CN111570315A - Tableware processing device, control method of processing device and control device - Google Patents

Tableware processing device, control method of processing device and control device Download PDF

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Publication number
CN111570315A
CN111570315A CN202010450654.XA CN202010450654A CN111570315A CN 111570315 A CN111570315 A CN 111570315A CN 202010450654 A CN202010450654 A CN 202010450654A CN 111570315 A CN111570315 A CN 111570315A
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CN
China
Prior art keywords
tableware
detection
equipment
cleanliness
image
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN202010450654.XA
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Chinese (zh)
Inventor
李鹏健
叶鹏
刘先勇
赖长敏
彭志伟
田卓建
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Zhiyuan Robot Technology Co Ltd
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Guangdong Zhiyuan Robot Technology Co Ltd
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.)
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Publication date
Application filed by Guangdong Zhiyuan Robot Technology Co Ltd filed Critical Guangdong Zhiyuan Robot Technology Co Ltd
Priority to CN202010450654.XA priority Critical patent/CN111570315A/en
Publication of CN111570315A publication Critical patent/CN111570315A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • 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
    • A47L15/0018—Controlling processes, i.e. processes to control the operation of the machine characterised by the purpose or target of the control
    • 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
    • A47L15/241—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors the dishes moving in a horizontal plane
    • A47L15/245—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors the dishes moving in a horizontal plane the dishes being placed directly on the conveyors, i.e. not in dish racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Washing And Drying Of Tableware (AREA)

Abstract

The application provides a tableware processing device, a control method of the processing device and a control device, wherein the processing device comprises: the visual detection equipment is used for detecting the cleanliness of the tableware entering the detection cavity so as to determine whether the cleanliness of the tableware is qualified or not; the storage equipment is positioned on one side of the visual detection equipment and is used for storing the tableware with qualified cleanliness; sorting equipment, with visual inspection equipment communication connection, sorting equipment is arranged in putting into storage device with the qualified tableware of cleanliness, and transfer apparatus, visual inspection equipment's part are located transfer apparatus's top, and transfer apparatus is used for conveying the tableware. This scheme has realized the automated inspection of tableware cleanliness and the automatic sorting of tableware, for the incomplete stain detection in tableware surface among the prior art mainly relies on artifical visual judgement, will the sanitization and have the scheme that the tableware of spot carries out the letter sorting through the manual work, this scheme has improved the detection speed of the cleanliness of tableware and the letter sorting speed of tableware.

Description

Tableware processing device, control method of processing device and control device
Technical Field
The present invention relates to the field of food safety, and more particularly, to a tableware treating apparatus, a tableware treating method, a tableware treating system, and a tableware treating apparatus control method.
Background
The food safety is related to the health and life safety of everyone, not only the safety of the food is of great significance to the food safety, but also the material and cleanliness of the tableware for holding the food are of great significance to the food safety.
Generally, after eating, the tableware is subjected to deslagging, soaking, cleaning and drying, and finally, is stored and sterilized. Therefore, before storage or use, the cleanliness of the tableware needs to be strictly checked, including the check of sensory and physicochemical indexes. The method not only requires that the surface of the tableware is smooth, free of oil, water stain and solid attachment, but also needs to be determined by microbial culture.
At present, tableware decontamination enterprises mainly rely on manual visual judgment for detecting the residual stains on the surfaces of tableware, and then manually sort the clean tableware with stains. According to the method, the cleanliness of the tableware is manually detected and the tableware is sorted, so that the labor intensity of workers is high, the operation efficiency is low, the detection standards of the workers are not uniform, stains are difficult to define, the false detection and missing detection rate is high, and serious food safety hazards exist.
Disclosure of Invention
The present application provides a processing apparatus for tableware, a control method for the processing apparatus, a control apparatus and a processing system for tableware, so as to solve the problem of low sorting and detecting efficiency of the processing apparatus for tableware in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a treating apparatus for tableware, comprising: the visual detection equipment is provided with a detection cavity and is used for detecting the cleanliness of the tableware entering the detection cavity so as to determine whether the cleanliness of the tableware is qualified or not; the storage equipment is positioned at one side of the visual detection equipment and is used for storing the tableware with qualified cleanliness; the sorting equipment is in communication connection with the visual detection equipment and is used for placing the tableware with qualified cleanliness into the storage equipment; a conveyor device, a portion of the visual inspection device being located above the conveyor device, the conveyor device being for conveying the dishware.
Further, the processing device further comprises: the cleaning equipment is positioned on one side, far away from the containing equipment, of the visual detection equipment, the conveying equipment is connected between an outlet of the cleaning equipment and an inlet of the cleaning equipment, and the cleaning equipment is used for at least cleaning the tableware.
Further, the conveying apparatus includes a conveyor belt.
Further, the processing device further comprises: the conveying equipment is positioned on the processing platform, and the sorting equipment is installed on the processing platform.
Further, the visual inspection apparatus includes: the detection cover body is covered above the conveying equipment, the detection cover body and the conveying equipment form the detection cavity, the detection cover body is made of opaque materials, and the detection cover body comprises a top and a side part connected with the top; a light source device located on an inner surface of the top portion; an image capture device located on an inner surface of the top portion; and the image processing device is in communication connection with the image acquisition equipment and is used for processing the images of the tableware acquired by the image acquisition equipment so as to obtain a detection result representing whether the cleanliness of the tableware is qualified or not.
Further, the light source device comprises a plurality of light sources arranged at equal intervals, connecting lines of projections of centers of the plurality of light sources on the inner surface of the top portion form a circle, the projection of the center of the image acquisition device on the inner surface of the top portion is located in the circle, and the side portion and the transmission device form a detection inlet and a detection outlet of the detection cavity.
