Clothes folding control method and apparatus, clothes folding device, and electronic device

Abstract

The application provides a clothes folding control method and device, clothes folding equipment and electronic equipment, and belongs to the technical field of automatic control. The method comprises the following steps: performing flow field control solving on folding action data of clothes stably and flatly suspended in a flow field to obtain an operation parameter set of a flow field primitive of the clothes; and determining a control instruction for non-contact folding of the clothes based on the operation parameter set. The flow field primitive is used to represent a flow field control operation item of a flow field control device, and the flow field primitive is pre-associated with action details of a folding action. The application can control the flow field control device by pre-defining the flow field primitive used to represent the flow field control operation item of the flow field control device, pre-associating the flow field primitive with the action details of the folding action of the clothes, performing flow field control solving on the folding action data of the clothes, and realizing automatic clothes folding in a non-contact manner.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a method, apparatus, equipment and electronic device for controlling clothing folding. Background Technology

[0002] Modern households, laundromats, and hotels all face the problem of labor-intensive clothing folding. While folding and storing clothes manually is flexible, it is inefficient, time-consuming, and labor-intensive, creating a strong demand for automated clothing folding.

[0003] Currently, the main way to automate clothing folding is through automated mechanical folding equipment. Automated mechanical folding equipment uses folding motors or rolling motors to drive robotic arms or folding plates to fold clothes, which can improve the efficiency of clothing folding and sorting.

[0004] However, because the mechanical structure of mechanical folding equipment comes into direct contact with clothing, friction, pulling, or pressure are inevitable, which can easily cause damage to clothing fibers such as pulling, indentation, and friction, especially affecting the lifespan of high-end clothing such as silk and wool. Summary of the Invention

[0005] This application provides a clothing folding control method, device, clothing folding equipment, and electronic device to solve the defects of existing mechanical folding equipment that directly contacts clothing during automatic folding and is prone to damaging the clothing, thereby realizing a non-contact clothing folding solution.

[0006] This application provides a method for controlling clothing folding, including: The flow field control solution is obtained by performing flow field control on the folding motion data of clothing that is stably and flatly suspended in the flow field, and the set of operating parameters of the flow field primitives of the clothing is obtained. Based on the set of operating parameters, a control command for non-contact folding of the clothing is determined; The flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

[0007] According to the clothing folding control method provided in this application, the folding action data includes the folding line of the clothing; the flow field primitives include at least one of the following: a fixed line primitive, a folding wave primitive, a rolling ridge primitive, and an edge convergence primitive; the pre-associated action detail of the fixed line primitive is to form a fixed pressure on one side of the folding line; the pre-associated action detail of the folding wave primitive is to fold the clothing over the folding line; the pre-associated action detail of the rolling ridge primitive is to drive the clothing forward and / or overlap; and the pre-associated action detail of the edge convergence primitive is to prevent the clothing from rebounding and / or misaligning.

[0008] According to the clothing folding control method provided in this application, the fixed line primitive is used to represent the nozzle guidance, dynamic pressure and first bandwidth of the airflow matrix execution unit; and / or, the folding wave primitive is used to represent the leading edge velocity and pulse duty of the airflow matrix execution unit; and / or, the rolling ridge primitive is used to represent the second bandwidth and phase difference of the airflow matrix execution unit; and / or, the edge convergence primitive is used to represent the holding time of the electrostatic pulse holding array.

[0009] According to the clothing folding control method provided in this application, before performing flow field control solution on the folding action data of clothing that is stably and flatly suspended in the flow field to obtain the set of operating parameters of the flow field primitives of the clothing, the method further includes: responding to the clothing folding task of the clothing, controlling the clothing suspension device to establish a reference laminar flow and a suspension pressure difference based on a reference laminar flow value and a suspension pressure difference value, so as to make the clothing stably suspended in the flow field.

[0010] According to the clothing folding control method provided in this application, after the step of controlling the clothing suspension device to establish a reference laminar flow and a suspension pressure difference based on a reference laminar flow value and a suspension pressure difference value, the method further includes: adjusting the reference laminar flow value and the suspension pressure difference value based on the multimodal sensing data of the clothing, and returning to the step of controlling the clothing suspension device to establish a reference laminar flow and a suspension pressure difference based on the reference laminar flow value and the suspension pressure difference value, until the clothing is stably suspended in the flow field.

[0011] According to the clothing folding control method provided in this application, before solving the flow field control problem on the folding action data of clothing that is stably and flatly suspended in the flow field to obtain the set of operating parameters of the flow field primitives of the clothing, the method further includes: determining the clothing mask, key points of key parts and morphological parameters of the clothing based on the visual perception data of the clothing that is stably and flatly suspended in the flow field; determining the material parameters and crease critical angle of the clothing based on the material perception data of the clothing that is stably and flatly suspended in the flow field; and generating the folding action data of the clothing based on the clothing mask, the key points of key parts, the morphological parameters, the material parameters and the crease critical angle.

[0012] According to the clothing folding control method provided in this application, after determining the control command for non-contact folding of the clothing based on the set of operating parameters, the method further includes: during the execution of the control command, if it is determined based on the multimodal perception data of the clothing that the real-time pose error of the clothing is greater than a preset error threshold, then returning to the steps of determining the clothing mask, key points of key parts and morphological parameters of the clothing based on the visual perception data of the clothing that is stably and flatly suspended in the flow field, and determining the material parameters and crease critical angle of the clothing based on the material perception data of the clothing that is stably and flatly suspended in the flow field, until the control command is completed and the clothing folding task is determined to be completed.

[0013] This application also provides a clothing folding control device, including: The flow field solving module is used to solve the flow field control problem for the folding motion data of clothing that is stably and flatly suspended in the flow field, and to obtain the set of operating parameters of the flow field primitives of the clothing. The instruction determination module is used to determine the control instruction for non-contact folding of the clothing based on the set of operation parameters. The flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

[0014] This application also provides a clothing folding control device, including: Flow field control equipment; Air-suspension beds are used to provide flow fields; An airflow field control solver is used to solve the folding motion data of clothing that is stably and flatly suspended in the flow field to obtain a set of operating parameters for the flow field primitives of the clothing; it is also used to determine the control command for non-contact folding of the clothing based on the set of operating parameters. The flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

[0015] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the clothing folding control method described above.

[0016] This application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the clothing folding control method as described above.

[0017] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the clothing folding control method described above.

[0018] The clothing folding control method, device, equipment, and electronic device provided in this application predefine flow field primitives to represent flow field control operation items of the flow field control device, and pre-associate the flow field primitives with the action details of clothing folding actions. In the non-contact process of stable, flat, and suspended clothing, the flow field control solution can be performed on the clothing folding action data to obtain the set of operation parameters of the flow field primitives. Based on the set of operation parameters of the flow field primitives, the control command for non-contact clothing folding is determined. This control command can control the flow field control device to achieve non-contact automatic clothing folding, solving the problems of mechanical wear and mechanical contact damage to clothing caused by traditional contact folding devices. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is one of the flowcharts illustrating the clothing folding control method provided in this application.

