JP2017113419A - Clothing treatment apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a clothing treatment apparatus capable of reducing workload for washing.SOLUTION: A clothing treatment apparatus 1 comprises a plurality of storage parts 110 capable of storing clothing, and a feed part capable of individually actuating the storage parts 110, such that the clothing stored in the storage parts 110 is fed into a washing machine 400.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a clothing processing apparatus capable of putting clothing into a washing machine.

  Washing machines are used to wash clothes. Patent Document 1 discloses an example of a conventional washing machine.

JP 2006-255195 A

  As a method for washing clothes, there is a case in which clothes to be washed together are classified according to classification conditions, and a method of washing for each classified clothes is used. The classification condition is, for example, the type of clothes and the degree of dirt. According to this washing method, the user is required to perform an operation of putting clothes sorted according to the sorting conditions into the washing machine each time washing is performed. This places a heavy burden on the user.

  One form of the clothing processing apparatus according to the present invention is configured to individually operate a plurality of storage units capable of storing clothes and the plurality of storage units so that the clothes stored in the storage unit are put into a washing machine. And an input section capable of

  The clothing processing apparatus contributes to reducing the burden of work related to washing.

The perspective view of the clothing processing apparatus of embodiment. The perspective view which shows the internal structure of the clothing processing apparatus of FIG. The block diagram of the clothing processing apparatus of FIG. The flowchart of the input control performed by the clothing processing apparatus. The flowchart of the taking-out control performed by the clothing processing apparatus. The front view which shows the state before operation | movement of a clothing processing apparatus. The operation | movement figure which shows 1st operation | movement of a clothing processing apparatus. The operation | movement figure which shows 2nd operation | movement of a clothing processing apparatus. The operation | movement figure which shows the 3rd operation | movement of a clothing processing apparatus. The operation | movement figure which shows 4th operation | movement of a clothing processing apparatus.

(An example of a form that the clothing processing apparatus can take)
[1] One embodiment of a clothing processing apparatus according to the present invention is configured to individually store a plurality of storage units capable of storing clothes and the plurality of storage units so that clothes stored in the storage unit are put into a washing machine. And an input unit that can be operated.

  According to the clothing processing apparatus, the user can store the clothing sorted according to the sorting conditions in different storage units. The clothing stored in the storage unit is input to the washing machine by the input unit. For this reason, the user is not required to perform the work of putting the clothes sorted according to the sorting condition into the washing machine every time washing is performed, and the burden on the user is reduced. Thus, the garment processing apparatus contributes to reducing the burden of work related to washing.

[2] According to an example of the clothing processing apparatus, the input unit includes a transport unit that individually moves the plurality of storage units.
[3] According to an example of the garment processing apparatus, the input unit includes a storage unit so that clothes are input to the washing machine in a state where the storage unit is transferred onto the washing machine by the transfer unit. The drive part which operates this is included.

[4] According to an example of the garment processing apparatus, the driving unit throws the garment into the washing machine by opening the bottom of the storage unit.
According to the clothing processing apparatus, the clothing is dropped into the washing machine by dropping the clothing from the bottom of the storage unit conveyed onto the washing machine. In this way, since clothes are put into the washing machine with a simple structure, the structure of the clothes processing apparatus is simplified.

  [5] According to an example of the clothing processing apparatus, an operation capable of designating which storage unit stores the clothing stored in the plurality of storage units into the washing machine. And a charging control unit that controls the charging unit based on an operation of the operation unit.

  According to the above-described clothing processing apparatus, the clothes to be put into the washing machine can be specified by the operation of the operation unit, so that the convenience of the clothing processing apparatus is improved as compared with the case where the clothes to be put into the washing machine do not depend on the user's intention. It is done.

  [6] According to an example of the clothing processing apparatus, the grasping unit capable of grasping the clothes in the washing machine, and the grasping unit is controlled so that the clothes grasped by the grasping unit are taken out of the washing machine. And a take-out control unit.

  According to the clothes processing apparatus, the clothes that have been washed by the washing machine are taken out from the washing machine by the grasping unit. For this reason, the user is not required to take out the clothes sorted according to the sorting conditions from the washing machine every time the laundry is washed, and the burden on the user is further reduced. As described above, the clothing processing apparatus contributes to further reducing the work load related to washing.

  [7] According to an example of the garment processing apparatus, when the clothing in the washing machine has been taken out by the grasping unit, the throwing unit has the garment scheduled to be put into the washing machine next. The storage unit is operated so as to be inserted.

  According to the above-described clothing processing apparatus, the process of putting the clothes stored in the storage unit into the washing machine by the loading unit, and the process of taking out the clothes that have been washed by the washing machine from the washing machine by the grasping unit are sequentially repeated. It is. That is, after all the clothes in the washing machine are taken out, the clothes that are to be put into the washing machine next are quickly put into the washing machine. For this reason, the time concerning the work regarding washing is shortened.

[8] According to an example of the garment processing apparatus, the garment processing apparatus further includes a post-processing apparatus that performs a post-processing of the clothes taken out from the washing machine by the grasping unit.
According to the clothes processing apparatus, after the clothes in the washing machine are taken out, the post-processing apparatus performs the post-processing. For this reason, the user is not required to perform post-processing every time the clothes classified according to the classification condition are washed, and the burden on the user is further reduced. As described above, the clothing processing apparatus contributes to further reducing the burden of work related to washing.

  [9] According to an example of the garment processing apparatus, the garment processing apparatus further includes a temporary placement unit for temporarily placing the garment, and the grasping unit is installed in the washing machine before the post-processing of the garment is performed by the post-processing device. Are placed on the temporary placement section.

  According to the above-described clothing processing apparatus, all of the clothing in the washing machine is taken out to the temporary placement section before post-processing is performed on the clothing that has been washed. For this reason, compared with the case where a post-process is performed in the process of taking out the clothes in the washing machine, the time taken until all the clothes in the washing machine are taken out is shortened. That is, the time from the completion of washing by the washing machine until the start of washing by the washing machine is shortened. For this reason, the time concerning the work regarding washing is further shortened.

