WO2020171067A1 - Dishwashing assistnace device and control program - Google Patents

Abstract

Provided are a dishwashing assistance device and a control program which reduce labor due to preliminary washing by performing the preliminary washing by means of a robot arm.　The dishwashing assistance device (1) is provided with: a robot arm (100) which performs preliminary washing on dishes and places the dishes on a rack for a dishwashing machine; a camera (200) which captures images of the dishes and the rack; and a control terminal (300). As functions, the control terminal (300) is provided with: a determination unit (331) which determines the positions and the shapes of the dishes, and determines the position of the rack, from image data obtained from the images captured by the camera (200); an operation control unit (332) which performs, on the basis of the determination results from the determination unit (331), operation controls for the robot arm (100) and the camera (200); and a machine-learning unit (333) which performs machine learning on the basis of the shapes of the dishes from the image data obtained from the images captured by the camera (200).

Description

Dishwashing support device and control program

The present disclosure relates to a dishwashing support device and a control program that support dishwashing with a dishwasher.

For example, in facilities that provide a large amount of food, such as commercial facilities, hospitals, schools and business establishments, a dishwasher for business use is installed to wash the large amount of used dishes, tableware such as bowls and cups. It is often done. In this dishwasher, used dishes are placed on a dedicated rack made of resin or the like, and when the rack is placed in the dishwasher cabinet, washing is automatically performed. In recent years, household dishwashers have become widespread, but commercial facilities such as large-scale dishwashers are used in commercial facilities.

At commercial facilities, etc., pre-wash by immersing the tableware after use in water or washing liquid before washing it with a dishwasher. This preliminary cleaning is performed because it may not be possible to remove it with a dishwasher depending on the dirt condition of the dishes, and it is especially difficult to wash dirt that has stuck to the dishes with the dishwasher. is there. However, performing preliminary cleaning in a commercial facility or the like requires manpower for that purpose, which is very troublesome.

Therefore, for example, Patent Document 1 discloses a dishwasher that can be washed at high speed. Patent Document 1 discloses that a preliminary cleaning device may be provided in this dishwasher. This preliminary cleaning device is composed of, for example, a spray gun, a brush, or the like.

Japanese Patent Laid-Open No. 2011-067644

However, even with the dishwasher pre-cleaning device described in Patent Document 1, it is still necessary to pre-wash the dishes with human hands, which does not lead to reduction of human labor. It was Therefore, there has been a demand for an apparatus or system capable of reducing the time and effort required for preliminary cleaning.

Therefore, in the present disclosure, a dishwashing support device and a control program capable of reducing manual labor by performing preliminary cleaning by a robot arm will be described.

A dishwashing assistance apparatus according to an aspect of the present disclosure is a dishwashing assistance apparatus that assists dishwashing with dishwashers. The dishwashing assistance apparatus holds and moves the dishes to perform preliminary washing on the dishes. Robot arm to be placed on a rack for washing dishes with a dishwasher, a detection unit that detects the dishes and the rack, and the position and shape of the dishes are determined from the detected detection results, and the position of the rack is determined. A determination unit and an operation control unit that controls the operation of the robot arm based on the determination result of the determination unit are provided.

Further, a control program according to an aspect of the present disclosure is a control program that assists a dishwashing assistance apparatus including a robot arm to wash dishes with a dishwasher, and includes a dishwashing step for detecting dishes and a detection step. From the result, the tableware position shape determination step of determining the position and shape of the tableware, the tableware holding step of lifting and holding the tableware based on the determination result of the position and shape of the tableware, and moving while holding the tableware, Pre-washing step for pre-washing, rack detection step for detecting a rack for washing dishes with a dishwasher, rack position determination step for determining the rack position from the detection result, and rack position And a tableware placing step of placing the tableware on the rack based on the result of the determination.

According to the present disclosure, the robot arm lifts and holds the tableware, moves the tableware, and preliminarily cleans the tableware. In addition, the dishes after the preliminary washing are placed on a rack for washing with a dishwasher. As a result, the robot arm can perform the preliminary cleaning, and it is possible to reduce the manpower required for the preliminary cleaning.

