the problem of eliminating the need for manual raising and lowering.

[0003] However, the relevant drying control methods still suffer from problems such as low utilization of sunlight resources and low drying efficiency. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and computer-readable storage medium for controlling clothes drying, which solves the problem of low drying efficiency due to the inability to guarantee continuous drying of clothes in the sun.

[0005] According to a first aspect of the embodiments of this application, a method for controlling drying is provided, the method comprising: Acquire a first image of the drying environment, and determine at least one sub-image from the first image, each sub-image being an imaging area of ​​a sunlit region; For each sub-image, the target sub-image is determined based on the color information of the sub-image; The coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system to obtain the coordinates of the target sunlight-illuminated area corresponding to the target sub-image in the robotic arm coordinate system. The robotic arm coordinate system takes the gripping point of the robotic arm as the origin, and the gripping point is the point where the robotic arm contacts the hanger corresponding to the garment to be adjusted. Based on the coordinates of the target sun-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothing to be adjusted to the target sun-exposed area.

[0006] In an optional embodiment, for each pixel in the first image, the RGB value of the pixel is converted to a color space to obtain the pixel's saturation and brightness. For each pixel, if the pixel's saturation is within the saturation threshold range and the pixel's brightness is within the brightness threshold range, then the pixel is taken as the target pixel. Based on the adjacency relationship between target pixels, at least one connected region in the first image is obtained; each connected region is composed of target pixels. From all connected regions, select the connected regions with a target pixel count greater than a first threshold as sub-images.

[0007] In yet another alternative embodiment, for each sub-image, the area of ​​the sub-image is determined based on the number of target pixels within the sub-image; For each sub-image, the average brightness of each target pixel within the sub-image is calculated, and the average value is used as the brightness of the sub-image. For each sub-image, the center point of the sub-image is determined based on the boundary points of the sub-image. The coordinates of the center point are transformed from the image coordinate system to the robot arm coordinate system to obtain the coordinates of the center point in the robot arm coordinate system. Based on the coordinates of the center point, the first distance between the center point and the gripping point is obtained. For each sub-image, the area and brightness of the sub-image are weighted and summed to obtain a weighted result. The weighted result is then reduced by the first distance to obtain the high-quality drying degree of the sub-image. The sub-image with the highest quality drying degree is selected as the target sub-image.

[0008] In yet another optional embodiment, the coordinates of all boundary points of the target sunlit area in the robotic arm coordinate system are obtained; The first coordinate value is obtained by averaging the first values ​​of all boundary points in the horizontal direction. The second coordinate value is obtained by averaging the second values ​​of all boundary points in the vertical direction. Obtain the length of the garment to be adjusted, and determine the first adjustment value in the vertical direction based on the length; Obtain the largest third value in the vertical direction from all boundary points. Adjust the second coordinate value based on the third value and the first adjustment value to obtain the adjusted second coordinate value. Determine the target coordinates of the target location based on the first coordinate value and the adjusted second coordinate value. The adjusted second coordinate value is not greater than the third value. Based on the target coordinates, the robotic arm is controlled to move the garment to be adjusted to the target position.

[0009] In another optional embodiment, for each sub-image, the coordinates of the boundary points of the sub-image are transformed from the image coordinate system to the robotic arm coordinate system to obtain the coordinates of the sunlight-illuminated area corresponding to the sub-image in the robotic arm coordinate system; Obtain the coordinates of the gripping point of the garment to be adjusted on the hanger in the robotic arm coordinate system; For each sub-image, if an obstacle is found between the clamping point and any point within the sunlight-illuminated area based on the coordinates of the clamping point and the coordinates of the sunlight-illuminated area, then the sub-image is removed from at least one sub-image.

[0010] In yet another optional embodiment, in response to determining the clothes to be adjusted, a first image of the drying environment is acquired; the method for acquiring the clothes to be adjusted is to periodically acquire a second image of all the clothes that have been dried. For each piece of clothing that has been dried, if it is determined that there is no sub-image in the second image, then the dried clothing is regarded as clothing to be adjusted. The acquisition period for the second image is determined based on the current season.

[0011] According to a second aspect of the embodiments of this application, a drying control device is provided, the device comprising: The acquisition module is used to acquire a first image of the drying environment and determine at least one sub-image from the first image, each sub-image being an imaging area of ​​a sunlit area; The determination module is used to determine the target sub-image for each sub-image based on the color information of the sub-image; The conversion module is used to convert the coordinates of the boundary points of the target sub-image from the image coordinate system to the robotic arm coordinate system, and obtain the coordinates of the target sunlight-illuminated area corresponding to the target sub-image in the robotic arm coordinate system. The robotic arm coordinate system takes the gripping point of the robotic arm as the origin, and the gripping point is the point where the robotic arm contacts the corresponding hanger of the garment to be adjusted. The control module is used to control the robotic arm to move the clothing to be adjusted to the target sunlight-exposed area based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system.

[0012] According to a third aspect of the embodiments of this application, an electronic device is provided, the electronic device including a memory, a processor and a computer program stored in the memory, wherein the processor executes the program to implement the steps of the method provided in the first aspect.

[0013] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the method provided in the first aspect.

[0014] According to a fifth aspect of the present application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium, wherein when a processor of a computer device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, causing the computer device to perform steps implementing the method provided in the first aspect.