Further, the visual inspection apparatus further includes: the display equipment is positioned at one side of the processing platform and is respectively in communication connection with the image acquisition equipment and the image processing device, and the display equipment is used for displaying the image acquired by the image acquisition equipment, the image processed by the image processing device and the detection result; the data storage device is in communication connection with the image processing device and is used for storing the detection result of the tableware; the controller is positioned on one side, far away from the detection cover body, of the processing platform and is in communication connection with the image processing device, the controller is used for generating a control signal according to the detection result and sending the control signal to the sorting equipment, and the control signal is used for controlling the sorting equipment to place the tableware with qualified cleanliness into the storage equipment.
Further, the processing device further comprises: a first position detection device located on the transfer device within the detection cavity, the first position detection device for detecting whether the cutlery is located within the detection cavity; and the second position detection equipment is positioned on the conveying equipment at one side of the detection outlet, which is far away from the detection inlet, and is used for detecting whether the tableware reaches a preset position.
Further, the containing equipment comprises a plurality of stations which are arranged in sequence at intervals in the height direction and used for placing the tableware.
According to yet another aspect of the present application, there is provided a control method of a treating apparatus of the tableware, the control method including: determining whether the tableware enters the detection cavity; under the condition that the tableware is determined to enter the detection cavity, controlling the visual detection equipment to detect the cleanliness of the tableware; determining whether the utensil leaves the detection cavity to a predetermined position; and controlling the sorting equipment to place the tableware with qualified cleanliness in the receiving equipment under the condition that the tableware reaches the preset position.
Further, the receiving device comprises a plurality of stations which are arranged at intervals in the height direction and used for placing the tableware, the distance between two adjacent stations is a preset distance, and after the sorting device is controlled to place the tableware with qualified cleanliness in the receiving device, the control method further comprises the following steps: and controlling each station in the receiving equipment to descend by the preset distance.
Further, the processing apparatus further comprises a cleaning device located on a side of the visual detection device away from the receiving device, and before detecting whether the tableware enters the detection cavity, the control method further comprises: detecting whether the tableware enters the cleaning equipment; controlling the washing apparatus to at least wash the dishes in case the dishes enter the washing apparatus.
Further, the control method further includes: in case it is determined that the dishes reach the predetermined position, controlling the dishes with the unacceptable cleanliness to reach the entrance of the washing apparatus from the predetermined position.
Further, the control method further includes: controlling the movement of the transfer device such that the dishes leaving the washing device arrive at the detection chamber, such that the dishes leaving the detection chamber arrive at the predetermined position, and such that the dishes with unacceptable cleanliness reach the entrance of the washing device from the predetermined position.
According to yet another aspect of the present application, there is provided a control device of a processing device of the tableware, the control device including: the first determining unit is used for determining whether the tableware enters the detection cavity or not; the first control unit is used for controlling the visual detection equipment to detect the cleanliness of the tableware under the condition that the tableware is determined to enter the detection cavity; a second determination unit for determining whether the tableware leaves the detection cavity to a predetermined position; and the second control unit is used for controlling the sorting equipment to place the tableware with qualified cleanliness in the storage equipment under the condition that the tableware reaches the preset position.
According to yet another aspect of the present application, there is provided a system for treating tableware, comprising: any one of the processing devices; and the control device is in communication connection with the processing device and is used for executing any one control method of the processing device of the tableware.
Use the technical scheme of this application, the cleanliness of visual detection equipment detection tableware, sorting equipment puts into storage facilities with the qualified tableware of cleanliness, the automated inspection of tableware cleanliness and the automatic sorting of tableware have been realized, transfer apparatus is used for conveying above-mentioned tableware, the tableware conveying will be washd in the detection area of visual detection equipment, visual detection equipment carries out the detection of cleanliness to the tableware that has washd again, the automatic conveying of tableware has been realized, wash, the detection and the letter sorting of cleanliness, the detection speed of the cleanliness of tableware and the letter sorting speed of tableware have been improved. For the incomplete stain detection in prior art on tableware surface mainly rely on artifical visual judgement to and will rinse clean through the manual work and have the scheme of the tableware of stain to sort, this scheme has improved the detection speed of the cleanliness of tableware and the letter sorting speed of tableware.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a schematic view of a device for handling cutlery according to an embodiment of the application;
FIG. 2 shows a top view of a treatment device for the dishware of FIG. 1 in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a portion of a tableware treating apparatus according to an embodiment of the present application;
FIG. 4 is a schematic view of a portion of a device for treating dishes according to an embodiment of the present application;
FIG. 5 shows a flow chart of a method of detecting the cleanliness of dishes according to an embodiment of the present application;
FIG. 6 is a flowchart of a method for controlling a treating device for dishes according to an embodiment of the present application; and
fig. 7 shows a schematic view of a control device of a treatment device for cutlery according to an exemplary embodiment of the present disclosure.
Wherein the figures include the following reference numerals:
10. a visual inspection device; 11. detecting the cover body; 12. a light source device; 13. an image acquisition device; 14. an image processing device; 15. a detection cavity; 110. a top portion; 111. a side portion; 16. detecting an entrance; 17. a detection outlet; 18. a display device; 112. a controller; 20. a storage device; 30. sorting equipment; 40. cleaning equipment; 50. a transfer device; 51. a conveyor belt; 60. a processing platform; 70. a first position detection device; 80. a second position detection device.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background of the invention, in order to solve the problem of low sorting and detecting efficiency of the tableware processing device in the prior art, embodiments of the present application provide a tableware processing device, a control method of the tableware processing device, a control device and a tableware processing system.
