Control method of clothes drying machine, clothes drying machine and intelligent clothes drying system

Abstract

The application provides a control method of a clothes airing machine, the clothes airing machine and an intelligent clothes airing system. In the application, a remote controller is attached to a wall surface and is parallel to a standing human body laterally, and a distance measuring sensor assembly is arranged on the remote controller. The clothes airing machine acquires original timestamp data collected by a sensor, calculates a horizontal distance and a pitch angle of a reflection point cloud relative to the remote controller by using a time difference between a signal emission time and two reception times, converts the horizontal distance and the pitch angle into a vertical height coordinate with the ground as a reference, extracts a maximum value of the vertical height coordinate as a head height after interference point filtering, and calculates a target stop height according to the head height to drive a clothes airing rod to descend to the height. In the application, the distance measuring sensor is arranged on the wall-attached remote controller, which avoids the obstruction of a clothes hanging area in physical space, and realizes self-adaptive and accurate control of the clothes airing rod height on the human body height.

Description

Technical Field

[0001] This application relates to the field of smart furniture technology, and in particular to a control method for a clothes drying rack, a clothes drying rack, and a smart clothes drying system. Background Technology

[0002] With the development of smart home technology, clothes drying racks, as a common household appliance, are seeing continuous improvement in their intelligent control capabilities. The drying rod of a clothes drying rack is usually installed near the ceiling. For user convenience, clothes drying racks have a rod lifting function, allowing users to control the rod to lower to a suitable height or raise to the top position using a remote control.

[0003] Some existing clothes drying racks are equipped with distance sensors or human detection sensors to automatically stop or avoid obstacles during the descent of the drying rod. These sensors are typically installed at the bottom of the main unit or on the drying rod itself. The main unit is mounted on the ceiling, the drying rod hangs below it, and the clothes are hung on the rod. When the sensor is installed on the main unit, its detection direction is downward, used to detect obstacles or people below the drying rod.

[0004] However, due to the large amount of clothing hanging on the clothesline during daily use, the clothing creates a hanging obstruction area below the clothesline. When the sensor is installed at the bottom of the main unit, the sensor's detection signal needs to pass through this clothing hanging area to reach the person or the ground below. The clothing obstructs, reflects, and scatters the detection signal, causing the echo signal received by the sensor to be mixed with a large amount of interference from the clothing. Under these circumstances, the sensor struggles to accurately obtain the true position and height information of the person below the clothesline, causing the processor to misjudge the person's height, resulting in an inaccurate stopping position of the clothesline as it descends, failing to adapt to the user's actual height. Therefore, how to accurately detect the height of the person in the presence of hanging clothing on the clothesline, in order to control the clothesline to descend accurately to a position suitable for the user's height, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] Based on this, it is necessary to address the technical problem that existing technologies cannot accurately detect the height of a person when clothes are hanging on the clothes dryer. Therefore, a control method for the clothes dryer, the clothes dryer itself, and an intelligent clothes drying system are proposed.

[0006] In a first aspect, this application provides a method for controlling a clothes drying rack, wherein a remote control is attached to a wall and is positioned laterally parallel to a person standing below the clothes drying rack; the remote control is provided with a distance sensor assembly, which includes a signal transmitter and at least two signal receivers; The method includes: In response to a descent command from the remote controller, fixed installation parameters and raw timestamp data collected by the ranging sensor assembly are acquired; the descent command is generated and sent by the remote controller when it detects a button press on its descent button; the fixed installation parameters include the installation height of the remote controller, the transmit beam pitch angle, and the receiver baseline distance; the raw timestamp data includes the signal transmission time, the first reception time, and the second reception time. A first time difference is calculated based on the signal transmission time and the first reception time, and a second time difference is calculated based on the signal transmission time and the second reception time. Based on the first time difference, the second time difference, and the receiver baseline distance, calculate the horizontal distance and pitch angle of the reflected point cloud relative to the remote controller; Based on the installation height and the pitch angle of the transmitted beam, the horizontal distance and pitch angle of the reflected point cloud are converted into vertical height coordinates with the ground as the reference. Interference point filtering is performed on the reflected point cloud, and the maximum value of the vertical height coordinate in the filtered reflected point cloud is extracted as the overhead height. The interference point filtering process includes: obtaining the signal flight time and vertical height coordinate of each reflected point in the reflected point cloud, where the signal flight time is the difference between the signal reception time and the signal transmission time; calling a pre-stored wall reflection reference time window, which represents the time interval of wall reflection echoes when there is no human body present; comparing the signal flight time with the wall reflection reference time window; when the signal flight time falls within the wall reflection reference time window, the reflected point is identified as a wall interference point and discarded; reflected points with vertical height coordinates less than a preset height threshold are identified as ground interference points and discarded; the remaining reflected points in the reflected point cloud are used as the filtered reflected point cloud. The target stopping height is calculated based on the head height, and the clothes drying rack is driven to descend to the target stopping height.

[0007] Secondly, this application provides a clothes drying rack, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the method described above. Thirdly, this application provides an intelligent clothes drying system, comprising: Clothes dryer and remote control; The remote control is attached to the wall and is positioned parallel to the side of a person standing under the clothes dryer; the remote control is equipped with a distance sensor assembly, which includes a signal transmitter and at least two signal receivers; The remote control is configured to generate and send a descent command when a button press is detected on its descent button; and, in response to a data request command sent by the clothes dryer, to collect raw timestamp data and send it to the clothes dryer; the raw timestamp data includes the signal transmission time, the first reception time, and the second reception time. The clothes drying rack is used to execute the control method for the clothes drying rack described above.

[0008] The beneficial effects of this application are as follows: The ranging sensor component is mounted on a wall-mounted remote control. The sensor emits a measurement signal from the side of the wall. This signal does not need to pass through the area of ​​clothing hanging on the clothesline before reaching the human body, thus avoiding the obstruction of clothing in physical space and helping to solve the problem of inaccurate ranging caused by clothing obstruction. This application uses the time difference of arrival method to calculate the spatial position of the reflection point. This method relies on the stable physical quantity of time difference for calculation and does not depend on parameters such as signal strength that are easily affected by environmental factors, maintaining stable ranging accuracy under different environmental conditions. This application converts the reflection point cloud into vertical height coordinates based on the ground. Interference points are removed through two-level filtering on the wall and the ground, and the maximum value of the vertical height coordinates is extracted as the head height. Based on this, the target stopping height is calculated and the clothesline is controlled to descend to this height, realizing automatic adaptation of the clothesline descent position to users of different heights without the need for manual adjustment or pre-setting by the user. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] in: Figure 1 This is a schematic diagram of the structure of a clothes drying rack in one embodiment; Figure 2 This is a flowchart illustrating the control method of a clothes drying rack in one embodiment; Figure 3 This is a schematic diagram of a computer storage medium provided in this application; Figure 4 This is a structural schematic diagram of a clothes drying rack provided in this application. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0012] Figure 1 This is a scenario architecture diagram provided for an embodiment of this application. See also... Figure 1 The scenario architecture diagram includes a clothes drying rack 1 and a remote control 2. The clothes drying rack 1 is installed on the ceiling or wall indoors, with the drying area below it. The remote control 2 is separate from the clothes drying rack 1, mounted against the wall, and parallel to the side of a person standing below the clothes drying rack 1. The remote control 2 is equipped with a distance sensor assembly, which includes a signal transmitter and at least two signal receivers. The clothes drying rack 1 contains a processor that executes all the calculation and control steps in the clothes drying rack control methods provided in the embodiments of this application. The clothes drying rack 1 and the remote control 2 establish a communication connection via wireless communication, which can employ any of the short-range wireless communication technologies such as radio frequency communication, Bluetooth communication, WiFi communication, or infrared communication. The remote control 2 generates a descent command in response to the user's button press on the descent button and sends the descent command to the clothes drying rack 1 via wireless communication. The remote control 2 also collects raw timestamp data through its distance sensor assembly after receiving a data request command from the clothes drying rack 1 and sends the raw timestamp data to the clothes drying rack 1 via wireless communication. The clothes drying rack 1 receives a descent command and raw timestamp data from the remote controller 2. Based on the descent command, it initiates the descent process of the drying rod, and performs calculations and processing operations in each step based on the raw timestamp data, ultimately driving the drying rod of the clothes drying rack 1 to descend to the target stopping height. The clothes drying rack 1 and the remote controller 2 cooperate to jointly execute the clothes drying rack control method provided in the embodiments of this application.