[0015] The beneficial effects of the technical solutions provided in this application are: The drying control method provided in this application acquires a first image of the drying environment and determines at least one sub-image of the imaging area that serves as the sunlight-irradiated area from the first image, thereby acquiring the sunlight-irradiated area in the current drying environment and providing selectable areas for drying clothes. Based on the color information of each sub-image, the target sub-image is obtained, and the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system. The coordinates of the target sunlight-irradiated area corresponding to the target sub-image in the robotic arm coordinate system are obtained. This enables the selection of the most suitable target sunlight-irradiated area for drying clothes in the current drying environment from multiple sunlight-irradiated areas based on the color information of the image. The position of the target sunlight-irradiated area in the robotic arm coordinate system is accurately located through coordinate system transformation, which facilitates the subsequent movement of clothes to the target sunlight-irradiated area by the robotic arm. Based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothes to be adjusted to the target sunlight-exposed area, thus enabling the clothes to be placed in the sun for drying. This improves the utilization rate of sunlight resources during the clothes drying process, achieves the effect of continuous drying of clothes in the sun, and improves the drying efficiency of clothes. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0017] Figure 1 This is a schematic diagram of the system architecture for implementing the drying control method provided in the embodiments of this application; Figure 2 A schematic flowchart illustrating a drying control method provided in an embodiment of this application; Figure 3 A flowchart illustrating a method for determining sub-images in a drying control method provided in this application embodiment; Figure 4 A flowchart illustrating a method for determining a target sub-image in a drying control method provided in this application embodiment; Figure 5 A flowchart illustrating the control method of the robotic arm in a drying control method provided in this application embodiment; Figure 6 A flowchart illustrating a sub-image removal method in a drying control method provided in this application embodiment; Figure 7 This is a schematic diagram of the structure of a drying control device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0019] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” can be implemented as “A,” or as “B,” or as “A and B.”

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] The relevant technologies are explained below: Traditional fixed clothes drying racks (including fixed balcony rods and lift-up clothes drying racks) have an inherent drawback: the drying position is fixed and cannot move with the movement of sunlight. Alternatively, they can be moved by rotating or translating the entire rack, but this has limited freedom of movement, poor tracking accuracy, and is also complex in mechanical structure, costly, and space-consuming. Therefore, it leads to the following problems: 1. Low drying efficiency: Clothes can only be exposed to direct sunlight during specific time periods, resulting in a long overall drying time.

[0022] 2. Uneven lighting: Part of the clothing may always be in the shade, leading to localized dampness and bacterial growth.

[0023] 3. Inadequate space utilization: The clothing layout cannot be dynamically adjusted according to changes in light spots, wasting precious sunlight resources.

[0024] In view of at least one of the above-mentioned technical problems or areas that need improvement in the related technologies, this application proposes a drying control method. This method acquires a first image of the drying environment and determines at least one sub-image of the imaging area as the sunlight-irradiated area from the first image, thereby realizing the acquisition of the sunlight-irradiated area in the current drying environment and providing selectable areas for drying clothes. Based on the color information of each sub-image, the target sub-image is obtained, and the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system. The coordinates of the target sunlight-irradiated area corresponding to the target sub-image in the robotic arm coordinate system are obtained. This enables the selection of the most suitable target sunlight-irradiated area for drying clothes in the current drying environment from multiple sunlight-irradiated areas based on the color information of the image. The position of the target sunlight-irradiated area in the robotic arm coordinate system is accurately located through coordinate system transformation, which facilitates the subsequent movement of clothes to the target sunlight-irradiated area by the robotic arm. Based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothes to be adjusted to the target sunlight-exposed area, thus enabling the clothes to be placed in the sun for drying. This improves the utilization rate of sunlight resources during the clothes drying process, achieves the effect of continuous drying of clothes in the sun, and improves the drying efficiency of clothes.

[0025] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0026] Figure 1 This is a schematic diagram of a system architecture for implementing drying according to an embodiment of this application, wherein the system architecture includes: a terminal 120 and a server 140.

[0027] Terminal 120 is equipped with and runs an application for drying control. Terminal 120 is used to determine the target sunlight exposure area based on the first image of the drying environment and control the robotic arm to move the clothes to be adjusted to the target sunlight exposure area.

[0028] Terminal 120 is connected to server 140 via a wireless network or a wired network.

[0029] Server 140 includes at least one of a single server, multiple servers, a cloud computing platform, and a virtualization center. Illustratively, server 140 includes a processor 144 and a memory 142, the memory 142 including a display module 1421, a control module 1422, and a receiving module 1423. Server 140 provides background services for an application of the drying control method. Optionally, server 140 undertakes the primary computing task, and terminal 120 undertakes the secondary computing task; or, server 140 undertakes the secondary computing task, and terminal 120 undertakes the primary computing task; or, server 140 and terminal 120 collaborate on computing using a distributed computing architecture.

[0030] Those skilled in the art will understand that the number of terminals described above can be more or less. For example, there may be only one terminal, or there may be dozens or hundreds of terminals, or even more. This application does not limit the number of terminals or the type of device.

[0031] This application provides a method for controlling drying, such as... Figure 2 As shown, the method includes: S101, acquire a first image of the drying environment, and determine at least one sub-image from the first image.

[0032] In this embodiment of the application, the drying environment refers to the environment in which the clothes are currently drying. The robotic arm of the clothes drying machine can move the clothes in the drying environment by clamping the clothes rack corresponding to the clothes.

[0033] In this embodiment of the application, the robotic arm is a multi-degree-of-freedom robotic arm, and the end effector of the robotic arm is a hook or gripper for hanging clothes on a corresponding clothes rack.

[0034] In this embodiment of the application, each sub-image is an imaging area of ​​a sunlit area. When sunlight shines on the drying environment, the imaging area of ​​the area in the current drying environment that is illuminated by sunlight is the first image. Since sunlight will increase the brightness of the surface when it shines on the surface, the area with higher brightness than other areas in the first image can be used as a sub-image.

[0035] In this embodiment of the application, since there will only be a sunlit area in the drying environment when there is sunlight, and the first image captured will contain a sub-image, the first image of the drying environment will only be captured by the camera installed on the clothes drying rack during a sunny day.

[0036] In this embodiment of the application, since the brightness and saturation of points illuminated by sunlight are higher, the sub-images in the first image can be determined based on the brightness and saturation of each pixel in the first image.

[0037] S102, for each sub-image, determine the target sub-image based on the color information of the sub-image.

[0038] In this embodiment of the application, the target sub-image is the imaging area of ​​the sunlight-irradiated area that is most suitable for drying clothes. In order to improve the drying efficiency of clothes, the sunlight-irradiated area with high light intensity and large light area is selected as the target sunlight-irradiated area as much as possible.

[0039] In this embodiment, the color information of the sub-image includes: brightness, hue, and color saturation. The greater the light intensity in a sunlit area, the greater the image brightness; therefore, the sub-image with the highest brightness can be used as the target sub-image. Sunlight typically presents a warm or golden hue; therefore, a sub-image with both high hue and brightness can be selected as the target sub-image. The colors in sunlit areas are usually more saturated than in shadow areas; therefore, a sub-image with relatively high saturation and brightness can be selected as the target sub-image.