According to an exemplary embodiment of the present application, a device for handling cutlery is provided.
Fig. 1 is a schematic view of a treating apparatus for tableware according to an embodiment of the present application, and fig. 4 is a schematic view of a part of the treating apparatus for tableware according to an embodiment of the present application, as shown in fig. 1 and 4, the treating apparatus comprising:
a visual inspection device 10 having a detection chamber for detecting the cleanliness of the tableware entering the detection chamber 15 to determine whether the cleanliness of the tableware is qualified;
a storage facility 20 located at one side of the visual inspection facility 10, the storage facility 20 being configured to store the tableware with the qualified cleanliness;
a sorting device 30 communicatively connected to the visual inspection device 10, the sorting device 30 being configured to place the tableware with the qualified cleanliness into the storage device 20;
a conveying device 50, a part of the visual inspection device 10 being located above the conveying device 50, the conveying device 50 being for conveying the dishes.
In the above scheme, the visual detection equipment detects the cleanliness of the tableware, the sorting equipment puts the tableware with qualified cleanliness into the storage equipment, the automatic detection of the cleanliness of the tableware and the automatic sorting of the tableware are realized, the conveying equipment 50 is used for conveying the tableware, the cleaned tableware is conveyed to the detection area of the visual detection equipment 10, the visual detection equipment 10 detects the cleanliness of the cleaned tableware again, the automatic conveying, cleaning and sorting of the tableware are realized, and the detection speed of the cleanliness of the tableware and the sorting speed of the tableware are improved. For the incomplete stain detection in prior art on tableware surface mainly rely on artifical visual judgement to and will rinse clean through the manual work and have the scheme of the tableware of stain to sort, this scheme has improved the detection speed of the cleanliness of tableware and the letter sorting speed of tableware.
It should be noted that the tableware includes, but is not limited to, bowls, cups, plates, spoons, and tea dishes.
In another embodiment of the present application, as shown in fig. 1 and 4, the processing apparatus further includes a washing device 40, the washing device 40 is located on a side of the visual inspection device 10 away from the receiving device 20, the conveying device 50 is connected between an outlet of the washing device 40 and an inlet of the washing device 40, the washing device 40 is used for washing at least the dishes, and the washing device 40 is used for washing away oil stains, water stains and solid attachments on the surfaces of the dishes, so as to clean the dishes and automatically clean the dishes, speed up the cleaning of the dishes, and further improve the speed of detecting the cleanliness of the dishes and the speed of sorting the dishes.
In another embodiment of the present application, as shown in fig. 1, 2 and 4, the above-mentioned conveying device 50 includes a conveyor belt 51, the dishes to be cleaned enter the cleaning device 40 from the entrance of the cleaning device 40, after being cleaned by the cleaning device 40, the dishes after being cleaned are conveyed out of the cleaning device 40 by being driven by the conveyor belt 51, and then conveyed to the detection area of the visual detection device 10 for detecting the cleanliness of the dishes, the dishes with qualified cleanliness detected are placed in the above-mentioned storage device 20 by the sorting device 30, and the dishes with unqualified cleanliness detected enter the cleaning device 40 again for cleaning, so that the automatic conveying, cleaning, cleanliness detection and sorting of the dishes are realized, and the detection speed of the cleanliness of the dishes and the sorting speed of the dishes are increased.
In another embodiment of the present application, as shown in fig. 1 and 4, the processing apparatus further includes a processing platform 60, the conveying device 50 is located on the processing platform 60, the sorting device 30 is mounted on the processing platform 60, the conveying device 50 conveys the washed dishes of the washing device 40 to the detection area of the visual inspection device 10, the visual inspection device 10 further performs the cleanliness detection on the washed dishes, and the sorting device 30 sorts the dishes qualified for cleanliness detection into the storage device 20, so that the automatic conveying, washing, cleanliness detection and sorting of the dishes are realized, and the cleanliness detection speed of the dishes and the sorting speed of the dishes are increased.
In still another embodiment of the present application, as shown in fig. 1, 2 and 4, the visual inspection apparatus 10 includes an inspection enclosure 11, a light source apparatus 12, an image capturing apparatus 13 and an image processing apparatus 14, the inspection enclosure 11 is covered above the conveying apparatus 50, the inspection enclosure 11 and the conveying apparatus 50 form the inspection chamber 15, the inspection enclosure 11 is made of opaque material, and the inspection enclosure 11 includes a top portion 110 and a side portion 111 connected to the top portion 110; the light source device 12 is located on the inner surface of the top portion 110; the image acquisition device 13 is located on the inner surface of the top portion 110; the image processing device 14 is in communication connection with the image acquisition device 13, the image processing device 14 is used for processing the image of the tableware collected by the image acquisition device 13 to obtain a detection result indicating whether the cleanness of the tableware is qualified or not, the detection cover 11 is made of an opaque material so that light in the external environment cannot irradiate the inside of the cover, and the collection of the image by the image acquisition device 13 is not affected, and further the accuracy of the detection result of the visual detection device 10 is ensured, the light source device 12 provides auxiliary illumination for the image acquisition device 13 so that the image acquisition device 13 can smoothly acquire the image, the image processing device 14 processes the image collected by the image acquisition device 13, specifically comprises the graying processing, binarization processing, image recognition processing, image segmentation processing and the like of the image, and the cleanness of the tableware is obtained based on the processing result of the image by the image processing device 14, the cleanness of the tableware can be accurately detected.
It should be noted that, in the above solution, the image acquisition device acquires an image including tableware, and the image acquisition device includes but is not limited to a CCD industrial camera and a CMOS industrial camera, and those skilled in the art can select a suitable image acquisition device according to actual situations.