[0013] The remote control 2 is mounted against the wall, with its back surface flush against the wall and its front facing the drying area below the clothes dryer 1. A distance sensor assembly is housed inside the housing of the remote control 2, located on one side of the front of the housing. The signal transmitter and at least two signal receivers within the distance sensor assembly are exposed on the front of the remote control 2 housing, or through sound-transmitting or light-transmitting holes on the front of the housing, ensuring that the measurement signal can be transmitted unobstructed to the drying area below the clothes dryer 1 and that the echo signal reflected from that area can be received.

[0014] A signal transmitter and at least two signal receivers are arranged horizontally inside the remote controller 2. The at least two signal receivers are located on the same side of the signal transmitter, and the spacing between the receivers is fixed, which is the receiver baseline distance. The signal transmitter and receivers are arranged parallel to the ground and parallel to the wall. The signal transmitter transmits measurement signals to the drying area below the clothes dryer 1, and the signal receivers receive echo signals reflected back by human bodies or environmental objects.

[0015] When remote control 2 is mounted on the wall, the distance sensor assembly is parallel to the side of the person standing below the clothes dryer 1. Specifically, when the user stands below and faces the clothes dryer 1, remote control 2 is located on the wall to the side of the user. The signal transmission and reception directions of the distance sensor assembly are perpendicular to the wall and point towards the drying area. The side of the user's body is directly facing remote control 2, so the measurement signal emitted by the distance sensor assembly illuminates the surface of the body from the user's side, and the received echo signal carries the spatial position information of the body's side profile.

[0016] The wall mounting height of remote control 2 is determined based on the user's usage habits and the installation location of clothes dryer 1. After installation, the mounting height of remote control 2 is measured and stored as a fixed installation parameter in the memory of clothes dryer 1. The pitch angle of the transmitted beam is determined when remote control 2 is mounted against the wall; this angle reflects the fixed tilt direction of the central axis of the measurement signal beam emitted by the signal transmitter relative to the horizontal plane.

[0017] like Figure 2 As shown in the diagram, in one embodiment, a flowchart of a control method for a clothes drying rack is provided, which specifically includes the following steps: S1. In response to a descent command from the remote control, acquire the fixed installation parameters and the raw timestamp data collected by the ranging sensor assembly.

[0018] The processor continuously monitors the wireless communication module for a descent command received from the remote control. The remote control is mounted against the wall, positioned laterally parallel to a person standing below the clothes dryer. The remote control includes a distance sensor assembly comprising a transmitter and at least two receivers. When the user presses the descent button on the remote control, the remote detects the button press, generates a descent command, and transmits it wirelessly to the clothes dryer. Upon receiving the descent command, the clothes dryer's processor executes subsequent operations in response.

[0019] The processor acquires fixed installation parameters and raw timestamp data collected by the ranging sensor assembly. The fixed installation parameters are pre-stored in the clothes dryer's non-volatile memory, including the remote control's installation height, transmit beam pitch angle, and receiver baseline distance. Installation height refers to the vertical height of the remote control from the ground; transmit beam pitch angle is the angle between the central axis of the transmitter's transmit beam and the horizontal plane; and receiver baseline distance is the fixed distance between two receivers. Raw timestamp data is captured by the remote control's ranging sensor assembly when transmitting measurement signals and receiving echo signals, including the signal transmission time, the first reception time, and the second reception time. After acquiring the raw timestamp data, the remote control performs no calculations or processing, directly packages it, and sends it wirelessly to the clothes dryer's processor.

[0020] For example, the remote control is placed on a wall 120 centimeters above the ground, with the transmitted beam tilted upwards by 15 degrees, and the distance between the two signal receivers is 6 centimeters. The user stands below the clothes dryer and presses the descent button on the remote control. The remote control then generates a descent command and sends it to the clothes dryer. Upon receiving the descent command, the clothes dryer's processor retrieves the three fixed installation parameters (120 centimeters, 15 degrees, and 6 centimeters) from its memory, while simultaneously waiting to receive the raw timestamp data frame from the remote control.

[0021] S2. Calculate the first time difference based on the signal transmission time and the first reception time, and calculate the second time difference based on the signal transmission time and the second reception time.

[0022] After parsing the signal transmission time, the first reception time, and the second reception time from the received raw timestamp data, the processor uses the signal transmission time as the reference time and calculates the difference between the two reception times and the transmission time.

[0023] The processor subtracts the signal transmission time from the first reception time to obtain a first time difference, and subtracts the signal transmission time from the second reception time to obtain a second time difference. The first time difference represents the total flight time of the measurement signal from the transmitter, after reflection at the reflection point, to the first receiver. The second time difference represents the total flight time of the measurement signal from the transmitter, after reflection at the same reflection point, to the second receiver.

[0024] For example, the processor parses the signal transmission time from the data frame as 0 microseconds, the first reception time as 680 microseconds, and the second reception time as 685 microseconds. The processor calculates the first time difference as 680 microseconds minus 0 microseconds equals 680 microseconds, and calculates the second time difference as 685 microseconds minus 0 microseconds equals 685 microseconds.

[0025] S3. Calculate the horizontal distance and pitch angle of the reflected point cloud relative to the remote controller based on the first time difference, the second time difference, and the receiver baseline distance.

[0026] Each reflection point in the reflection point cloud has a set of horizontal distance and pitch angle parameters relative to the remote control. The horizontal distance refers to the vertical projection distance of the reflection point from the horizontal direction parallel to the ground to the wall where the remote control is located. The pitch angle refers to the angle between the line connecting the reflection point and the remote control and the horizontal plane in the polar coordinate system with the remote control as the reference. After the ranging sensor component emits a measurement signal, the signal will generate multiple reflected echoes when it encounters different positions on the human body surface. The processor processes these echoes one by one to obtain a point cloud composed of multiple reflection points. The horizontal distance and pitch angle of each reflection point together determine the polar coordinate position of the reflection point in three-dimensional space with the remote control as the origin.

[0027] It should be noted that this pitch angle is an angle value relative to the remote control's own reference plane. Subsequent steps will correct it based on the pitch deflection angle of the transmitted beam to convert it into the actual pitch angle relative to the horizontal plane, thereby providing accurate angle input for subsequent vertical height coordinate conversion. This set of parameters is the basic data for subsequent coordinate system transformation and overhead height extraction, and its accuracy directly affects the accuracy of the final drying rack stopping position.

[0028] S4. Based on the installation height and the pitch angle of the transmitted beam, convert the horizontal distance and pitch angle of the reflected point cloud into vertical height coordinates with the ground as the reference.

[0029] The vertical height coordinates, with the ground as the reference, refer to the vertical distance of each reflection point relative to the ground, the zero reference plane. The value directly represents the actual height of the reflection point in the vertical direction. After obtaining the horizontal distance and pitch angle of each reflection point, the processor needs to perform coordinate system transformation by combining the installation height of the remote controller and the pitch angle of the transmitting beam. Specifically, the pitch angle is first corrected based on the pitch angle of the transmitting beam to obtain the actual pitch angle. Then, the product of the installation height, the horizontal distance, and the tangent of the actual pitch angle is added. This transforms the original polar coordinate parameters, with the remote controller as the origin, into vertical height coordinates in an absolute coordinate system with the ground as the horizontal axis and the vertical direction of the wall as the vertical axis. This vertical height coordinate eliminates measurement deviations caused by different remote controller installation positions, providing a unified spatial reference for measurement results at different installation heights. This provides a standardized height measurement for accurately extracting the top of the head from the human body contour reflection point cloud.

[0030] S5. Perform interference point filtering on the reflection point cloud and extract the maximum value of the vertical height coordinate in the filtered reflection point cloud as the overhead height.

