WO2018044094A1

WO2018044094A1 - Dishwasher

Info

Publication number: WO2018044094A1
Application number: PCT/KR2017/009545
Authority: WO
Inventors: 요시모토모리오; 아라키카츠노리; 카와사키히사시; 카미이토시히로; 시미즈카즈오
Original assignee: 삼성전자주식회사
Priority date: 2016-09-01
Filing date: 2017-08-31
Publication date: 2018-03-08
Also published as: KR20190039023A; KR102391425B1

Abstract

The present invention is useful as a received-object detecting method and a received-object detecting device which photographs a movable receptacle thereof and a received-object received in the receptacle and acquires content information including at least one of a location, a size, and the number of the received-objects on the basis of a photographed image shot. In addition, the present invention suggests a dishwasher which may determine at least a receiving area for a dish received in a dish receiving basket thereof. The dishwasher allows estimation of a location of a basket even with a small number of feature points. Therefore, the dishwasher does not require many marks for detection to be installed therein even when a mark for detection is installed as a feature point separately from a feature typically installed in a basket, and can thus improve an aesthetic appearance thereof. In addition, the dishwasher can use a feature typically installed in a basket as a feature point. Therefore, the dishwasher does not require a mark for detection to be separately installed therein and can thus improve an aesthetic appearance thereof.

Description

dish washer

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dishwasher having a basket position estimating device, a storage detecting device and a storage detecting method.

Patent Literature 1 (U.S. Patent No. 8696827) photographs a movable storage unit and an object stored in the housing unit and stores the storage information including the position of the object contained in the storage unit based on the photographed photographed image. A water detection apparatus is disclosed. In this object detecting apparatus, a position display is provided for each predetermined area on the side of the storage unit, and the position of the object contained in the storage unit at the portion picked up in the captured image is specified based on the position display included in the captured image. .

In addition, after supplying a predetermined amount of washing water, the conventional dishwasher raises the water temperature until the predetermined water temperature is reached by the heating means, and determines the amount of the dish from the time required for the water temperature increase at that time. There is one configured to optimally control subsequent washing and rinsing operations in accordance with the amount of the dishes (see, for example, Patent Document 2 (Japanese Patent Laid-Open No. 10-014849)).

In addition, the weight of the tableware stored in the dish storage basket is sensed by the weight sensor, and the degree of dirt of the tableware is sensed by the degree of dirt of the washing water, there is configured to optimally control the subsequent washing and rinsing operation (For example, refer patent document 3 (Unexamined-Japanese-Patent No. 04-312434)).

However, since the object detection apparatus of patent document 1 is a structure which provides a position indication for every predetermined | prescribed area in the side part of a storage part, the aesthetics of a storage part is bad. Moreover, since the position in the accommodating part imprinted on the picked-up image must be specified by the precision according to the space | interval of a position display, the precision of the storage information obtained cannot fully be raised.

In addition, the dishwasher described in Patent Document 2 is difficult to accurately determine the amount of the dish because the time required for the rise of the water temperature varies greatly depending on the material, shape of the dish to be washed, and the temperature of the dish when accommodated in the dishwasher. There is this.

And even in the dishwasher of patent document 3, the correct quantity of dishes cannot be determined by the material, shape, the measurement precision of a weight sensor, etc. of the dishes to be wash | cleaned. In addition, even if the tableware is stored in a part of the dish storage basket, it cannot be detected, and there is a problem in terms of energy saving and shortening of operating time since the entire area of the dish storage basket must be washed regardless of the determined amount of the dishes. .

One aspect of the present invention disclosed in order to solve the above-mentioned problem is to improve the aesthetics of the storage unit on which the basket position estimating apparatus is mounted, and furthermore, in the storage detecting apparatus and the storage detecting method, The second object is to improve the aesthetics of the payment and increase the accuracy of the storage information obtained. Further, in the dishwasher, at least the storage area of the dishes stored in the dish storage basket can be detected and determined with high accuracy. It is a third purpose.

In addition, the present invention does not necessarily satisfy the above three objects at the same time.

To this end, the dishwasher according to one aspect of the present invention includes a washing tank; An accommodating part installed in the washing tank to accommodate the dishes; A photographing unit which photographs the storing unit and the tableware stored in the storing unit; And a processor for detecting a feature point from the image photographed by the photographing unit, recognizing the position of the storage unit according to the detected feature point, and detecting the position of the tableware.