In another embodiment of the present application, as shown in fig. 1, 2 and 4, the light source device 12 includes a plurality of light sources disposed at equal intervals, and a connection line of projections of centers of the plurality of light sources on the inner surface of the top portion 110 forms a circle, a projection of a center of the image capturing device 13 on the inner surface of the top portion 110 is located in the circle, the side portion 111 and the conveying device 50 form the detection inlet 16 and the detection outlet 17 of the detection chamber 15, the light source device 12 and the image capturing device 13 are disposed on the top portion 110, so that the image capturing device 13 captures images, of course, a connection line of projections of centers of the plurality of light sources on the inner surface of the top portion 110 may also form a triangle, a positive direction, a pentagon, etc., and the plurality of light source devices 12 may be disposed at equal intervals or at unequal intervals, a projection of a center of the image capturing device 13 on the inner surface of the top portion 110 is located in the circle, so that the light source device 12 provides enough illumination light source for the image capturing device 13, which is convenient for the image capturing device 13 to capture images, and further ensures the accuracy of the detection result of the visual detection device 10.
It should be noted that the light source device may also be an annular light source, a triangular light source with a hollow middle portion, a square light source with a hollow middle portion, and the like.
In another embodiment of the present application, as shown in fig. 1, fig. 2 and fig. 4, the visual inspection apparatus 10 further includes a display device 18, a data storage device and a controller 112, the display device 18 is located at one side of the processing platform 60, the display device 18 is respectively connected to the image capturing device 13 and the image processing apparatus 14 in a communication manner, the display device 18 is configured to display the image captured by the image capturing device 13, the image processed by the image processing apparatus 14, and the inspection result, so that a relevant person can view the inspection result; a data storage device is connected with the image processing device 14 in a communication way, the data storage device is used for storing the detection result of the tableware, and the data storage device is positioned in a computer; the controller 112 is located on a side of the processing platform 60 away from the detecting cover 11, the controller 112 is in communication connection with the image processing device 14, the controller 112 is configured to generate a control signal according to the detection result and send the control signal to the sorting equipment 30, the control signal is configured to control the sorting equipment 30 to place the tableware with qualified cleanliness into the storage equipment 20, that is, the display of the image, the display of the detection result, the storage of the detection result, and the control of the sorting equipment 30 are achieved, and the accuracy of the detection result of the visual detection equipment 10 is ensured.
It should be noted that the display devices include, but are not limited to, LED display screens and LCD display screens, and those skilled in the art can select suitable display devices according to actual situations.
The image processing device can be any device capable of detecting the cleanliness of the tableware entering the detection cavity so as to determine whether the cleanliness of the tableware is qualified. In a specific embodiment of the present application, as shown in fig. 5, the image processing apparatus performs the steps of:
step S101, acquiring an image including tableware;
step S102, preprocessing the image to obtain a binary image;
step S103, acquiring an image area corresponding to the tableware in the preprocessed image;
and step S104, determining whether the cleanliness of the tableware is qualified or not at least according to the gray value of each pixel point in the image area.
In the above scheme, the image including the tableware is obtained, the binarization processing is performed on the obtained image, the image area corresponding to the tableware is obtained from the image obtained through the binarization processing, and the gray values of the pixel points in the image area corresponding to the existence of the stain on the tableware are different, so that the gray values of the pixel points in the image area corresponding to the existence of the solid attachment on the tableware are also different, and further, whether the stain, the solid attachment and the like exist on the tableware are determined according to the gray values of the pixel points in the image area corresponding to the tableware, namely, whether the cleanliness of the tableware is qualified is determined.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In an embodiment of the present application, determining whether the cleanliness of the tableware is qualified at least according to the gray-level values of the pixel points in the image region includes: detecting whether the gray value of each pixel point in the image area is larger than a preset gray value or not; and when the gray value of each pixel point in the image area is greater than the preset gray value, determining that the cleanness of the tableware is qualified, namely when the tableware is cleaner, each position point in the image area is brighter, namely the gray value of each pixel point in the image area is greater, and when the gray value of each pixel point is greater than the preset gray value, specifically, if the range of the gray values is 0-1, namely, when the gray value of each pixel point is greater than 0.8, determining that the cleanness of the tableware is qualified.
It should be noted that, if the range of the gray-level value is 0 to 1, the size of the predetermined gray-level value includes, but is not limited to, 0.8, and those skilled in the art can select an appropriate predetermined gray-level value according to actual situations.
In another embodiment of the present application, determining whether the cleanliness of the tableware is qualified at least according to the gray-level values of the pixel points in the image region, further includes: detecting the area of a continuous region under the condition that the gray value of at least one pixel point in the image region is smaller than the preset gray value, wherein the continuous region is a region in which the gray values of the pixel points in the image region are all smaller than the preset gray value; determining whether the area of the continuous region is less than an area threshold; determining that the cleanliness of the tableware is qualified when the area of the continuous area is determined to be smaller than the area threshold; and under the condition that the area of the continuous area is determined to be larger than or equal to the area threshold, determining that the cleanliness of the tableware is unqualified, namely under the condition that gray values of pixel points detected in a certain continuous area are all smaller than the preset gray value, the area of the continuous area also needs to be judged, under the condition that the area of the continuous area is smaller, the cleanliness of the tableware can not be judged to be unqualified due to the nature of the tableware, under the condition that the area of the continuous area is larger, determining that the cleanliness of the tableware is unqualified, and carrying out secondary cleaning on the tableware with unqualified cleanliness, so that the accurate determination of whether the cleanliness of the tableware is qualified or not is realized, and the cleanliness of the tableware is ensured.
