JP7269622B2 - Dishwashing support device and control program - Google Patents

Description

The present disclosure relates to a dishwashing support device and a control program that support washing of dishes by a dishwasher.

For example, in facilities such as commercial facilities, hospitals, schools, and offices that serve a large amount of food, commercial dishwashers are installed to wash a large amount of used dishes such as plates, bowls, and cups. It is often done. In this dishwasher, used tableware is placed on a special rack made of resin or the like, and the rack is put into the cabinet of the dishwasher for automatic washing. In recent years, household dishwashers have become popular, but in facilities such as commercial facilities, large commercial dishwashers are used.

In commercial facilities and the like, pre-washing is performed by immersing used tableware in water, a washing liquid, or the like before washing it with a dishwasher. This pre-washing is performed because depending on the state of the dirt on the dishes, it may not be possible to remove it with a dishwasher, and it is particularly difficult to wash the dirt stuck to the dishes with a dishwasher. be. However, pre-cleaning in commercial facilities or the like requires manpower for that purpose, which is a great deal of time and effort.

Therefore, Patent Document 1, for example, discloses a dishwasher capable of washing at high speed. The document WO 2005/020000 discloses that a pre-washing device may be provided in this dishwasher. This preliminary cleaning device is composed of, for example, a spray gun, a brush, or the like.

JP 2011-067644 A

However, even with the pre-washing device for the dishwasher disclosed in Patent Document 1, the tableware still needs to be pre-washed manually, and it does not lead to a reduction in manpower. rice field. Therefore, an apparatus or system capable of reducing the labor of preliminary cleaning has been desired.

Therefore, in the present disclosure, a tableware washing assisting apparatus and a control program capable of reducing manpower for preliminary washing by performing preliminary washing with a robot arm will be described.

A dishwashing support device according to one aspect of the present disclosure is a dishwashing support device that supports washing of dishes by a dishwasher, lifts and holds the dishes, moves the dishes, pre-washes the dishes, The position and shape of the tableware is determined from the robot arm that is placed on the rack for washing the tableware in the dishwasher, the detection unit that detects the tableware and the rack, and the detection results, and the position of the rack is determined. A determination unit and a motion control unit that controls the motion of the robot arm based on the determination result of the determination unit.

Further, a control program according to one aspect of the present disclosure is a control program for assisting a dishwashing support device having a robot arm to wash dishes by a dishwasher, comprising: a tableware detection step of detecting dishes; A tableware position and shape determination step for determining the position and shape of the tableware from the results; a tableware holding step for lifting and holding the tableware based on the determination results of the position and shape of the tableware; moving while holding the tableware; a pre-washing step of pre-washing the tableware, a rack detection step of detecting a rack for washing the dishes in the dishwasher, a rack position determination step of determining the position of the rack from the detection results, and a rack position and a tableware placement step of placing the tableware on the rack based on the determination result.

According to the present disclosure, a robotic arm picks up, holds, and moves tableware to pre-wash the tableware. Also, the pre-washed tableware is placed on a rack for washing in a dishwasher. As a result, since the robot arm can perform the preliminary cleaning, it is possible to reduce the manpower required for the preliminary cleaning.

1 is a functional block configuration diagram showing a dishwashing assistance device according to an embodiment of the present disclosure; FIG. FIG. 2 is an external view showing a washing place 10 as an example in which the robot arm 100 of FIG. 1 is used; FIG. 2 is a right side view showing an example of the appearance of the robot arm 100 of FIG. 1; FIG. 2 is a flow chart showing the operation of the dishwashing support device 1 of FIG. 1. FIG. It is a schematic diagram which shows the gravity center position G of the tableware D determined in the determination part 321 of FIG. 4 is a perspective view showing an example of the suction portion 190 of the robot arm 100 of FIG. 3 lifting the rack R according to an embodiment of the present disclosure; FIG. 5 is a functional block configuration diagram showing a computer 500 according to one embodiment of the present disclosure; FIG.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that the embodiments described below do not unduly limit the content of the present disclosure described in the claims. Also, not all the components shown in the embodiments are essential components of the present disclosure.