  [10] According to an example of the garment processing apparatus, an imaging apparatus capable of imaging the garment before being subjected to post-processing by the post-processing apparatus or the garment subjected to post-processing by the post-processing apparatus The post-processing device determines a type of clothing based on image information acquired from the imaging device, and based on the result, the plurality of storage units or a plurality of storage units different from the plurality of storage units for each type of clothing To house.

  According to the clothing processing apparatus, the clothing taken out from the washing machine is stored in the storage unit according to the type. For this reason, the user is not required to perform an operation of classifying the clothing classified according to the classification condition according to the type every time it is washed, further reducing the burden on the user. As described above, the clothing processing apparatus contributes to further reducing the burden of work related to washing.

[11] According to an example of the clothing processing apparatus, the washing machine further includes the washing machine.
According to the clothing processing apparatus, substantially the same effect as that obtained by the clothing processing apparatus according to the above [1] to [10] can be obtained.

(Embodiment)
A clothing processing apparatus 1 shown in FIG. 1 is an apparatus that mechanically performs operations related to washing. The clothing processing apparatus 1 includes a main body case 10, a clothing entry / exit section 11, an inspection port 12, an operation section 20, and a control device 30 (see FIG. 3). The function of the main body case 10 is to accommodate a plurality of machine elements. The main body case 10 is installed on an installation surface (not shown) such as a floor. The shape of the main body case 10 is, for example, a rectangular parallelepiped that can define a longitudinal direction and a short direction. The function of the control device 30 is to control various elements constituting the clothing processing apparatus 1.

  The clothing entrance / exit part 11 is an opening through which clothing can be put into the main body case 10 and clothing can be taken out from the main body case 10. One example of the number of the clothing entry / exit portions 11 is two. The clothing entrance / exit part 11 is provided, for example, in front of the main body case 10 and is covered with a cover (not shown) that can be opened or closed automatically or manually.

  The inspection port 12 is an opening for inspecting the inside of the main body case 10. The inspection port 12 is provided, for example, in front of the main body case 10 and is covered with a cover (not shown) that can be opened or closed automatically or manually. In one example, the inspection port 12 is an opening larger than the clothing entrance / exit 11, and clothing or a blanket can be put into the main body case 10. Specifically, the inspection port 12 has an opening for directly putting clothes or a blanket into a washing machine 400 (see FIG. 2) accommodated in the main body case 10 and an opening for checking the washing machine 400. It is.

  The function of the operation unit 20 is to input information related to the operation of the clothing processing apparatus 1. An example of the operation unit 20 is a touch panel display. That is, the operation unit 20 also has a function as a notification unit. The operation unit 20 includes a first operation unit 21, a second operation unit 22, and a power switch (not shown). The first operation unit 21 includes, for example, two operation units provided individually. The two operation units constituting the first operation unit 21 are provided above the clothing input / output units 11 in the main body case 10, for example. The second operation unit 22 is provided, for example, above the inspection port 12 in the main body case 10. The function of the power switch is to switch on / off the power of the clothing processing apparatus 1. In addition, operation by each operation part 21 and 22 becomes effective because the power supply of the clothing processing apparatus 1 is set to ON.

  FIG. 2 shows the internal structure of the clothing processing apparatus 1. The clothing processing apparatus 1 further includes a clothing input device 100, a clothing take-out device 200, a post-processing device 300, and a washing machine 400. The function of the washing machine 400 is to wash and dry clothes. The washing machine 400 includes an opening 401 that opens upward. The opening 401 communicates with the inside of the washing machine 400. The washing machine 400 is installed on the bottom surface in the main body case 10, for example. Note that the specific configuration and operation of the washing machine 400 are substantially the same as the washing machine disclosed in, for example, Japanese Patent Application Laid-Open No. 2006-255195, and thus a part or all of the description thereof is omitted.

  The function of the clothing input device 100 is to input the clothing input into the main body case 10 from the clothing input / output unit 11 (see FIG. 1) into the washing machine 400. The clothing input device 100 is accommodated in the main body case 10. Clothing input device 100 includes a plurality of storage units 110 and input units 120 (see FIG. 3).

  The function of the storage unit 110 is to store clothes that can be put into the washing machine 400 and to store clothes that are washed by the washing machine 400. The storage unit 110 is, for example, a box having a space that can accommodate a plurality of clothes. An example of the number of storage units 110 is ten. For example, five of these storage units 110 are arranged in two rows.

  The storage unit 110 includes a box body 111, a first opening 111A, a second opening 111B, a third opening 111C, and a pair of lower lids 112. The shape of the box body 111 is generally cubic. For example, the first opening 111 </ b> A is provided in front of the box body 111. That is, the first opening 111 </ b> A faces the front surface of the main body case 10. The second opening 111B is provided on the back surface of the box body 111, for example. For example, the third opening 111 </ b> C is provided on a surface of the side surface of the box body 111 that faces the post-processing device 300. Each of the openings 111 </ b> A to 111 </ b> C has, for example, a generally square shape and a size that allows clothes to be taken in and out.

  The pair of lower lids 112 constitutes the bottom of the box body 111. The function of the lower lid 112 is to open or close the bottom of the box body 111. The pair of lower lids 112 forms, for example, a double door. When the bottom of the box body 111 is closed by the lower lid 112, clothes in the storage unit 110 are supported by the lower lid 112. That is, clothing is stored in the storage unit 110. On the other hand, when the bottom of the box body 111 is opened by the lower lid 112, the lower lid 112 is opened outward and the clothes in the storage unit 110 are dropped.

  The function of the input unit 120 is to individually operate a plurality of storage units 110 so that clothes stored in the storage unit 110 are input to the washing machine 400. The input unit 120 includes a transport unit 121 and an opening / closing drive unit 124 (see FIG. 3 for both).

  The function of the transport unit 121 is to move a plurality of storage units 110. The transport unit 121 is provided in the main body case 10 so that the storage unit 110 and other elements accommodated in the main body case 10 do not interfere with each other in the process of moving the plurality of storage units 110. The conveyance unit 121 includes a rotating device 122 and a reciprocating device 123 (both refer to FIG. 3).

