Clothes arrangement method, device, electronic equipment and system

Abstract

The invention provides a clothes sorting method and device, electronic equipment and a system, and relates to the technical field of household equipment, and the method comprises the steps: collecting the image information of to-be-sorted clothes, determining the grabbing point and grabbing force of the to-be-sorted clothes based on the image information, generating a grabbing strategy based on the grabbing point and the grabbing force, and carrying out the sorting of the to-be-sorted clothes. And controlling a mechanical arm to grab to-be-tidied clothes based on the grabbing strategy, and hanging the to-be-tidied clothes to a target clothes hanger. Therefore, the to-be-tidied clothes can be automatically tidied, a user does not need to participate in the tidying process of the clothes, and human resources are liberated.

Description

Technical Field

[0001] This invention relates to the field of household equipment technology, and more specifically to a method, apparatus, electronic device, and system for organizing clothes. Background Technology

[0002] In existing technical solutions, users spend a lot of time organizing clothes, resulting in a waste of human resources. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a method, apparatus, electronic device, and system for organizing clothing to achieve automatic organization of clothing.

[0004] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] A method for organizing clothes includes:

[0006] Collect image information of the clothes to be sorted;

[0007] Based on the image information, the target parameters of the garment to be sorted are identified, including the material and target key points;

[0008] The gripping points are determined based on the key points of the clothing to be sorted;

[0009] The gripping force is determined based on the material of the clothing to be processed;

[0010] Based on the gripping points and gripping force, a gripping strategy is generated, and the robotic arm is controlled to grip the clothes to be sorted according to the gripping strategy and hang the clothes to be sorted on the target hanger.

[0011] Optionally, in the above clothing sorting method, the target parameter further includes: clothing type; moving the clothing to be sorted to the target hanger includes:

[0012] Determine the target storage area based on the type of clothing;

[0013] The clothes to be sorted are hung on the target hanger corresponding to the target storage area;

[0014] Once the clothes to be sorted are successfully hung on the target hanger, the target hanger is moved to the target storage area.

[0015] Optionally, the above-mentioned clothing sorting method further includes: when the robotic arm grasps the clothing to be sorted based on the grasping strategy, it estimates the estimated weight of the grasped clothing to be sorted and compensates for the grasping force.

[0016] Optionally, in the above clothing organization method, after controlling the target hanger to move to the target storage area, the method further includes:

[0017] Obtain the usage frequency of the target clothing items to be sorted;

[0018] Obtain the suitability of the clothes to be sorted for the current season;

[0019] Obtain the category weights of the clothing to be sorted;

[0020] The priority of the clothing to be sorted is calculated based on the frequency of use, adaptability, and category weight.

[0021] Based on the target principle, the clothes to be sorted on the hangers in the target storage area are rearranged. The target principle is that the higher the priority, the higher the level of the corresponding hanging position.

[0022] Optionally, the above methods for organizing clothing may also include:

[0023] The tag on the garment to be sorted is read by a reader to obtain the basic information of the garment, and lifecycle management of the garment is performed based on the basic information of the garment.

[0024] Alternatively, feature recognition can be performed on the garments to be sorted, basic information of the garments to be sorted can be obtained based on the feature recognition results, and lifecycle management of the garments to be sorted can be performed based on the basic information of the garments to be sorted.

[0025] Optionally, in the above clothing sorting method, determining the target storage area based on the clothing type includes:

[0026] By performing image recognition on the image information of the clothes to be sorted, the user information corresponding to the clothes to be sorted can be determined.

[0027] The target storage area is determined based on the clothing type and user information.

[0028] A clothing sorting device, comprising:

[0029] The image acquisition unit is used to acquire image information of the clothes to be sorted.

[0030] A parameter acquisition unit is used to identify target parameters of the garment to be sorted based on the image information, the target parameters including material and target key points;

[0031] The gripping point positioning unit is used to determine the gripping point based on the key points of the clothing to be sorted;

[0032] The gripping force analysis unit is used to determine the gripping force based on the material of the clothing to be processed;

[0033] The gripping control unit is used to generate a gripping strategy based on the gripping point and gripping force, control the robotic arm to grip the clothes to be sorted based on the gripping strategy, and hang the clothes to be sorted on the target hanger.