(Embodiment 1)
<Configuration>
FIG. 1 is a functional block configuration diagram showing a dishwashing assistance device 1 according to Embodiment 1 of the present disclosure. This dishwashing support device 1 supports the work of washing used tableware using commercial dishwashers, mainly in facilities such as commercial facilities, hospitals, schools, and offices that serve large amounts of food. It is a device that Specifically, as described above, pre-washing is automatically performed by immersing used dishes in water or cleaning liquid before washing them in a dishwasher, and pre-washing is performed on the racks for washing in the dishwasher. It is a device for placing the dishes that have been washed.

The dishwashing assistance device 1 has a robot arm 100, a camera (detection unit) 200, a control terminal 300, and a network NW. The robot arm 100, camera 200, and control terminal 300 are interconnected via a network NW. The network NW is a communication network for communication, and non-limiting examples include the Internet, an intranet, a LAN (Local Area Network), a WAN (Wide Area Network), a wireless LAN (WLAN), a wireless WAN ( Wireless WAN (WWAN), virtual private network (VPN) and other communication networks. Also, the robot arm 100, the camera 200, and the control terminal 300 may be directly connected to each other by a USB (Universal Serial Bus) cable or the like, for example and not limitation.

The robot arm 100 is a device that performs actions such as grasping, releasing, and carrying like a human hand. is provided to perform the operation of

FIG. 2 is an external view showing a washing place 10 as an example in which the robot arm 100 of FIG. 1 is used. The washing area 10 is a plumbing facility for washing tableware in a commercial facility or the like, and a large amount of tableware D is placed on a stand at the right end of the washing area 10 with the surface facing downward. A sink S is provided adjacent to the left side of this table, and a robot arm 100 is installed behind the sink S. The sink S stores water or a washing liquid (for example, dishwashing detergent diluted with water) for pre-washing. Further, a rack R on which tableware D is placed is placed on a table adjacent to the left side of the sink S, and a dishwasher 400 is installed adjacent to the left side of the table.

In the example of use in FIG. 2, the robot arm 100 lifts and holds the tableware D placed on the right end table one by one with the surface facing downward, and then moves and lowers them onto the sink S. Pre-cleaning is performed by immersion in water or a cleaning solution. Next, the robot arm 100 moves while holding the tableware D as it is, turns the surface sideways, and places the tableware D upright so as to be sandwiched between the grooves provided in the rack R. When a certain amount of tableware D is placed on the rack R, the robot arm 100 pushes the rack R toward the entrance of the dishwasher 400 . The tableware D placed on the extruded rack R is washed by the dishwasher 400 . The rack R includes, for example, a rack made of resin such as plastic having a mesh-like bottom surface, and a basket-shaped rack on which small tableware, chopsticks, and the like can be placed.

The camera 200 is a device that photographs the tableware D and the rack R and generates (images) image data. and a digital camera or the like. This camera 200 takes an image and converts it into image data at predetermined time intervals.

This camera 200 is arranged, for example, on the tip side of the robot arm 100, and one or more cameras 200 are fixed and arranged at a position (not shown) capable of photographing the entire washing area 10. The reason for this arrangement is that the position of the tip of the robot arm 100, the position and shape of a target object such as tableware D, and the position of the rack R are determined by the camera 200 arranged on the tip side of the robot arm 100. This is for grasping the overall situation of the washing place 10 with another camera 200 . Note that the camera 200 may be any device that can detect the tableware D and the rack R, and may be configured by a sensor such as an infrared sensor.

The control terminal 300 is a device that controls the operation of the robot arm 100 and the camera 200, and as a non-limiting example, it may be a computer (desktop, laptop, tablet, etc.) that provides various web services, a device including a server device, or the like. It is composed of Specifically, based on the image data captured by the camera 200, the robot arm 100 is caused to lift the tableware D, pre-wash it, and place it on the rack R. When the control terminal 300 is configured by a server device, it is not limited to a server device that operates alone, and may be configured by a distributed server system or a cloud server that cooperates by communicating via a network NW. .

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

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

The storage unit 320 stores programs for executing various control processes and functions in the control unit 330, input data, and the like. Memory), etc., and storage including HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, and the like. In addition, the storage unit 320 temporarily stores data obtained through communication with the robot arm 100 and the camera 200 and data generated in each process described later.

The control unit 330 controls the overall operation of the control terminal 300 by executing a program stored in the storage unit 320, and non-limiting examples include a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), Microprocessor, Processor core, Multiprocessor, ASIC (Application-Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc. consists of Functions of the control unit 330 include a determination unit 331 , an operation control unit 332 , and a machine learning unit 333 . The determination unit 331 , the operation control unit 332 , and the machine learning unit 333 are activated by a program stored in the storage unit 320 and executed by the control terminal 300 .