  The function of the rotating device 122 is to change the arrangement of each storage unit 110 with respect to the main body case 10 by integrally rotating the plurality of storage units 110 clockwise or counterclockwise. That is, the rotating device 122 moves the plurality of storage units 110 integrally. The rotating device 122 is configured, for example, by connecting 12 bar members (not shown) connected to each other by hinges. Each bar member is provided with a movement fulcrum 122A (see FIG. 3). Each movement fulcrum 122A supports, for example, the outer surface of the storage unit 110 that faces the third opening 111C. The rotation device 122 includes a drive unit (not shown) that rotates the entire bar material.

  The function of the reciprocating device 123 is to transport the storage unit 110 arranged at the uppermost stage onto the washing machine 400 and then reciprocate to the original position. That is, the reciprocating device 123 moves the plurality of storage units 110 individually. The reciprocating device 123 is constituted by, for example, a chuck (not shown) suspended and supported on a wire. Therefore, a portion (not shown) that can be grasped by the chuck is provided on the top surface of each storage unit 110. The reciprocating device 123 includes a drive unit that opens and closes the chuck and a drive unit that pushes and pulls the wire (both not shown).

  The storage unit 110 to be moved by the reciprocating device 123 is specified based on, for example, the operation of the first operation unit 21 (see FIG. 1). In other words, the first operation unit 21 can designate which of the clothes stored in the plurality of storage units 110 is to be put into the washing machine 400. For this reason, the storage unit 110 designated by the first operation unit 21 moves to the uppermost stage as the rotating device 122 is driven, and is then conveyed onto the washing machine 400 as the reciprocating device 123 is driven.

  Each storage part 110 at the center in the height direction of the main body case 10 faces each clothing entry / exit part 11. That is, the first opening 111 </ b> A of the central storage unit 110 communicates with the clothing entrance / exit unit 11. For this reason, the clothes put in from the clothing entry / exit part 11 are stored in the central storage part 110, and the clothes accommodated in the central storage part 110 are taken out from the clothes entry / exit part 11. The central storage unit 110 can be changed by driving the rotating device 122 by an operation by the first operation unit 21.

  The function of the opening / closing drive unit 124 is to operate the storage unit 110 so that clothes are put into the washing machine 400 in a state where the storage unit 110 is transported onto the washing machine 400 by the transport unit 121. The opening / closing drive unit 124 is provided in each storage unit 110, for example. In one example, the opening / closing drive unit 124 puts clothes into the washing machine by opening the bottom of the storage unit 110. That is, when the lower lid 112 of the storage unit 110 is opened by the opening / closing drive unit 124, the clothes in the storage unit 110 are dropped and put into the washing machine 400.

  The function of the clothes take-out device 200 is to take out clothes in the washing machine 400 to the outside. The clothing take-out device 200 is accommodated in the main body case 10. The clothing take-out device 200 includes a plurality of arms 210 that are grasping parts, a support pipe 220, and a temporary placement part 230.

  The function of the arm 210 is to grasp the clothes in the washing machine 400 and take them out. An example of the number of arms 210 is two. The arm 210 can be expanded and contracted in the height direction of the main body case 10, for example. The arm 210 can also be adjusted in rotation around its axis along the direction of expansion and contraction, strength for grasping the clothing, angle of the portion for grasping the clothing, and the like.

  The support pipe 220 includes a pair of first support pipes 221, a pair of second support pipes 222, and two sets of third support pipes 223. The function of the first support pipe 221 is to support the arm 210 movably in the front-rear direction of the main body case 10. Each first support pipe 221 extends, for example, in the front-rear direction of the main body case 10. One first support pipe 221 supports one arm 210. The other first support pipe 221 supports the other arm 210. The arm 210 moves along the first support pipe 221 in the front-rear direction of the main body case 10.

  The function of the second support pipe 222 is to support each first support pipe 221 so that the arm 210 moves in the left-right direction of the main body case 10. The second support pipe 222 is provided at a position higher than the washing machine 400 in the height direction of the main body case 10 so that the arm 210 can move onto the washing machine 400. Each second support pipe 222 extends in the left-right direction of the main body case 10, for example. One second support pipe 222 supports one end of each first support pipe 221. The other second support pipe 222 supports the other end of each first support pipe 221. As each first support pipe 221 moves along the second support pipe 222, the arm 210 moves in the left-right direction of the main body case 10.

  The function of the third support pipe 223 is to support the second support pipe 222. The third support pipe 223 extends, for example, in the height direction of the main body case 10. One set of third support pipes 223 supports both ends of one second support pipe 222. The third support pipe 223 of the other set supports both ends of the other second support pipe 222. Each set of third support pipes 223 is, for example, such that the washing machine 400 is disposed between one third support pipe 223 and the other third support pipe 223 in the left-right direction of the main body case 10. In addition, the washing machine 400 is arranged between the third support pipe 223 of one set and the third support pipe 223 of the other set in the front-rear direction of the main case 10 so that the washing machine 400 is disposed on the bottom surface of the main case 10. Installed. That is, the support pipe 220 is provided so as not to hinder the operation of the clothes put into the washing machine 400.

  The function of the temporary placement unit 230 is to temporarily store clothes taken out from the washing machine 400. The temporary placement unit 230 is, for example, a box having a space in which a plurality of clothes can be stored and having an upper surface opened. The temporary placement unit 230 has, for example, a capacity of the washing machine 400 or more. The temporary placement unit 230 is installed, for example, on the bottom surface of the main body case 10 at a position where the arm 210 can move above and at a position adjacent to the washing machine 400.

  The function of the post-processing apparatus 300 is to execute post-processing of clothes taken out from the washing machine 400. The post-processing executed by the post-processing device 300 includes at least one of attaching a tag to the garment, additionally drying the garment, folding the garment, and the like. The post-processing device 300 is accommodated in the main body case 10. In addition, since the structure and the operation | movement which fold clothing are substantially the same as patent 5299934, the description is abbreviate | omitted.