[0034] An electronic device, comprising:

[0035] At least one processing device and a storage device connected to the processing device, wherein:

[0036] The storage device is used to store computer programs;

[0037] The processing device is used to execute the computer program so that the electronic device can implement any of the above-described clothing sorting methods.

[0038] A clothing organization system includes the aforementioned electronic equipment, robotic arm, locker, track system, and clothes hanger, wherein the clothes hanger is hung on the track of the track system, and a portion of the track of the track system is located inside the locker.

[0039] Optionally, in the above-mentioned clothing sorting system, the track system drives the clothes hangers to move on the track using the principle of electromagnet drive.

[0040] Based on the above technical solution, the solution provided in this embodiment of the invention acquires image information of the clothing to be sorted, determines the gripping point and gripping force based on the image information, generates a gripping strategy based on the gripping point and gripping force, controls the robotic arm to grip the clothing to be sorted based on the gripping strategy, and hangs the clothing to be sorted on the target hanger. Thus, automatic sorting of clothing can be achieved, and the sorting process does not require user intervention, freeing up human resources. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0042] Figure 1 This is a schematic flowchart of a clothing sorting method disclosed in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of a clothing identification scenario disclosed in an embodiment of this application;

[0044] Figure 3 This is a schematic flowchart of a clothing sorting method disclosed in another embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the structure of a garment sorting device disclosed in an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of the structure of the clothing sorting system disclosed in the embodiments of this application;

[0047] Figure 6 This is a schematic diagram of the structure of the "finger" of the gripper disclosed in this application;

[0048] Figure 7 This is a schematic diagram illustrating the walking principle of the clothes hanger disclosed in the embodiments of this application;

[0049] Figure 8 This is a schematic diagram illustrating a scenario where a clothes hanger moves on a track, as disclosed in an embodiment of this application.

[0050] Figure 9 This is a schematic diagram of a device that cooperates with a track system, as disclosed in an embodiment of this application. Detailed Implementation

[0051] 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, and 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.

[0052] This application provides an automatic clothing organization solution. The method involves performing image recognition on the clothing to be organized, extracting target parameters of the clothing based on the recognition results, generating a grasping strategy based on the target parameters, and using a robotic arm to grasp the clothing to be organized and hang it on a target hanger. This achieves automatic organization of the other party's clothing.

[0053] See Figure 1 The clothing sorting method disclosed in this application includes:

[0054] Step S101: Collect image information of the clothes to be sorted.

[0055] In this solution, users can place the clothing to be sorted in the designated area. A binocular stereo vision system then captures images of the clothing in the area, obtaining the clothing outline, collar position, and material texture. The binocular stereo vision system mainly includes a main camera and an auxiliary camera. The main camera can be an RGB-D depth camera with a resolution of 1920×1080, and the auxiliary camera can be an infrared camera.

[0056] When there is only one garment in the area to be sorted, the garment to be sorted refers to that garment. When there are multiple stacked garments in the area to be sorted, the garment to be sorted is the garment on the top layer.

[0057] Step S102: Identify the target parameters of the clothing to be sorted based on the image information. The target parameters include material and target key points.

[0058] In this solution, an intelligent analysis model analyzes the image information of the clothing to be processed, identifying the material and target key points of the clothing. The material can include cotton, silk, wool, denim, leather, etc. The target key points can include key points such as shoulder positions and neckline positions. When identifying target key points, the clothing to be processed can first be localized in the image information. Based on the localization results, the Region of Interest (ROI) is cropped and its pose is estimated. Based on the pose estimation results, key points such as shoulder positions and neckline positions are returned. See also... Figure 2 The identified target key points are P1 and P2 on the shoulder.

[0059] Step S103: Determine the gripping point based on the key points of the clothing to be sorted.

[0060] In this solution, the gripping point is the point where the robotic arm applies force when gripping the clothing. The position of the gripping point is determined based on the position of the target key points. Taking a top as an example, the shoulder position is extracted from the target key points, and the midpoint between these two shoulder positions is 2 cm above the gripping point. See, for example... Figure 2 The key points identified are shoulder positions P1 and P2. The midpoint between P1 and P2, 2 cm above the top of the clothing, is taken as the gripping point.

[0061] Step S104: Determine the gripping force based on the material of the clothing to be sorted.