[0021] Figure 2 This is the second flowchart of the clothing folding control method provided in this application.

[0022] Figure 3 This is a schematic diagram of the clothing folding control device provided in this application.

[0023] Figure 4 This is a structural schematic diagram of the clothing folding device provided in this application.

[0024] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The following is combined with Figures 1 to 5 This application describes a method, apparatus, device, and electronic device for controlling clothing folding.

[0027] Figure 1 This is one of the flowcharts illustrating the clothing folding control method provided in this application, such as... Figure 1 As shown, the clothing folding control method includes, but is not limited to, steps 101 to 102.

[0028] It should be noted that the execution subject of the clothing folding control method provided in this application is the clothing folding control device in the clothing folding equipment, which can be a server, computer equipment, such as mobile phone, tablet computer, laptop computer, handheld computer, vehicle electronic equipment, wearable device, ultra-mobile personal computer (UMPC), netbook or personal digital assistant (PDA), etc.

[0029] Step 101: Solve the flow field control problem for the folding motion data of the clothing that is stably and flatly suspended in the flow field to obtain the set of operating parameters of the flow field primitives of the clothing.

[0030] Among them, flow field primitives are used to represent flow field control operation items of flow field control equipment, and flow field primitives are pre-associated with the action details of folding actions.

[0031] The types of clothing include, but are not limited to, shirts, T-shirts, and jackets, and the materials of clothing include, but are not limited to, cotton, polyester, blends, silk, and wool.

[0032] The flow field is a controllable dynamic environment within a specific spatial area of ​​a garment folding device, formed by the movement of fluids (such as air), where physical quantities such as fluid velocity and pressure at various points have a definite distribution. By actively adjusting the fluid flow within the flow field, specific actions such as folding can be supported and guided to complete. In other words, the flow field is an adjustable fluid dynamic space within the garment folding device, used to achieve garment suspension and automatic folding control.

[0033] Alternatively, the flow field is formed based on a pressure-equalizing suspension layer constructed from an air cushion bed (ACB) in a garment folding device.

[0034] Specifically, the ACB includes a porous pressure equalizing air supply platform, a static pressure chamber, and a blower. The porous pressure equalizing air supply platform, the static pressure chamber, and the blower work together to construct a laminar flow on the platform, forming a pressure equalizing suspension layer, thus obtaining a flow field that can support the suspension of clothing.

[0035] More specifically, ACB can use a multi-hole pressure equalizing air supply table with a diagonal size of 0.8-1.2m, and the diameter of the air supply holes on the multi-hole pressure equalizing air supply table is 0.5-1.2mm.

[0036] Folding motion data is data related to the folding motions used to perform the folding task of clothing and to automatically fold flat clothing.

[0037] In contact-based clothing folding schemes using mechanical folding devices, the clothing is typically first laid flat, and then the folding path after the clothing is laid flat is planned to determine the folding action data. Therefore, for the non-contact clothing folding provided in this application, as long as the clothing is stably laid flat and suspended in the flow field, the folding action data of the contact-based clothing folding scheme can be used to determine the scheme and obtain the folding action data of the stably laid flat and suspended clothing.

[0038] Folding action data includes, but is not limited to, the fold lines (also known as simulated fold lines or fixed lines) and folding sequence of clothing. One fold line corresponds to one folding action of clothing.

[0039] Fold lines can be categorized in various ways, including but not limited to sleeve folds, body folds, vertical folds, and horizontal folds. Correspondingly, the folding actions involve folding the garment in the sleeve, body, vertical, and horizontal directions, respectively. For example, a sleeve fold on clothing corresponds to the action of folding the sleeve around the sleeve fold line.

[0040] Each folding action may include several action details that represent key action characteristics. These action details include, but are not limited to, at least one of the following: forming a fixed pressure on one side of the fold line of the garment, flipping the garment over the fold line, moving the garment forward and / or overlapping it, preventing the garment from rebounding and / or misaligning.

[0041] By decomposing the folding action into action details, several flow field primitives can be predefined to represent at least one flow field control operation item of the flow field control device. Each flow field primitive is pre-associated with an action detail. The flow field control operation item of the flow field control device represented by the flow field primitive can be used to execute the action detail pre-associated with the flow field primitive.

[0042] Flow field control equipment is a control device used in clothing folding equipment to achieve non-contact folding of clothing through flow field control; flow field control equipment specifically includes, but is not limited to, at least one of the following control devices: airflow control equipment, ultrasonic control equipment, electric field control equipment, etc.

[0043] Specifically, the airflow control device can be an airflow matrix unit (AMU), etc.; the electric field control device can be an electrostatic pin grid (EPG), etc., used to achieve local fixed-point suppression without contact.

[0044] Flow field control operation items are operation items used by flow field control equipment to control the flow field.

[0045] For example, in a flow field control device including an AMU, and the AMU including a two-dimensional nozzle array (such as a typical 24×32-point nozzle array), where each nozzle in the two-dimensional nozzle array includes adjustable guide vanes (such as ±45° angle adjustment capability) and independent valve control with a certain pulse width / frequency modulation capability, the flow field control operation items include, but are not limited to, at least one of the operation items such as nozzle guidance, dynamic pressure, bandwidth, leading edge velocity, pulse duty cycle and phase difference.

[0046] For example, when the flow field control device includes an EPG that can achieve pulsed low-voltage (less than 1kV) electrostatic holding and avoid physical contact, and the EPG includes an electrode array embedded under an insulating mesh plate, the flow field control operation items include, but are not limited to, holding time.

[0047] The set of operating parameters is determined based on the folding motion data of stably flat and suspended clothing, and is a set of actual operating parameters for the flow field control operation items of the flow field control device used for folding clothing.

[0048] Specifically, when any of the following triggering conditions are met: the clothes washing and drying is completed, the user clicks the clothes folding option on the external human-machine interface (HMI) module of the clothes folding device, and / or the clothes are detected to appear at the entrance of the folding cavity, the clothes folding task of the clothes folding device is triggered, and the type of clothes, whether unknown, mixed, or a specific type, is determined.

[0049] Clothing is fed into the folding chamber of the garment folding device through the inlet. When the clothing falls to a preset height (e.g., 5-30mm) above the porous pressure equalization air supply platform of the ACB at the bottom of the folding chamber, the Actuation & Motion Controller (AMC) of the garment folding device establishes a reference laminar flow and suspension pressure difference by controlling the ACB and the exhaust fan equipped with the exhaust port (located at the top and / or side wall of the folding chamber), thereby constructing a flow field and achieving stable flat suspension of the clothing in the flow field. After the clothing is stably flat and suspended in the flow field, the folding motion data of the clothing is acquired. It should be noted that the AMC can be used not only for the execution control of the ACB and exhaust fan in the garment folding device, but also for the execution control of other devices in the garment folding device, such as PWM modulation valves, stepper / servo motor driven guide vanes, and VFD driven fans, without limitation.