  The clothing processing apparatus 1 further includes a guide unit 40 and a dehumidifying device 50. The function of the guide unit 40 is to guide clothes to the washing machine 400. For example, the guide unit 40 is provided between one second support pipe 222 and the other second support pipe 222 above the washing machine 400 and in the front-rear direction of the main body case 10. An example of the shape of the guide part 40 is a hollow prism. In the height direction of the main body case 10, the first opening 41 that is the opening on the upper side of the guide part 40 is, for example, the second opening 42 that is the opening on the lower side of the guide part 40 and the opening 401 of the washing machine 400. Is also big. The second opening 42 is smaller than the opening 401 of the washing machine 400, for example. In one example, when clothing dropped from the storage unit 110 or clothing dropped from the arm 210 is placed on the guide unit 40, the clothing is guided to the washing machine 400.

  The function of the dehumidifying device 50 is to dehumidify the inside of the main body case 10. The dehumidifier 50 is accommodated in the main body case 10, for example. In one example, the dehumidifying device 50 is provided below the plurality of storage units 110. The dehumidifier 50 is, for example, a pipe having a large number of planar fins, and has a shape that allows a refrigerant to pass through the pipe. The dehumidifying device 50 cools its surface by evaporating the refrigerant, for example, and causes moisture contained in the main body case 10 to condense. For this reason, the inside of the main body case 10 is dehumidified.

  FIG. 3 shows a connection relationship of each element constituting the clothing processing apparatus 1. Clothing input apparatus 100 further includes an input control unit 130. The function of the input control unit 130 is to control the input unit 120 based on the operation of the first operation unit 21. In one example, the making control unit 130 executes making control based on the operation of the first operation unit 21 that specifies the clothes to be put into the washing machine 400 (see FIG. 4). The input control unit 130 constitutes the control device 30.

  The clothing take-out device 200 further includes a pair of arm drive units 241, a pair of front and rear drive units 242, a pair of left and right drive units 243, a first imaging device 250, and a take-out control unit 260. The function of the arm drive unit 241 is to operate the arm 210. Each arm drive unit 241 is provided in each arm 210, for example. In one example, the arm driving unit 241 operates so that the arm 210 extends and contracts.

  The function of the front / rear drive unit 242 is to move the arm 210 along the first support pipe 221. Each front / rear drive unit 242 includes, for example, a ball screw and a motor (both not shown). The ball screw includes a screw shaft and a nut, and converts the rotational motion of the output shaft of the motor into translational motion in the front-rear direction of the main body case 10. The screw shaft is provided in each first support pipe 221, for example, and the nut is provided in the base of each arm 210, for example. When the take-out control unit 260 rotates each motor, each arm 210 moves individually along the first support pipe 221.

  The function of the left / right drive unit 243 is to move the arm 210 in the left / right direction of the main body case 10. Each left and right drive unit 243 includes, for example, a ball screw and a motor (both not shown). The ball screw includes a screw shaft and two nuts, and converts the rotational motion of the output shaft of the motor into translational motion in the left-right direction of the main body case 10. The screw shaft is provided in each second support pipe 222, for example, and the nut is provided, for example, at both ends of each first support pipe 221. When the take-out control unit 260 rotates each motor in synchronization, each first support pipe 221 moves along the second support pipe 222, and each arm 210 moves in the left-right direction of the main body case 10.

  The function of the first imaging device 250 is to image the inside of the washing machine 400. The first imaging device 250 is, for example, a CCD (Charge Coupled Device) camera. The first imaging device 250 is provided near the opening 401 of the washing machine 400, for example. For example, the first imaging device 250 outputs the captured information to the extraction control unit 260 and the input control unit 130.

  The function of the take-out control unit 260 is to control each arm 210 so that the clothing grasped by each arm 210 is taken out of the washing machine 400. Specifically, the take-out control unit 260 controls each of the drive units 241 to 243, so that the clothes taken out from the washing machine 400 before the post-processing of the clothes is performed by the post-processing device 300 are temporarily placed in the temporary placement unit 230 ( (See Fig. 2). In one example, the take-out control unit 260 executes take-out control when washing by the washing machine 400 is completed (see FIG. 5). Further, the take-out control unit 260 determines, for example, whether clothes grasped by the arm 210 are entangled or clothes are present in the washing machine 400 based on the image information acquired from the first imaging device 250. it can. The take-out control unit 260 constitutes the control device 30.

  The post-processing device 300 includes a post-processing device 310, a second imaging device 320, and a post-processing control unit 330. The function of the post-processing machine 310 is to post-process the clothes taken out from the washing machine 400. The post-processor 310 includes at least an arm (not shown).

  The function of the second image pickup device 320 is to take an image of clothes before the post-processing device 310 performs post-processing. The second imaging device 320 is, for example, a CCD camera. For example, the second imaging device 320 is provided on the temporary placement unit 230 so that clothes placed on the temporary placement unit 230 can be imaged. The second imaging device 320 outputs the captured information to the post-processing control unit 330.

  The functions of the post-processing control unit 330 are to control the post-processing device 310 so that the post-processing is performed on the clothing, and to store the clothing in the plurality of storage units 110 for each type. In one example, the post-processing control unit 330 controls the post-processing device 310 based on the image information acquired from the second imaging device 320.

  Specifically, the post-processing control unit 330 determines whether or not post-processing of the clothing is necessary based on the image information acquired from the second imaging device 320, and if it is determined that post-processing is necessary, The post-processor 310 is controlled so that post-processing is performed. Then, the post-processing control unit 330 determines the type of clothing based on the image information acquired from the second imaging device 320, and the clothing is stored in the plurality of storage units 110 for each type based on the result. The post processor 310 is controlled. In one example, the clothing is grasped by the arm of the post-processing device 310, and the clothing is accommodated in the storage unit 110 through the third opening 111 </ b> C of the storage unit 110. The clothing accommodated in the plurality of storage units 110 includes clothing that has been subjected to post-processing and clothing that has been determined not to require post-processing. The post-processing control unit 330 constitutes the control device 30.