It should be noted that the predetermined gray value and the area threshold are obtained by training a large amount of detection data, specifically, by using algorithms such as a machine learning algorithm and a deep learning algorithm, and the specific training process includes: acquiring an image comprising tableware; preprocessing the acquired image, wherein the preprocessing comprises graying processing of the image and binarization processing of the image, segmenting the preprocessed image, classifying, identifying and area marking the segmented image, comparing the processed image with a standard cleanliness image, marking defect positions (unclean positions) based on an image identification algorithm and an expert decision algorithm, counting the number of defects (the number of areas with stains), and further formulating an evaluation standard of tableware cleanliness, namely determining a preset gray value and an area threshold value.
In another embodiment of the present application, in a case where it is determined that the area of the continuous region is greater than or equal to the area threshold, the detection method further includes: labeling the continuous region with the area larger than or equal to the area threshold value in the image region to obtain the labeled image region; and displaying the image and the marked image area, namely marking the detected continuous area under the condition that the gray values of the pixel points of the detected continuous area with a large area are smaller than the preset gray value, displaying the marked image area to be convenient for relevant personnel to check, and cleaning the tableware with unqualified cleanliness for the second time according to the displayed result, thereby further ensuring the cleanliness of the tableware.
In another embodiment of the present application, the preprocessing the image to obtain a binarized image includes: graying the image to obtain a grayscale image; the gray level image is subjected to image binarization processing to obtain the binary image, namely the color image needs to be converted into the gray level image under the condition that the obtained image containing the tableware is the color image, and then the binary image is subjected to binarization processing to obtain the binary image, so that the gray level value of each pixel point in the image area can be conveniently obtained subsequently, and the cleanness of the tableware is further ensured.
The preprocessing further includes denoising, correcting and the like of the image, specifically, denoising of the image is to remove noise in the image, the noise includes gaussian noise, poisson noise, salt and pepper noise and the like, an image denoising algorithm includes neighborhood average filtering, median filtering, low-pass filtering, high-pass filtering and the like, a shot image may be deformed due to camera shake, camera distortion or defects of a mechanical structure of the camera, and the deformed image is repaired through the correction of the image.
In another embodiment of the present application, the predetermined gray level is between 150 and 250, and the area threshold is between 0.1 and 1.5mm2In between, namely under the condition that the range of the gray value is 0-255, the predetermined gray value is 150-250, of course, the predetermined gray value can be a value other than 150-250, and the area threshold can be 0.1-1.5 mm2And the other values further ensure the accurate identification of the cleanliness of the tableware by setting the preset gray value and the area threshold value.
In another embodiment of the present application, as shown in fig. 1 to 4, said processing apparatus further comprises a first position detecting device 70 and a second position detecting device 80, said first position detecting device 70 is located on said conveying device 50 in said detection cavity 15, said first position detecting device 70 is used for detecting whether said dishes are located in said detection cavity 15; the second position detecting device 80 is located on the conveying device 50 at the side of the detecting outlet 17 far from the detecting inlet 16, the second position detecting device 80 is used for detecting whether the tableware reaches a predetermined position, when the first position detecting device 70 detects that the tableware is located in the detecting cavity 15, the image collecting device 13 is triggered to start collecting the image including the tableware, when the second position detecting device 80 detects that the tableware completely leaves the detecting cover 11, the image collecting device 13 is triggered to stop collecting the image, and the sorting device 30 is triggered to place the tableware with qualified cleanliness into the receiving device 20, so that the reasonable setting of the shooting time of the image collecting device 13 is realized, and compared with the continuous shooting, the correctness and pertinence of the shot image are ensured, and the storage space of the data storage device is saved, and the sorting apparatus 30 is guaranteed to sort the dishes accurately and timely.
It should be noted that the first position detection device and the second position detection device include, but are not limited to, a photoelectric sensor, and those skilled in the art can select a suitable first position detection device and a suitable second position detection device to meet the detection requirement.
In another embodiment of the present application, as shown in fig. 1 and 2, the receiving apparatus 20 includes a plurality of stations spaced apart in a height direction for receiving the dishes, so as to receive the dishes with a qualified cleanliness.
According to another exemplary embodiment of the present application, there is provided a control method of a treating apparatus for tableware, as shown in fig. 6, the control method including:
step S201, determining whether tableware enters a detection cavity or not;
step S202, controlling the visual detection equipment to detect the cleanliness of the tableware under the condition that the tableware is determined to enter the detection cavity;
step S203, determining whether the tableware leaves the detection cavity to reach a preset position;
and step S204, controlling the sorting equipment to place the tableware with qualified cleanliness in the storage equipment under the condition that the tableware reaches the preset position.
In the above scheme, under the condition that the tableware is confirmed to enter the detection cavity, the visual detection equipment is controlled to detect the cleanliness of the tableware, accurate and timely shooting of the image containing the tableware by the visual detection equipment is realized, under the condition that the tableware reaches the preset position, the sorting equipment is controlled to place the tableware with qualified cleanliness in the storage equipment, namely, after the image of the tableware is collected, the sorting equipment is controlled to place the tableware with qualified cleanliness in the storage equipment, accurate and timely sorting of the tableware is realized, and the speed and the efficiency for cleaning the tableware are improved.
It should be noted that the above-mentioned sorting equipment includes, but is not limited to, a robot, and those skilled in the art can select an appropriate sorting equipment according to actual situations.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In another embodiment of the present application, the storage apparatus includes a plurality of stations for placing the dishes at intervals in a height direction, a distance between two adjacent stations is a predetermined distance, and after the sorting apparatus is controlled to place the dishes with qualified cleanliness in the storage apparatus, the control method further includes: and controlling each station in the storage equipment to descend for the preset distance so as to store the tableware with qualified cleanliness.