[0050] The flow-field control solver (FCS) for clothing folding equipment maps the folding action to flow field primitives based on the pre-established correlation between the action details of the folding action and the flow field primitives used to represent the flow field control operation items of the flow field control equipment. It then performs flow field control solution on the clothing folding action data to obtain the set of operation parameters of the flow field primitives corresponding to the folding action data.

[0051] Step 102: Based on the set of operating parameters, determine the control command for non-contact folding of the clothing.

[0052] Control commands are used to control the flow field control equipment to adjust and control the flow field.

[0053] Specifically, FCS determines the control command for non-contact folding of clothing based on the set of operating parameters of the flow field primitives obtained from the folding action data, according to a pre-determined control command generation method.

[0054] Optionally, after determining the control command for non-contact folding of clothing based on the set of operating parameters, the method further includes issuing and executing the control command to control the flow field control device to adjust and control the flow field in the folding cavity in a non-contact folding manner, thereby completing the clothing folding task.

[0055] For example, the FCS packs control commands and sends them to the AMC via EtherCAT or CAN bus at a preset cycle (e.g., 1-5ms). The AMC then executes the control commands to control the flow field control equipment to adjust and control the flow field, thereby completing the folding of clothing in a non-contact folding manner.

[0056] The clothing folding control method provided in this application predefines flow field primitives to represent flow field control operation items of the flow field control device, and pre-associates the flow field primitives with the action details of clothing folding. In the non-contact process of stable, flat, and suspended clothing, the flow field control solution can be performed on the clothing folding action data to obtain the set of operation parameters of the flow field primitives. Based on the set of operation parameters of the flow field primitives, the control command for non-contact clothing folding is determined. This control command can control the flow field control device to achieve non-contact automatic clothing folding, solving the problem of mechanical wear and mechanical contact damage to clothing caused by traditional contact folding devices.

[0057] Based on the above embodiments, as an optional embodiment, the folding action data includes the fold lines of the garment; the flow field primitives include at least one of the following: Anchor Jet primitive, Fold Wave primitive, Rolling Ridge primitive, and Edge Pinning primitive; The pre-associated action detail of the fixed line primitive is to form a fixed pressure on one side of the fold line; The action detail pre-associated with the fold wave primitive is to fold the garment over the fold line; The pre-associated action details of the rolling spine primitive are to move the garment forward and / or overlap it; The pre-associated action details of the edge convergence primitive are to prevent the garment from rebounding and / or misaligning.

[0058] Specifically, in the preparation stage before the non-contact folding of clothing by the clothing folding device, the key characteristics of the action details of the folding action of different types of clothing are analyzed. Four types of action details are identified: forming a fixed pressure on one side of the folding line, flipping the clothing over the folding line, moving the clothing forward and / or overlapping, and preventing the clothing from rebounding and / or misaligning. Correspondingly, fixed line primitives, folding wave primitives, rolling ridge primitives, and edge gathering primitives are defined. The fixed line primitive is pre-associated with the action detail of forming a fixed pressure on one side of the folding line, the folding wave primitive is pre-associated with the action detail of flipping the clothing over the folding line, the rolling ridge primitive is pre-associated with the action detail of moving the clothing forward and / or overlapping, and the edge gathering primitive is pre-associated with the action detail of preventing the clothing from rebounding and / or misaligning.

[0059] After defining the aforementioned four flow field primitives, associated flow field primitives, and motion details, during the non-contact folding of clothing in the clothing folding device, the flow field control solution is performed on the folding motion data of the clothing that is stably and flatly suspended in the flow field. This yields the set of operating parameters for the clothing flow field primitives. Based on the set of operating parameters, control commands are determined. Executing these control commands controls the flow field control device to achieve the aforementioned four motion details, including generating a sweeping band based on the broken line normal, adaptive adjustment of leading edge velocity and dynamic pressure, etc., thereby realizing the folding motion of the clothing and completing the clothing folding task.

[0060] Optionally, the action details pre-associated with the folding wave primitive are folding the garment over the fold line along the normal of the fold line, including forming a pushing wave along the normal of the fold line to fold the garment over the fold line.

[0061] Optionally, the motion details pre-associated with the rolling ridge primitive are to create a rolling high-pressure belt on the fabric surface of the garment, which moves the garment forward and completes the overlap.

[0062] The clothing folding control method provided in this application analyzes the key characteristics of the folding action details of clothing, identifies four common key action details, and predefines fixed line primitives, folding wave primitives, rolling ridge primitives, and edge convergence primitives. It pre-associates flow field primitives and action details, thereby replacing the clamping, pressure plate, or roller structures of traditional mechanical folding with flow field primitives to achieve non-contact automatic clothing folding. This solves the problems of mechanical wear and damage to clothing caused by mechanical contact in traditional contact folding devices. Furthermore, by decomposing the folding action into multiple key action details, and through different combinations of these action details, the folding mode can be expanded. This allows the set of action details corresponding to the set of operating parameters of the solved flow field primitives to meet the folding action requirements of different types of clothing, improving the adaptability of non-contact clothing folding.

[0063] Based on the above embodiments, as an optional embodiment, the fixed-line primitive is used to represent the nozzle guidance, dynamic pressure, and first bandwidth of the airflow matrix execution unit; And / or, the fold wave primitive is used to represent the leading edge velocity and pulse duty cycle of the airflow matrix execution unit; And / or, the rolling ridge primitive is used to represent the second bandwidth and phase difference of the airflow matrix execution unit; And / or, the edge convergence primitive is used to represent the holding time of the electrostatic pulse holding array.

[0064] The first bandwidth is the bandwidth in the flow field control operation item of the AMU represented by the fixed line primitive; the second bandwidth is the bandwidth in the flow field control operation item of the AMU represented by the rolling ridge primitive.

[0065] Specifically, in the flow field primitive definition stage of the flow field control operation item based on the flow field control device before the non-contact folding of clothing by the clothing folding device, when the flow field control device includes an AMU and an EPG, the fixed line primitive is defined to represent the nozzle guidance, dynamic pressure and first bandwidth of the AMU, the folding wave primitive is defined to represent the leading edge velocity and pulse duty of the AMU, the rolling ridge primitive is defined to represent the second bandwidth and phase difference of the AMU, and the edge convergence primitive is defined to represent the holding time of the EPG.

[0066] Correspondingly, after defining the aforementioned four flow field primitives, associated flow field primitives, and motion details, during the non-contact folding of clothing by the clothing folding device, the flow field control solution is obtained by performing flow field control on the folding motion data of the clothing that is stably and flatly suspended in the flow field. The set of operation parameters for the flow field primitives of the clothing is obtained. The set of operation parameters includes the specific operation parameters of several operation items among the aforementioned nozzle guidance, dynamic pressure, first bandwidth, leading edge velocity, pulse duty cycle, second bandwidth, phase difference, and holding time.