[0040] S103, transform the coordinates of the boundary points of the target sub-image from the image coordinate system to the robotic arm coordinate system, and obtain the coordinates of the target sunlight-illuminated area corresponding to the target sub-image in the robotic arm coordinate system.

[0041] In this embodiment of the application, for each pixel in the sub-image, if there is at least one neighboring pixel whose color value is different from the current pixel's color value, then the pixel is regarded as a boundary point, and the coordinates of the boundary point are recorded. In this way, all boundary points of the target sub-image can be obtained.

[0042] In this embodiment of the application, the coordinates of all boundary points of the target sub-image are obtained, the scaling factors on the X and Y axes of the image coordinate system and the robotic arm coordinate system corresponding to the first image are determined respectively, the offset of the origin of the robotic arm coordinate system relative to the image coordinate system is determined, and for the coordinates of each boundary point, the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system using the scaling factor and the offset, so as to obtain the coordinates of the boundary points of the target sunlight-illuminated area corresponding to the target sub-image in the robotic arm coordinate system.

[0043] In this embodiment of the application, the coordinate system of the robotic arm takes the gripping point of the robotic arm as the origin. The gripping point is the point where the robotic arm contacts the hanger corresponding to the garment to be adjusted. In other words, the gripping point of the robotic arm in a non-working state is taken as the origin, and the gripping point is the point where the gripper of the robotic arm contacts the hanger when the robotic arm clamps the hanger with the gripper.

[0044] In one example, for the X-value of the boundary point in the image coordinate system, the X-value is magnified using a scaling factor between the image coordinate system and the robotic arm coordinate system on the X-axis. The magnified result is then adjusted using the offset of the origin of the robotic arm coordinate system relative to the image coordinate system on the X-axis. This adjusted magnified result is then used as the X-value of the boundary point in the robotic arm coordinate system. Similarly, for the Y-value of the boundary point in the image coordinate system, the Y-value is magnified using a scaling factor between the image coordinate system and the robotic arm coordinate system on the Y-axis. The magnified result is then adjusted using the offset of the origin of the robotic arm coordinate system relative to the image coordinate system on the Y-axis. This adjusted magnified result is then used as the Y-value of the boundary point in the robotic arm coordinate system.

[0045] S104, based on the coordinates of the target sunlight-exposed area in the robotic arm coordinate system, control the robotic arm to move the clothing to be adjusted to the target sunlight-exposed area.

[0046] In this embodiment, after determining the coordinates of the sunlight-irradiated area in the robotic arm coordinate system, the current coordinates of the gripping point of the hanger corresponding to the garment to be adjusted in the robotic arm coordinate system are determined. First, the gripper of the robotic arm is moved from the origin to the coordinates of the hanger to clamp the hanger. Then, according to the coordinates of the target sunlight-irradiated area in the robotic arm coordinate system, the robotic arm is controlled to move the garment to be adjusted to the target sunlight-irradiated area.

[0047] In this application example, the center point of the target sunlight-exposed area can be determined based on the boundary point of the sunlight-exposed area, and then the clamping point can be moved to the center point, thereby ensuring that the clothing to be adjusted is within the target sunlight-exposed area as much as possible.

[0048] The drying control method provided in this application acquires a first image of the drying environment and determines at least one sub-image of the imaging area that serves as the sunlight-irradiated area from the first image, thereby acquiring the sunlight-irradiated area in the current drying environment and providing selectable areas for drying clothes. Based on the color information of each sub-image, the target sub-image is obtained, and the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system. The coordinates of the target sunlight-irradiated area corresponding to the target sub-image in the robotic arm coordinate system are obtained. This enables the selection of the most suitable target sunlight-irradiated area for drying clothes in the current drying environment from multiple sunlight-irradiated areas based on the color information of the image. The position of the target sunlight-irradiated area in the robotic arm coordinate system is accurately located through coordinate system transformation, which facilitates the subsequent movement of clothes to the target sunlight-irradiated area by the robotic arm. Based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothes to be adjusted to the target sunlight-exposed area, thus enabling the clothes to be placed in the sun for drying. This improves the utilization rate of sunlight resources during the clothes drying process, achieves the effect of continuous drying of clothes in the sun, and improves the drying efficiency of clothes.

[0049] Based on the above embodiments, as an optional embodiment, a method for determining sub-images is provided, such as... Figure 3 As shown, the specific content is as follows: S201, For each pixel in the first image, perform color space conversion on the RGB value of the pixel to obtain the pixel's saturation and brightness; S202, for each pixel, if the pixel's saturation is within the saturation threshold range and the pixel's brightness is within the brightness threshold range, then the pixel is taken as the target pixel. S203, based on the adjacency relationship between target pixels, obtain at least one connected region in the first image; S204, from all connected regions, select the connected regions with a target pixel count greater than a first threshold as sub-images.

[0050] In S201 of this application embodiment, color space conversion refers to converting one color representation of the first image to another color representation. For each pixel in the first image, the RGB value of the pixel is obtained, and the RGB value of each pixel is converted into an HSV value. The HSV value includes brightness and saturation.

[0051] In one example, for each component of the RGB value of a pixel, normalization is performed separately. Each normalized component is between 0 and 1. The maximum value of all normalized components is taken as the pixel's brightness. When the brightness is 0, the saturation is also 0. When the brightness is not 0, the ratio between the difference between the largest and smallest normalized components and the largest component is taken as the pixel's saturation.

[0052] In another example, an RGB image can be converted to the HSV color space, and threshold ranges for saturation (S) and lightness (V) can be set to segment the sunlit areas. The contours of the sunlit areas can then be found using the findContours function in the OpenCV library.

