WO2021006306A1 - Système de lavage automatique de vaisselle, procédé de lavage automatique de vaisselle, programme de lavage automatique de vaisselle, et support d'informations - Google Patents

Système de lavage automatique de vaisselle, procédé de lavage automatique de vaisselle, programme de lavage automatique de vaisselle, et support d'informations Download PDF

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Publication number
WO2021006306A1
WO2021006306A1 PCT/JP2020/026770 JP2020026770W WO2021006306A1 WO 2021006306 A1 WO2021006306 A1 WO 2021006306A1 JP 2020026770 W JP2020026770 W JP 2020026770W WO 2021006306 A1 WO2021006306 A1 WO 2021006306A1
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WO
WIPO (PCT)
Prior art keywords
tableware
unit
information acquisition
dish
marker
Prior art date
Application number
PCT/JP2020/026770
Other languages
English (en)
Japanese (ja)
Inventor
裕士 白木
Original Assignee
ＴｅｃｈＭａｇｉｃ株式会社
株式会社フジマック
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ＴｅｃｈＭａｇｉｃ株式会社, 株式会社フジマック filed Critical ＴｅｃｈＭａｇｉｃ株式会社
Priority to JP2021530724A priority Critical patent/JP7018637B2/ja
Publication of WO2021006306A1 publication Critical patent/WO2021006306A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/24—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/46—Devices for the automatic control of the different phases of cleaning ; Controlling devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Definitions

  • an identifier for determining the type of tableware and a symbol for specifying the position, range and orientation of the identifier are provided in the tableware hill, and the dishwashing is performed by pattern matching processing.
  • the system determines the type of tableware.
  • all the tableware is used in a state where it is lined up horizontally with respect to the conveyor (the state where the hill faces directly upward), and the tableware is transported on the conveyor at three-dimensionally different angles. In that case, the dishwashing system of Patent Document 2 cannot handle this.
  • the symbols or characters provided on the hill of ceramics are limited to those that can be identified by humans. Furthermore, it has not been possible to automate the process of arranging dishes on the washing conveyor.
  • FIG. 4A is a plan view of the tableware taking-out part
  • FIG. 4B is a perspective view of the tableware taking-out part. It is explanatory drawing of the use example of a marker.
  • FIG. 7A is a perspective view of a modified example of the hand
  • FIG. 7B is a side view of the modified example of the hand
  • FIG. 8A is a perspective view of another modified example of the hand
  • FIG. 8B is a side view of another modified example of the hand.
  • the stacking type tableware placing portion 13 of FIG. 9B a position for stacking the tableware is determined for each type, and a means for raising and lowering according to the weight of the tableware is provided at each stacking position. Therefore, the tableware to be stacked next can be adjusted so as to be located on the upper surface of the tableware placing portion 13. As a result, since the articulated robot 12 knows in advance the place and height at which the tableware is to be stacked, it is possible to accurately stack each tableware. If no means for raising and lowering according to the weight of the tableware is provided at each stacking position, the tableware extraction calculation unit 30 indicates how many tableware are placed in the tableware storage unit 13 for each type of tableware.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Washing And Drying Of Tableware (AREA)

Abstract

L'invention concerne un système de lavage automatique de vaisselle qui peut déterminer un type et un état de chaque plat, permettre à un robot de saisir le plat de manière sûre, et stocker le plat au niveau d'une position de stockage prescrite, dans un état dans lequel des plats sont transportés sur un transporteur à des angles différents en trois dimensions.　Un système de lavage automatique de vaisselle selon un mode de réalisation de la présente invention est caractérisé en ce qu'il comprend : une partie d'insertion de plat ; une partie de lavage de vaisselle ; une partie de transport de plat ; une partie d'acquisition d'informations de plat qui identifie un plat et acquiert des informations concernant le plat ; une partie de mise en place de plat ; et une unité de collecte de plat, les informations d'acquisition acquises par la partie d'acquisition d'informations de plat comprenant le type, la taille, la forme, la couleur, la position, l'orientation, la direction, le marqueur et/ou le code du plat. Lorsque la partie d'acquisition d'informations de plat identifie un plat qui est transporté dans la partie de transport de plat, la partie de collecte de plat collecte le plat en correspondance avec l'état du plat sur la base des informations acquises par la partie d'acquisition d'informations de plat.
PCT/JP2020/026770 2019-07-08 2020-07-08 Système de lavage automatique de vaisselle, procédé de lavage automatique de vaisselle, programme de lavage automatique de vaisselle, et support d'informations WO2021006306A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021530724A JP7018637B2 (ja) 2019-07-08 2020-07-08 食器自動洗浄システム、食器自動洗浄方法、食器自動洗浄プログラム及び記憶媒体