[0067] Optionally, a reasonable range of values ​​is pre-configured for the flow field control operation items of the flow field control device to ensure that all operation parameters in the set of operation parameters obtained from the flow field control solution can be executed; wherein, the reasonable range of values ​​is determined based on the control performance of the flow field control device.

[0068] For example, the reasonable range for nozzle guidance is -15° to -30°, the reasonable range for dynamic pressure q is 20-60Pa, the reasonable range for the first bandwidth is 30-80mm, the reasonable range for the leading edge velocity is 0.05-0.20m / s, the reasonable range for pulse duty cycle is 30-70%, the reasonable range for the second bandwidth is 40-120mm, and the reasonable range for phase difference is π / 3.

[0069] In another embodiment, edge convergence primitives are used to represent the air-blowing angle of the AMU and / or the hold time of the EPG. By defining edge convergence primitives, low-angle air-blowing and short-pulse electrostatic hold of the EPG without physical contact, equivalent to adsorption, can be achieved.

[0070] In one embodiment, the flow field primitives include fixed line primitives, folding wave primitives, and rolling ridge primitives, but do not include edge convergence primitives. In the process of solving the flow field control problem for the folding motion data of clothing that is stably and flatly suspended in the flow field, the dynamic pressure of the fixed line and the first bandwidth are increased, and the shaping time is extended.

[0071] In another embodiment, when the flow field control device is an ultrasonic control device, and the ultrasonic control device includes an acoustic array execution unit (ultrasonic phased array), the flow field control is achieved by the acoustic radiation pressure field. The folding wave primitive is used to represent the first phase, first amplitude, and first frequency of the acoustic array execution unit (APU); the rolling ridge primitive is used to represent the second phase, second amplitude, and second frequency of the acoustic array execution unit.

[0072] The clothing folding control method provided in this application defines four flow field primitives—fixed line primitive, folding wave primitive, rolling ridge primitive, and edge convergence primitive—to represent the flow field control operation items of the AMU or EPG, respectively. This enables the mapping of folding action data into a set of operation parameters such as nozzle opening and direction during flow field control solving. By combining air suspension and matrix control, completely contactless automatic clothing folding is achieved, eliminating mechanical contact links and solving the problems of mechanical wear and clothing damage caused by mechanical contact in traditional contact folding devices.

[0073] In addition, the mechanical transmission system of contact-type clothing folding solutions has problems such as jamming and wear, but the pneumatic drive components in the non-contact clothing folding solution of this application have almost no mechanical friction, which reduces the failure rate and maintenance cost of clothing folding equipment.

[0074] Based on the above embodiments, as an optional embodiment, before performing flow field control solution on the folding motion data of clothing that is stably and flatly suspended in the flow field to obtain the set of operating parameters for the flow field primitives of the clothing, the method further includes: In response to the garment folding task, the garment suspension device is controlled to establish a reference laminar flow and suspension pressure difference based on the reference laminar flow value and suspension pressure difference, so that the garment is stably suspended in the flow field.

[0075] Before performing flow field control solutions, it is necessary to obtain folding motion data. Before obtaining folding motion data, it is necessary to ensure that the clothing is stably and flatly suspended in the flow field. This goal can be achieved by first ensuring that the clothing is stably suspended in the flow field, and then ensuring that the clothing is flat in the flow field, so as to finally achieve stable flat and flat suspension of the clothing in the flow field.

[0076] Specifically, Figure 2 This is the second flowchart illustrating the clothing folding control method provided in this application, as shown below. Figure 2As shown, after the task is triggered and initialized, the clothing folding task is sent to the AMC. In order to achieve stable suspension of the clothing in the flow field, the AMC responds to the clothing folding task. When the clothing falls to a preset height range above the porous pressure equalization air supply platform of the ACB at the bottom of the folding cavity, the AMC uses the pre-configured or real-time measured reference laminar flow value (such as 0.5-1.5m / s) and suspension pressure difference value (5-20Pa) to control the ACB and the exhaust fan to give the wind speed in the open loop through the platform partition (such as 4-8 zones) of the porous pressure equalization air supply platform. This controls the clothing folding equipment to establish reference laminar flow and suspension pressure difference above the porous pressure equalization air supply platform, so as to achieve stable delivery and suspension of the clothing in the flow field.

[0077] The clothing folding control method provided in this application ensures that the clothing is stably deployed and suspended in the flow field by establishing a reference laminar flow and suspension pressure difference before acquiring clothing folding action data and flow field control solutions. This helps to collect more accurate folding action data and flow field control solutions, thereby achieving better non-contact clothing folding control.

[0078] Based on the above embodiments, as an optional embodiment, after controlling the clothing suspension device to establish the reference laminar flow and suspension pressure difference based on the reference laminar flow value and the suspension pressure difference value, the method further includes: Based on the multimodal sensing data of the clothing, the reference laminar flow value and the suspension pressure difference value are adjusted, and the process returns to the step of controlling the clothing suspension device to establish the reference laminar flow and suspension pressure difference based on the reference laminar flow value and suspension pressure difference value, until the clothing is stably suspended in the flow field.

[0079] Multimodal perception data includes, but is not limited to, visual perception data and / or material perception data.

[0080] Optionally, the visual perception data is acquired through a Vision Perception Unit (VPU); the VPU may include, but is not limited to, at least one of an RGB-D camera, a ToF depth camera, and a NIR light source and sensor, and the number of VPUs may be unlimited.

[0081] For example, the VPU includes an RGB-D camera located at the top of the folding cavity of the clothing folding device, an RGB-D camera located on the side wall of the folding cavity, a ToF depth camera, and a set of NIR light sources and sensors.

[0082] Optionally, the material perception data is acquired through a Material & Morphology Analyzer (MMA); the VPU may specifically include, but is not limited to, at least one of NIR micro-spectral modules and millimeter-wave short-range radar, and the number of such modules is unlimited.

[0083] Optionally, both the VPU and MMA can be located on the top or side wall of the folded cavity.

[0084] Specifically, in combination Figure 2 As shown, in the process of achieving stable deployment and suspension of clothing in the flow field, the Quality Monitor & Supervisor (QMS) module of the clothing folding device adjusts the reference laminar flow value and suspension pressure difference value by acquiring multimodal sensing data of clothing in real time, and returns to the step of controlling the clothing suspension device to establish the reference laminar flow and suspension pressure difference based on the reference laminar flow value and suspension pressure difference value, so as to realize the closed-loop fine adjustment of the reference laminar flow and suspension pressure difference until the clothing is stably suspended in the flow field.