[0062] Different gripping forces need to be configured for different clothing materials. The gripping force is the force applied by the robotic arm's gripper to the clothing to be processed. For example, when the clothing is made of silk, which is relatively lightweight, the gripping force can be set at 0.5N; when the clothing is made of cotton, the gripping force can be 1N; when the clothing is made of wool, the gripping force can be 1.2N; when the clothing is made of denim, the gripping force can be 1.8N; and when the clothing is made of leather, the gripping force can be 2.0N. This solution allows for pre-configuration of the robotic arm's initial gripping force based on the clothing material.

[0063] Step S105: Generate a gripping strategy based on the gripping point and gripping force, control the robotic arm to grip the clothes to be sorted based on the gripping strategy, and hang the clothes to be sorted on the target hanger.

[0064] In this step, after determining the gripping point and gripping force, a gripping strategy for the robotic arm is generated based on this. The robotic arm is then controlled to move according to this gripping strategy, so as to control the robotic arm to grip the clothes to be sorted (the gripping position is the gripping point, and the gripping force is the force determined in step S104), and hang the gripped clothes to be sorted on the target hanger, which can refer to a hanger that is in an idle state.

[0065] As can be seen from the technical solutions disclosed in the above embodiments of this application, this solution acquires image information of the clothing to be sorted, determines the gripping point and gripping force of the clothing based on the image information, generates a gripping strategy based on the gripping point and gripping force, controls the robotic arm to grip the clothing to be sorted based on the gripping strategy, and hangs the clothing to be sorted on the target hanger. Thus, automatic sorting of clothing can be achieved, and the sorting process does not require user intervention, freeing up human resources.

[0066] In this embodiment, considering that different types of clothing correspond to different storage areas, for example, if summer clothing, winter clothing, and spring / autumn clothing each have their own storage areas, the target parameter in this solution may also include clothing type. The clothing type may include: summer type (summer tops, summer bottoms), spring / autumn type (spring / autumn tops, spring / autumn bottoms), and winter type (winter tops, winter bottoms). Figure 2 As shown, the identified clothing type is a shirt, which belongs to summer tops. Then, based on the clothing type, the target storage area for the clothing to be sorted is determined. For example, summer clothing corresponds to a summer clothing storage area, spring / autumn clothing to a spring / autumn clothing storage area, and winter clothing to a winter clothing storage area. After determining the target storage area, a moving robotic arm hangs the clothing to be sorted onto the target hanger. Once the successful hanging of the clothing onto the target hanger is detected, the target hanger is moved to the target storage area. In this solution, the hanger can be a movable hanger, capable of moving freely between the clothing hanging area and the storage area. Specifically, the hanger can be equipped with a walking control mechanism that controls the hanger to move automatically along a track. This track can extend to each storage area. After confirming that the robotic arm has hung the clothing to be sorted onto the target hanger, the walking control mechanism controls the hanger to move along the track to the target storage area.

[0067] In this embodiment, considering the varying weights of the garments to be sorted, if the garments are too heavy, the robotic arm may be unable to reliably grip them. In this case, compensation for the gripping force is necessary. In this solution, when controlling the robotic arm to grasp the garments based on the aforementioned gripping strategy, the weight of the grasped garments needs to be estimated, and the gripping force is compensated based on the estimated weight. The larger the estimated weight, the greater the compensated gripping force; for example, for every 100g of estimated weight, the compensated gripping force increases by 0.1N. In this embodiment, the weight of the garments to be sorted can be identified by a weight sensor in the sorting area. In this case, the user needs to place the garments into the sorting area one by one. Considering that users may place multiple garments into the sorting area at once for convenience, the estimated weight detected by the weight sensor in the sorting area is the total weight of these garments, not the weight of the garment to be sorted. To address this, this embodiment uses a weight sensor mounted on the robotic arm gripper or hanger to estimate the weight of the garment to be sorted and compensates for this estimated weight with the gripping force. In this case, when the robotic arm grabs the garment, it may pull in other garments. In this situation, the estimated weight measured by the sensor on the robotic arm gripper will be higher. After successfully grabbing and lifting the garment, the other garments pulled in will fall off, causing a decrease in the estimated weight measured by the sensor on the robotic arm gripper. To address this, this solution adjusts the gripping force based on the estimated weight measured in real-time by the sensor on the robotic arm gripper to prevent damage to the garment from prolonged application of excessive gripping force.