[0053] In S202 of this embodiment, since the brightness and saturation of areas exposed to sunlight in the drying environment are higher, the brightness and saturation threshold ranges representing the sunlight exposure of a point can be determined by using the brightness and saturation of pixels corresponding to a large number of images exposed to sunlight. Then, by comparing the brightness and saturation of each pixel with the brightness and saturation threshold ranges respectively, pixels whose brightness and saturation are both within the brightness and saturation threshold ranges are designated as target pixels. Target pixels refer to the imaging points corresponding to the points exposed to sunlight in the drying environment. By obtaining target pixels, the entire area exposed to sunlight can be quickly located.

[0054] In S203 of this application embodiment, all connected regions are composed of target pixels. That is, it is necessary to determine at least one connected region composed entirely of target pixels based on the neighborhood relationship between target pixels. For any non-boundary point target pixel in the connected region, the target pixel is connected to eight surrounding target pixels. The eight surrounding target pixels include target pixels directly adjacent to the target pixel in the four directions of up, down, left, and right and four target pixels directly connected to the target pixel diagonally.

[0055] In S204 of this application embodiment, after determining all connected regions in the first image, since the sunlight-irradiated area for drying clothes needs to be larger than a certain area to meet the drying requirements of clothes, the size of the connected region can be determined according to the number of target pixels constituting the connected region. Therefore, connected regions with a number of target pixels greater than a first number threshold are selected as sub-images.

[0056] In the above scheme, the RGB values ​​of pixels are converted into saturation and brightness through color space conversion, so that the target pixels corresponding to the points exposed to sunlight in the drying environment can be filtered by using the brightness threshold range and the saturation threshold range. By comparing the number of target pixels that make up each connected region with a first quantity threshold, sub-images with an area large enough to be used for drying clothes are selected.

[0057] Based on the above embodiments, as an optional embodiment, a method for determining a target sub-image is provided, such as... Figure 4 As shown, the specific content is as follows: S301, For each sub-image, determine the area of ​​the sub-image based on the number of target pixels within the sub-image; S302, For each sub-image, calculate the average value of the brightness of each target pixel within the sub-image, and use the average value as the brightness of the sub-image; S303, for each sub-image, determine the center point of the sub-image based on the boundary points of the sub-image, transform the coordinates of the center point from the image coordinate system to the robot arm coordinate system, obtain the coordinates of the center point in the robot arm coordinate system, and obtain the first distance between the center point and the gripping point based on the coordinates of the center point. S304, for each sub-image, the area and brightness of the sub-image are weighted and summed to obtain a weighted result. The weighted result is reduced by the first distance to obtain the high-quality drying degree of the sub-image. S305 selects the sub-image with the highest quality drying degree as the target sub-image.

[0058] In S301 of this embodiment, since the area of ​​each pixel is the same, the area of ​​the sub-image can be determined based on the number of target pixels that make up the sub-image. In order to identify the most suitable target sunlight-exposed area from the sub-image, generally, the larger the sunlight-exposed area, the more area of ​​the clothes will be exposed to sunlight, and the better the drying effect. Therefore, it is necessary to select a sub-image with a sufficiently large sunlight-exposed area as the target sub-image.

[0059] In S302 of this application embodiment, the greater the light intensity of the sunlit area, the higher the drying efficiency of the clothes. Points with higher brightness usually correspond to higher light intensity. Since there are multiple target pixels in the sub-image, the brightness of different target pixels may also be different. Therefore, by averaging the brightness of each target pixel, the average value is used as the brightness of the sub-image, and the brightness of the sub-image is used as a reference for determining the target sub-image.

[0060] In S303 of this application embodiment, the X and Y coordinates of all boundary points are obtained in the image coordinate system. The average value of the X coordinates of all boundary points is calculated to obtain the X coordinate of the center point. The average value of the Y coordinates of all boundary points is calculated to obtain the Y coordinate of the center point. Since the robotic arm is moved to the center point of the target sunlight-irradiated area to maximize the light-receiving area of ​​the clothes when drying them, after obtaining the coordinates of the center point in the image coordinate system, the center point is transformed from the image coordinate system to the robotic arm coordinate system, and then the coordinates of the center point in the robotic arm coordinate system are obtained. Based on the coordinates of the center point, the first distance between the center point and the gripping point of the robotic arm is calculated.

[0061] In S304 of this embodiment, for each sub-image, the quality of drying of the current sub-image is determined by considering three factors: the area, brightness, and first distance. Higher brightness and larger area result in a higher quality drying level. A larger first distance indicates a greater distance that the robotic arm needs to adjust, thus a lower quality drying level. Since brightness and area are positively correlated with quality drying level, a weighted sum of brightness and area is first performed. The weights of brightness and area can be determined according to different seasons. In summer, when sunlight intensity is high and daylight hours are long, the weight of brightness can be set higher than that of area. In winter, when daylight hours are long and sunlight intensity is low, the weight of area can be set higher than that of brightness. Since the first distance is negatively correlated with quality drying level, after obtaining the weighted result, the weighted result is reduced based on the first distance, and the reduced weighted result is used as the quality drying level of the sub-image.

[0062] In S305 of this application embodiment, the higher the quality of drying, the better the effect of drying clothes in the sunlit area corresponding to the sub-image. Therefore, the sub-image with the highest quality of drying is selected as the target sub-image.

[0063] In the above scheme, after determining at least one sub-image, in order to optimize the drying efficiency of clothes at the current moment, the high-quality drying degree of the sun-drying area corresponding to the sub-image is calculated based on multiple dimensions such as brightness, area and first distance. The sub-image with the highest high-quality drying degree is selected as the target sub-image and used as the drying area of ​​clothes. By calculating the high-quality drying degree from multiple dimensions, the final determined drying area has strong light intensity, large area and short adjustment distance required by the robotic arm. This greatly improves the drying efficiency of clothes, while also reducing the movement distance of the robotic arm and reducing the power and time required to move the robotic arm.

[0064] Based on the above embodiments, as an optional embodiment, a control method for a robotic arm is provided, such as... Figure 5 As shown, the specific content is as follows: S401, Obtain the coordinates of all boundary points of the target sunlit area in the robot arm coordinate system; S402, average the first value of all boundary points in the horizontal direction to obtain the first coordinate value; S403, average the second value of all boundary points in the vertical direction to obtain the second coordinate value; S404, Obtain the length of the garment to be adjusted, and determine the first adjustment value in the vertical direction based on the length; S405: Obtain the largest third value in the vertical direction from all boundary points, adjust the second coordinate value according to the third value and the first adjustment value to obtain the adjusted second coordinate value, and determine the target coordinates of the target position based on the first coordinate value and the adjusted second coordinate value. S406: Based on the target coordinates, control the robotic arm to move the garment to be adjusted to the target position.