It is a functional block block diagram which shows the dishwashing assistance apparatus which concerns on one Embodiment of this indication. It is an external view which shows the washing place 10 which is an example in which the robot arm 100 of FIG. 1 is used. FIG. 3 is a right side view showing an example of the appearance of the robot arm 100 of FIG. 1. It is a flowchart which shows operation|movement of the dishwashing assistance apparatus 1 of FIG. It is a schematic diagram which shows the gravity center position G of the tableware D determined by the determination part 321 of FIG. FIG. 4 is a perspective view showing an example in which a suction unit 190 of the robot arm 100 of FIG. 3 lifts a rack R according to an embodiment of the present disclosure. FIG. 3 is a functional block configuration diagram showing a computer 500 according to an embodiment of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below do not unduly limit the contents of the present disclosure described in the claims. Further, not all of the constituent elements shown in the embodiments are essential constituent elements of the present disclosure.

(Embodiment 1)
<Structure>
FIG. 1 is a functional block configuration diagram showing a dishwashing support apparatus 1 according to the first embodiment of the present disclosure. This dishwashing support device 1 supports the work of washing used dishes with a commercial dishwasher in facilities that provide a large amount of meals, such as commercial facilities, hospitals, schools, and business establishments. Device. Specifically, as described above, before the used dishes are washed in the dishwasher, pre-washing is performed automatically by dipping it in water or a cleaning solution, and the racks for washing in the dishwasher are pre-washed. This is a device for placing the dishes that have been made.

The dishwashing support device 1 has a robot arm 100, a camera (detection unit) 200, a control terminal 300, and a network NW. The robot arm 100, the camera 200, and the control terminal 300 are mutually connected via the network NW. The network NW is a communication network for performing communication, and as an example, without limitation, the Internet, an intranet, a LAN (Local Area Network), a WAN (Wide Area Network), a wireless LAN (Wireless LAN: WLAN), a wireless WAN ( Wireless WAN: WWAN), a virtual private network (Virtual Private Network: VPN), and other communication networks. Further, the robot arm 100, the camera 200, and the control terminal 300 may be directly connected to each other by, for example, without limitation, a USB (Universal Serial Bus) cable or the like.

The robot arm 100 is a device that performs operations such as grasping, separating, carrying, and the like like a human hand, and a series of steps for prewashing used dishes and placing the dishes on a rack for a dishwasher. It is provided to perform the operation of.

FIG. 2 is an external view showing a washing space 10 which is an example in which the robot arm 100 of FIG. 1 is used. The washing place 10 is a facility around the water for washing dishes in a commercial facility or the like, and the dishes D are placed on the table at the right end of the washing place 10 so that a large amount of the dishes D face downward. A sink S is provided adjacent to the left side of the table, and a robot arm 100 is installed on the back side of the sink S. The sink S stores water or a cleaning liquid (for example, a dishwashing detergent diluted with water) for performing preliminary cleaning. Further, a rack R on which dishes D are placed is placed on the table adjacent to the left side of the sink S, and a dishwasher 400 is installed adjacent to the left side of the table.

In the usage example of FIG. 2, the robot arm 100 lifts and holds the tableware D placed on the table at the right end one by one with the surface thereof facing downward, and then moves and descends to the sink S as it is. Preliminary cleaning is performed by immersing in water or a cleaning solution. Next, the robot arm 100 moves while holding the tableware D as it is, the surface thereof is directed to the side, and the tableware D is placed upright so as to be sandwiched in the groove provided in the rack R. When a certain amount of tableware D is placed on the rack R, the robot arm 100 pushes the rack R toward the entrance of the dishwasher 400. The dishes D placed on the pushed-out rack R are washed by the dishwasher 400. The rack R includes, for example, a bottom surface formed of a resin such as plastic in a mesh shape, and a basket shape on which small dishes, chopsticks, and the like can be placed.

The camera 200 is a device that captures images of the tableware D and the rack R and generates (captures) image data. For example, a capture device such as a CCD (Charge Coupled Device) and a conversion device that converts the captured image into image data. And a digital camera or the like. The camera 200 captures an image and converts it into image data at predetermined time intervals.

This camera 200 is arranged, for example, on the tip side of the robot arm 100, and one or a plurality of cameras 200 are fixedly arranged at a position (not shown) at which the entire washing room 10 can be photographed. This arrangement is performed by using the camera 200 arranged on the tip side of the robot arm 100 to determine the position of the tip of the robot arm 100 and a target object such as the position and shape of the tableware D and the position of the rack R. This is for grasping and for grasping the whole situation of the washing place 10 with another camera 200. The camera 200 may be any device that can detect the tableware D and the rack R, and may be configured by a sensor such as an infrared sensor.