[0068] In this implementation, considering the matching degree of clothing type with the current season, the frequency of clothing use, and the different weight categories of clothing, users have different storage needs for different types of clothing. For example, users need to use formal suits on certain formal occasions. Therefore, in order to be able to find formal suits as soon as possible when users need them, they need to be assigned a higher weight category. Therefore, in this solution, after controlling the target hanger to move to the target storage area, see... Figure 3 It also includes:

[0069] Step S301: Obtain the usage frequency of the target clothing to be sorted.

[0070] The frequency of clothing use can refer to the monthly frequency of clothing use, or it can refer to the total frequency of clothing use over its life cycle.

[0071] Step S302: Obtain the suitability of the clothes to be sorted with the current season.

[0072] The mismatch between the clothing to be sorted and the current season refers to the mismatch between the season corresponding to the clothing and the current machine. For example, if a piece of clothing is to be worn in summer and the current season is summer, then a high compatibility score is required between the two; otherwise, a low compatibility score is required.

[0073] Step S303: Obtain the category weights of the clothing to be sorted.

[0074] The weights of the garments to be sorted can be automatically assigned to each garment by the system based on preset weight allocation principles. During this process, the user identifies the garment type (e.g., formal suit, casual jacket, etc.) through the recognized image information, and a large model is used to determine the corresponding weight based on the garment type. Of course, the user can also set the weights of the garments to be sorted according to their own needs.

[0075] Step S304: Calculate the priority of the clothes to be sorted based on the usage frequency, adaptability and category weight.

[0076] In this solution, corresponding weight coefficients are pre-configured for the usage frequency, adaptability, and category weight, and a weighted sum is performed. Based on the summation result, the priority of the clothes to be sorted is obtained; the larger the summation result, the higher the priority of the clothes. In this solution, the higher the priority, the higher the level of the hanging position of the corresponding clothes. The levels of different hanging positions can be pre-defined, and the level of the hanging position is positively correlated with the convenience of the user to retrieve the clothes. The levels of different hanging positions can also be determined by detecting and analyzing the user's clothing retrieval habits. For example, by statistically analyzing the first search position when the user retrieves clothes from the target storage area, the level corresponding to the position with the highest search frequency is marked as the highest level, the positions on both sides are the next best, and the farther away from the position, the lower the corresponding level.

[0077] Step S305: Rearrange the clothes to be sorted on the hangers in the target storage area based on the target principle, where the higher the priority, the higher the level of the corresponding hanging position.

[0078] After determining the priority of the clothes to be sorted on each hanger in the target storage area, the hanging position of each hanger (each hanger corresponds to one piece of clothing to be sorted) is adjusted based on the priority. Clothes to be sorted with higher priority are hung in higher-level hanging positions so that users can quickly find the clothes they need.

[0079] In the technical solution disclosed in this embodiment, lifecycle management of clothing to be sorted can also be performed. This lifecycle management can include reminding the user when a piece of clothing is stored in a target storage area, so that the user can promptly remove useless clothing from the target storage area. Specifically, in this application, a reader can read the tag on the clothing to be sorted to obtain its basic information, and lifecycle management can be performed based on this basic information. The basic information of the clothing to be sorted can include the clothing's usage frequency, first time it was placed in the closet, most recent time it was placed in the closet, etc.

[0080] Alternatively, feature recognition can be performed on the garments to be sorted, and basic information about the garments can be obtained based on the feature recognition results. Lifecycle management of the garments can then be performed based on this basic information. Specifically, feature recognition can be performed on the image information corresponding to the garments to be sorted. The recognition results can be matched against a database. If no matching basic information is found, it is determined that the garment has been identified for the first time. Based on the identified feature information, corresponding basic information is created and stored in the database. If a matching basic information is found in the database, the basic information is updated.

[0081] When determining the target storage area for the clothes to be sorted, in addition to considering the type of clothing, the user associated with the clothing can also be considered. For example, adult and children's clothing usually need to be stored separately. Therefore, in the above scheme, determining the target storage area based on the type of clothing can specifically include: performing image recognition on the image information of the clothes to be sorted, and using a large model to determine the user information corresponding to the clothes based on the image recognition results. For example, using a large model to determine whether the clothes belong to the female homeowner, the male homeowner, or the children based on the image recognition results, thereby determining the user information corresponding to the clothes, and then determining the target storage area based on the type of clothing and the user information. This achieves partitioned storage of different types of clothing for different users.