[0031] Interference filtering is used to remove interfering reflections from walls and surrounding debris. S6. Calculate the target stopping height based on the height above your head, and drive the clothes drying rack to descend to the target stopping height.

[0032] After obtaining the head-up height, the processor adds a preset safety margin distance above it as the target stopping height. This safety margin distance is a buffer space provided to prevent the clothesline from contacting the user's head when it stops. This safety margin distance can be any value between 15 cm and 20 cm. The processor adds the head-up height to the safety margin distance to obtain the target stopping height. This target stopping height is the final stopping position of the clothesline as it descends.

[0033] After calculating the target stopping height, the processor generates a descent drive signal and outputs it to the clothes drying rack's motor drive module. The motor drive module responds to this drive signal by controlling the motor to rotate forward, driving the drying rack to descend from the current height. The processor continuously monitors the real-time height of the drying rack; when the drying rack reaches the target stopping height, the processor outputs a braking signal, the motor stops, and the drying rack remains at that height.

[0034] Simultaneously, during the descent of the clothesline, the processor performs safety monitoring. An infrared sensor is installed at the bottom of the clothesline, continuously detecting the presence of a human body in a designated area below it. The infrared sensor generates a human detection signal in real time and sends it to the processor. The processor acquires and analyzes this signal. If the processor determines that a human body is present in the designated area below the clothesline based on the human detection signal, it immediately outputs a stop command to the motor drive module, controlling the clothesline to stop its descent immediately to prevent it from hitting the user's head. After the clothesline has descended normally to the target stopping height or after the emergency stop, the processor returns to standby mode.

[0035] In one possible implementation, calculating the horizontal distance and pitch angle of the reflected point cloud relative to the remote controller based on the first time difference, the second time difference, and the receiver baseline distance includes: S31. Obtain the preset signal propagation speed.

[0036] The processor acquires a preset signal propagation speed. This speed is determined based on the physical type of the measurement signal emitted by the ranging sensor assembly and is pre-stored in the clothes dryer's non-volatile memory. When the ranging sensor assembly is an ultrasonic sensor, the emitted measurement signal is ultrasound, and the propagation speed is the speed of sound in air, which is 340 meters per second. When the ranging sensor assembly is an infrared or laser sensor, the emitted measurement signal is light, and the propagation speed is the speed of light, which is 3 x 10⁸ meters per second. The processor retrieves this preset value from memory when it needs to calculate the propagation distance.

[0037] For example, in this embodiment, an ultrasonic sensor is used as the ranging sensor component, and the signal propagation speed is 340 meters per second.

[0038] S32. Calculate the first propagation distance based on the product of the signal propagation speed and the first time difference.

[0039] The processor calculates the first propagation distance based on the product of the signal propagation speed and the first time difference. The first time difference is the total flight time of the measured signal from the transmitter, after reflection at the reflection point, to the first receiver. Multiplying the signal's speed in the air by the flight time yields the total path length of the measured signal from transmission to reception. This path length includes the sum of the distances traveled by the signal from the transmitter to the reflection point and from the reflection point to the first receiver. The processor performs a multiplication operation, multiplying the signal propagation speed by the first time difference; the result is the first propagation distance.

[0040] For example, the signal propagation speed is 340 meters per second, and the first time difference is 680 microseconds. The processor calculates the first propagation distance as 340 multiplied by 680 divided by 1,000,000, which equals 0.2312 meters, or 23.12 centimeters.

[0041] S33. Calculate the second propagation distance based on the product of the signal propagation speed and the second time difference.

[0042] The processor calculates the second propagation distance based on the product of the signal propagation speed and the second time difference. The second time difference is the total flight time of the measured signal from the transmitter, after reflection at the same point, to the second receiver. The processor multiplies the signal propagation speed by the second time difference; the result is the second propagation distance. This distance characterizes the total path length of the measured signal from the transmitter to the reflection point and then to the second receiver.

[0043] For example, the signal propagation speed is 340 meters per second, and the second time difference is 685 microseconds. The processor calculates the second propagation distance as 340 multiplied by 685 divided by 1,000,000, which equals 0.2329 meters, or 23.29 centimeters.

[0044] S34. Obtain the distance difference based on the difference between the first propagation distance and the second propagation distance.

[0045] The processor obtains the distance difference based on the difference between the first and second propagation distances. The distance difference reflects the difference in path lengths from the same reflection point to two different signal receivers. The processor subtracts the first propagation distance from the second propagation distance to obtain the distance difference. This distance difference is the absolute difference between the two propagation distances, and its physical meaning is the path length from the reflection point to the second receiver minus the path length from the reflection point to the first receiver.

[0046] For example, the first propagation distance is 23.12 cm, and the second propagation distance is 23.29 cm. The processor calculates the distance difference as 23.29 minus 23.12, which equals 0.17 cm, or 1.7 mm.

[0047] S35. Construct a hyperbola equation based on the distance difference and the receiver baseline distance, and solve the hyperbola equation to calculate the horizontal distance and pitch angle of each reflection point cloud relative to the remote controller.

[0048] In one possible implementation, the step of constructing a hyperbolic equation based on the distance difference and the receiver baseline distance, and solving the hyperbolic equation to calculate the horizontal distance and pitch angle of each reflective point cloud relative to the remote controller, includes: S351. Determine the hyperbola positioning parameters based on the distance difference and the receiver baseline distance.

[0049] After obtaining the distance difference, the processor determines the hyperbola's positioning parameters based on the distance difference and the receiver baseline distance. These positioning parameters uniquely determine the shape and position of a hyperbola in a plane. In the hyperbolic positioning principle, the locations of the two signal receivers form the two foci of the hyperbola, and the difference between the distances from the reflection point to these two foci is the distance difference. The processor uses half the receiver baseline distance as the half-focal length parameter and half the distance difference as the half-real axis parameter. These two parameters together determine the opening direction and curvature of the hyperbola. The processor uses the calculated half-focal length and half-real axis parameters as the basic positioning parameters for subsequently constructing the hyperbola equation.

[0050] For example, the receiver baseline distance is 6 cm, and its half-focal length parameter is 3 cm. The distance difference at a certain reflection point is 1.7 mm, and its half-real axis parameter is 0.85 mm. Once the processor determines these two parameters, it can uniquely determine the hyperbolic shape corresponding to that reflection point.

[0051] S352, The locations of the two signal receivers in the ranging sensor assembly are taken as the two foci of the hyperbola.

[0052] The processor uses the locations of the two signal receivers in the ranging sensor assembly as the two foci of the hyperbola. In the physical layout of the ranging sensor assembly, the two signal receivers are arranged at a fixed interval, which is the receiver baseline distance. When constructing the hyperbola equation, the processor sets the spatial position of the first signal receiver as the first focus and the spatial position of the second signal receiver as the second focus. The direction of the line connecting the two foci determines the direction of the hyperbola's axis of symmetry, and the midpoint between the two foci is the center point of the hyperbola. The processor can determine the offset of each focus relative to the center point based on half the receiver baseline distance, thus determining the precise coordinate positions of the two foci in the planar coordinate system. The processor uses these two focus positions as the fundamental parameters of the hyperbola equation.

[0053] For example, the baseline distance between the two signal receivers is 6 centimeters. The processor sets the position coordinates of the two signal receivers in a planar coordinate system to -3 centimeters and +3 centimeters, respectively; that is, the left receiver is located at -3 centimeters and the right receiver is located at +3 centimeters. These two position coordinates are the coordinates of the two foci of the hyperbola.

[0054] S353. Based on the positioning parameters, the positions of the two focal points, and the receiver baseline distance, construct the hyperbola equation corresponding to each reflection point in the reflection point cloud.

[0055] The processor constructs a hyperbolic equation for each reflection point in the reflection point cloud based on the positioning parameters, the positions of the two focal points, and the receiver baseline distance. A hyperbolic equation is a mathematical expression describing the trajectory of a point whose distance to the two focal points is a constant. For each reflection point in the reflection point cloud, the processor determines the constant term on the right-hand side of the hyperbolic equation based on the distance difference to that point, and determines the coefficients of each term based on the positions of the two focal points. The processor substitutes the positioning parameters, focal point coordinates, and distance difference into the standard form of the hyperbolic equation to construct the hyperbolic equation corresponding to that reflection point. The processor independently performs the above construction operation for each reflection point in the reflection point cloud to obtain the hyperbolic equation corresponding to each reflection point.