The control terminal 300 is a device that controls the operations of the robot arm 100 and the camera 200, and is not limited to, for example, a computer (desktop, laptop, tablet, etc.) that provides various Web services, a device including a server device, and the like. It is composed by. Specifically, based on the image data captured by the camera 200, the robot arm 100 is caused to lift the tableware D to perform preliminary cleaning, and the robot arm 100 is controlled to be placed on the rack R. When the control terminal 300 is configured by a server device, it is not limited to a server device that operates alone, but may be configured by a distributed server system that cooperates by communicating via the network NW or a cloud server. ..

The control terminal 300 also includes a communication unit 310, a storage unit 320, and a control unit 330.

The communication unit 310 is a communication interface for performing wired or wireless communication with the robot arm 100 and the camera 200 via the network NW, and may use any communication protocol as long as mutual communication can be performed. .. The communication unit 310 communicates by a communication protocol such as TCP/IP (Transmission Control Protocol/Internet Protocol), for example and not limitation.

The storage unit 320 stores programs for executing various control processes and each function in the control unit 330, input data, and the like. For example, RAM (Random Access Memory), ROM (Read Only) are not limited thereto. Memory) and the like, and HDD (Hard Disk Drive), SSD (Solid State Drive), and storage including flash memory. In addition, the storage unit 320 temporarily stores the data communicated with the robot arm 100 and the camera 200, and the data generated in each process described later.

The control unit 330 controls the overall operation of the control terminal 300 by executing a program stored in the storage unit 320. For example, the control unit 330 is not limited to a CPU (Central Processing Unit) and an MPU (Micro). Processing Unit), GPU (Graphics Processing Unit), microprocessor (Microprocessor), processor core (Processor core), multiprocessor (Multiprocessor), ASIC (Application-Specific Integrated Circuit), device including FPGA (Field Programmable Gate Array) Composed of. The function of the control unit 330 includes a determination unit 331, an operation control unit 332, and a machine learning unit 333. The determination unit 331, the operation control unit 332, and the machine learning unit 333 are activated by a program stored in the storage unit 320 and executed by the control terminal 300.

The determination unit 331 determines the position and shape of the tableware D and the position of the rack R from the image data captured by the camera 200. Since the robot arm 100 lifts the dishes D one by one to pre-wash the dishes D, the relative position of the dishes D (imaged by the camera 200) viewed from the position of the tip of the robot arm 100 at the time of imaging. Is determined from the image data. Further, as will be described later, the robot arm 100 is configured to lift the tableware D by the suction force of the compressor 180. In order to lift the tableware D evenly, the determination unit 331 determines the center of gravity of the tableware D in the horizontal direction. The position of is determined from the image data.

Further, the determination unit 331 determines, from the image data, the relative position of the rack R as seen from the position of the robot arm 100 at the time of imaging, because the tableware D preliminarily washed by the robot arm 100 is placed on the rack R. Further, the amount of dishes D that can be placed on the rack R is limited due to the specifications of the dishwasher 400, etc. Therefore, when the amount of dishes D placed on the rack R reaches a predetermined amount, the dishwashing is performed. Since it is necessary to wash the tableware D by the machine 400, the determination unit 331 determines the amount of the tableware D placed on the rack R from the image data and determines whether or not the predetermined amount has been reached. To do.

The operation control unit 332 controls the operation of the robot arm 100 and the camera 200 based on the determination result of the determination unit 331. Specifically, in order to preliminarily wash the dishes D by the robot arm 100 and place the dishes D on the rack R, a control signal for operating a servo motor incorporated in the robot arm 100 is transmitted as described below. To the robot arm 100 via. Further, when the tableware D or the rack R is imaged by the camera 200, in order to focus and obtain highly accurate image data, a control signal for controlling the operation of the lens position of the CCD constituting the camera 200 is transmitted to the communication unit. It transmits to the camera 200 via 310.

The machine learning unit 333 performs model learning based on the shape of the tableware D from the image data captured by the camera 200, and generates model information for determining the center of gravity position based on the shape of the tableware D. For example, the machine learning at this time is not limited, but the teaching data is the inclination of the tableware D when the tableware D is lifted by the robot arm 100, and learning with a teacher is performed. The model information generated by the machine learning unit 333 is used by the determination unit 331.