[0082] Furthermore, in this embodiment, in order to prevent bacteria on the clothes to be processed from being transferred to other clothes, this solution can also control the ultraviolet disinfection module to disinfect the clothes to be processed. The ultraviolet disinfection module can be integrated into the storage area for periodically disinfecting the clothes in the storage area.

[0083] Furthermore, the above solution can also determine whether the garments need wrinkle removal based on the image recognition results. When wrinkle removal is required, a steam wrinkle remover or other ironing equipment can be controlled to automatically remove wrinkles from the garments.

[0084] This embodiment also discloses a clothing sorting device. For the specific working content of each unit in the device, please refer to the content of the above method embodiment.

[0085] The garment organizing apparatus provided in the embodiments of the present invention will be described below. The garment organizing apparatus described below can be referred to in correspondence with the garment organizing method described above. See also Figure 4 The garment sorting device may include:

[0086] Image acquisition unit 100 is used to acquire image information of the clothes to be sorted;

[0087] The parameter acquisition unit 200 is used to identify target parameters of the clothing to be sorted based on the image information, the target parameters including material and target key points;

[0088] The gripping point positioning unit 300 is used to determine the gripping point based on the key points of the clothing to be sorted;

[0089] The gripping force analysis unit 400 is used to determine the gripping force based on the material of the clothing to be sorted.

[0090] The gripping control unit 500 is used to generate a gripping strategy based on the gripping point and gripping force, control the robotic arm to grip the clothes to be sorted based on the gripping strategy, and hang the clothes to be sorted on the target hanger.

[0091] Corresponding to the above method, this application also discloses an electronic device, which includes:

[0092] At least one processing device and a storage device connected to the processing device, wherein:

[0093] The storage device is used to store computer programs;

[0094] The processing device is used to execute the computer program so that the electronic device can implement any of the above-described clothing sorting methods.

[0095] This application also discloses a clothing sorting system, which includes the aforementioned electronic equipment, robotic arm, and storage cabinet; the storage cabinet is equipped with a track system, along which clothes hangers can move to guide the clothes hangers from the sorting area into the storage cabinet.

[0096] See Figure 5The system may also include a binocular stereo vision system, a weight sensor, and a track system. The electronic devices correspond to the decision-making layer and are used to implement various functions within the decision-making layer. The storage cabinet provides a storage area. When a user places clothing to be sorted into the sorting area, the weight sensor detects the weight of the clothing, the binocular stereo vision system acquires images of the clothing, and the weight detection results and image acquisition results are sent to the decision-making layer. Based on the weight detection results and image recognition results, the decision-making layer identifies the clothing type, material, detects key points, optimizes the storage space, and generates corresponding decision instructions. Based on these decision instructions, the robotic arm and gripping actions are controlled, and the track system controls the specific storage location of the clothing to be sorted.

[0097] The robotic arm can be a SCARA robotic arm or a gantry-type Cartesian coordinate robot, and the movement of the clothes hanger can be achieved through a chain drive system or a stepper motor + gear and rack system.

[0098] In this embodiment, the gripper of the robotic arm can be a flexible pneumatic gripper, which may include a three-finger structure, see [link to documentation]. Figure 6 Each finger structure consists of an alloy skeleton, an air bladder cavity, and a silicone layer on the surface of the finger structure. The silicone layer can automatically adapt to the surface shape of the garment being gripped, increasing the contact area with the garment, dispersing pressure, and preventing damage to the garment. When the gripper performs a gripping action, the outer air bladder cavity is inflated and the inner air bladder is deflated. At this time, the outer air bladder expands, and the fingers bend inward to grip the garment. When the gripper performs a releasing action, the outer air bladder cavity is deflated and the inner air bladder is inflated. The inner air bladder expands, and the outer air bladder contracts. At this time, the fingers bend outward to release the gripped garment. A force sensor is installed at the end of the gripper. The force sensor can detect the gripping force of the gripper in real time. A PID controller adjusts the air pressure in the air bladder cavity based on the detected gripping force and the determined gripping force to ensure constant force gripping.