[0056] For example, the coordinates of the two foci are -3 cm and +3 cm, respectively. The distance difference to a certain reflection point is 1.7 mm. The processor substitutes this distance difference into the standard form of the hyperbola equation based on these two foci to construct the hyperbola equation corresponding to that reflection point. When the reflection point cloud contains 40 reflection points, the processor constructs a separate hyperbola equation for each reflection point, resulting in 40 different hyperbola equations, each corresponding to a reflection point.

[0057] S354. For each reflection point in the reflection point cloud, substitute the distance difference corresponding to that reflection point into the hyperbola equation.

[0058] For each reflection point in the reflection point cloud, the processor substitutes the distance difference corresponding to that reflection point into the hyperbolic equation corresponding to that reflection point. In step S353, the processor has already constructed its own hyperbolic equation for each reflection point, which contains all the shape parameters of the hyperbola, but has not yet substituted the specific value of the distance difference. The processor substitutes the distance difference value corresponding to each reflection point into its respective hyperbolic equation, making the equation a specific equation containing only the unknowns of the reflection point's position coordinates. After this substitution operation, the hyperbolic equation is transformed into a specific numerical equation with the horizontal distance and pitch angle to be solved as unknowns.

[0059] For example, the processor constructs a hyperbola equation for a certain reflection point in the form of a standard hyperbola equation, where the semi-focal length parameter is 3 cm and the semi-real axis parameter is 0.85 mm. The processor substitutes the specific value of the semi-real axis parameter 0.85 mm into the equation, and also substitutes the coordinate values ​​of the two focal points, -3 cm and +3 cm, into the equation, transforming it into a specific equation with the horizontal distance and pitch angle as the only unknowns.

[0060] S355. Solve the hyperbola equation to calculate the horizontal distance and pitch angle of each reflection point cloud relative to the remote controller.

[0061] The processor solves the hyperbolic equation after substituting the distance difference to calculate the horizontal distance and pitch angle of each reflection point cloud relative to the remote controller. Mathematically, solving the hyperbolic equation corresponds to finding the trajectory of all points in a plane whose distances to the two foci are equal to the distance difference. This trajectory intersects the radial direction in a polar coordinate system based on the ranging sensor assembly at a single point. The processor calculates the coordinates of this intersection point using numerical methods, extracting the horizontal distance and pitch angle parameters. The horizontal distance is the vertical projection distance of the reflection point in the horizontal direction to the wall where the remote controller is located. The pitch angle is the angle between the line connecting the reflection point and the remote controller and the horizontal plane. The processor solves the hyperbolic equation for each reflection point separately to obtain the horizontal distance and pitch angle for each point. The calculation results for all reflection points together constitute the spatial position parameter set of the reflection point cloud.

[0062] For example, the processor solves the hyperbolic equation for a certain reflection point, calculating that the horizontal distance to the reflection point is 1.5 meters and the pitch angle is 35 degrees. The processor then solves the hyperbolic equations for each of the 40 reflection points in the reflection point cloud, obtaining 40 sets of horizontal distance and pitch angle values, where the horizontal distance ranges from 0.8 meters to 1.8 meters and the pitch angle ranges from 15 degrees to 55 degrees.

[0063] In one possible implementation, converting the horizontal distance and the pitch angle of the reflected point cloud into ground-based vertical height coordinates based on the installation height and the transmitted beam pitch angle includes: S41. Establish an absolute coordinate system with the ground as the horizontal axis and the vertical direction of the wall as the vertical axis.

[0064] The processor establishes an absolute coordinate system with the ground as the horizontal axis and the vertical direction of the wall as the vertical axis. In this absolute coordinate system, the horizontal axis represents the horizontal direction from the wall to the area below the clothes drying rack, and the vertical axis represents the vertical direction from the ground to the ceiling. The origin of the coordinate system is set at the point on the wall where the remote control's installation position is vertically projected onto the ground. In this coordinate system, the height coordinate value of any spatial point directly represents the vertical height of that point from the ground. The purpose of the processor establishing this absolute coordinate system is to convert the previous polar coordinate measurements based on the remote control into absolute height values ​​with a unified spatial reference, thereby eliminating measurement deviations caused by different installation heights of the remote control.

[0065] For example, the processor establishes a two-dimensional coordinate system with the ground as the horizontal axis and the vertical direction of the wall as the vertical axis. The origin of the coordinate system is set at the ground point directly below the remote control's installation location. After this coordinate system is established, the vertical coordinate of any point on the ground is zero, and the horizontal coordinate of any point on the wall is zero.

[0066] S42. Obtain the horizontal distance and the pitch angle of the reflected point cloud.

[0067] The processor acquires the horizontal distance and pitch angle of each reflection point in the reflection point cloud. In step S3, the processor has already calculated the horizontal distance and pitch angle of each reflection point in the reflection point cloud using the time-of-arrival method combined with hyperbolic positioning. The horizontal distance is the vertical projection distance of each reflection point in the horizontal direction to the wall where the remote control is located, and the pitch angle is the angle between the line connecting each reflection point and the remote control and the horizontal plane. The processor reads this calculated data from memory as input parameters for subsequent coordinate system transformation.

[0068] For example, the processor reads from memory that the horizontal distance of a reflection point is 1.5 meters and the pitch angle is 35 degrees. For a point cloud containing 40 reflection points, the processor reads the horizontal distance and pitch angle values ​​for each reflection point one by one.

[0069] S43. Correct the pitch angle according to the pitch angle of the transmitted beam to obtain the actual pitch angle of the reflected point cloud relative to the horizontal plane.

[0070] In one possible implementation, correcting the pitch angle based on the transmitted beam pitch angle to obtain the actual pitch angle of the reflected point cloud relative to the horizontal plane includes: S431. Obtain the direction sign of the elevation angle of the transmitted beam.

[0071] The processor retrieves the directional sign of the transmit beam elevation angle. The transmit beam elevation angle is a fixed tilt angle relative to the horizontal plane of the central axis of the transmit beam when the signal transmitter is installed; this angle has a directional attribute. When the remote control is mounted flush against a wall, the central axis of the transmit beam may tilt upwards or downwards. The directional sign is used to identify this tilt direction. The processor retrieves the pre-stored transmit beam elevation angle value from memory, along with the associated directional sign. The directional sign can be indicated by a positive or negative sign, with a positive sign indicating an upward tilt and a negative sign indicating a downward tilt, or it can be marked with a separate identifier.

[0072] For example, if the elevation angle of the transmitted beam is 15 degrees, this angle is recorded as an upward tilt angle during installation. When the processor reads the angle value from the memory, it also reads the direction sign as positive, indicating that the tilt angle is an upward tilt angle.

[0073] S432. Obtain the pitch angle of the reflected point cloud.

[0074] The processor acquires the elevation angle of each reflection point in the reflection point cloud. In step S3, the processor has already calculated the elevation angle of each reflection point in the reflection point cloud using the time-of-arrival method combined with hyperbolic positioning. This elevation angle is the angle between the line connecting each reflection point and the remote controller and the horizontal plane, but the reference reference for this angle is the direction of the central axis of the transmitted beam, not the direction of the horizontal plane. The processor reads the calculated elevation angle values ​​of each reflection point from the memory as input parameters for subsequent correction operations.

[0075] For example, the processor reads from memory that the pitch angle of a certain reflection point is 35 degrees. For a point cloud containing 40 reflection points, the processor reads the pitch angle value of each reflection point one by one.

[0076] S433. Determine whether the elevation angle of the transmitted beam is an upward or downward tilt angle based on the direction symbol.