In addition, the machine learning unit 333 performs machine learning from the image data captured by the camera 200 based on the amount of the tableware D placed on the rack R, and optimizes the tableware D in cleaning the tableware D by the dishwasher 400. Model information may be generated for various quantities. Note that this machine learning may be performed by another device, and the model information generated by the machine learning performed by another device may be incorporated into the dishwashing assistance device 1. In this case, the machine learning unit 333 may not be provided.

FIG. 3 is a right side view showing an example of the appearance of the robot arm 100 of FIG. As shown in FIG. 3, the robot arm 100 includes a fixed part 110, a mounting movable part 120, an upper arm part 130, a joint part 140, a forearm part 150, a wrist part 160, a support part 170, and a compressor. (Suction device) 180 and suction unit 190.

The fixed part 110 is a part where the robot arm 100 is fixed to the mounting table TA. The mounting movable portion 120 is a movable portion to which one end of the upper arm portion 130 is connected and whose angle with the upper surface of the mounting table TA can be changed. A servo motor is built in the placement movable unit 120, and the servo motor is driven under the control of the operation control unit 332 to rotate the upper arm unit 130. The upper arm portion 130 is a rod-shaped member on the mounting table TA side of the robot arm 100.

The joint part 140 is a part that rotatably connects the other end of the upper arm part 130 and one end of the forearm part 150. A servomotor is built in the joint section 140, and the servomotor is driven by the control of the operation control section 332 to rotate the forearm section 150. The forearm 150 is a rod-shaped member on the tip side of the robot arm 100.

The wrist part 160 is a place where the other end of the forearm part 150 and one end of the support part 170 are rotatably connected. A servomotor is built in the wrist 160, and the servomotor is driven by the control of the operation controller 332 to rotate the support 170. The support portion 170 is a portion that supports the compressor 180 and the suction portion 190 at the tip of the robot arm 100. In the initial state, the supporting portion 170 is in a downward facing state.

The compressor 180 is a device that provides a suction force for the table 190 to suck the tableware D, which will be described later, and is a device that sucks air by compressing air. The compressor 180 is connected to the other end side of the support 170 (arm side of the robot arm 100). The suction unit 190 is a member that sucks the tableware D, and is, for example, without limitation, formed of a flexible material such as rubber or synthetic resin in a suction cup shape. The suction unit 190 is connected to the compressor 180, and the suction force of the compressor 180 is transmitted to the outside via the suction unit 190.

Further, one or a plurality of cameras 200 are connected to the supporting unit 170 and arranged so that the position and shape of the tableware D adsorbed by the adsorbing unit 190 of the robot arm 100 can be imaged.

<Process flow>
An example of the flow of processing executed by the dishwashing assistance device 1 will be described with reference to FIG. 4. FIG. 4 is a flowchart showing the operation of the dishwashing assistance device 1 of FIG.

As the process of step S101, when the operation of the robot arm 100 is started by the control signal of the operation control unit 332 of the control terminal 300, the robot arm 100 is operated by the control signal of the operation control unit 332, and the right end of the washing place 10 shown in FIG. The supporting unit 170 moves to the vicinity of the tableware D placed on the table.

As the processing of step S102, the camera 200 connected to the supporting unit 170 images the tableware D placed on the table at the right end of the washroom 10 and generates image data of the tableware D.

As the process of step S103, the determination unit 331 determines the relative position of the tableware D viewed from the position of the tip of the robot arm 100 from the image data captured by the camera 200 in step S102. Further, the position of the substantial center of gravity of the tableware D in the horizontal direction is determined from the image data.

5: is a schematic diagram which shows the gravity center position G of the tableware D determined by the determination part 321 of FIG. 1, and the schematic diagram (a) which shows the gravity center position G of the tableware D1 whose shape of the tableware D is circular, and It is a schematic diagram (b) which shows the gravity center position G of the tableware D2 whose shape of the tableware D is a square. The determination unit 331 grasps the planar shape of the entire tableware such as the tableware D1 and D2 when viewed from above from the image data captured by the camera 200, and determines, for example, the approximate center of gravity of the tableware D1 and D2 as the adsorbable position. The position of the center of gravity position G is determined. Note that the suckable position is not limited to the center of gravity position, and when the tableware is randomly arranged, the flat surface exposed above may be determined.