[0085] The clothing folding control method provided in this application adjusts the reference laminar flow value and suspension pressure difference value based on the multimodal sensing data of clothing acquired in real time, thereby performing closed-loop fine-tuning of the reference laminar flow and suspension pressure difference according to the real-time suspension state of the clothing, and realizing the stable suspension of clothing in the flow field.

[0086] As an optional embodiment, after adjusting the reference laminar flow value and the suspension pressure difference value based on the multimodal sensing data of the clothing, and returning to the step of controlling the clothing suspension device to establish the reference laminar flow and suspension pressure difference based on the reference laminar flow value and suspension pressure difference value, until the clothing is stably suspended in the flow field, the method further includes: Based on visual perception data of the clothing that is stably suspended in the flow field, key points of key parts of the clothing and clothing posture information are determined. Based on the key points of the key parts and the posture information of the clothing, the flattening action data of the clothing that is stably suspended in the flow field is determined. The flow field control solution is performed on the flattening motion data to obtain the set of flattening parameters of the flow field primitives of the clothing; Based on the set of flattening parameters, a control command is determined to flatten the clothing that is stably suspended in the flow field.

[0087] The flattening parameter set is a set of actual operating parameters for the flow field control operation items of the flow field control equipment used to flatten the clothing, determined based on the key parts and key points of the stably suspended clothing and the clothing posture information.

[0088] Optionally, the flattening parameter set is the set of operating parameters for the fixed-line primitive and the folding wave primitive of clothing stably suspended in the flow field; or, the flattening parameter set is the set of operating parameters for the fixed-line primitive, the folding wave primitive, and the edge convergence primitive of clothing stably suspended in the flow field.

[0089] Specifically, in combination Figure 2As shown, after the clothing is stably suspended in the flow field, it needs to be flattened in the flow field.

[0090] The system acquires visual perception data from the VPU (Vision Processing Unit) and extracts two types of visual perception features: key points of critical parts of the clothing stably suspended in the flow field and clothing posture information. The FPP (Flow Processing Panel) plans flattening motion data based on these key points and posture information. The FCS (Flow Control System) maps the flattening motion to flow field primitives based on the pre-defined correlation between the motion details and the flow field control operation items representing the flow field control equipment. It then performs flow field control solutions on the key points of critical parts of the clothing and clothing posture information to generate a "flattening flow field," resulting in a flattening parameter set. The FCS determines the control commands for flattening the clothing based on the flattening parameter set, according to a pre-defined control command generation method.

[0091] The FCS packages control commands and sends them to the AMC via EtherCAT or CAN bus according to a preset cycle. The AMC then executes the control commands to control the nozzle angle and direction of the AMU, using a low-angle lateral air curtain to push the folds out of the boundary. When necessary, the EPG is controlled to apply a short-term, low-intensity electrostatic hold of less than 0.5 seconds to the edge line, so as to achieve uniform and flattened garment posture.

[0092] It should be noted that the first set of details for the folding action includes the second set of details for the flattening action. When the flow field primitives pre-associated with the folding action's action details include fixed line primitives, fold wave primitives, rolling ridge primitives, and edge convergence primitives, the flow field primitives pre-associated with the flattening action's action details include fixed line primitives, fold wave primitives, and edge convergence primitives, or only fixed line primitives and fold wave primitives.

[0093] Based on the above embodiments, as an optional embodiment, before performing flow field control solution on the folding motion data of clothing that is stably and flatly suspended in the flow field to obtain the set of operating parameters for the flow field primitives of the clothing, the method further includes: Based on the visual perception data of the clothing that is stably and flatly suspended in the flow field, the clothing mask, key points of key parts and morphological parameters of the clothing are determined. Based on the material perception data of the garment that is stably and flatly suspended in the flow field, the material parameters and crease critical angle of the garment are determined. Based on the clothing mask, key points of key parts, shape parameters, material parameters, and crease critical angle, the folding action data of the clothing is generated.

[0094] Optionally, depending on the composition of the VPU, the visual perception data collected by the VPU may include, but is not limited to, at least one of the following: RGB-D point cloud composed of RGB frames, depth frames, NIR frames, etc.

[0095] Optionally, depending on the composition of the MMA, the material perception data collected by the MMA may include, but is not limited to, at least one of the following: NIR reflection spectrum, millimeter wave echo, etc.

[0096] Key parts and key points include, but are not limited to, at least one of the key parts of clothing such as the collar, cuffs, hem, and trouser legs.

[0097] Morphological parameters are parameters used to describe the shape of clothing; morphological parameters include, but are not limited to, at least one of the following parameters: boundary curve, thickness, fold field, etc.

[0098] Material parameters are parameters used to describe the material of clothing; material parameters include, but are not limited to, at least one of the following parameters: material label of clothing, softness factor, etc.

[0099] Folding action data includes a set of folding lines, folding sequence, and target envelope; the target envelope is the target shape and target size of the clothing folding, and also the constraint target for folding path planning.

[0100] Specifically, in combination Figure 2 As shown, in the folding path planning process, on the one hand, visual perception data of clothing stably and flatly suspended in the flow field is acquired. Following a predetermined visual perception data processing method, this data is processed to obtain three visual perception features: clothing mask, key points of key parts, and morphological parameters. On the other hand, material perception data of clothing stably and flatly suspended in the flow field is acquired. Following a predetermined material perception data processing method, this data is processed to obtain two material perception features: material parameters and crease critical angle. By acquiring multimodal perception data and extracting relevant specific parameters, the perception and classification of stably and flatly suspended clothing is achieved.

[0101] Furthermore, the folding path planner (FPP) of the clothing folding device is used to plan the folding path based on visual perception features and material perception data. This includes folding path planning based on clothing masks, key points of key parts, shape parameters, material parameters and crease critical angles, to obtain folding action data including folding line set, folding sequence and target envelope.

[0102] Optionally, based on visual perception data of clothing that is stably and flatly suspended in the flow field, the clothing mask, key points of key parts, and morphological parameters of the clothing are determined, including: inputting the visual perception data into a pre-trained visual feature extraction model to obtain the clothing mask, key points of key parts, and morphological parameters output by the visual feature extraction model; wherein, the visual feature extraction model is pre-built based on AI visual recognition technology (including but not limited to semantic segmentation model and object recognition model), and the visual feature extraction model is pre-trained using multiple visual training samples, each visual training sample including a visual perception data sample and its corresponding visual feature label, the visual feature label including clothing mask label, key point label of key parts, and morphological parameter label.

[0103] Optionally, the visual perception data is first subjected to distortion removal and temporal filtering, then semantic segmentation is performed on the visual perception data to generate clothing semantic segmentation results, then key point regression is performed on the clothing semantic segmentation results to identify key points of key parts, and finally mesh reconstruction is performed to obtain clothing mask, key points of key parts and morphological parameters.

[0104] Optionally, the material parameters and critical crease angle of the clothing can be obtained by analyzing the NIR spectrum of the clothing that is stably and flatly suspended in the flow field.