  The washing machine 400 further includes a detection unit 410, a washing machine control unit 420, a dryer (not shown), and a lid (not shown). The function of the dryer is to dry the washed clothes. The function of the lid is to open and close the opening 401 of the washing machine 400. An example of the number of lids is three. The opening and closing of the lid is controlled by the washing machine control unit 420, for example.

  The function of the detection unit 410 is to detect foreign matter in the washing machine 400. An example of the detection unit 410 is a weight sensor. The detection unit 410 outputs the detected information to the washing machine control unit 420. The function of the washing machine control unit 420 is to control various machine elements constituting the washing machine 400. By controlling these elements, the clothes in the washing machine 400 are washed and dried. In addition, when the washing machine control unit 420 determines that there is a foreign object in the washing machine 400 based on the information acquired from the detection unit 410, the washing machine control unit 420 stops various controls. The washing machine 400 can change the washing conditions and the like for each piece of clothing stored in the storage unit 110 based on the operation of the operation units 21 and 22. The washing conditions include, for example, a washing course set in advance according to the type of clothes and the degree of dirt, and the types of detergents, softeners, bleaches, and the like housed in the washing machine 400.

FIG. 4 is an example of a flowchart of making control executed by the making control unit 130.
The throwing control unit 130 performs throwing control based on the fact that clothes are thrown into one or a plurality of storage units 110 and the clothes to be thrown first into the washing machine 400 are designated by the operation of the first operation unit 21. . Specifically, by operating the first operation unit 21, the storage unit 110 storing the clothes to be put in first is designated.

  In step S <b> 11, the input control unit 130 controls the rotating device 122 to move the storage unit 110 storing the designated clothing (hereinafter, “designated storage unit D”) to the first position. The first position is, for example, the uppermost position in the row on the washing machine 400 side.

  In step S12, the loading control unit 130 controls the reciprocating device 123 to move the designated storage unit D to the second position. The second position is, for example, a position on the washing machine 400 that faces the washing machine 400 with the guide unit 40 interposed therebetween. In step S13, the washing machine control unit 420 controls the lid of the washing machine 400 to open the opening 401 of the washing machine 400.

  In step S <b> 14, the input control unit 130 controls the opening / closing drive unit 124 to open the lower lid 112 of the designated storage unit D. That is, the bottom of the designated storage unit D is opened. For this reason, the clothes in the designated storage unit D fall toward the washing machine 400. The dropped clothing passes through the openings 41 and 42 of the guide unit 40 and the opening 401 of the washing machine 400 and is put into the washing machine 400. In addition, when the clothing dropped from the designated storage unit D comes into contact with the inner surface of the guide unit 40 in the process of being put into the washing machine 400, it is guided to the washing machine 400 along the inner surface. In step S15, the washing machine control unit 420 closes the opening 401 of the washing machine 400 by controlling the lid of the washing machine 400. Then, after the closing control including the processes of steps S11 to S15 is completed, the closing control unit 130 controls the opening / closing driving unit 124 to close the lower lid 112 of the specified storage unit D, and the specified storage unit D is The reciprocating device 123 is controlled to return to the position. Thereafter, washing and drying by the washing machine 400 are started.

FIG. 5 is an example of a flowchart of takeout control executed by the takeout control unit 260.
The take-out control unit 260 executes take-out control when washing and drying by the washing machine 400 are completed and the opening 401 of the washing machine 400 is opened.

  In step S <b> 21, the take-out control unit 260 determines whether clothing exists in the washing machine 400 based on the image information acquired from the first imaging device 250. In step S21, when it is determined that there is no clothing in the washing machine 400, the take-out control ends. On the other hand, if it is determined in step S21 that there is clothing in the washing machine 400, the process of step S22 is executed.

  In step S <b> 22, the take-out control unit 260 recognizes the arrangement of clothes in the washing machine 400 based on the image information acquired from the first imaging device 250, and controls the front / rear drive unit 242 and the left / right drive unit 243. The arm 210 is moved to the removal position. The take-out position is a position on the washing machine 400 that faces the washing machine 400 with the guide unit 40 interposed therebetween, and is a position that corresponds to the position immediately above the clothing that is to be grasped by the corresponding arm 210.

  In step S <b> 23, the take-out control unit 260 controls the arm driving unit 241 based on the image information acquired from the first imaging device 250 to cause the arm 210 to grasp the clothing. Specifically, after adjusting the position of the main body case 10 in the height direction by expanding and contracting the arm 210, the arm 210 is made to grasp the clothing. At this time, the clothes in the washing machine 400 are grasped by one or both arms 210 according to the size of the clothes. Different clothing may be grasped for each arm 210.

  In step S <b> 24, the take-out control unit 260 controls the arm driving unit 241 to slightly lift the clothing grasped by the arm 210 (hereinafter, “grasping clothing”), and then acquires image information acquired from the first imaging device 250. Based on the above, it is determined whether or not the grasping garment is tangled with another garment. If it is determined in step S24 that the grasping clothing is not tangled with another clothing, the processing in step S26 is executed. On the other hand, if it is determined in step S24 that the grasping clothing is tangled with another clothing, the processing in step S25 is executed.

  In step S <b> 25, the take-out control unit 260 controls the arm driving unit 241 to vibrate the arm 210 so that the grasping garment and another garment are separated. The vibration of the arm 210 is formed by repeating the expansion and contraction of the arm 210, for example. Thereafter, the process proceeds to step S26. In addition, after finishing the process of step S25, you may return a process to step S24.

  In step S <b> 26, the take-out control unit 260 controls the driving units 241 to 243 to take out the grasping clothing from the washing machine 400 and place the arm 210 on the temporary placement unit 230. Next, the take-out control unit 260 controls the driving units 241 to 243 so that the grasping clothing is placed on the temporary placement unit 230. And the taking-out control part 260 repeatedly performs taking-out control including the process of step S21-step S26 until it determines with there being no clothing in the washing machine 400 in step S21.