[0065] In S401 of this application embodiment, the coordinates of all boundary points of the target sunlight-irradiated area in the robot arm coordinate system are obtained. By obtaining the coordinates of the boundary points of the target sunlight-irradiated area, the coordinates of the center point of the target sunlight-irradiated area can be roughly calculated.

[0066] In S402 of this application embodiment, since the target sunlight-irradiated area may be an irregular area, when calculating the coordinates of the center point in the horizontal direction, the average value of all the first values ​​is taken as the first coordinate value of the center point in the horizontal direction by obtaining the first value of each boundary point in the horizontal direction.

[0067] In S403 of this application embodiment, since the target sunlight-irradiated area may be an irregular area, when calculating the coordinates of the center point in the vertical direction, the second value of each boundary point in the vertical direction is obtained, and the average value of all the second values ​​is used as the second coordinate value of the center point in the horizontal direction.

[0068] In S404 of this application embodiment, since the point where the robotic arm connects to the clothes hanger is the gripping point, and the gripping point is above the clothes to be adjusted, if the gripping point is moved to the center point, the overall position of the clothes to be adjusted is still below the target sunlight exposure area. Therefore, by obtaining the length of the clothes to be adjusted, a first adjustment value is determined based on the length. The first adjustment value can be half of the length or one-third of the length. The specific setting method is determined according to the drying environment.

[0069] In S405 of this application embodiment, in order to prevent the upper part of the adjusted clothing from not being located in the target sunlight-irradiated area, the maximum third value of the target sunlight-irradiated area in the vertical direction is obtained. When adjusting the second coordinate value using the first adjustment value, the adjusted second coordinate value is limited to not being greater than the third value. This ensures that the adjusted clothing can still be located in the target sunlight-irradiated area. The first coordinate value is used as the target position value in the horizontal direction, and the adjusted second coordinate value is used as the target position value in the vertical direction. This ensures that the adjusted clothing is located as close as possible to the center of the target sunlight-irradiated area after adjustment, and that the upper part of the adjusted clothing does not exceed the target sunlight-irradiated area.

[0070] In S406 of this application embodiment, after the robotic arm clamps the hanger corresponding to the clothes to be adjusted by the gripper, the robotic arm is controlled to move the gripping point to the target position, so as to realize the drying of clothes in the target sun-exposed area and improve the drying efficiency of clothes.

[0071] In the above scheme, since the sunlit area may be irregular, the coordinates of the center point are determined by averaging the values ​​of all boundary points in the horizontal and vertical directions. After determining the coordinates of the center point, the gripping point is used as the point that facilitates the positioning of the robotic arm. The gripping point is located above the clothing. Since the length of the clothing varies during the adjustment process, in order to ensure that the clothing to be adjusted is as close as possible to the center of the target sunlit area, a first adjustment value in the vertical direction is determined based on the clothing length. To prevent the upper part of the clothing to be adjusted from exceeding the target sunlit area after adjusting the center point with the first adjustment value, a second coordinate value is adjusted by obtaining the third largest value in the vertical direction of the target sunlit area. This ensures that the clothing to be adjusted is as close as possible to the center of the target sunlit area, increases the light-receiving area of ​​the clothing during drying, and improves the efficiency of drying clothes.

[0072] Based on the above embodiments, as an optional embodiment, a method for removing sub-images is provided, such as... Figure 6 As shown, the specific content is as follows: S501, For each sub-image, transform the coordinates of the boundary points of the sub-image from the image coordinate system to the robotic arm coordinate system to obtain the coordinates of the sunlight-illuminated area corresponding to the sub-image in the robotic arm coordinate system; S502, obtain the coordinates of the gripping point of the garment to be adjusted on the hanger in the robotic arm coordinate system; S503, for each sub-image, if it is determined, based on the coordinates of the clamping point and the coordinates of the sunlit area, that there is an obstacle between the line connecting the clamping point and any point within the sunlit area, then the sub-image is removed from at least one sub-image.

[0073] In S501 of this embodiment, before filtering the target image from the sub-images, the sub-images are filtered once more. Therefore, for each sub-image, the coordinates of the boundary points of the sub-image are transformed from the image coordinate system to the robotic arm coordinate system to obtain the coordinates of the sunlight-illuminated area corresponding to the sub-image in the robotic arm coordinate system. Obtaining the coordinates of the sunlight-illuminated area corresponding to each sub-image is for further determination of whether there are obstacles obstructing the connection between the robotic arm and the sub-image. The specific conversion method has been mentioned above and will not be repeated here.

[0074] In S502 of this application embodiment, since the clothing to be adjusted needs to be moved from the current position to the target sunlight-exposed area, the coordinates of the clamping point of the hanger corresponding to the clothing to be adjusted are obtained. After obtaining the coordinates of each sunlight-exposed area and the clamping point, it can be further determined whether there are obstacles between them that hinder the movement of the robotic arm. In S503 of this application embodiment, for each sub-image, if it is determined that there is an obstacle between the line connecting the gripping point and any point in the sunlight-illuminated area based on the coordinates of the gripping point and the coordinates of the sunlight-illuminated area, it means that the robotic arm cannot move to the sunlight-illuminated area corresponding to the current sub-image. Therefore, the sub-image is directly removed from the sub-images and no longer participates in the subsequent selection of target sub-images.

[0075] In the above scheme, before determining the target sub-image, for each sub-image, if there is an obstacle between any point in the sunlight-irradiated area corresponding to the image and the clamping point, it means that moving the robotic arm to the sunlight-irradiated area corresponding to the sub-image would pose a safety risk. Therefore, the sub-image is removed from the sub-images, thus placing operational safety first in the entire implementation logic. This reduces the impact on the clothes that have been dried or other surrounding items during the movement of the robotic arm, and improves the safety of drying clothes.