[0105] Optionally, folding motion data for clothing is generated based on clothing masks, key points of key parts, shape parameters, material parameters, crease critical angles, and physical constraint parameters. The physical constraint parameters include, but are not limited to, at least one of the following: allowable radius of curvature, maximum folding speed, clothing alignment strategy, target size, and target shape. By considering physical constraints in the folding path planning, the accuracy and safety of the folding motion can be ensured.

[0106] Optionally, folding action data of clothing can be generated based on clothing mask, key points of key parts, shape parameters, material parameters, crease critical angle and clothing type in clothing folding task; wherein, clothing type can be set by user or determined by VPU by recognizing the type of clothing put into folding cavity.

[0107] Optionally, clothing folding action data can be generated based on clothing masks, key points of key parts, shape parameters, material parameters, crease critical angles, clothing type and physical constraint parameters in the clothing folding task.

[0108] The clothing folding control method provided in this application extracts the visual and material perception features of the currently folded clothing by acquiring stable, flat, and suspended visual perception data and material perception data in the flow field. Then, it uses the visual and material perception features to plan the folding path. This method can generate folding action data based on the dynamic recognition results of the clothing, resulting in stronger clothing adaptability. Furthermore, by considering the material parameters and crease critical angle of the clothing in the folding path planning, it can improve the adaptability of non-contact folding to clothing materials, realize flexible non-contact folding of clothing, and avoid damage to the clothing.

[0109] Based on the above embodiments, as an optional embodiment, after determining the control command for non-contact folding of the clothing based on the set of operating parameters, the method further includes: During the execution of the control command, if the real-time pose error of the clothing is determined to be greater than a preset error threshold based on the multimodal perception data of the clothing, then the process returns to the steps of determining the clothing mask, key points of key parts and morphological parameters of the clothing based on the visual perception data of the clothing that is stably and flatly suspended in the flow field, and determining the material parameters and crease critical angle of the clothing based on the material perception data of the clothing that is stably and flatly suspended in the flow field, until the control command is completed and the clothing folding task is determined to be completed.

[0110] Specifically, in combination Figure 2 As shown, after the FSC generates control commands and sends them to the AMC, during the execution of the control commands by the AMC, the VPU collects multimodal perception data of the clothing in real time and determines the real-time pose information of the clothing during the folding process based on the multimodal perception data. The QMS determines the real-time pose error based on the real-time pose information and the target pose information according to a preset cycle. If the real-time pose error is greater than the preset error threshold, micro-motion correction is triggered, and the process returns to the multimodal perception step. On the one hand, based on the visual perception data of the clothing that is stably and flatly suspended in the flow field, the clothing mask, key points of key parts, and morphological parameters of the clothing are determined again. On the other hand, based on the material perception data of the clothing that is stably and flatly suspended in the flow field, the material parameters and crease critical angle of the clothing are determined again. The folding path planning is re-performed to generate folding action data and flow field control solution, generating a new set of operation parameters and control commands. Closed-loop correction of the action execution is performed (such as adjusting the airflow intensity and direction), and the control commands are re-executed until the control commands are completed, confirming that the clothing folding task has been completed.

[0111] In one embodiment, the clothing folding device uses local small-amplitude jets for micro-motion correction, with a visual feedback frequency of 30Hz and a control loop frequency of 200-1000Hz, to ensure that the folding posture error is within ±3mm.

[0112] As an optional embodiment, combined with Figure 2 As shown, determining the completion of the garment folding task includes: the AMC controlling the exhaust fan to form a low-wind zone by using short-term top suction and / or side suction through the exhaust port set at the top and / or side wall of the folding cavity to prevent the garment from rebounding; using the side air curtain to send the folded garment to the discharge port or connecting conveyor line; determining the completion of the garment folding task; sending a task completion signal; generating a quality score that can be used for system self-learning to optimize subsequent folding tasks; and realizing the final state shaping and transfer of the garment non-contact folding. The exhaust port is used to maintain the negative pressure inside the folding cavity and the closed loop of the flow field.

[0113] By constructing a closed flow field through extraction and recycling, energy consumption and airflow interference can be reduced. It can also be interconnected with washing, drying and storage equipment to realize closed-loop automation of the entire process of clothes from washing to folding and storage.

[0114] Optionally, in the process of determining the real-time pose error based on the real-time pose information and the target pose information, QMS considers at least one of the following indices: clothing alignment error, edge overlap, crease straightness, and volume compactness, and adopts a Kalman filter strategy or a particle filter strategy, as well as a model reference adaptive strategy.

[0115] Mechanical motor-based contact folding solutions for clothing often employ fixed folding motor actions and folding paths, making it difficult to adjust and dynamically correct in real time based on the clothing material, thickness, and real-time changes in the position and shape of the folded clothing.

[0116] The clothing folding control method provided in this application adjusts the folding action and control command through a visual feedback closed loop during the execution of control commands, thereby avoiding over-folding and damage from creases. It has the ability to make autonomous decisions and dynamically correct folding actions, and has a higher degree of automation and intelligence, meeting the user's needs for high-precision, flexible, and damage-free clothing handling.

[0117] Overall, the clothing folding control method provided in this application employs flow field control devices such as airflow matrices and biomimetic aerodynamic units. It replaces traditional mechanical clamping, pressure plates, or roller structures with flow field primitives such as fixed lines, folding waves, rolling ridges, and edge convergence. Combining visual perception and artificial intelligence algorithms, it identifies the type, shape, and position of clothing and generates the optimal folding path to achieve non-contact automatic clothing folding. In addition, it collects clothing status information in real time through a closed-loop perception-execution mechanism and plans the folding path and angle based on material physical parameters, thereby dynamically adjusting the airflow intensity and direction to avoid over-folding and crease damage. By constructing a closed flow field through extraction and recycling to reduce energy consumption and airflow interference, it interconnects with washing, drying, and storage equipment to achieve closed-loop automation of the entire process from washing to folding and storage of clothing.

[0118] Furthermore, the clothing folding control method provided in this application replaces mechanical contact folding with air suspension support and airflow matrix folding, achieving a completely contactless process and avoiding damage to clothing fibers caused by friction and pulling. It employs AI visual recognition and algorithms to generate folding action data, adapting to different types, sizes, and materials of clothing, thus having a wide range of applications and improving the adaptability of clothing folding. Based on real-time visual monitoring and closed-loop feedback control, it dynamically adjusts the airflow direction, intensity, and duration, making the folding process more flexible and precise, ensuring neat folding of clothing, and improving folding accuracy and flexible control capabilities. The system integrates non-contact support, AI folding control, airflow matrix execution, and closed-loop monitoring to form a highly automated intelligent folding system, improving the overall level of automation and intelligence. It can be linked with washing, drying, and storage processes to achieve complete automated organization throughout the entire process.