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

Further, the determination unit 331 determines the relative position of the rack R viewed from the position of the robot arm 100 at the time of imaging from the image data in order to place the pre-washed tableware D on the rack R by the robot arm 100 . In addition, since the amount of dishes D that can be placed on the rack R is limited by the specifications of the dishwasher 400, etc., when the amount of dishes D placed on the rack R reaches a predetermined amount, the dishes are washed. Since it is necessary to wash the tableware D by the machine 400, the determination unit 331 determines the amount of the tableware D placed on the rack R from the image data, and determines whether or not the predetermined amount has been reached. conduct.

The motion control unit 332 performs motion control of the robot arm 100 and the camera 200 based on the determination result of the determination unit 331 . Specifically, in order to cause the robot arm 100 to pre-wash the tableware D and place it on the rack R, the communication unit 310 sends a control signal for operating a servo motor built in the robot arm 100 as will be described later. to the robot arm 100 via. Further, when the camera 200 captures images of the tableware D and the rack R, in order to acquire high-precision image data by adjusting the focus, a control signal for controlling the operation such as the lens position of the CCD constituting the camera 200 is sent to the communication unit. 310 to camera 200 .

The machine learning unit 333 performs machine learning based on the shape of the tableware D from the image data captured by the camera 200, and generates model information for determining the center-of-gravity position based on the shape of the tableware D. In the machine learning at this time, as a non-limiting example, supervised learning is performed using the inclination of the tableware D when the robot arm 100 lifts the tableware D and the like as teacher data. The model information generated by the machine learning section 333 is used by the determination section 331 .

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

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

The fixed part 110 is a part where the robot arm 100 is fixed to the mounting table TA. The mounting movable portion 120 is a movable portion to which one end of the upper arm portion 130 is connected and whose angle with respect to the upper surface of the mounting table TA can be freely changed. The placement movable section 120 incorporates a servomotor, and is configured to rotate the upper arm section 130 by driving the servomotor under the control of the motion control section 332 . The upper arm portion 130 is a rod-shaped member on the mounting table TA side of the robot arm 100 .

The joint portion 140 is a portion that rotatably connects the other end of the upper arm portion 130 and one end of the forearm portion 150 . The joint portion 140 incorporates a servomotor, and is configured to rotate the forearm portion 150 by driving the servomotor under the control of the motion control portion 332 . The forearm 150 is a rod-shaped member on the tip side of the robot arm 100 .

The wrist portion 160 is a portion that rotatably connects the other end of the forearm portion 150 and one end of the support portion 170 . A servomotor is built in the wrist portion 160 , and is configured to rotate the support portion 170 by driving the servomotor under the control of the motion control portion 332 . The support part 170 is a part that supports the compressor 180 and the adsorption part 190 at the tip of the robot arm 100 . In the initial state, the support portion 170 faces downward.

The compressor 180 is a device that provides a suction force for a later-described suction unit 190 to suction the tableware D, and is a device that sucks air by compressing the air. This compressor 180 is connected to the other end side of the support portion 170 (the arm side of the robot arm 100). The suction part 190 is a member for sucking the tableware D, and is formed in the shape of a suction cup made of flexible material such as rubber or synthetic resin, for example and not limitation. The adsorption section 190 is connected to the compressor 180 and configured so that the suction force of the compressor 180 is transmitted to the outside via the adsorption section 190 .

One or a plurality of cameras 200 are connected to the support section 170 and arranged so that the position and shape of the tableware D to be picked up by the suction section 190 of the robot arm 100 can be imaged.

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

As the process of step S101, when the robot arm 100 starts to operate according to the control signal from the operation control unit 332 of the control terminal 300, the robot arm 100 operates according to the control signal from the operation control unit 332, and the right end of the washing place 10 shown in FIG. The support portion 170 moves to the vicinity of the tableware D placed on the table.

As the process of step S102, the camera 200 connected to the support portion 170 takes an image of the tableware D placed on the rightmost stand of the washing area 10, and image data of the tableware D is generated.