[0077] The processor determines whether the transmit beam elevation angle is an upward or downward tilt angle based on the direction symbol. The direction symbol indicates the tilt direction of the transmit beam's central axis relative to the horizontal plane. The processor parses and judges this direction symbol. If the direction symbol indicates that the transmit beam's central axis is tilted upward, the transmit beam elevation angle is determined to be an upward tilt angle. If the direction symbol indicates that the transmit beam's central axis is tilted downward, the transmit beam elevation angle is determined to be a downward tilt angle. This judgment result determines the calculation method in subsequent correction steps.

[0078] For example, if the direction sign read by the processor is positive, and according to the preset encoding rules, positive corresponds to an upward tilt angle, the processor determines that the elevation tilt angle of the transmitted beam is an upward tilt angle.

[0079] S434. When the pitch angle of the transmitted beam is an upward pitch angle, the absolute value of the pitch angle of the transmitted beam is subtracted from the pitch angle to obtain the actual pitch angle.

[0080] When the processor determines that the transmit beam elevation angle is an upward tilt, it subtracts the absolute value of the transmit beam elevation tilt angle from the actual elevation angle to obtain the actual elevation angle. In the case of an upward tilt, the central axis of the transmit beam is tilted upwards relative to the horizontal plane at a certain angle. Therefore, the elevation angle measured by the sensor is based on this upwardly tilted beam central axis, and this angle is greater than the actual elevation angle of the reflection point relative to the horizontal plane. To obtain the true elevation angle of the reflection point relative to the horizontal plane, the upward tilt angle of the transmit beam itself needs to be subtracted from the measured angle. The processor takes the absolute value of the transmit beam elevation tilt angle and subtracts this absolute value from the elevation angle value read in step S432. The result is the actual elevation angle of the reflection point relative to the horizontal plane. The angle obtained after this correction reflects the degree of tilt of the reflection point relative to the true horizontal plane.

[0081] For example, if the transmitted beam has an upward tilt of 15 degrees, and the tilt angle of a certain reflection point is 35 degrees, the processor calculates the actual tilt angle as 35 degrees minus 15 degrees, resulting in an actual tilt angle of 20 degrees. This 20 degrees is the true tilt angle of the reflection point relative to the horizontal plane. If the tilt angle of a certain reflection point is 10 degrees, the processor calculates the actual tilt angle as 10 degrees minus 15 degrees, resulting in an actual tilt angle of -5 degrees, indicating that the reflection point is below the horizontal plane.

[0082] S435. When the pitch angle of the transmitted beam is a downward pitch angle, add the absolute value of the pitch angle of the transmitted beam to obtain the actual pitch angle.

[0083] When the processor determines that the transmit beam elevation angle is a downward tilt, it adds the absolute value of the transmit beam elevation tilt angle to obtain the actual elevation angle. In the case of a downward tilt, the central axis of the transmit beam is tilted downwards relative to the horizontal plane at a certain angle. Therefore, the elevation angle measured by the sensor is based on this downward-tilted beam central axis, and this angle is smaller than the actual elevation angle of the reflection point relative to the horizontal plane. To obtain the true elevation angle of the reflection point relative to the horizontal plane, the downward tilt angle of the transmit beam itself needs to be added to the measured angle. The processor takes the absolute value of the transmit beam elevation tilt angle and adds it to the elevation angle value read in step S432. The result is the actual elevation angle of the reflection point relative to the horizontal plane. The angle obtained after this correction reflects the degree of tilt of the reflection point relative to the true horizontal plane.

[0084] For example, if the transmitted beam has a down-tilt angle of 10 degrees and the elevation angle of a certain reflection point is 25 degrees, the processor calculates the actual elevation angle as 25 degrees plus 10 degrees, resulting in an actual elevation angle of 35 degrees. This 35 degrees is the true elevation angle of the reflection point relative to the horizontal plane. If the elevation angle of a certain reflection point is 5 degrees, the processor calculates the actual elevation angle as 5 degrees plus 10 degrees, resulting in an actual elevation angle of 15 degrees.

[0085] S44. Perform trigonometric function projection calculations based on the installation height, the horizontal distance, and the actual pitch angle.

[0086] The processor performs trigonometric projection calculations based on the installation height, horizontal distance, and actual pitch angle. The installation height is the vertical distance of the remote control from the ground; this value is measured and pre-stored in the processor when the remote control is mounted against the wall. The horizontal distance is the vertical projection distance from the reflection point to the wall where the remote control is located. The actual pitch angle is the true pitch angle of the reflection point relative to the horizontal plane. The vertical height coordinate of the reflection point is equal to the installation height plus the product of the horizontal distance and the tangent of the actual pitch angle. The expression for this relationship is H = H0 + L × tanα, where H represents the vertical height coordinate of the reflection point, H0 represents the installation height, L represents the horizontal distance, and α represents the actual pitch angle. The processor substitutes the horizontal distance and actual pitch angle of each reflection point into this expression to calculate the vertical height of each reflection point relative to the ground.

[0087] For example, with an installation height of 120 cm, a horizontal distance of 1.5 meters for a certain reflective point, and an actual pitch angle of 20 degrees, the processor calculates the vertical height coordinates of this reflective point using the expression H = 1.2 + 1.5 × tan20°, where tan20° is 0.3640. 1.5 multiplied by 0.3640 equals 0.546 meters, which, added to the installation height of 1.2 meters, equals 1.746 meters, or 174.6 cm. Another reflective point has a horizontal distance of 0.8 meters and an actual pitch angle of 35 degrees. The processor calculates its vertical height coordinates as 1.2 + 0.8 × tan35°, which equals 1.2 plus 0.8 multiplied by 0.7002, resulting in 1.760 meters, or 176.0 cm.

[0088] S45. Use the calculation result as the vertical height coordinate of the reflected point cloud in the absolute coordinate system.

[0089] The processor uses the calculation results as the vertical height coordinates of the reflection point cloud in the absolute coordinate system. The result value obtained from the trigonometric function projection calculation in step S44 directly corresponds to the ordinate value of each reflection point in the absolute coordinate system with the ground as the reference, i.e., the vertical height coordinate. The processor associates and stores this calculation result with the corresponding reflection point as the vertical height coordinate of that reflection point. After processing in steps S41 to S45, each reflection point in the reflection point cloud has a vertical height coordinate value with the ground as the reference. This coordinate value is uniformly set with the ground as the zero point, eliminating the influence of the remote control installation height difference on the measurement results. The vertical height coordinates of all reflection points together constitute a set of height information describing the human body's spatial position in the absolute coordinate system, providing a standardized data foundation for subsequent interference point filtering and head height extraction.

[0090] For example, the processor calculates the vertical height coordinate of a certain reflection point as 174.6 cm, and uses this value as the ordinate of the reflection point in the absolute coordinate system. It calculates the vertical height coordinate of another reflection point as 176.0 cm, and also uses this value as the ordinate of the reflection point. The processor binds and stores these vertical height coordinates with their corresponding reflection points, forming complete reflection point cloud data containing spatial location information.

[0091] In one possible implementation, the interference point filtering process performed on the reflected point cloud includes: S51. Obtain the signal flight time and vertical height coordinates of each reflection point in the reflection point cloud, wherein the signal flight time is the difference between the signal reception time and the signal transmission time.

[0092] The processor acquires the signal flight time and vertical altitude coordinates of each reflection point in the reflection point cloud. The signal flight time is the difference between the signal reception time and the signal transmission time. In step S1, the processor has acquired the raw timestamp data collected by the ranging sensor component, which includes the signal transmission time and each signal reception time. The processor calculates the signal flight time corresponding to each reflection point based on the difference between the signal transmission time and the signal reception time. Simultaneously, in step S4, the processor converts the horizontal distance and pitch angle of each reflection point into vertical altitude coordinates relative to the ground. The processor retrieves the signal flight time and vertical altitude coordinates of each reflection point from memory as input parameters for subsequent interference point filtering.

[0093] For example, the processor reads from memory the signal flight time of a certain reflection point as 680 microseconds and its vertical altitude coordinate as 174.6 centimeters. For a point cloud containing 40 reflection points, the processor obtains the signal flight time and vertical altitude coordinates of each reflection point one by one.