Then, the position of the center of gravity G, which is substantially the center of gravity when the dishes D1 and D2 are flat, is determined as shown in FIGS. 5(a) and 5(b). At this time, the model information for determining the gravity center position G based on the shape of the tableware D generated by the machine learning unit 333 is used. The shapes of the tableware D1 and D2 shown in FIG. 5 are examples, and the tableware actually has various shapes, so that the model information generated by machine learning is valid. By sucking the center of gravity position G determined in this way, it is possible to lift the dishes D1 and D2 without bias.

As the process of step S104, the robot arm 100 is operated by the control signal of the operation control unit 332, the support unit 170 moves to the center of gravity position G of the tableware D determined in step S103, and the suction unit 190 is provided on the back surface of the tableware D. The support 170 is lowered until it comes into contact.

As the processing of step S105, the robot arm 100 is operated by the control signal of the operation control unit 332, and the compressor 180 sucks air. Then, the back surface of the tableware D is attracted to the suction unit 190 by this suction force, and is sucked with the front surface of the tableware D facing downward. When the robot arm 100 moves up in this state, the tableware D is held in a state of being sucked by the suction unit 190.

As the process of step S106, the robot arm 100 is operated by the control signal of the operation control unit 332, and the support unit 170 moves above the sink S of the washing place 10 shown in FIG.

As the process of step S107, the robot arm 100 is operated by the control signal of the operation control unit 332, the supporting unit 170 descends to the sink S in which water or cleaning liquid is stored, and the tableware D is immersed in water or cleaning liquid. In this state, the robot arm 100 moves up and down several times to preliminarily wash the tableware D.

As the processing of step S108, the robot arm 100 is operated by the control signal of the operation control unit 332, and the support unit 170 is moved to above the rack R of the washing place 10 shown in FIG.

As the process of step S109, the camera 200 connected to the support unit 170 captures an image of the rack R of the washroom 10 and generates image data of the rack R.

As the process of step S110, the determination unit 331 determines the relative position of the rack R viewed from the position of the tip of the robot arm 100 from the image data captured by the camera 200 in step S109. At this time, it is determined from the image data that the tableware D sucked by the suction unit 190 does not collide with the tableware D already placed on the rack R. That is, the table D is placed on the rack R in a subsequent step.

As the process of step S111, the robot arm 100 is operated by the control signal of the operation control unit 332, and the supporting unit 170, which faces downward by the rotation of the wrist 160, rotates upward by about 90°, and the dishes D Move so that the surface of faces to the side. In this state, the support portion 170 moves to the mounting position on the rack R determined in step S110. Then, when the compressor 180 stops sucking air, the tableware D adsorbed by the adsorbing section 190 is detached from the adsorbing section 190 and placed on the rack R.

As the processing of step S112, the determination unit 331 determines from the image data captured by the camera 200 in step S109 that the amount of the dishes D placed on the rack R allows the dishwasher 400 to wash the dishes D. It is determined whether or not a fixed amount has been reached. The amount of the dishes D may be determined based on the model information of the optimal amount of the dishes D in the washing of the dishes D by the dishwasher 400, which is generated by the machine learning performed by the machine learning unit 333. In this process, if it is determined that the placement amount of the tableware D has reached the predetermined amount, the process of step S113 is performed. Pre-cleaning is performed.

If it is determined in step S102 that the other tableware D does not remain from the image data captured by the camera 200, there is no tableware D to be preliminarily washed, so the process of step S112 is not performed. You may perform the process of step S113. Further, at this time, the image of the tableware D placed on the rightmost table of the washing place 10 may be captured again by the camera 200, and the determination unit 331 may determine whether or not the tableware D is added.

As the process of step S113, the robot arm 100 is operated by the control signal of the operation control unit 332, and the support unit 170 moved by the process of step S111 is moved toward the side of the rack R while the side of the support unit 170 is facing sideways. And push the side of the to move toward the entrance of the dishwasher 400. At this time, alignment is performed in advance so that the position of the rack can be pushed out toward the entrance of the dishwasher 400. As a result, the rack R on which the dishes D are placed is set in the dish washing machine 400, and washing is performed by the dish washing machine 400.

Further, for example, it is determined from the weight of the rack R whether the amount of the tableware D placed on the rack R has reached a predetermined amount with which the dishwasher 400 can wash the tableware D, and it is determined that the tableware D has been reached. A rack transfer device (rack transfer unit) that moves the rack R to the dishwasher 400 side in the case of the above may be provided. In this case, the operations of step S112 and step S113 may not be performed as the operation of the dishwashing support device 1.