  Thereafter, when the input control unit 130 determines that all of the clothes in the washing machine 400 have been taken out based on, for example, the image information acquired from the first imaging device 250, the next clothes to be input into the washing machine 400 are The storage unit 110 is operated so as to be put into the washing machine 400. That is, the input control unit 130 executes the input control again based on the image information acquired from the first imaging device 250.

With reference to FIGS. 6-10, an example of operation | movement of the clothing processing apparatus 1 is demonstrated. 6 to 10 are front views of the clothing processing apparatus 1, and some of the components are omitted.
A user who uses the clothing processing apparatus 1 operates the power switch of the operation unit 20 to turn on the power of the clothing processing apparatus 1. When the power of the clothing processing apparatus 1 is set to ON, the control device 30 and the washing machine control unit 420 (hereinafter, “various control devices”) execute inspection control as follows, for example.

  Various control devices first compare detection values of various sensors mounted on the clothing processing apparatus 1 with standard values corresponding to those sensors. Various sensors and the like include at least a water amount sensor, a vibration sensor, and a detection unit 410 mounted on the washing machine 400. The standard value is stored in advance in memories of various control devices, for example. When various control devices determine that an error between a detection value of a sensor or the like and a standard value is large, for example, information for prompting an abnormality is output to the display of the operation unit 20. In one example, information that prompts an abnormality is output when a foreign object is present in the washing machine 400. Various control devices stop the inspection control until the abnormality is cleared. On the other hand, when the various control devices determine that the error between the detection value of the sensor or the like and the standard value is small, the process proceeds to the next process.

  Next, the various control devices compare the positions of the conveyance unit 121 and each arm 210 with the reference points. The reference point is, for example, one point such as the washing machine 400 fixed to the main body case 10. Specifically, various control devices capture the conveyance unit 121, each arm 210, and the reference point with an imaging device (not shown) that can image the entire interior of the main body case 10. It is determined whether the distance based on the coordinates and the distance based on the coordinates between each arm 210 and the reference point are within a predetermined range.

  When the various control devices determine that the distance between the transport unit 121 and each arm 210 and the reference point is not within a predetermined range, the control device outputs information prompting the abnormality to the display of the operation unit 20. The various control devices stop the point control until the abnormality is removed, and the conveyance unit 121 and each drive unit 241 so that the distance between the conveyance unit 121 and each arm 210 and the reference point is within a predetermined range. ˜243 are controlled. On the other hand, when the various control devices determine that the distance between the transport unit 121 and each arm 210 and the reference point is within a predetermined range, the inspection control is terminated.

  As shown in FIG. 6, the user who uses the clothing processing apparatus 1 classifies the clothes to be washed together according to the classification condition, and inputs the classified clothes from the clothes loading / unloading unit 11 to different storage units 110. The classification condition is, for example, the type of clothes and the degree of dirt. Then, the user designates, for example, the clothes to be put into the washing machine 400 first by the operation by the first operation unit 21. Specifically, by operating the first operation unit 21, the storage unit 110 storing the clothes to be put in first is designated. Note that the order of clothes put into the washing machine 400 by the operation of the first operation unit 21 and the washing conditions of the clothes can be set for each storage unit 110.

Next, the making control unit 130 executes making control shown in FIGS.
As shown in FIG. 7, the making control unit 130 first executes the first operation. That is, the input control unit 130 controls the rotating device 122 to move the designated storage unit D to the first position.

  As shown in FIG. 8, the making control unit 130 next executes a second operation. That is, the input control unit 130 controls the input unit 120 so that the clothes in the designated storage unit D are input to the washing machine 400. Specifically, the input control unit 130 first moves the designated storage unit D to the second position by controlling the reciprocating device 123. Next, the loading control unit 130 controls the opening / closing drive unit 124 to open the lower lid 112 of the designated storage unit D. For this reason, the clothes in the designated storage unit D fall toward the washing machine 400 and the clothes are put into the washing machine 400. Finally, the closing control unit 130 controls the opening / closing drive unit 124 to close the lower lid 112 of the designated storage unit D, and controls the reciprocating device 123 so that the designated storage unit D returns to the original position.

  After the closing control by the closing control unit 130 is finished, the washing machine control unit 420 starts washing and drying by the washing machine 400. In one example, the clothes in the washing machine 400 are first washed, then dehydrated, and then dried. The washing machine control unit 420 opens the opening 401 of the washing machine 400 after washing and drying by the washing machine 400 is completed.

Next, the take-out control unit 260 executes the take-out control shown in FIGS.
As shown in FIG. 9, the take-out control unit 260 first executes the third operation. That is, the take-out control unit 260 controls each of the drive units 241 to 243 to cause each arm 210 to grasp the clothes in the washing machine 400. Specifically, the take-out control unit 260 first recognizes the arrangement of clothes in the washing machine 400 based on the image information acquired from the first imaging device 250 and controls the front-rear drive unit 242 and the left-right drive unit 243. As a result, each arm 210 is moved to the removal position. Next, the take-out control unit 260 controls the arm driving unit 241 based on the image information acquired from the first imaging device 250 to cause each arm 210 to grasp the clothing.

  As shown in FIG. 10, the takeout control unit 260 next executes a fourth operation. That is, the take-out control unit 260 places the grasping clothing on the temporary placement unit 230 by controlling the driving units 241 to 243. Specifically, the take-out control unit 260 takes out grasped clothing from the washing machine 400 and controls the drive units 241 to 243 so that the arm 210 is disposed on the temporary placement unit 230. Next, the take-out control unit 260 controls the arm driving unit 241 so that the grasping clothing falls from the arm 210. For this reason, the clothes taken out from the washing machine 400 are placed on the temporary placement unit 230.

  The take-out control unit 260 repeatedly executes the take-out control shown in FIGS. 9 and 10 until it is determined that all the clothes in the washing machine 400 have been taken out based on the image information acquired from the first imaging device 250. When the input control unit 130 determines that all of the clothes in the washing machine 400 have been taken out based on the image information acquired from the first imaging device 250, the input control shown in FIGS. 7 and 8 is executed again. To do.