It should be noted that the predetermined distance includes, but is not limited to, 10cm, 20cm and 30cm, and those skilled in the art can select the appropriate predetermined distance according to actual situations.
In another embodiment of the application, the processing apparatus further includes a cleaning device located on a side of the visual inspection device away from the storage device, and before detecting whether the dishes enter the inspection chamber, the control method further includes: detecting whether the tableware enters the cleaning equipment; and under the condition that the tableware enters the cleaning equipment, the cleaning equipment is controlled to at least clean the tableware, and the cleaning equipment is used for washing away oil stains, water stains and solid attachments on the surface of the tableware, so that the tableware is cleaned automatically, the cleaning speed of the tableware is increased, and the detection speed of the cleanliness of the tableware and the sorting speed of the tableware are further increased.
In another embodiment of the present application, the control method further includes: and under the condition that the tableware reaches the preset position, controlling the tableware with unqualified cleanliness to reach the inlet of the cleaning equipment from the preset position, and controlling the tableware with unqualified cleanliness to reenter the cleaning equipment for cleaning, thereby further ensuring the cleanliness of the tableware.
In another embodiment of the present application, the control method further includes: controlling the movement of the conveyor so that the dishes leaving the washing device reach the inspection chamber, so that the dishes leaving the inspection chamber reach the predetermined position, and so that the dishes having an unacceptable level of cleanliness reach the entrance of the washing device from the predetermined position, under the condition that the tableware enters the detection cavity, the visual detection equipment is controlled to detect the cleanliness of the tableware, so that the visual detection equipment can accurately and timely shoot images containing the tableware, controlling the sorting equipment to place the tableware with qualified cleanliness in the receiving equipment under the condition that the tableware reaches the preset position, the tableware sorting device has the advantages that tableware can be sorted accurately and timely, the detected tableware with unqualified cleanliness can be controlled to reenter the cleaning equipment for cleaning, and the cleanliness of the tableware is further guaranteed.
Fig. 7 is a schematic view of a control device of a treating device for dishes according to an embodiment of the present application. As shown in fig. 7, the control device includes:
a first determination unit 100 for determining whether the tableware enters the detection chamber;
a first control unit 200 for controlling the visual inspection device to inspect the cleanliness of the tableware under the condition that the tableware is determined to enter the inspection chamber;
a second determining unit 300 for determining whether the tableware is separated from the detection chamber to a predetermined position;
and a second control unit 400 for controlling the sorting apparatus to place the tableware of which cleanliness is qualified in the storage apparatus, in a case where it is determined that the tableware reaches the predetermined position.
In the above scheme, the first control unit controls the visual detection equipment to detect the cleanliness of the tableware under the condition that the first control unit determines that the tableware enters the detection cavity, so that the visual detection equipment can accurately and timely shoot images containing the tableware, the second control unit controls the sorting equipment to place the tableware with qualified cleanliness in the storage equipment under the condition that the tableware reaches the preset position, namely, the sorting equipment is controlled to place the tableware with qualified cleanliness in the storage equipment after the images of the tableware are collected, so that the tableware is accurately and timely sorted, and the speed and the efficiency for cleaning the tableware are improved.
In another embodiment of the present application, the storage device includes a plurality of stations sequentially spaced in a height direction and used for placing the dishes, a distance between two adjacent stations is a predetermined distance, and after the sorting device is controlled to place the dishes with qualified cleanliness in the storage device, the control device further includes a third control unit configured to control each station in the storage device to descend by the predetermined distance so as to store the dishes with qualified cleanliness.
It should be noted that the predetermined distance includes, but is not limited to, 10cm, 20cm and 30cm, and those skilled in the art can select the appropriate predetermined distance according to actual situations.
In another embodiment of the present application, the processing apparatus further includes a cleaning device located on a side of the visual detection device away from the storage device, before detecting whether the tableware enters the detection cavity, the control apparatus further includes a detection unit and a fourth control unit, the detection unit is configured to detect whether the tableware enters the cleaning device before detecting whether the tableware enters the detection cavity; the fourth control unit is used for controlling the cleaning equipment to at least clean the tableware under the condition that the tableware enters the cleaning equipment, and the cleaning equipment is used for washing away oil stains, water stains and solid attachments on the surface of the tableware, so that the tableware is cleaned automatically, the cleaning speed of the tableware is increased, and the detection speed of the cleanliness of the tableware and the sorting speed of the tableware are further increased.
In another embodiment of the present application, the control device further comprises a fifth control unit, wherein the fifth control unit is configured to, in case that it is determined that the tableware reaches the predetermined position, control the tableware with the unqualified cleanliness to reach the inlet of the washing apparatus from the predetermined position, and control the tableware with the unqualified cleanliness to reenter the washing apparatus for washing, thereby further ensuring the cleanliness of the tableware.
In yet another embodiment of the present application, the control device further includes a sixth control unit, the sixth control unit is configured to control the conveying device to move, so that the tableware leaving the washing device reaches the detection chamber, so that the tableware leaving the detection chamber reaches the predetermined position, and so that the tableware with the unqualified cleanness reaches the entrance of the washing device from the predetermined position, control the visual detection device to detect the cleanness of the tableware in case that the tableware enters the detection chamber, thereby realizing accurate and timely photographing of an image including the tableware by the visual detection device, and control the sorting device to place the tableware with the qualified cleanness in the storage device in case that the tableware reaches the predetermined position, thereby realizing accurate and timely sorting of the tableware, and the tableware with unqualified cleanliness detected is controlled to reenter the cleaning equipment for cleaning, so that the cleanliness of the tableware is further ensured.