[0119] Figure 3 This is a schematic diagram of the structure of the clothing folding control device provided in this application, as shown below. Figure 3 As shown, the clothing folding control device includes, but is not limited to, a flow field solving module 301 and an instruction determining module 302.

[0120] The flow field solving module 301 is used to solve the flow field control problem on the folding motion data of clothing that is stably and flatly suspended in the flow field, and to obtain the set of operating parameters of the flow field primitives of the clothing.

[0121] The instruction determination module 302 is used to determine the control instruction for non-contact folding of the clothing based on the set of operation parameters.

[0122] The flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

[0123] It should be noted that the clothing folding control device provided in this application can execute the clothing folding control method described in any of the above embodiments during actual operation, which will not be elaborated in this embodiment.

[0124] The clothing folding control device provided in this application predefines flow field primitives to represent flow field control operation items of the flow field control device, and pre-associates the flow field primitives with the action details of clothing folding. In the non-contact process of stable, flat, and suspended clothing, the flow field control solution is performed on the clothing folding action data to obtain the set of operation parameters of the flow field primitives. Based on the set of operation parameters of the flow field primitives, the control command for non-contact clothing folding is determined. This control command can control the flow field control device to achieve non-contact automatic clothing folding, solving the problem of mechanical wear and mechanical contact damage to clothing caused by traditional contact folding devices.

[0125] As an optional embodiment, the clothing folding control device further includes: a clothing control module, used to control the clothing suspension device to establish a reference laminar flow and a suspension pressure difference based on a reference laminar flow value and a suspension pressure difference value in response to the clothing folding task, so as to make the clothing stably suspended in the flow field.

[0126] As an optional embodiment, the clothing folding control device further includes: a clothing fine-tuning module, used to adjust the reference laminar flow value and the suspension pressure difference value based on the multimodal sensing data of the clothing, and return to the step of controlling the clothing suspension device to establish the reference laminar flow and suspension pressure difference based on the reference laminar flow value and the suspension pressure difference value, until the clothing is stably suspended in the flow field.

[0127] As an optional embodiment, the clothing folding control device further includes: a folding data generation module, used to determine the clothing mask, key points of key parts, and morphological parameters of the clothing based on visual perception data of the clothing stably and flatly suspended in the flow field; to determine the material parameters and crease critical angle of the clothing based on material perception data of the clothing stably and flatly suspended in the flow field; and to generate the folding action data of the clothing based on the clothing mask, the key points of key parts, the morphological parameters, the material parameters, and the crease critical angle.

[0128] As an optional embodiment, the clothing folding control device further includes: an execution fine-tuning module, used to, during the execution of the control command, if based on the multimodal perception data of the clothing, it is determined that the real-time pose error of the clothing is greater than a preset error threshold, return to the steps of determining the clothing mask, key points and morphological parameters of the clothing based on the visual perception data of the clothing that is stably and flatly suspended in the flow field, and determining the material parameters and crease critical angle of the clothing based on the material perception data of the clothing that is stably and flatly suspended in the flow field, until the control command is completed and the clothing folding task is determined to be completed.

[0129] Figure 4 This is a structural schematic diagram of the clothing folding device provided in this application, such as... Figure 4 As shown, the clothing folding device includes, but is not limited to, a flow field control device 410, an air suspension bed 420, and an airflow field control solver 430.

[0130] Flow field control equipment 410.

[0131] Air suspension bed 402 is used to provide a flow field.

[0132] The airflow field control solver 403 is used to solve the flow field control problem on the folding action data of clothing that is stably and flatly suspended in the flow field, and to obtain the set of operating parameters of the flow field primitives of the clothing; it is also used to determine the control command for non-contact folding of the clothing based on the set of operating parameters.

[0133] The flow field primitive is used to represent the flow field control operation item of the flow field control device 410, and the flow field primitive is pre-associated with the action details of the folding action.

[0134] Optionally, the flow field control device includes an airflow matrix execution unit (AMU).

[0135] The basic design of the clothing folding device, which uses AMU and ACB, has the advantages of simple structure and easy maintenance. It is suitable for cotton, polyester and blended T-shirts, shirts, light jackets and other clothing.

[0136] Optionally, the flow field control device includes an airflow matrix execution unit (AMU) and an electrostatic pulse holding array (EPG).

[0137] By using AMU, ACB and EPG to form a high-precision solution for clothing folding equipment, it has the advantages of straighter fold lines and less rebound when automatically folding slippery and high-end fabrics such as silk and wool.

[0138] Optionally, the flow field control device includes an acoustic array execution unit (APU).

[0139] By using an APU and an ACB to form an airless, high-speed solution for clothing folding devices, a 40-80kHz ultrasonic phased array can replace the AMU, forming a programmable sound pressure "potential trap" and "pushing ridge" on the fabric surface. This solution has the advantages of lower energy consumption, lower noise, and suitability for quiet environments.

[0140] Optionally, the garment folding device includes a folding cavity.

[0141] Optionally, the air suspension bed is located at the bottom of the folded cavity.

[0142] Optionally, the flow field control device is located at the bottom and / or sidewall of the folded cavity.

[0143] Optionally, the garment folding device also includes an exhaust port located on the top and / or side wall of the folding cavity, the exhaust port being equipped with an exhaust fan.

[0144] Optionally, the garment folding device also includes an execution and motion controller (AMC). The AMC is used to control the execution of the ACB and exhaust fan within the garment folding device. It can also be used for the execution control of other devices within the garment folding device, such as PWM modulation valves, stepper / servo motor driven guide vanes, and VFD driven fans, without limitation.

[0145] Optionally, the garment folding device also includes a visual perception unit (VPU) for determining the garment mask, key points of key parts, and morphological parameters of the garment based on visual perception data of the garment that is stably and flatly suspended in the flow field.

[0146] Optionally, the garment folding device also includes a Material and Shape Analyzer (MMA) for determining the material parameters and crease critical angle of the garment based on material-sensing data of the garment, which is stably and flatly suspended in the flow field.

[0147] Optionally, the garment folding device further includes a folding path planner (FPP) for generating folding action data of the garment based on the garment mask, key points of key parts, shape parameters, material parameters, and crease critical angle.

[0148] Optionally, the garment folding equipment may also include a quality monitoring and supervision module (QMS).

[0149] Optionally, the garment folding device can be connected to an external human-machine interface (HMI) module via a local area network (LAN) API.

[0150] Optionally, the clothing folding device can interface with external clothing washing and drying equipment or clothing storage equipment via Ethernet or RS485.

[0151] In addition, the garment folding equipment is suitable for garments ranging in size from children's T-shirts (350×450mm) to adult coats (700×1000mm); the tolerance is set to an initial placement deviation of ±50mm and a rotation of ±15° which can be automatically corrected; the accuracy is set to a final alignment error of ≤±5mm and a straightness error of fold line of ≤±3mm; the cycle time is set to 20–35s for standard T-shirt folding, 30–50s for shirts, and 25–40s for pants, which can be finely adjusted according to the material; the energy consumption is set to an average power of 300–600W (including fan, valve control, and vision); the environmental parameters of the folding chamber are an internal temperature of 20–35℃ and a relative humidity of 30–60% to avoid static electricity accumulation and abnormal fabric moisture content.