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

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

Then, the position of the center of gravity G, which is the approximate center of gravity when the dishes D1 and D2 are flat plates, is determined as shown in FIGS. 5(a) and 5(b). At this time, model information for determining the center-of-gravity position G based on the shape of the tableware D generated by the machine learning unit 333 is used. The shapes of the tableware D1 and D2 shown in FIG. 5 are examples, and the actual tableware has various shapes, so the model information generated by machine learning is effective. By attracting the position of the center of gravity G determined in this way, the dishes D1 and D2 can be lifted evenly.

As the processing of step S104, the robot arm 100 is operated by the control signal of the operation control unit 332, the support unit 170 moves to the center of gravity position G of the tableware D determined in step S103, and the suction unit 190 is attached to the back surface of the tableware D. Support 170 is lowered until contact is made.

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

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

As the processing of step S107, the robot arm 100 is operated by the control signal of the operation control section 332, the support section 170 is lowered to the sink S in which water or cleaning liquid is stored, and the tableware D is immersed in water or cleaning liquid. By moving the robot arm 100 up and down several times in this state, the tableware D is preliminarily washed.

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

As the process of step S109, the camera 200 connected to the support section 170 captures an image of the rack R in the washing area 10, and image data of the rack R is generated.

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

As the process of step S111, the robot arm 100 is operated by the control signal of the motion control unit 332, and the supporting unit 170 facing downward is rotated upward by about 90 degrees due to the rotation of the wrist unit 160, and the tableware D face to the side. In this state, the support portion 170 moves to the placement position on the rack R determined in step S110. Then, when the compressor 180 stops sucking air, the tableware D that has been sucked by the sucking portion 190 is separated from the sucking portion 190 and placed on the rack R.

As the process of step S112, the determination unit 331 determines from the image data captured by the camera 200 in step S109 that the amount of the dishes D placed on the rack R is a place where the dishes D can be washed by the dishwasher 400. It is determined whether the quantity has been reached. The amount of the tableware D may be determined based on the model information of the optimum amount of the tableware D for washing the tableware D by the dishwasher 400 , which is generated by machine learning by the machine learning unit 333 . In this process, when it is determined that the amount of the tableware D placed has reached the predetermined amount, the process of step S113 is performed. is pre-washed.

If it is determined in step S102 from the image data captured by the camera 200 that there are no other tableware D left, there is no more tableware D to be pre-washed, so the process of step S112 is not performed. You may perform the process of step S113. Also, at this time, the camera 200 may take an image of the tableware D placed on the rightmost table of the washing area 10, and the determination unit 331 may determine whether or not the tableware D has been added.

As the processing of step S113, the robot arm 100 is operated by the control signal of the motion control unit 332, moves to the side of the rack R while the support unit 170 faces the side by the processing of step S111, and moves to the side of the rack R. , and push it out toward the entrance of the dishwasher 400. - 特許庁At this time, alignment is performed in advance so that the position of the rack can be pushed out toward the entrance of the dishwasher 400 . As a result, the rack R on which the tableware D is placed is set in the dishwasher 400, and the dishwashing machine 400 performs washing.

Furthermore, for example, from the weight of the rack R, it is determined whether the amount of the dishes D placed on the rack R has reached a predetermined amount that allows the tableware D to be washed by the dishwasher 400, and it is determined that the amount has been reached. A rack transporting device (rack transporting section) may be provided to move the rack R to the dishwasher 400 side when the rack is loaded. In this case, the processing of steps S112 and S113 may not be performed as the operation of the dishwashing support device 1 .

<effect>
As described above, in the dishwashing assisting apparatus according to the present embodiment, the tableware is lifted by the operation of the robot arm, moved to the sink in this state, and immersed in the sink in which water or the cleaning liquid is stored, so that the tableware is pre-washed. done. The dishes are then moved to a dishwasher rack, oriented vertically, and placed on the rack. When more than a predetermined amount of tableware is placed on the rack, the rack is moved to the dishwasher side by the operation of the robot arm and washed by the dishwasher. As a result, it is possible to perform pre-washing by the robot arm and to perform washing by the dishwasher, thereby reducing manpower.

A compressor is arranged at the tip of the robot arm, and the suction force of the compressor attracts the tableware to the suction part.

Furthermore, the shape of the tableware is determined by the determination unit, the position of the approximate center of gravity of the tableware in the horizontal direction is determined, and the position is adsorbed by the suction unit. be possible. At this time, the machine learning unit generates model information for determining the center-of-gravity position based on the shape of the tableware, and the model information is used by the determination unit, so that the center-of-gravity position of the tableware can be accurately determined. be possible.