  Finally, the post-processing control unit 330 determines whether or not post-processing of the clothing placed on the temporary placement unit 230 is necessary based on the image information acquired from the second imaging device 320, and post-processing is necessary. When the determination is made, the post-processing device 310 is controlled so that the post-processing is performed on the clothing. The post-processing control unit 330 determines the type of clothing based on the image information acquired from the second imaging device 320, and the clothing is stored in the plurality of storage units 110 for each type based on the result. The post processor 310 is controlled. Then, the clothes housed in the storage unit 110 are taken out from the clothes loading / unloading unit 11.

  As described above, according to the clothing processing apparatus 1, the clothes put into the storage unit 110 are put into the washing machine 400, and the clothes that have been washed by the washing machine 400 are taken out from the washing machine 400 and need post-processing. The clothing is post-processed and then stored in each storage unit 110 according to the type of clothing.

According to the clothing processing apparatus 1 of the embodiment, the following effects can be obtained.
(1) According to the clothing processing apparatus 1, the user can store the clothing sorted according to the sorting condition in different storage units 110. The clothing stored in the storage unit 110 is input to the washing machine 400 by the input unit 120. For this reason, the user is not required to perform the work of putting the clothes sorted according to the sorting condition into the washing machine 400 every time washing is performed, and the burden on the user is reduced. As described above, the clothing processing apparatus 1 contributes to reducing the burden of work related to washing.

  (2) According to the clothes processing apparatus 1, the clothes are dropped into the washing machine 400 by dropping the clothes from the bottom of the storage unit 110 conveyed onto the washing machine 400. Thus, since clothes are thrown into the washing machine 400 with a simple structure, the structure of the clothing processing apparatus 1 is simplified.

  (3) According to the clothing processing apparatus 1, since the clothing to be put into the washing machine 400 can be specified by the operation by the first operation unit 21, compared with the case where the clothing to be thrown into the washing machine 400 does not depend on the user's intention. Thus, the convenience of the clothing processing apparatus 1 is enhanced.

  (4) According to the clothing processing apparatus 1, clothing that has been washed by the washing machine 400 is taken out of the washing machine 400 by the arm 210. For this reason, the user is not required to take out the clothes sorted according to the sorting conditions from the washing machine 400 each time the clothes are washed, and the burden on the user is further reduced. As described above, the clothing processing apparatus 1 contributes to further reducing the burden of work related to washing.

  (5) According to the clothing processing apparatus 1, the clothes stored in the storage unit 110 are put into the washing machine 400 by the loading unit 120, and the clothes that have been washed by the washing machine 400 are washed by the arm 210. The steps taken out from 400 are sequentially repeated. That is, after all the clothes in the washing machine 400 are taken out, the clothes that are to be put into the washing machine 400 next are quickly put into the washing machine 400. For this reason, the time concerning the work regarding washing is shortened.

  (6) According to the clothing processing apparatus 1, after the clothing in the washing machine 400 is taken out, the post-processing device 300 performs post-processing. For this reason, the user is not required to perform post-processing every time the clothes classified according to the classification condition are washed, and the burden on the user is further reduced. In this way, the clothing processing apparatus 1 contributes to further reducing the work load related to washing.

  (7) According to the clothing processing apparatus 1, all of the clothing in the washing machine 400 is taken out to the temporary placement unit 230 before post-processing is performed on the clothing that has been washed. For this reason, compared with the case where a post-process is performed in the process of taking out the clothes in the washing machine 400, the time taken until all the clothes in the washing machine 400 are taken out is shortened. That is, the time from when the washing by the washing machine 400 is completed until the next washing by the washing machine 400 is started is shortened. For this reason, the time concerning the work regarding washing is further shortened.

  (8) According to the clothing processing apparatus 1, clothing taken out from the washing machine 400 is stored in the storage unit 110 according to the type. For this reason, the user is not required to perform an operation of classifying the clothing classified according to the classification condition according to the type every time it is washed, further reducing the burden on the user. In this way, the clothing processing apparatus 1 contributes to further reducing the work load related to washing.

  (9) According to the clothing processing apparatus 1, when the clothing dropped from the storage unit 110 contacts the inner surface of the guide unit 40, the clothing is guided to the washing machine 400 along the inner surface of the guide unit 40. For this reason, the precision with which the clothes dropped from the storage unit 110 are put into the washing machine 400 is improved. In addition, since the first opening 41 of the guide unit 40 is larger than the second opening 42, a portion for receiving the clothing dropped from the storage unit 110 is wide. For this reason, the precision with which the clothes dropped from the storage unit 110 are put into the washing machine 400 is further improved.

  (10) According to the garment processing apparatus 1, the garments thrown in from the garment entry / exit section 11 are stored in the storage section 110, and the clothes that have been washed and dried are stored in the storage section 110. For this reason, the structure of the clothing processing apparatus 1 is simplified as compared with the case where the storage unit that stores the clothes put in from the clothing input / output unit 11 is different from the storage unit that stores the clothes that have been washed and dried. The

(Modification)
The description relating to the embodiment is an exemplification of the form that the clothing processing apparatus according to the present invention can take, and is not intended to limit the form. In addition to the embodiment, the garment processing apparatus according to the present invention may take a form in which, for example, a modification of the embodiment shown below and a combination of at least two modifications not contradicting each other are combined.

  The timing at which the second imaging device 320 images clothing can be arbitrarily changed. In the first example, the clothing after the post-processing is performed by the post-processing device 310 is imaged by the second imaging device 320. In this case, all the clothes taken out from the washing machine 400 are post-processed. In the second example, the second imaging device 320 captures clothes before the post-processing is performed by the post-processing device 310 and after the post-processing is performed by the post-processing device 310.

-The clothing processing apparatus 1 of a modification can take the form which abbreviate | omitted the 2nd imaging device 320. FIG. In this modified example, all the clothes taken out from the washing machine 400 are post-processed.
The garment processing apparatus 1 according to the modification further includes a plurality of other storage units in addition to the plurality of storage units 110. In this modification, clothes that can be put into the washing machine 400 are stored in the plurality of storage units 110, and clothes that are washed by the washing machine 400 are stored in another plurality of storage units.