[0152] It should be noted that the clothing folding device provided in this application can execute the clothing folding control method described in any of the above embodiments during actual operation, which will not be elaborated in this embodiment.

[0153] The clothing folding device provided in this application predefines flow field primitives to represent flow field control operation items of the flow field control device, and pre-associates the flow field primitives with the action details of clothing folding. In the non-contact process of stable, flat, and suspended clothing, the flow field control solution can be performed on the clothing folding action data to obtain the set of operation parameters of the flow field primitives. Based on the set of operation parameters of the flow field primitives, the control command for non-contact clothing folding is determined. This control command can control the flow field control device to achieve non-contact automatic clothing folding, solving the problems of mechanical wear and mechanical contact damage to clothing caused by traditional contact folding devices.

[0154] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logic instructions in the memory 530 to execute the clothing folding control method provided in any of the above embodiments. The clothing folding control method includes, but is not limited to, the following steps: performing flow field control solution on the folding action data of clothing that is stably and flatly suspended in the flow field to obtain a set of operation parameters of the flow field primitives of the clothing; determining the control command for non-contact folding of the clothing based on the set of operation parameters; wherein the flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

[0155] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0156] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the clothing folding control method provided in any of the above embodiments. The clothing folding control method includes, but is not limited to, the following steps: performing flow field control solution on the folding action data of clothing that is stably and flatly suspended in the flow field to obtain a set of operation parameters of the flow field primitives of the clothing; determining a control command for non-contact folding of the clothing based on the set of operation parameters; wherein the flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

[0157] In another aspect, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the clothing folding control method provided in any of the above embodiments. The clothing folding control method includes, but is not limited to, the following steps: performing flow field control solution on the folding action data of clothing that is stably and flatly suspended in the flow field to obtain a set of operation parameters of the flow field primitives of the clothing; determining a control command for non-contact folding of the clothing based on the set of operation parameters; wherein the flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

[0158] The device 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 any creative effort.

[0159] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling clothing folding, characterized in that, include: The flow field control solution is obtained by performing flow field control on the folding motion data of clothing that is stably and flatly suspended in the flow field, and the set of operating parameters of the flow field primitives of the clothing is obtained. Based on the set of operating parameters, a control command for non-contact folding of the clothing is determined; The flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

2. The clothing folding control method according to claim 1, characterized in that, The folding action data includes the fold lines of the garment; the flow field primitives include at least one of the following: fixed line primitives, fold wave primitives, rolling ridge primitives, and edge convergence primitives; The pre-associated action detail of the fixed line primitive is to form a fixed pressure on one side of the fold line; The action detail pre-associated with the fold wave primitive is to fold the garment over the fold line; The pre-associated action details of the rolling spine primitive are to move the garment forward and / or overlap it; The pre-associated action details of the edge convergence primitive are to prevent the garment from rebounding and / or misaligning.

3. The clothing folding control method according to claim 2, characterized in that, The fixed-line primitives are used to represent the nozzle guidance, dynamic pressure, and first bandwidth of the airflow matrix execution unit; And / or, the fold wave primitive is used to represent the leading edge velocity and pulse duty cycle of the airflow matrix execution unit; And / or, the rolling ridge primitive is used to represent the second bandwidth and phase difference of the airflow matrix execution unit; And / or, the edge convergence primitive is used to represent the holding time of the electrostatic pulse holding array.

4. The clothing folding control method according to claim 1, characterized in that, Before solving the flow field control problem on the folding motion data of the clothing that is stably and flatly suspended in the flow field to obtain the set of operating parameters for the flow field primitives of the clothing, the following steps are also included: In response to the garment folding task, the garment suspension device is controlled to establish a reference laminar flow and suspension pressure difference based on the reference laminar flow value and suspension pressure difference, so that the garment is stably suspended in the flow field.

5. The clothing folding control method according to claim 4, characterized in that, After establishing the reference laminar flow and suspension pressure difference based on the reference laminar flow value and suspension pressure difference, the method further includes: Based on the multimodal sensing data of the clothing, the reference laminar flow value and the suspension pressure difference value are adjusted, and the process returns to the step of controlling the clothing suspension device to establish the reference laminar flow and suspension pressure difference based on the reference laminar flow value and suspension pressure difference value, until the clothing is stably suspended in the flow field.

6. The clothing folding control method according to claim 1, characterized in that, Before solving the flow field control problem on the folding motion data of the clothing that is stably and flatly suspended in the flow field to obtain the set of operating parameters for the flow field primitives of the clothing, the following steps are also included: Based on the visual perception data of the clothing that is stably and flatly suspended in the flow field, the clothing mask, key points of key parts and morphological parameters of the clothing are determined. Based on the material perception data of the garment that is stably and flatly suspended in the flow field, the material parameters and crease critical angle of the garment are determined. Based on the clothing mask, key points of key parts, shape parameters, material parameters, and crease critical angle, the folding action data of the clothing is generated.

7. The clothing folding control method according to claim 6, characterized in that, After determining the control command for non-contact folding of the clothing based on the set of operating parameters, the method further includes: During the execution of the control command, if the real-time pose error of the clothing is determined to be greater than a preset error threshold based on the multimodal perception data of the clothing, then the process returns to the steps of determining the clothing mask, key points of key parts and morphological parameters of the clothing based on the visual perception data of the clothing that is stably and flatly suspended in the flow field, and determining the material parameters and crease critical angle of the clothing based on the material perception data of the clothing that is stably and flatly suspended in the flow field, until the control command is completed and the clothing folding task is determined to be completed.

8. A clothing folding control device, characterized in that, include: The flow field solving module is used to solve the flow field control problem for the folding motion data of clothing that is stably and flatly suspended in the flow field, and to obtain the set of operating parameters of the flow field primitives of the clothing. The instruction determination module is used to determine the control instruction for non-contact folding of the clothing based on the set of operation parameters. The flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

9. A clothing folding device, characterized in that, include: Flow field control equipment; Air-suspension beds are used to provide flow fields; An airflow field control solver is used to solve the folding motion data of clothing that is stably and flatly suspended in the flow field to obtain a set of operating parameters for the flow field primitives of the clothing; it is also used to determine the control command for non-contact folding of the clothing based on the set of operating parameters. The flow field primitives are used to represent the flow field control operation items of the flow field control device, and the flow field primitives are pre-associated with the action details of the folding action.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the clothing folding control method as described in any one of claims 1 to 7.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the clothing folding control method as described in any one of claims 1 to 7.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the clothing folding control method as described in any one of claims 1 to 7.

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