[0076] Based on the above embodiments, as an optional embodiment, in response to determining the clothes to be adjusted, a first image of the drying environment is obtained.

[0077] In this embodiment of the application, when it is determined that there are clothes that need to be adjusted in the drying position, that is, when the clothes to be adjusted are determined, a first image of the drying environment is obtained, and a target sunlight-irradiated area is determined for the clothes to be adjusted based on the first image for drying the clothes to be adjusted.

[0078] In this embodiment of the application, second images of all clothes that have been dried are periodically acquired; for each piece of dried clothing, if it is determined that there is no sub-image in the second image, the dried clothing is regarded as clothing to be adjusted; wherein, the acquisition period of the second image is determined according to the current season.

[0079] In this embodiment of the application, since the sun is moving, in order to ensure that the clothes are dried in the sun as much as possible, a second image of all the clothes that have been dried is periodically acquired, and the drying position of the clothes that have been dried is determined based on the second image.

[0080] In this embodiment of the application, the presence or absence of a sub-image in the second image determines whether the drying position of the currently dried clothes needs to be adjusted. If a sub-image exists in the second image, it means that there is an area of ​​the currently dried clothes that is exposed to sunlight, so there is no need to adjust the clothes. If no sub-image exists in the second image, it means that there is no area of ​​the currently dried clothes that is exposed to sunlight, so there is a need to adjust the clothes. The dried clothes are then designated as clothes to be adjusted.

[0081] In this embodiment of the application, the acquisition period of the second image of the clothes that have been dried can be determined according to the current season. The apparent speed of the sun's movement is different in different seasons. Therefore, the sun moves slower in summer and the period can be set to be longer, while the sun moves faster in winter and the period can be set to be shorter.

[0082] In the above scheme, second images of the clothes that have been dried are periodically acquired and analyzed. When the clothes that have been dried are not exposed to sunlight, they are treated as clothes to be adjusted to find the most suitable target area for drying in the current drying environment. This ensures that the clothes are dried in the sun as much as possible, achieving sun-tracking drying. The acquisition cycle is determined according to the season to ensure that it conforms to the apparent speed of the sun's movement and avoids the problems of untimely or frequent acquisition of second images.

[0083] The drying control method provided in this application embodiment captures a first image, analyzes the target sunlight-irradiated area in the first image, tracks the sunlight spot, and controls a robotic arm to move the clothes to be adjusted to the target position based on the analyzed target sunlight-irradiated area, thereby achieving efficient and uniform automated drying.

[0084] In this embodiment of the application, the clothes drying rack is also equipped with a light sensor and a temperature sensor to help determine whether it is necessary to take the first image, and to determine the current sunlight intensity and the degree of drying of the clothes.

[0085] In this embodiment of the application, the drying environment data, such as light intensity and time, or user instructions are continuously detected. When the termination condition is met, the periodic second image analysis of the dried clothes is terminated, and the robotic arm is controlled to move the clothes to the initial position.

[0086] In this embodiment of the application, the termination condition includes: when the ambient light is lower than a set threshold (such as in the evening), there is no longer any area in the drying environment exposed to sunlight, therefore, the periodic acquisition of the second image is stopped.

[0087] In this embodiment of the application, the termination condition further includes: reaching a preset termination time or receiving a stop command issued by the user.

[0088] In this embodiment, the planning of the movement path for the robotic arm to move the clothing to be adjusted to the target sunlit area can be achieved by using a fast randomized tree (RRT) or its optimization algorithm to ensure smooth movement and no collisions.

[0089] The drying control method provided in this application dynamically tracks sunlight to ensure that clothes are always under the strongest light, significantly shortening the time required for drying clothes. It enables clothes to receive sunlight in all directions and evenly, effectively inhibiting bacterial growth. Adjustments to clothes do not require manual intervention, achieving full automation of the process. The flexible movement capability of the robotic arm enables complex clothing layouts to be achieved in limited spaces (such as small balconies), precisely utilizing every area exposed to sunlight.

[0090] This application provides a drying control device, such as... Figure 7 As shown, the drying control device 70 may include: an acquisition module 701, a determination module 702, a conversion module 703, and a control module 704.

[0091] Specifically, the acquisition module 701 is used to acquire a first image of the drying environment and determine at least one sub-image from the first image, each sub-image being an imaging area of ​​a sunlit area; The determination module 702 is used to determine the target sub-image for each sub-image based on the color information of the sub-image; The conversion module 703 is used to convert the coordinates of the boundary points of the target sub-image from the image coordinate system to the robotic arm coordinate system, and obtain the coordinates of the target sunlight-illuminated area corresponding to the target sub-image in the robotic arm coordinate system. The robotic arm coordinate system takes the gripping point of the robotic arm as the origin, and the gripping point is the point where the robotic arm contacts the hanger corresponding to the garment to be adjusted. The control module 704 is used to control the robotic arm to move the clothing to be adjusted to the target sunlight-exposed area based on the coordinates of the target sunlight-exposed area in the robotic arm coordinate system.

[0092] The drying control device provided in this application embodiment acquires a first image of the drying environment and determines at least one sub-image of the imaging area as the sunlight-irradiated area from the first image, thereby realizing the acquisition of the sunlight-irradiated area in the current drying environment and providing selectable areas for drying clothes. Based on the color information of each sub-image, the target sub-image is obtained, and the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system. The coordinates of the target sunlight-irradiated area corresponding to the target sub-image in the robotic arm coordinate system are obtained. This enables the selection of the most suitable target sunlight-irradiated area for drying clothes in the current drying environment from multiple sunlight-irradiated areas based on the color information of the image. The position of the target sunlight-irradiated area in the robotic arm coordinate system is accurately located through coordinate system transformation, which facilitates the subsequent movement of clothes to the target sunlight-irradiated area by the robotic arm. Based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothes to be adjusted to the target sunlight-exposed area, thus enabling the clothes to be placed in the sun for drying. This improves the utilization rate of sunlight resources during the clothes drying process, achieves the effect of continuous drying of clothes in the sun, and improves the drying efficiency of clothes.