[0099] See Figure 7 The track system can be implemented using the principle of electromagnet drive. A permanent magnet is installed on the clothes hanger, and power supply coils are evenly distributed along the track. These power supply coils can be energized sequentially under the control of a power supply circuit. (See [link]). Figure 8When the power supply coil is energized, it generates a magnetic field, which attracts the permanent magnet on the clothes hanger. Therefore, the system can control the direction of the clothes hanger on the track by controlling the energizing sequence of the power supply coils. Furthermore, the clothes hanger is equipped with a Hall sensor, which feeds back its output signal to the controller. The controller uses the feedback from the Hall sensor to determine the position of the clothes hanger. Specifically, when the controller energizes the power supply coil adjacent to the clothes hanger, it analyzes the output of the Hall sensor to determine whether the clothes hanger has moved to the position of that power supply coil.

[0100] In this embodiment, the track system can be a double-layered circular track, with different types of clothing hung on the hangers on the inner and outer tracks. For example, the hangers on the outer track are used for hanging formal wear, while the hangers on the inner track are used for hanging other clothing.

[0101] All users and related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are information and data authorized by the users or fully authorized by all parties, and the collection, use and processing of related data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0102] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.

[0103] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0104] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0105] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0106] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0107] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for organizing clothing, characterized in that, include: Collect image information of the clothes to be sorted; Based on the image information, the target parameters of the garment to be sorted are identified, including the material and target key points; The gripping points are determined based on the key points of the clothing to be sorted; The gripping force is determined based on the material of the clothing to be processed; Based on the gripping points and gripping force, a gripping strategy is generated, and the robotic arm is controlled to grip the clothes to be sorted according to the gripping strategy and hang the clothes to be sorted on the target hanger.

2. The clothing arrangement method according to claim 1, characterized in that, The target parameters also include: clothing type, and moving the clothing to be sorted to the target hanger includes: Determine the target storage area based on the type of clothing; The clothes to be sorted are hung on the target hanger corresponding to the target storage area; Once the clothes to be sorted are successfully hung on the target hanger, the target hanger is moved to the target storage area.

3. The clothing arrangement method according to claim 1, characterized in that, Also includes: When the robotic arm grasps the clothes to be sorted based on the grasping strategy, it estimates the weight of the grasped clothes to compensate for the grasping force.

4. The clothing arrangement method according to claim 2, characterized in that, After controlling the target hanger to move to the target storage area, the method further includes: Obtain the usage frequency of the target clothing items to be sorted; Obtain the suitability of the clothes to be sorted for the current season; Obtain the category weights of the clothing to be sorted; The priority of the clothing to be sorted is calculated based on the frequency of use, adaptability, and category weight. Based on the target principle, the clothes to be sorted on the hangers in the target storage area are rearranged. The target principle is that the higher the priority, the higher the level of the corresponding hanging position.

5. The clothing arrangement method according to claim 2, characterized in that, Also includes: The tag on the garment to be sorted is read by a reader to obtain the basic information of the garment, and lifecycle management of the garment is performed based on the basic information of the garment. Alternatively, feature recognition can be performed on the garments to be sorted, basic information of the garments to be sorted can be obtained based on the feature recognition results, and lifecycle management of the garments to be sorted can be performed based on the basic information of the garments to be sorted.

6. The clothing arrangement method according to claim 2, characterized in that, Determining the target storage area based on the clothing type includes: By performing image recognition on the image information of the clothes to be sorted, the user information corresponding to the clothes to be sorted can be determined. The target storage area is determined based on the clothing type and user information.

7. A garment organizing device, characterized in that, include: The image acquisition unit is used to acquire image information of the clothes to be sorted. A parameter acquisition unit is used to identify target parameters of the garment to be sorted based on the image information, the target parameters including material and target key points; The gripping point positioning unit is used to determine the gripping point based on the key points of the clothing to be sorted; The gripping force analysis unit is used to determine the gripping force based on the material of the clothing to be processed; The gripping control unit is used to generate a gripping strategy based on the gripping point and gripping force, control the robotic arm to grip the clothes to be sorted based on the gripping strategy, and hang the clothes to be sorted on the target hanger.

8. An electronic device, characterized in that, include: At least one processing device and a storage device connected to the processing device, wherein: The storage device is used to store computer programs; The processing device is used to execute the computer program so that the electronic device can implement the clothing sorting method as described in any one of claims 1 to 6.

9. A clothing organization system, characterized in that, The device includes the electronic device, robotic arm, locker, track system, and clothes hanger as described in claim 8, wherein the clothes hanger is hung on the track of the track system, and a portion of the track of the track system is located inside the locker.

10. The garment sorting system according to claim 9, characterized in that, The track system uses an electromagnet to drive the clothes hanger to move on the track.

Images