<Effect>
As described above, in the dishwashing assistance apparatus according to the present embodiment, the dish is lifted by the operation of the robot arm, and in this state the dish is moved to the sink and immersed in the sink in which water or washing liquid is stored, and preliminary washing Done. The dishes are then moved to the dishwasher rack, oriented vertically, and placed on the rack. When a predetermined amount of dishes or more are placed on the rack, the rack is moved to the dishwasher side by the operation of the robot arm, and the dishwasher is washed. This makes it possible to perform preliminary cleaning with the robot arm and cleaning with the dishwasher, thus reducing manpower.

Also, a compressor is placed at the tip of the robot arm, and the suction part sucks the dishes by the suction force, so it is possible to prevent the dishes from coming off the robot arm and securely hold the dishes.

Further, the shape of the tableware is determined by the determination unit, the position of the substantial center of gravity in the horizontal direction of the tableware is determined, and the suction unit adsorbs the position, so that the tableware can be held and moved in a stable state without being biased. It will be possible. At this time, the machine learning unit generates model information for determining the center-of-gravity position based on the shape of the tableware, and this model information is used by the determination unit, so that the center-of-gravity position of the tableware can be accurately determined. It will be possible.

(Embodiment 2)
FIG. 6 is an external view showing an example in which the suction section 190 of the robot arm 100 of FIG. 3 lifts the rack R in the dishwashing assistance apparatus 1 according to the second embodiment of the present disclosure. In the present embodiment, for example, when the rack R is placed in another place not shown in FIG. 2, for example, on the back side of the table on which the rack R is placed, a new rack is added after the processing of step S113. A case where R is replenished by the operation of the robot arm 100 will be described. The configuration of the dishwashing support apparatus 1 and the flow of processing shown in the first embodiment are the same as those of the dishwashing support apparatus 1 according to the first embodiment.

In the present embodiment, the determination unit 331 determines the shape of the rack R from the image data captured by the camera 200, and determines the center position of the rack R which is substantially the center in the horizontal direction.

As shown in FIG. 6, based on the determination result of the determination unit 331, the robot arm 100 operates according to the control signal of the operation control unit 332, the support unit 170 moves to the central position of the rack R, and the suction unit 190 is attached to the rack R. When they come into contact with each other, the rack R is lifted by the suction force of the compressor 180. As a result, the rack R can be held and moved in a stable state without being biased.

According to the present embodiment, in addition to the effect of the first embodiment, it becomes possible to refill the rack, so that it is possible to further reduce manpower.

(Embodiment 3 (program))
FIG. 7 is a functional block configuration diagram showing an example of the configuration of the computer (electronic computer) 500. The computer 500 includes a CPU 501, a main storage device 502, an auxiliary storage device 503, and an interface 504.

Here, the details of the control program for realizing each function configuring the determination unit 331, the operation control unit 332, and the machine learning unit 333 according to the first and second embodiments will be described. These functional blocks are implemented in the computer 500. The operation of each of these components is stored in the auxiliary storage device 503 in the form of a program. The CPU 501 reads the program from the auxiliary storage device 503, expands it in the main storage device 502, and executes the above-described processing according to the program. Further, the CPU 501 reserves a storage area corresponding to the above-described storage unit in the main storage device 502 according to the program.

Specifically, the program is, in the computer 500, a tableware imaging step of imaging tableware, a tableware position/shape determination step of determining the position and shape of the tableware from the imaged image data of the tableware, a tableware position and Based on the shape determination result, a tableware holding step of lifting and holding the tableware, a pre-washing step of moving the tableware while holding it and prewashing the tableware, and a dishwasher for washing the tableware A rack imaging step of imaging a rack, a rack position determination step of determining a rack position from imaged rack image data, and a tableware placing step of placing dishes on the rack based on the determination result of the rack position Is a control program that is realized by a computer.

The auxiliary storage device 503 is an example of a non-transitory tangible medium. Other examples of non-transitory tangible media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, etc., connected through the interface 504. Further, when this program is distributed to the computer 500 via the network, the computer 500 to which the program is distributed may load the program into the main storage device 502 and execute the above processing.

Also, the program may be for realizing some of the functions described above. Furthermore, the program may be a so-called difference file (difference program) that realizes the above-described function in combination with another program already stored in the auxiliary storage device 503.