[0094] S52. Call the pre-stored wall reflection reference time window, which represents the time interval of wall reflection echo when there is no human body.

[0095] The processor retrieves a pre-stored wall reflection reference time window. This window is a time parameter obtained during calibration after the remote control is installed on the wall. It represents the time interval during which the measurement signal emitted by the wall-mounted remote control travels through the wall-reflected echo when no human is standing under the clothes dryer. Since the remote control's relative position to the wall remains constant after installation, the flight time of the reflected echo remains constant in the absence of human interference. The calibration process involves the processor controlling the ranging sensor assembly to emit a measurement signal and collect the wall-reflected echo after installation, recording the flight time, and then extending this time by a small margin to form a time window. The processor retrieves the upper and lower limits of this time window from non-volatile memory.

[0096] For example, the processor uses a reference time window of 390 microseconds to 410 microseconds for wall reflection. This time window is obtained by measuring the flight time of the reflected echo signal during calibration, which is 400 microseconds. This time window is then extended by a deviation range of ±10 microseconds to form a time window of 390 microseconds to 410 microseconds.

[0097] S53. Compare the signal flight time with the wall reflection reference time window.

[0098] The processor compares the signal flight time of each reflection point with the wall reflection reference time window. The processor retrieves the signal flight time value for each reflection point in the reflection point cloud and compares this value with the upper and lower limits of the wall reflection reference time window. The purpose of the comparison is to determine whether the signal flight time of the reflection point falls within the time interval of the wall reflection echo. The processor can use a method that compares the signal flight time with the lower limit of the time window and simultaneously with the upper limit, or it can use a method that determines whether the signal flight time is between the lower and upper limits of the time window.

[0099] For example, the processor compares the signal flight time of a certain reflection point, 680 microseconds, with the wall reflection reference time window of 390 microseconds to 410 microseconds to determine whether 680 microseconds falls within the range of 390 microseconds to 410 microseconds. Comparing the signal flight time of this reflection point with the lower limit of the time window, 390 microseconds, 680 microseconds is greater than 390 microseconds; comparing it with the upper limit of the time window, 410 microseconds, 680 microseconds is greater than 410 microseconds, therefore 680 microseconds is not within the time window range.

[0100] S54. When the signal flight time falls within the wall reflection reference time window, the reflection point is identified as a wall interference point and discarded.

[0101] When the signal flight time of a reflection point falls within the wall reflection reference time window, the processor classifies that reflection point as a wall interference point and discards it. The signal flight time falling within the wall reflection reference time window means that the propagation path length of the reflected signal is approximately the same as the propagation path length of the echo reflected from the fixed wall, indicating that the signal is reflected back from a fixed wall. Since the wall is a fixed environmental object rather than a human target, this reflection point should be excluded from human contour recognition. The processor deletes all data of this reflection point from the reflection point cloud, including its horizontal distance, pitch angle, signal flight time, and vertical height coordinates.

[0102] For example, if the signal flight time of a certain reflection point is 398 microseconds, this value falls within the wall reflection reference time window of 390 to 410 microseconds. The processor determines that this reflection point is a wall reflection signal and removes it from the reflection point cloud.

[0103] S55. Reflection points whose vertical height coordinates are less than a preset height threshold are identified as ground interference points and discarded.

[0104] The processor identifies reflection points with vertical height coordinates less than a preset height threshold as ground interference points and discards them. The preset height threshold is a near-ground height value used to distinguish between ground-reflected signals and human-reflected signals. Since the vertical height coordinates of ground-reflected echoes are close to zero, while the vertical height coordinates of human-reflected signals are much greater than zero, setting a small threshold effectively eliminates interference from ground reflections. This preset height threshold can be set to any value between 5 cm and 15 cm. The processor then checks the vertical height coordinates of the remaining reflection points one by one, identifying those with coordinate values ​​less than the preset height threshold as ground interference points and removing them from the reflection point cloud.

[0105] For example, the preset height threshold is 10 centimeters. If the vertical height coordinate of a certain reflection point is 5 centimeters, which is less than 10 centimeters, the processor determines that the reflection point is a ground interference point and discards it. If the vertical height coordinate of another reflection point is 15 centimeters, which is greater than 10 centimeters, the processor retains the reflection point.

[0106] S56. The remaining reflection points in the reflection point cloud are used as the filtered reflection point cloud.

[0107] The processor uses the remaining reflection points in the reflection point cloud as the filtered reflection point cloud. After filtering for wall interference points in step S54 and ground interference points in step S55, the wall and ground reflection points in the original reflection point cloud have been removed. The remaining reflection points are mainly signals generated by reflections from the human body surface. These remaining reflection points constitute the filtered reflection point cloud, and the spatial distribution of each reflection point in this point cloud corresponds to the contour shape of the human body facing the remote control. The processor stores the filtered reflection point cloud in memory for subsequent head height extraction operations.

[0108] For example, the original reflection point cloud contains 40 reflection points. After filtering by wall reflection points, 12 reflection points are removed, and after filtering by ground reflection points, 5 reflection points are removed, leaving 23 reflection points to form the filtered reflection point cloud. These 23 reflection points are mainly distributed in the vertical height range of 40 cm to 180 cm, corresponding to the lateral contours of the human legs, torso, and head.

[0109] In one possible implementation, extracting the maximum value of the vertical height coordinate in the filtered reflection point cloud as the overhead height includes: A1. Obtain the filtered reflection point cloud; A2. Read the vertical height coordinates of each reflection point in the filtered reflection point cloud; A3. Iterate through the vertical height coordinates of each reflection point and compare them to find the maximum value; A4. Set the maximum value to the height of the top of the head.

[0110] In step A1, the processor acquires the filtered reflection point cloud. The filtered reflection point cloud is the set of reflection points remaining after filtering for wall interference points in step S54 and ground interference points in step S55. These remaining reflection points exclude reflection interference signals from walls and the ground, primarily corresponding to reflection signals from the human body surface. The processor reads the filtered reflection point cloud data from memory, which contains the spatial location information of each remaining reflection point, including the horizontal distance, pitch angle, signal flight time, and vertical height coordinates of each reflection point. The processor uses this data as input data to extract the overhead height.

[0111] For example, the original reflection point cloud contains 40 reflection points. After filtering for wall interference points and ground interference points, 23 reflection points remain. The processor reads all the data for these 23 reflection points from memory.

[0112] In step A2, the processor reads the vertical height coordinates of each reflection point in the filtered reflection point cloud. In step S4, the processor has converted the horizontal distance and pitch angle of each reflection point in the reflection point cloud into vertical height coordinates with the ground as the reference, and stores these coordinates in association with the corresponding reflection points. The processor extracts the vertical height coordinate value of each reflection point from the filtered reflection point cloud data one by one. This vertical height coordinate is an absolute height value with the ground as the zero point. The vertical height coordinates of different reflection points reflect the height of different parts of the human body from the ground.

[0113] For example, the filtered reflection point cloud contains 23 reflection points. The processor reads the vertical height coordinates of these 23 reflection points one by one, including values ​​such as 40 cm, 65 cm, 95 cm, 120 cm, 150 cm, 172 cm, 168 cm, and 155 cm.

[0114] In step A3, the processor iterates through the vertical height coordinates of each reflection point and compares them to find the maximum value. The processor uses a traversal comparison method, comparing the vertical height coordinates of each reflection point sequentially. The specific operation of the traversal comparison is as follows: The processor first sets an initial maximum value, which can be set to zero or the vertical height coordinate value of the first reflection point. Then, the processor sequentially reads the vertical height coordinates of the next reflection point and compares this coordinate value with the currently saved maximum value. If the coordinate value is greater than the current maximum value, the current maximum value is replaced with the new coordinate value. If the coordinate value is not greater than the current maximum value, the current maximum value is left unchanged. The processor repeats the above comparison and replacement operation until it has traversed the vertical height coordinates of all reflection points in the filtered reflection point cloud. After the traversal is complete, the currently saved value is the maximum value among all the vertical height coordinates of the reflection points.