[0093] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0094] Furthermore, in an optional embodiment, for each pixel in the first image, the RGB value of the pixel is converted to a color space to obtain the pixel's saturation and brightness; For each pixel, if the pixel's saturation is within the saturation threshold range and the pixel's brightness is within the brightness threshold range, then the pixel is taken as the target pixel. Based on the adjacency relationship between target pixels, at least one connected region in the first image is obtained; each connected region is composed of target pixels. From all connected regions, select the connected regions with a target pixel count greater than a first threshold as sub-images.

[0095] In yet another alternative embodiment, for each sub-image, the area of ​​the sub-image is determined based on the number of target pixels within the sub-image; For each sub-image, the average brightness of each target pixel within the sub-image is calculated, and the average value is used as the brightness of the sub-image. For each sub-image, the center point of the sub-image is determined based on the boundary points of the sub-image. The coordinates of the center point are transformed from the image coordinate system to the robot arm coordinate system to obtain the coordinates of the center point in the robot arm coordinate system. Based on the coordinates of the center point, the first distance between the center point and the gripping point is obtained. For each sub-image, the area and brightness of the sub-image are weighted and summed to obtain a weighted result. The weighted result is then reduced by the first distance to obtain the high-quality drying degree of the sub-image. The sub-image with the highest quality drying degree is selected as the target sub-image.

[0096] In yet another optional embodiment, the coordinates of all boundary points of the target sunlit area in the robotic arm coordinate system are obtained; The first coordinate value is obtained by averaging the first values ​​of all boundary points in the horizontal direction. The second coordinate value is obtained by averaging the second values ​​of all boundary points in the vertical direction. Obtain the length of the garment to be adjusted, and determine the first adjustment value in the vertical direction based on the length; Obtain the largest third value in the vertical direction from all boundary points. Adjust the second coordinate value based on the third value and the first adjustment value to obtain the adjusted second coordinate value. Determine the target coordinates of the target location based on the first coordinate value and the adjusted second coordinate value. The adjusted second coordinate value is not greater than the third value. Based on the target coordinates, the robotic arm is controlled to move the garment to be adjusted to the target position.

[0097] In another optional embodiment, for each sub-image, the coordinates of the boundary points of the sub-image are transformed from the image coordinate system to the robotic arm coordinate system to obtain the coordinates of the sunlight-illuminated area corresponding to the sub-image in the robotic arm coordinate system; Obtain the coordinates of the gripping point of the garment to be adjusted on the hanger in the robotic arm coordinate system; For each sub-image, if an obstacle is found between the clamping point and any point within the sunlight-illuminated area based on the coordinates of the clamping point and the coordinates of the sunlight-illuminated area, then the sub-image is removed from at least one sub-image.

[0098] In yet another optional embodiment, in response to determining the clothes to be adjusted, a first image of the drying environment is acquired; the method for acquiring the clothes to be adjusted is to periodically acquire a second image of all the clothes that have been dried. For each piece of clothing that has been dried, if it is determined that there is no sub-image in the second image, then the dried clothing is regarded as clothing to be adjusted. The acquisition period for the second image is determined based on the current season.

[0099] This application provides an electronic device (computer device / equipment / system) including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the drying control method. Compared with related technologies, it can achieve the following: by acquiring a first image of the drying environment, at least one sub-image of the imaging area as the sunlight-irradiated area is determined from the first image, thereby realizing the acquisition of the sunlight-irradiated area in the current drying environment, and thus providing a selectable area for drying clothes. Based on the color information of each sub-image, the target sub-image is obtained, and the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system. The coordinates of the target sunlight-irradiated area corresponding to the target sub-image in the robotic arm coordinate system are obtained. This enables the selection of the most suitable target sunlight-irradiated area for drying clothes in the current drying environment from multiple sunlight-irradiated areas based on the color information of the image. The position of the target sunlight-irradiated area in the robotic arm coordinate system is accurately located through coordinate system transformation, which facilitates the subsequent movement of clothes to the target sunlight-irradiated area by the robotic arm. Based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothes to be adjusted to the target sunlight-exposed area, thus enabling the clothes to be placed in the sun for drying. This improves the utilization rate of sunlight resources during the clothes drying process, achieves the effect of continuous drying of clothes in the sun, and improves the drying efficiency of clothes.

[0100] In one alternative embodiment, an electronic device is provided, such as Figure 8 As shown, Figure 8 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this application.

[0101] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0102] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0103] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0104] The memory 4003 stores computer programs that execute embodiments of this application, and its execution is controlled by the processor 4001. The processor 4001 executes the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0105] The electronic device package may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0106] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments. Compared with the prior art, it can achieve the following: by acquiring a first image of the drying environment, and determining at least one sub-image of the imaging area as the sunlight-irradiated area from the first image, the sunlight-irradiated area in the current drying environment is acquired, thereby providing a selectable area for drying clothes. Based on the color information of each sub-image, the target sub-image is obtained, and the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system. The coordinates of the target sunlight-irradiated area corresponding to the target sub-image in the robotic arm coordinate system are obtained. This enables the selection of the most suitable target sunlight-irradiated area for drying clothes in the current drying environment from multiple sunlight-irradiated areas based on the color information of the image. The position of the target sunlight-irradiated area in the robotic arm coordinate system is accurately located through coordinate system transformation, which facilitates the subsequent movement of clothes to the target sunlight-irradiated area by the robotic arm. Based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothes to be adjusted to the target sunlight-exposed area, thus enabling the clothes to be placed in the sun for drying. This improves the utilization rate of sunlight resources during the clothes drying process, achieves the effect of continuous drying of clothes in the sun, and improves the drying efficiency of clothes.