Although the embodiments according to the disclosure have been described above, they can be implemented in various other forms, and can be implemented by making various omissions, substitutions, and changes. These embodiments and modifications, and omissions, substitutions and changes are included in the technical scope of the claims and their equivalents.

1 dishwashing support device, 100 robot arm, 110 fixed part, 120 placement movable part, 130 upper arm part, 140 joint part, 150 forearm part, 160 wrist part, 170 support part, 180 compressor (suction device), 190 adsorption part , 200 camera (detection unit), 300 control terminal, 310 communication unit, 320 storage unit, 330 control unit, 331 determination unit, 332 operation control unit, 333 machine learning unit, NW network

Claims (15)

A dishwashing assistance device for assisting dishwashing with a dishwasher,
A robot arm that lifts and holds the tableware, moves the tableware, performs preliminary cleaning on the tableware, and places the tableware on a rack for cleaning with the dishwasher,
A detection unit that detects the tableware and the rack,
From the detection result detected, to determine the position and shape of the tableware, a determination unit for determining the position of the rack,
A dishwashing assistance device comprising: a motion control unit that controls a motion of the robot arm based on a determination result of the determination unit. The dishwashing support device according to claim 1, wherein the detection unit is configured by one or a plurality of cameras. The dishwashing assistance device according to claim 1 or 2, wherein the detection unit is arranged in the vicinity of the tip of the robot arm. The tableware washing support device according to any one of claims 1 to 3, wherein a suction section that holds the tableware by suction is provided at a tip portion of the robot arm. A suction device for sucking air is provided on the arm side of the suction portion of the robot arm,
The tableware washing support device according to claim 4, wherein the suction unit sucks the tableware by a suction force of the suction device. The dishwashing support apparatus according to claim 5, wherein the operation control unit operates the suction device when adsorbing the tableware and stops the operation of the suction device when the tableware is placed on the rack. .. From the detection result, the determination unit determines a suction-possible position at which the tableware can be sucked,
The dishwashing assistance apparatus according to any one of claims 4 to 6, wherein the operation control unit moves the suction unit of the robot arm to the suction possible position to suck the dishes. The determination unit determines the adsorbable position based on the model information that is generated by machine learning based on the shape of the tableware from the detection result and determines the adsorbable position based on the shape of the tableware. The dishwashing assistance device according to claim 7. The dishwasher according to any one of claims 1 to 8, wherein the operation control unit lowers the dishes to a sink in which a washing liquid is stored, and immerses the dishes in the washing liquid to perform the preliminary washing. Support device. The determination unit determines the placement position of the tableware on the rack from the detection result,
10. The operation control unit moves the suction unit of the robot arm in a state of sucking the tableware to the placement position to place the dish on the rack. The dishwashing support device according to item 1. From the detection result, the determination unit determines a central position which is substantially the center in the horizontal direction of the rack,
The dishwashing assistance apparatus according to any one of claims 1 to 10, wherein the operation control unit moves the tip end portion of the robot arm to the central position, lifts and holds the rack, and moves. .. The robot arm moves the rack toward the entrance of the dishwasher,
When the determination result determines that a predetermined amount of the tableware is placed on the rack, the operation control unit moves the distal end portion of the robot arm to a position in contact with the side surface of the rack and moves the rack. The dishwashing assistance apparatus according to any one of claims 1 to 11, wherein the dishwashing assistance device is moved toward an entrance of the dishwasher. The dishwashing support apparatus according to claim 12, wherein the determination unit determines the amount of the dishes placed on the rack from the detection result. The tableware according to any one of claims 1 to 13, further comprising a rack transfer unit that moves the rack toward an entrance of the dishwasher when a predetermined amount of the tableware is placed on the rack. Cleaning support device. A dishwashing assistance device equipped with a robot arm, which is a control program for assisting dishwashing with a dishwasher,
A tableware detecting step of detecting the tableware,
From the detection result detected, a tableware position shape determination step of determining the position and shape of the tableware,
Based on the determination result of the position and shape of the tableware, a tableware holding step of lifting and holding the tableware,
A pre-cleaning step of moving the tableware while holding it and pre-cleaning the tableware.
A rack detection step of detecting a rack for washing the tableware with the dishwasher,
A rack position determining step of determining the position of the rack from the detected detection result;
And a tableware placing step of placing the tableware on the rack based on the determination result of the position of the rack.

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