[0115] For example, the processor sets the initial maximum value to zero. Iterating through the first reflection point, the vertical height coordinate is 40 cm. Since 40 cm is greater than zero, the processor updates the maximum value to 40 cm. Iterating through the second reflection point, the vertical height coordinate is 65 cm. Since 65 cm is greater than 40 cm, the processor updates the maximum value to 65 cm. Continuing to iterate through the third reflection point, the vertical height coordinate is 95 cm. Since 95 cm is greater than 65 cm, the processor updates the maximum value to 95 cm. This process continues until the 23rd reflection point. When the processor reaches a reflection point with a vertical height coordinate of 172 cm, since 172 cm is greater than the current maximum value, the processor updates the maximum value to 172 cm. Subsequent reflection points with vertical height coordinates of 168 cm and 155 cm are less than 172 cm, so the maximum value remains unchanged at 172 cm. After the iteration is complete, the maximum value is 172 cm.

[0116] In step A4, the processor sets the maximum value obtained from the comparison as the head height. In the filtered reflection point cloud, the human head is at the highest point in the vertical direction; therefore, the vertical height coordinate of the reflection point corresponding to the head must be the maximum value among all reflection points. The processor determines the maximum value obtained from the comparison in step A3 as the head height and stores this value in memory as the basis for subsequent calculations of the target stopping height of the drying rack and the driving of the drying rack downwards. The unit of head height is centimeters or meters, consistent with the units of installation height and vertical height coordinates.

[0117] For example, the processor finds a maximum value of 172 cm after iterating through the comparisons, sets this value as the head height, and stores it in memory. In subsequent steps, the processor will calculate the target stopping height based on this head height of 172 cm.

[0118] In one possible implementation, this application further includes: S7. During the descent of the drying rack, acquire the human body detection signal detected by the infrared sensor located below the drying rack.

[0119] The processor acquires a human detection signal from an infrared sensor located beneath the clothesline during its descent. Before the clothesline begins to descend, the processor has already calculated the target stopping height through the aforementioned steps and drives the clothesline down. An infrared sensor is fixedly installed beneath the clothesline, its detection direction pointing downwards, and its detection area covers a designated space directly below the clothesline. Throughout the entire descent of the clothesline from its initial position to the target stopping height, the infrared sensor continuously operates, detecting in real time whether a human is present in the designated area below it. The infrared sensor works by emitting infrared radiation and receiving reflected signals. When a human is present in the detection area, the infrared radiation emitted or reflected by the human will change specifically, and the sensor generates a corresponding human detection signal accordingly. The infrared sensor transmits the real-time generated human detection signal to the processor via wired or wireless means. The processor continuously receives and monitors this human detection signal throughout the entire descent.

[0120] For example, a user sets the clothesline to descend from an initial position of 220 cm above the ground, with a target stopping height of 187 cm. During the descent, an infrared sensor fixedly mounted beneath the rod continuously monitors the area directly below. Assuming the descent speed is 10 cm per second, the entire process lasts approximately 3.3 seconds. During these 3.3 seconds, the processor continuously receives human detection signals from the infrared sensor. The infrared sensor's detection range is a circular area with a diameter of 60 cm directly below the rod, covering the space where the user's head would be when standing. When the user is standing directly below the rod, the infrared sensor detects the human signal and generates a corresponding human detection signal, which is then sent to the processor.

[0121] S8. If it is determined based on the human body detection signal that there is a human body in the designated area below the drying rod, control the drying rod to stop descending.

[0122] If the processor determines that a human is present in the designated area below the drying rack based on the human detection signal, it will stop the rack from descending. After receiving the human detection signal from the infrared sensor, the processor analyzes and judges the signal. The human detection signal contains information about whether a human is present in the detection area. The processor determines whether a human is present in the designated area based on the signal content. If the processor determines that no human is present in the designated area after analyzing the human detection signal, the rack continues to descend as planned until it reaches the target stopping height. If the processor determines that a human is present in the designated area after analyzing the human detection signal, it immediately generates a stop command and outputs it to the motor drive module. Upon receiving the stop command, the motor drive module immediately cuts off the power supply to the motor or applies a braking voltage to the motor, causing the rack to stop descending immediately at the current height. This stop operation is an emergency stop; the rack remains at that height after stopping and will not continue descending. After outputting the stop command, the processor can simultaneously issue an alarm sound or illuminate an indicator light to remind the user that a human is present below the rack. After the drying rack stops, when the user leaves the designated area below the drying rack, the infrared sensor detects the disappearance of the human body, and the processor can control the drying rack to continue descending, or wait for the user to press the descent button again before continuing to descend, depending on the system's preset logic.

[0123] For example, as the clothesline descends from 220 cm to 195 cm, an infrared sensor detects a user entering a designated area directly beneath the pole and generates a human detection signal, which is sent to the processor. The processor analyzes this signal and determines that a human is present in the designated area. Since the current pole height of 195 cm is greater than the user's head height of 172 cm, and there is only an 8 cm gap remaining, if the pole continues to descend, it may contact the user's head. The processor immediately outputs a stop command to the motor drive module, which cuts off the motor power within 10 milliseconds of receiving the stop command, causing the pole to stop abruptly at a height of 195 cm. After the user observes the pole stop and leaves the area, the infrared sensor detects the disappearance of the human signal and notifies the processor. The processor then controls the pole to continue descending to the target stopping height of 187 cm.

[0124] This implementation achieves proactive user safety by installing an infrared sensor under the clothesline and continuously detecting human presence during the clothesline's descent. This safety monitoring mechanism is independent of the aforementioned human height measurement scheme based on a distance sensor component; the two work together to form a dual safety guarantee: the distance sensor component measures the height above the user's head and calculates the target stopping position before descent, while the infrared sensor continuously monitors for new users entering the danger zone under the clothesline during descent. If a user accidentally enters the area under the clothesline during descent, the infrared sensor can immediately detect the situation and trigger an emergency stop, effectively preventing accidents where the clothesline hits the user's head. This safety stopping mechanism has a fast response speed; the time from triggering the human presence detection signal to stopping the clothesline is controlled at the millisecond level, and braking can be completed within the safety redundancy distance set in this solution, greatly improving the safety of using the clothesline. Simultaneously, the infrared sensor only operates during the clothesline's descent, maintaining a low-power standby state under normal conditions, balancing safety and energy consumption.

[0125] See Figure 3 The diagram shown is a schematic of a computer storage medium provided in an embodiment of this application. The computer storage medium 3 can store multiple instructions (i.e., Figure 3 The computer program shown above), the instructions are adapted to be loaded and executed by a processor as described above. Figure 2 The method steps of the illustrated embodiment can be found in the following documentation for detailed execution. Figure 2 The specific details of the illustrated embodiments will not be elaborated here.

[0126] This application also provides a computer program product that stores at least one instruction, which is loaded and executed to implement the control method of the clothes drying rack as described in the above embodiments.

[0127] See Figure 4 , Figure 4This is a schematic diagram of the structure of a clothes drying rack provided in an embodiment of this application. The clothes drying rack 400 includes a processor 401, a communication bus 402, a motor 403, a wireless communication module 404, and a memory 405.

[0128] The processor 401 is the core computing and control unit of the clothes drying rack 400, used to execute all the calculation and control steps in the clothes drying rack control methods provided in the embodiments of this application. The processor 401 can be a chip with computing and control capabilities, such as a microcontroller unit, a digital signal processor, or an embedded processor.

[0129] The wireless communication module 404 is electrically connected to the processor 401 and is used to realize wireless data interaction between the clothes dryer 400 and the remote control. The wireless communication module 404 receives descent commands and raw timestamp data from the remote control and transmits the received data to the processor 401 via the communication bus 402. The wireless communication module 404 is also used to send data request commands generated by the processor 401 to the remote control. The wireless communication module 404 can be any one of a radio frequency communication module, a Bluetooth communication module, a WiFi communication module, or an infrared communication module.