The control device of the tableware processing device comprises a processor and a memory, wherein the first determining unit, the first control unit, the second determining unit, the second control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the sorting efficiency and the detection efficiency of the tableware processing device are improved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, the program implementing the control method of the tableware processing apparatus when being executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the control method of the tableware processing device when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring an image including tableware;
step S102, preprocessing the image to obtain a binary image;
step S103, acquiring an image area corresponding to the tableware in the preprocessed image;
and step S104, determining whether the cleanliness of the tableware is qualified or not at least according to the gray value of each pixel point in the image area.
Alternatively, the first and second electrodes may be,
step S201, determining whether tableware enters a detection cavity or not;
step S202, controlling the visual detection equipment to detect the cleanliness of the tableware under the condition that the tableware is determined to enter the detection cavity;
step S203, determining whether the tableware leaves the detection cavity to reach a preset position;
and step S204, controlling the sorting equipment to place the tableware with qualified cleanliness in the storage equipment under the condition that the tableware reaches the preset position.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring an image including tableware;
step S102, preprocessing the image to obtain a binary image;
step S103, acquiring an image area corresponding to the tableware in the preprocessed image;
and step S104, determining whether the cleanliness of the tableware is qualified or not at least according to the gray value of each pixel point in the image area.
Alternatively, the first and second electrodes may be,
step S201, determining whether tableware enters a detection cavity or not;
step S202, controlling the visual detection equipment to detect the cleanliness of the tableware under the condition that the tableware is determined to enter the detection cavity;
step S203, determining whether the tableware leaves the detection cavity to reach a preset position;
and step S204, controlling the sorting equipment to place the tableware with qualified cleanliness in the storage equipment under the condition that the tableware reaches the preset position.
Another exemplary embodiment of the present application provides a system for treating tableware, comprising: any one of the above processing devices; the control device is in communication connection with the processing device and used for executing a control method of any one of the processing devices for tableware, the processing system for tableware detects the cleanliness of the tableware through the visual detection equipment, the sorting equipment places the tableware with qualified cleanliness into the storage equipment, automatic detection of the cleanliness of the tableware and automatic sorting of the tableware are realized, and compared with the scheme that detection of residual stains on the surface of the tableware in the prior art mainly depends on manual visual judgment and sorting of the cleaned and stained tableware is carried out through manual operation, the scheme improves the detection speed of the cleanliness of the tableware and the sorting speed of the tableware.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the utility model provides a processing apparatus of tableware, the cleanliness of visual detection equipment detection tableware, sorting equipment puts into storage facilities with the qualified tableware of cleanliness, the automated inspection of tableware cleanliness and the automatic sorting of tableware have been realized, transfer apparatus is used for conveying above-mentioned tableware, convey the detection area of visual detection equipment to the tableware after wasing, visual detection equipment carries out the detection of cleanliness to the tableware that has washd again, the automatic conveying of tableware has been realized, it is washd, the detection and the letter sorting of cleanliness, the detection speed of the cleanliness of tableware and the letter sorting speed of tableware have been improved. For the incomplete stain detection in prior art on tableware surface mainly rely on artifical visual judgement to and will rinse clean through the manual work and have the scheme of the tableware of stain to sort, this scheme has improved the detection speed of the cleanliness of tableware and the letter sorting speed of tableware.
2) The control method of the tableware processing device controls the visual detection equipment to detect the cleanliness of the tableware under the condition that the tableware is confirmed to enter the detection cavity, so that the visual detection equipment can accurately and timely shoot images containing the tableware, and controls the sorting equipment to place the tableware with qualified cleanliness in the storage equipment under the condition that the tableware reaches a preset position, namely the sorting equipment is controlled to place the tableware with qualified cleanliness in the storage equipment after the images of the tableware are collected, so that the tableware is accurately and timely sorted, and the speed and the efficiency for cleaning the tableware are improved.
3) The utility model provides a processing apparatus's of tableware controlling means, first the control unit is confirming under the condition that the tableware got into the detection cavity, control visual detection equipment detects the cleanliness of tableware, the accurate and timely shooting of visual detection equipment to the image that contains the tableware has been realized, second the control unit is confirming under the condition that the tableware reaches preset position, control letter sorting equipment places the qualified tableware of cleanliness in storage equipment after gathering the end to the image of tableware promptly, realized sorting the accuracy and in time of tableware, the clear speed and the efficiency of tableware have been improved.
4) The utility model provides a processing system of tableware, the cleanliness of visual detection equipment detection tableware, sorting equipment puts into storage facilities with the qualified tableware of cleanliness, realized the automated inspection of tableware cleanliness and the automatic sorting of tableware, detect mainly rely on the artifical judgement of visualing to the incomplete stain in tableware surface for among the prior art to and carry out the scheme of letter sorting with the tableware of sanitization and having the spot through the manual work, this scheme has improved the detection speed of the cleanliness of tableware and the letter sorting speed of tableware.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (16)

1. A device for handling tableware, comprising:
the visual detection equipment is provided with a detection cavity and is used for detecting the cleanliness of the tableware entering the detection cavity so as to determine whether the cleanliness of the tableware is qualified or not;
the storage equipment is positioned at one side of the visual detection equipment and is used for storing the tableware with qualified cleanliness;
the sorting equipment is in communication connection with the visual detection equipment and is used for placing the tableware with qualified cleanliness into the storage equipment;
a conveyor device, a portion of the visual inspection device being located above the conveyor device, the conveyor device being for conveying the dishware.