(Embodiment 2)
FIG. 6 is an external view showing an example of lifting the rack R by the suction unit 190 of the robot arm 100 of FIG. 3 in the dishwashing assistance device 1 according to Embodiment 2 of the present disclosure. In this embodiment, for example, if the rack R is placed at another location not shown in FIG. 2, for example, on the back side of the table on which the rack R is placed, after the process of step S113, a new rack A case in which R is replenished by the operation of the robot arm 100 will be described. The configuration of the dishwashing assistance device 1 and the flow of processing shown in the first embodiment are the same as those of the dishwashing assistance device 1 according to the first embodiment.

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

As shown in FIG. 6, based on the determination result of the determination unit 331, the robot arm 100 is operated by the control signal of the motion control unit 332, the support unit 170 is moved to the center position of the rack R, and the suction unit 190 is moved to the rack R. contact, the suction force of the compressor 180 lifts the rack R. This makes it possible to hold and move the rack R in a stable state without bias.

According to this embodiment, in addition to the effect of the first embodiment, it is possible to replenish the racks, so that it is possible to further reduce manpower.

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

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

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

Note that the auxiliary storage device 503 is an example of a non-temporary tangible medium. Other examples of non-transitory tangible media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, etc. that are connected via interface 504 . Further, when this program is distributed to the computer 500 via a network, the computer 500 receiving the distribution may develop the program in the main storage device 502 and execute the above process.

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

Although the disclosed embodiments have been described above, they can be implemented in various other forms, and can be implemented with various omissions, substitutions, and modifications. These embodiments, modifications, omissions, substitutions and modifications are included within the technical scope of the claims and their equivalents.

1 Dishwashing Support Device, 100 Robot Arm, 110 Fixed Part, 120 Placement Movable Part, 130 Upper Arm Part, 140 Joint Part, 150 Forearm Part, 160 Wrist Part, 170 Support Part, 180 Compressor (Suction Device), 190 Adsorption Part , 200 camera (detection unit), 300 control terminal, 310 communication unit, 320 storage unit, 330 control unit, 331 determination unit, 332 operation control unit, 333 machine learning unit, NW network

Claims (7)

A dishwashing assistance device for assisting dishwashing with a dishwashing machine,
a robot arm that lifts, holds and moves the tableware with the surface facing downward , and places the tableware on a rack for washing the tableware in the dishwasher so that the surface of the tableware faces the side; ,
a detection unit that detects the tableware and the rack;
A determination unit that determines the position and shape of the tableware from the detected detection result and determines the position of the rack;
a motion control unit that controls the motion of the robot arm based on the determination result of the determination unit ;
A tableware washing assisting apparatus , wherein a suction unit that holds the tableware by suction is provided at the tip of the robot arm . The detection unit detects the tableware based on image data,
2. The dishwashing support device according to claim 1, wherein said determination unit determines a center-of-gravity position of said tableware in the horizontal direction as a suctionable position at which said tableware can be suctioned by said suction unit based on said detection result. 3. The dishwashing assisting apparatus according to claim 1, wherein said operation control unit lowers said tableware into a sink in which cleaning liquid is stored and immerses said tableware in said cleaning liquid for pre-cleaning. The robot arm is provided with a suction device for sucking air,
2. The operation control unit operates the suction device when the tableware is sucked, and stops the operation of the suction device when the tableware is placed on the rack with the surface of the tableware facing sideways. 4. The dishwashing assistance device according to any one of claims 3 to 4. The robot arm includes a wrist portion that rotatably supports the suction portion,
The operation control unit rotates the tableware held by the suction unit by rotating the suction unit with the wrist, thereby rotating the tableware held by the suction unit from a state in which the surface of the tableware faces downward to a state in which the surface of the tableware faces sideways. The dishwashing support device according to any one of claims 1 to 4 . 6. The motion control unit moves the rack by pressing the robot arm, which has the suction unit at the tip end, against the rack to operate the robot arm. 10. The dishwashing support device according to the above item . 7. The apparatus according to any one of claims 1 to 6, wherein the motion control unit attracts and holds the rack by the suction unit, and operates the robot arm to move the rack held by the suction unit. The dishwashing assistance device according to any one of the above items.

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