[0107] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium, a computer-readable medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0108] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments. Compared with the prior art, it can achieve: By acquiring a first image of the drying environment and determining at least one sub-image of the imaging area as the sunlit area from the first image, the sunlit area in the current drying environment is acquired, thereby providing selectable areas for drying clothes. Based on the color information of each sub-image, the target sub-image is obtained, and the coordinates of the boundary points of the target sub-image are transformed from the image coordinate system to the robotic arm coordinate system. The coordinates of the target sunlight-irradiated area corresponding to the target sub-image in the robotic arm coordinate system are obtained. This enables the selection of the most suitable target sunlight-irradiated area for drying clothes in the current drying environment from multiple sunlight-irradiated areas based on the color information of the image. The position of the target sunlight-irradiated area in the robotic arm coordinate system is accurately located through coordinate system transformation, which facilitates the subsequent movement of clothes to the target sunlight-irradiated area by the robotic arm. Based on the coordinates of the target sunlight-exposed area in the robotic arm's coordinate system, the robotic arm is controlled to move the clothes to be adjusted to the target sunlight-exposed area, thus enabling the clothes to be placed in the sun for drying. This improves the utilization rate of sunlight resources during the clothes drying process, achieves the effect of continuous drying of clothes in the sun, and improves the drying efficiency of clothes.

[0109] The terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the illustrations or text descriptions.

[0110] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0111] The above are only optional implementation methods for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A sunning control method, characterized by, The method comprises the following steps: acquiring a first image of a drying environment, determining at least one sub-image from the first image, each sub-image being an imaging area of a sunlight irradiation region; for each sub-image, determining a target sub-image according to color information of the sub-image; converting coordinates of boundary points of the target sub-image from an image coordinate system to a mechanical arm coordinate system to obtain coordinates of a target sunlight irradiation region corresponding to the target sub-image in the mechanical arm coordinate system, the mechanical arm coordinate system taking a clamping point of a mechanical arm as an origin, the clamping point being a point at which the mechanical arm contacts a corresponding clothes hanger of a clothes to be adjusted; controlling the mechanical arm to move the clothes to be adjusted to the target sunlight irradiation region according to the coordinates of the target sunlight irradiation region in the mechanical arm coordinate system.

2. The method of claim 1, wherein, The step of determining at least one sub-image from the first image comprises the following steps: for each pixel in the first image, performing color space conversion on an RGB value of the pixel to obtain a saturation and a brightness of the pixel; for each pixel, if the saturation of the pixel is within a saturation threshold range and the brightness of the pixel is within a brightness threshold range, regarding the pixel as a target pixel; based on an adjacent relationship between target pixels, acquiring at least one connected region in the first image, the connected region being composed of target pixels; from all connected regions, screening out a connected region with a number of target pixels greater than a first number threshold as the sub-image.

3. The method of claim 2, wherein, The step of determining a target sub-image according to color information of the sub-image comprises the following steps: for each sub-image, determining an area of the sub-image according to a number of target pixels in the sub-image; for each sub-image, averaging brightnesses of target pixels in the sub-image to obtain an average value as a brightness of the sub-image; for each sub-image, determining a center point of the sub-image according to boundary points of the sub-image, converting a coordinate of the center point from an image coordinate system to a mechanical arm coordinate system to obtain a coordinate of the center point in the mechanical arm coordinate system, and acquiring a first distance between the center point and the clamping point according to the coordinate of the center point; for each sub-image, performing weighted summation on the area and the brightness of the sub-image to obtain a weighted result, and reducing the weighted result by the first distance to obtain a high-quality drying degree of the sub-image; regarding the sub-image with the largest high-quality drying degree as the target sub-image.

4. The method of claim 1, wherein, The step of controlling the mechanical arm to move the clothes to be adjusted to the target sunlight irradiation region according to the coordinates of the target sunlight irradiation region in the mechanical arm coordinate system comprises the following steps: acquiring coordinates of all boundary points of the target sunlight irradiation region in the mechanical arm coordinate system; averaging first values of all boundary points in a horizontal direction to obtain a first coordinate value; averaging second values of all boundary points in a vertical direction to obtain a second coordinate value; acquiring a length of the clothes to be adjusted, and determining a first adjustment value of the vertical direction according to the length of the clothes to be adjusted; The third value is obtained from all the boundary points in the vertical direction, the second coordinate value is adjusted according to the third value and the first adjustment value, an adjusted second coordinate value is obtained, and a target coordinate of the target position is determined based on the first coordinate value and the adjusted second coordinate value; the adjusted second coordinate value is not greater than the third value; According to the target coordinate, the mechanical arm is controlled to move the clothes to be adjusted to the target position.

5. The method of claim 1, wherein, The method further comprises: For each sub-image, the coordinates of the boundary points of the sub-image are converted from the image coordinate system to the mechanical arm coordinate system to obtain the coordinates of the sunlight irradiation area corresponding to the sub-image in the mechanical arm coordinate system; The coordinates of the clamping point of the clothes rack corresponding to the clothes to be adjusted in the mechanical arm coordinate system are obtained; For each sub-image, if it is determined that there is an obstacle between the clamping point and the line connecting the clamping point and any point in the sunlight irradiation area according to the coordinates of the clamping point and the coordinates of the sunlight irradiation area, the sub-image is removed from the at least one sub-image.

6. The method of claim 1, wherein, The method further comprises: In response to determining that the clothes to be adjusted, the first image of the drying environment is obtained; The method further comprises: Periodically obtaining a second image of all the clothes that have been dried; For each piece of clothes that has been dried, if it is determined that there is no sub-image in the second image, the clothes that have been dried are determined as the clothes to be adjusted; The acquisition period of the second image is determined according to the current season.

7. A drying control device characterized by comprising: The method further comprises: An acquisition module is configured to acquire a first image of a drying environment, and determine at least one sub-image from the first image, each sub-image being an imaging area of a sunlight irradiation area; A determination module is configured to, for each sub-image, determine a target sub-image according to color information of the sub-image; A conversion module is configured to convert the coordinates of the boundary points of the target sub-image from an image coordinate system to a mechanical arm coordinate system to obtain the coordinates of a target sunlight irradiation area corresponding to the target sub-image in the mechanical arm coordinate system, the mechanical arm coordinate system taking a clamping point of the mechanical arm as an origin, and the clamping point being a point at which the mechanical arm contacts a clothes rack corresponding to the clothes to be adjusted; A control module is configured to control the mechanical arm to move the clothes to be adjusted to the target sunlight irradiation area according to the coordinates of the target sunlight irradiation area in the mechanical arm coordinate system.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program, when executed by the processor, is arranged to perform the method of any one of claims 1 to 7. The processor executes the computer program to implement the method of any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1-6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1-6.

Images