-The clothing processing apparatus 1 of a modification can take the form which abbreviate | omitted the temporary placement part 230. FIG. In this modification, for example, post-processing is performed on the clothing immediately after being taken out from the washing machine 400.
The operation of the storage unit 110 by the opening / closing drive unit 124 can be arbitrarily changed. In the first example, the lower lid 112 slides with respect to the box body 111 by the closing control unit 130 controlling the opening / closing drive unit 124. For this reason, the bottom of the box body 111 is opened, and the clothes in the storage unit 110 are dropped and put into the washing machine 400. In the second example, the storage unit 110 is tilted with respect to the washing machine 400 by the closing control unit 130 controlling the opening / closing drive unit 124. For example, when the storage unit 110 is tilted so that the third opening 111C of the storage unit 110 faces downward, the clothes in the storage unit 110 are dropped from the third opening 111C and put into the washing machine 400.

-The number of arms 210 can be changed arbitrarily. In one example, the number of arms 210 is one or three or more.
-The garment taking-out apparatus 200 of a modified example includes another grasping part having substantially the same function as each arm 210 instead of each arm 210.

  -The conveyance part 121 of a modification can take the form which abbreviate | omitted the rotating apparatus 122. FIG. In this modified example, for example, when the transport unit 121 moves the plurality of storage units 110 individually, the storage unit 110 storing the clothes to be put into the washing machine 400 is transported onto the washing machine 400.

  -The form of the detection part 410 can be changed arbitrarily. In the first example, the detection unit 410 is an infrared sensor that can measure the amount of heat in the washing machine 400. In the second example, the detection unit 410 is an ultrasonic sensor that can detect an obstacle in the washing machine 400.

  The relationship between the first opening 41 and the second opening 42 of the guide portion 40 can be arbitrarily changed. In the first example, the first opening 41 is smaller than the second opening 42. In the second example, the first opening 41 and the second opening 42 have substantially the same size. Note that the relationship between the second opening 42 and the opening 401 of the washing machine 400 can be arbitrarily changed.

-The clothing processing apparatus 1 of a modification can take the form which abbreviate | omitted the guide part 40. FIG.
-The clothing processing apparatus 1 of a modification can take the form which abbreviate | omitted the dehumidification apparatus 50. FIG.
-The form of the dehumidification apparatus 50 can be changed arbitrarily. In one example, the dehumidifying device 50 is a desiccant such as zeolite having high moisture adsorption performance. In addition, arrangement | positioning of the dehumidification apparatus 50 with respect to the main body case 10 can also be changed arbitrarily.

  -The clothing processing apparatus 1 of a modification is provided with another clothing in / out part instead of or in addition to the clothing in / out part 11. Another clothing entry / exit portion is provided on the back surface of the main body case 10, for example. The garment thrown in from another garment entry / exit part is thrown into the storage part 110 through the third opening 111C.

-The storage part 110 of a modification can take the form which abbreviate | omitted the 3rd opening 111C.
-The operation part 20 of a modification can take the form which abbreviate | omitted the 2nd operation part 22. FIG.
-According to the clothing processing apparatus 1 of a modification, the process of step S24 and step S25 is abbreviate | omitted from the process of the taking-out control shown by FIG.

-The number of the storage parts 110 can be changed arbitrarily. In one example, the number of storage units is 2 or more and 9 or less, or 11 or more.
-The clothing processing apparatus 1 of a modification can take the form which abbreviate | omitted some or all of the elements which comprise at least 1 of the clothing taking-out apparatus 200, the post-processing apparatus 300, and the washing machine 400.

  The clothing processing apparatus according to the present invention can be used in various clothing processing apparatuses including business use and home use.

DESCRIPTION OF SYMBOLS 1: Clothing processing apparatus 20: Operation part 110: Storage part 120: Input part 121: Conveyance part 124: Opening / closing drive part (drive part)
130: Input control unit 210: Arm (grasping unit)
230: Temporary placement unit 260: Extraction control unit 300: Post-processing device 320: Second imaging device (imaging device)
400: washing machine

Claims (11)

A plurality of storage units capable of storing clothing;
A clothing processing apparatus comprising: a loading unit capable of individually operating the plurality of storage units such that the clothing stored in the storage unit is loaded into a washing machine. The clothing processing apparatus according to claim 1, wherein the input unit includes a conveyance unit that individually moves the plurality of storage units. The said input part contains the drive part which operates the storage part so that clothing may be thrown into the said washing machine in the state in which the said storage part was conveyed on the said washing machine by the said conveyance part. Clothing processing equipment. The clothing processing apparatus according to claim 3, wherein the driving unit throws clothing into the washing machine by opening a bottom of the storage unit. An operation unit capable of designating which storage unit stores the clothing stored in the plurality of storage units into the washing machine;
The clothing processing apparatus according to claim 1, further comprising a closing control unit that controls the charging unit based on an operation of the operation unit. A grasping unit capable of grasping clothes in the washing machine;
The clothing processing apparatus according to any one of claims 1 to 5, further comprising a take-out control unit that controls the grasping unit so that the clothing grasped by the grasping unit is taken out of the washing machine. The input unit operates the storage unit such that when all the clothes in the washing machine are taken out by the grasping unit, the clothes to be input to the washing machine next are input to the washing machine. 6. The clothing processing apparatus according to 6. The clothing processing apparatus according to claim 6, further comprising a post-processing device that performs post-processing of the clothing taken out from the washing machine by the grasping unit. A temporary storage part for temporarily placing clothing;
The clothing processing apparatus according to claim 8, wherein the grasping unit places clothing in the washing machine on the temporary placement unit before the post-processing of clothing is executed by the post-processing device. An imaging device capable of imaging the clothing before being subjected to post-processing by the post-processing device or clothing subjected to post-processing by the post-processing device;
The post-processing device discriminates the type of clothing based on the image information acquired from the imaging device, and stores the clothing for each type in the plurality of storage units or a plurality of different storage units based on the result. The clothing processing apparatus according to claim 8 or 9. The clothing processing apparatus according to any one of claims 1 to 10, further comprising the washing machine.

Images