2. The processing apparatus according to claim 1, characterized in that the processing apparatus further comprises:
the cleaning equipment is positioned on one side, far away from the containing equipment, of the visual detection equipment, the conveying equipment is connected between an outlet of the cleaning equipment and an inlet of the cleaning equipment, and the cleaning equipment is used for at least cleaning the tableware.
3. The processing apparatus according to claim 1, wherein the conveying device comprises a conveyor belt.
4. The processing apparatus according to claim 1, characterized in that the processing apparatus further comprises:
the conveying equipment is positioned on the processing platform, and the sorting equipment is installed on the processing platform.
5. The processing apparatus according to claim 4, wherein the visual inspection device comprises:
the detection cover body is covered above the conveying equipment, the detection cover body and the conveying equipment form the detection cavity, the detection cover body is made of opaque materials, and the detection cover body comprises a top and a side part connected with the top;
a light source device located on an inner surface of the top portion;
an image capture device located on an inner surface of the top portion;
and the image processing device is in communication connection with the image acquisition equipment and is used for processing the images of the tableware acquired by the image acquisition equipment so as to obtain a detection result representing whether the cleanliness of the tableware is qualified or not.
6. The processing apparatus according to claim 5, wherein the light source device comprises a plurality of light sources arranged at equal intervals, and a connecting line of projections of centers of the plurality of light sources on the inner surface of the top portion forms a circle, a projection of the center of the image capturing device on the inner surface of the top portion is located in the circle, and the side portion and the conveying device form a detection inlet and a detection outlet of the detection cavity.
7. The processing apparatus according to claim 5, wherein the visual inspection device further comprises:
the display equipment is positioned at one side of the processing platform and is respectively in communication connection with the image acquisition equipment and the image processing device, and the display equipment is used for displaying the image acquired by the image acquisition equipment, the image processed by the image processing device and the detection result;
the data storage device is in communication connection with the image processing device and is used for storing the detection result of the tableware;
the controller is positioned on one side, far away from the detection cover body, of the processing platform and is in communication connection with the image processing device, the controller is used for generating a control signal according to the detection result and sending the control signal to the sorting equipment, and the control signal is used for controlling the sorting equipment to place the tableware with qualified cleanliness into the storage equipment.
8. The processing apparatus according to claim 6, characterized in that the processing apparatus further comprises:
a first position detection device located on the transfer device within the detection cavity, the first position detection device for detecting whether the cutlery is located within the detection cavity;
and the second position detection equipment is positioned on the conveying equipment at one side of the detection outlet, which is far away from the detection inlet, and is used for detecting whether the tableware reaches a preset position.
9. The processing apparatus according to any one of claims 1 to 8, wherein the receiving device comprises a plurality of stations for placing the dishes, the stations being arranged at intervals in the height direction.
10. A method of controlling a device for handling cutlery as claimed in any of claims 1 to 9, characterized in that the method comprises:
determining whether the tableware enters the detection cavity;
under the condition that the tableware is determined to enter the detection cavity, controlling the visual detection equipment to detect the cleanliness of the tableware;
determining whether the utensil leaves the detection cavity to a predetermined position;
and controlling the sorting equipment to place the tableware with qualified cleanliness in the receiving equipment under the condition that the tableware reaches the preset position.
11. The control method according to claim 10, wherein the receiving apparatus includes a plurality of stations for placing the dishes at intervals in a height direction, a distance between two adjacent stations is a predetermined distance, and after the sorting apparatus is controlled to place the dishes with qualified cleanliness in the receiving apparatus, the control method further includes:
and controlling each station in the receiving equipment to descend by the preset distance.
12. The control method of claim 10, wherein the processing device further comprises a washing device located on a side of the visual detection device remote from the receiving device, and before detecting whether the dishes enter the detection chamber, the control method further comprises:
detecting whether the tableware enters the cleaning equipment;
controlling the washing apparatus to at least wash the dishes in case the dishes enter the washing apparatus.
13. The control method according to claim 12, characterized by further comprising:
in case it is determined that the dishes reach the predetermined position, controlling the dishes with the unacceptable cleanliness to reach the entrance of the washing apparatus from the predetermined position.
14. The control method according to claim 12, characterized by further comprising:
controlling the movement of the transfer device such that the dishes leaving the washing device arrive at the detection chamber, such that the dishes leaving the detection chamber arrive at the predetermined position, and such that the dishes with unacceptable cleanliness reach the entrance of the washing device from the predetermined position.
15. A control device for a disposal device for cutlery as claimed in any one of claims 1 to 9, wherein said control device comprises:
the first determining unit is used for determining whether the tableware enters the detection cavity or not;
the first control unit is used for controlling the visual detection equipment to detect the cleanliness of the tableware under the condition that the tableware is determined to enter the detection cavity;
a second determination unit for determining whether the tableware leaves the detection cavity to a predetermined position;
and the second control unit is used for controlling the sorting equipment to place the tableware with qualified cleanliness in the storage equipment under the condition that the tableware reaches the preset position.
16. A system for treating tableware, comprising:
the processing device of any one of claims 1 to 9;
control means, communicatively connected to the processing means, for performing a method of controlling the processing means of the cutlery according to any of claims 10 to 14.
CN202010450654.XA 2020-05-25 2020-05-25 Tableware processing device, control method of processing device and control device Pending CN111570315A (en)

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CN114146957A (en) * 2021-12-03 2022-03-08 佛山新迈智能科技有限公司 Eight tableware conveying and sorting device
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WO2022093556A1 (en) * 2020-10-28 2022-05-05 Illinois Tool Works Inc. Conveyor warewasher and method for operating a conveyor warewasher
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Application publication date: 20200825