[0130] Motor 403 is electrically connected to processor 401 and is used to start operating in response to a descent drive signal output by processor 401, driving the clothes drying rack to perform a descent action. Motor 403 is also used to stop operating in response to a stop command or braking signal output by processor 401, causing the drying rack to stop abruptly at the current height or remain at the target stop height. Motor 403 can be any of a DC motor, a stepper motor, or an AC motor.

[0131] The memory 405 is electrically connected to the processor 401 and is used to store the fixed installation parameters and wall reflection reference time window described in the various embodiments of this application. The fixed installation parameters include the installation height of the remote controller, the pitch angle of the transmitted beam, and the baseline distance of the receiver. The memory 405 is also used to store intermediate and final data generated by the processor 401 during the execution of each calculation step, including a first time difference, a second time difference, a first propagation distance, a second propagation distance, a distance difference, the horizontal distance and pitch angle of the reflected point cloud, the vertical height coordinates, the filtered reflected point cloud, the overhead height, and the target stopping height. The memory 405 may be a non-volatile memory to ensure that the fixed installation parameters and the wall reflection reference time window are not lost after the clothes dryer is powered off.

[0132] The processor 401, wireless communication module 404, and memory 405 are connected and interact with each other via a communication bus 402. The processor 401 reads descent commands and raw timestamp data from the wireless communication module 404 via the communication bus 402, reads fixed installation parameters and wall reflection reference time windows from the memory 405, and writes intermediate and final data generated during the calculation process into the memory 405 via the communication bus 402. The processor 401 also outputs descent drive signals or stop commands to the motor 403 via the communication bus 402.

[0133] The clothes drying rack 400, through the coordinated operation of the aforementioned hardware structure, works in conjunction with the remote control to execute the clothes drying rack control methods provided in the embodiments of this application.

[0134] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0135] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this patent application should be determined by the appended claims.

Claims

1. A control method for a clothes drying rack, characterized in that, The remote control is attached to the wall and is positioned parallel to the side of a person standing below the clothes dryer; the remote control is equipped with a distance sensor assembly, which includes a signal transmitter and at least two signal receivers; The method includes: In response to a descent command from the remote controller, fixed installation parameters and raw timestamp data collected by the ranging sensor assembly are acquired; the descent command is generated and sent by the remote controller when it detects a button press on its descent button; the fixed installation parameters include the installation height of the remote controller, the transmit beam pitch angle, and the receiver baseline distance; the raw timestamp data includes the signal transmission time, the first reception time, and the second reception time. A first time difference is calculated based on the signal transmission time and the first reception time, and a second time difference is calculated based on the signal transmission time and the second reception time. Based on the first time difference, the second time difference, and the receiver baseline distance, calculate the horizontal distance and pitch angle of the reflected point cloud relative to the remote controller; Based on the installation height and the pitch angle of the transmitted beam, the horizontal distance and pitch angle of the reflected point cloud are converted into vertical height coordinates with the ground as the reference. Interference point filtering is performed on the reflected point cloud, and the maximum value of the vertical height coordinate in the filtered reflected point cloud is extracted as the overhead height. The interference point filtering process includes: obtaining the signal flight time and vertical height coordinate of each reflected point in the reflected point cloud, where the signal flight time is the difference between the signal reception time and the signal transmission time; calling a pre-stored wall reflection reference time window, which represents the time interval of wall reflection echoes when there is no human body present; comparing the signal flight time with the wall reflection reference time window; when the signal flight time falls within the wall reflection reference time window, the reflected point is identified as a wall interference point and discarded; reflected points with vertical height coordinates less than a preset height threshold are identified as ground interference points and discarded; the remaining reflected points in the reflected point cloud are used as the filtered reflected point cloud. The target stopping height is calculated based on the head height, and the clothes drying rack is driven to descend to the target stopping height.

2. The control method for a clothes drying rack according to claim 1, characterized in that, The step of calculating the horizontal distance and pitch angle of the reflected point cloud relative to the remote controller based on the first time difference, the second time difference, and the receiver baseline distance includes: Obtain the preset signal propagation speed; The first propagation distance is calculated based on the product of the signal propagation speed and the first time difference; The second propagation distance is calculated based on the product of the signal propagation speed and the second time difference; The distance difference is obtained based on the difference between the first propagation distance and the second propagation distance; Based on the distance difference and the receiver baseline distance, a hyperbolic equation is constructed, and the hyperbolic equation is solved to calculate the horizontal distance and pitch angle of each reflection point cloud relative to the remote controller.

3. The control method for a clothes drying rack according to claim 2, characterized in that, The process of constructing a hyperbolic equation based on the distance difference and the receiver baseline distance, and solving the hyperbolic equation to calculate the horizontal distance and pitch angle of each reflection point cloud relative to the remote controller, includes: The positioning parameters of the hyperbola are determined based on the distance difference and the receiver baseline distance. The locations of the two signal receivers in the ranging sensor assembly are taken as the two foci of the hyperbola. Based on the positioning parameters, the positions of the two focal points, and the receiver baseline distance, construct the hyperbolic equation corresponding to each reflection point in the reflection point cloud; For each reflection point in the reflection point cloud, substitute the distance difference corresponding to that reflection point into the hyperbolic equation; Solve the hyperbolic equation to calculate the horizontal distance and pitch angle of each reflection point cloud relative to the remote controller.

4. The control method for a clothes drying rack according to claim 1, characterized in that, The step of converting the horizontal distance and the pitch angle of the reflected point cloud into vertical height coordinates relative to the ground, based on the installation height and the elevation angle of the transmitted beam, includes: Establish an absolute coordinate system with the ground as the horizontal axis and the vertical direction of the wall as the vertical axis; Obtain the horizontal distance and the pitch angle of the reflected point cloud; The pitch angle is corrected based on the pitch deflection angle of the transmitted beam to obtain the actual pitch angle of the reflected point cloud relative to the horizontal plane; Perform trigonometric function projection calculations based on the installation height, the horizontal distance, and the actual pitch angle; The calculation result is used as the vertical height coordinate of the reflected point cloud in the absolute coordinate system.

5. The control method for a clothes drying rack according to claim 4, characterized in that, The step of correcting the pitch angle based on the pitch deflection angle of the transmitted beam to obtain the actual pitch angle of the reflected point cloud relative to the horizontal plane includes: Obtain the directional sign of the elevation angle of the transmitted beam; Obtain the pitch angle of the reflected point cloud; Based on the directional sign, determine whether the elevation angle of the transmitted beam is an upward or downward angle. When the pitch angle of the transmitted beam is an upward pitch angle, the actual pitch angle is obtained by subtracting the absolute value of the pitch angle of the transmitted beam from the pitch angle. When the pitch angle of the transmitted beam is a downward pitch angle, the actual pitch angle is obtained by adding the absolute value of the pitch angle of the transmitted beam to the pitch angle.

6. The control method for a clothes drying rack according to claim 5, characterized in that, The maximum value of the vertical height coordinate in the extracted and filtered reflection point cloud is used as the overhead height, including: Obtain the filtered reflection point cloud; Read the vertical height coordinates of each reflection point in the filtered reflection point cloud; Iterate through the vertical height coordinates of each reflection point and compare them to find the maximum value; Set the maximum value to the height of the top of the head.

7. The control method for a clothes drying rack according to claim 1, characterized in that, Also includes: During the descent of the drying rack, a human detection signal is acquired by an infrared sensor located below the drying rack. If the human detection signal determines that a human is present in a designated area below the drying rack, the drying rack will be stopped from descending.

8. A clothes drying rack, characterized in that, include: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and executed as described in any one of claims 1 to 7.

9. An intelligent clothes drying system, characterized in that, include: Clothes dryer and remote control; The remote control is attached to the wall and is positioned parallel to the side of a person standing under the clothes dryer; the remote control is equipped with a distance sensor assembly, which includes a signal transmitter and at least two signal receivers; The remote control is configured to generate and send a descent command when a button press is detected on its descent button; and, in response to a data request command sent by the clothes dryer, to collect raw timestamp data and send it to the clothes dryer; the raw timestamp data includes the signal transmission time, the first reception time, and the second reception time. The clothes drying rack is used to perform the control method for the clothes drying rack as described in any one of claims 1 to 7.

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