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2019-127266 2019-07-08
JP2019127266 2019-07-08
JP2019208170 2019-11-18
JP2019-208170 2019-11-18
JP2020024860 2020-02-18
JP2020-024860 2020-02-18

Publications (1)

Publication Number Publication Date
WO2021006306A1 true WO2021006306A1 (fr) 2021-01-14

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PCT/JP2020/026770 WO2021006306A1 (fr) 2019-07-08 2020-07-08 Système de lavage automatique de vaisselle, procédé de lavage automatique de vaisselle, programme de lavage automatique de vaisselle, et support d'informations

Country Status (3)

Country Link
JP (1) JP7018637B2 (fr)
TW (1) TW202110384A (fr)
WO (1) WO2021006306A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112842216A (zh) * 2021-01-25 2021-05-28 佛山市顺德区美的洗涤电器制造有限公司 用于洗碗机的控制方法、处理器、装置及洗碗机
US20220304546A1 (en) * 2021-03-25 2022-09-29 Sri Rama Prasanna Pavani Dish cleaning by dirt localization and targeting
JP2023100453A (ja) * 2022-01-06 2023-07-19 日清医療食品株式会社 食器洗浄補助装置および食器洗浄システム
JP2023100452A (ja) * 2022-01-06 2023-07-19 日清医療食品株式会社 食器洗浄補助装置および食器洗浄システム

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101812015B1 (ko) 2011-11-11 2018-01-25 엘지전자 주식회사 공기조화기 및 그 제어방법
KR20240034958A (ko) * 2022-09-07 2024-03-15 삼성전자주식회사 식기 세척 장치와 연동하는 로봇 및 그 제어 방법

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004017208A (ja) * 2002-06-14 2004-01-22 Kondo Seisakusho:Kk ダブルチャックユニット
JP2018027581A (ja) * 2016-08-17 2018-02-22 株式会社安川電機 ピッキングシステム
WO2018034251A1 (fr) * 2016-08-14 2018-02-22 ライフロボティクス株式会社 Système de lavage de vaisselle et dispositif robot
JP2018126272A (ja) * 2017-02-07 2018-08-16 ライフロボティクス株式会社 陶磁器
JP2018187687A (ja) * 2017-04-28 2018-11-29 ファナック株式会社 物品取出システム
JP2019025618A (ja) * 2017-08-01 2019-02-21 オムロン株式会社 ロボット制御装置、ロボット制御方法及びロボット制御プログラム

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018034252A1 (fr) 2016-08-14 2018-02-22 ライフロボティクス株式会社 Système de lave-vaisselle
JP2019037349A (ja) 2017-08-23 2019-03-14 ライフロボティクス株式会社 食器及びワーク

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004017208A (ja) * 2002-06-14 2004-01-22 Kondo Seisakusho:Kk ダブルチャックユニット
WO2018034251A1 (fr) * 2016-08-14 2018-02-22 ライフロボティクス株式会社 Système de lavage de vaisselle et dispositif robot
JP2018027581A (ja) * 2016-08-17 2018-02-22 株式会社安川電機 ピッキングシステム
JP2018126272A (ja) * 2017-02-07 2018-08-16 ライフロボティクス株式会社 陶磁器
JP2018187687A (ja) * 2017-04-28 2018-11-29 ファナック株式会社 物品取出システム
JP2019025618A (ja) * 2017-08-01 2019-02-21 オムロン株式会社 ロボット制御装置、ロボット制御方法及びロボット制御プログラム

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112842216A (zh) * 2021-01-25 2021-05-28 佛山市顺德区美的洗涤电器制造有限公司 用于洗碗机的控制方法、处理器、装置及洗碗机
US20220304546A1 (en) * 2021-03-25 2022-09-29 Sri Rama Prasanna Pavani Dish cleaning by dirt localization and targeting
JP2023100453A (ja) * 2022-01-06 2023-07-19 日清医療食品株式会社 食器洗浄補助装置および食器洗浄システム
JP2023100452A (ja) * 2022-01-06 2023-07-19 日清医療食品株式会社 食器洗浄補助装置および食器洗浄システム

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Publication number Publication date
JP7018637B2 (ja) 2022-02-14
TW202110384A (zh) 2021-03-16
JPWO2021006306A1 (ja) 2021-10-21

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