The processor detects storing information including at least one of a position, a size, and a quantity of the tableware based on the image photographed by the photographing unit.

A feature point is a mark for position recognition provided in the accommodating part, and a mark for position recognition is comprised by a character, a symbol, chroma, brightness, or a pattern, or a combination thereof.

The storage unit is provided in the washing tank so as to be able to be pulled out through the opening of the washing tank, and the photographing unit is installed around the opening of the washing tank so as to photograph the portion taken out from the washing tank.

The dishwasher according to one aspect of the present invention further includes a door for opening and closing the opening, the door having a pattern for position identification, and the processor detecting a position identification pattern from an image photographed by the photographing unit. Then, the arrangement area where the tableware is stored is detected using the position identification pattern.

The photographing unit photographs the accommodating unit at each ejection position of the accommodating unit, and the processor selects the last image necessary for detecting the dish from the plurality of photographed images, and the arrangement area of the dish, the amount of the tableware, At least one storing information among the shape of the tableware and the type of the tableware is detected.

The dishwasher according to an aspect of the present invention further includes a washing unit for washing dishes, and the processor controls the washing unit to selectively wash the area where the dishes are arranged.

The processor adjusts the washing time to selectively wash the area where the dishes are placed.

The photographing unit includes a camera, an area sensor, or a line sensor.

And, the dishwasher according to another aspect of the present invention, the washing tank; A storage unit movably installed in the washing tank to accommodate the dishes; A photographing unit which photographs the storing unit and the tableware stored in the storing unit; And a processor for detecting at least one storing information of the position, size, and quantity of dishes based on the image photographed by the photographing unit, wherein the storing unit is provided with a position recognition feature point, and the processor includes: The feature point is detected from the image picked up, and the position of the storing part is detected according to the detected feature point to detect the position of the tableware.

The feature point is a display provided in at least one storage unit, and the processor detects a predetermined display from the photographed image, recognizes the position of the storage unit based on the position of the display, and stores the storage unit based on the recognized position of the storage unit. Detect information.

The processor detects the display based on at least one of the appearance, color, character, and figure of the preset display.

And, dishwasher according to another aspect of the present invention, the washing tank having an opening; An accommodating part installed in the washing tank so as to be able to be pulled out through the opening and storing the dishes; And a processor configured to measure an amount of draws drawn out from the washing tank and to detect a position of the case in accordance with the measured amount of draws.

The processor includes a distance image sensor, a winding machine, a weight sensor or a camera.

The dishwasher according to still another aspect of the present invention may further include a photographing unit which photographs a shape of the storing unit, and the processor compares the photographed image with a pre-stored image, and determines the position of the dish according to the comparison result. At least one piece of storage information of the size and quantity is detected.

According to the proposed basket position estimating device, at least the number of feature points can be estimated at the position of the basket, and therefore, even when a detection mark is provided as a feature point separately from the structure normally installed in the basket, it is not necessary to provide many detection marks. It can improve the aesthetics of the washer. Moreover, the structure normally installed in a basket can be used as a characteristic point, and since the indication for detection does not necessarily need to be provided separately, the aesthetics of a dish washing machine can be improved.

According to the proposed package detecting apparatus and the package detecting method, the number of displays can be specified at least in the storage unit at the point where the detected image is taken, so that the display for detection is displayed separately from the structure normally installed in the storage unit. In this case, the number of displays can be reduced as compared with the case where the display is provided for each area as in Patent Document 1. Therefore, the aesthetic appearance of a storage part can be improved. Moreover, since the structure normally provided in a accommodating part can be used as a display, it is not necessary to provide a detection display separately, and the aesthetics of an accommodating part can be improved. Moreover, since the position in the accommodating part of the location in which the number of display was shown at least on the detection image can be specified with high precision, the precision of the accommodating information obtained can be improved, without degrading the aesthetics of the accommodating part.

In addition, according to the proposed dish washer, it is possible to detect and determine at least the storage area of the dishes stored in the dish storage basket with high accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the structure of the basket position estimation apparatus which concerns on 1st Embodiment of this invention.

Fig. 2 is a schematic perspective view of the dishwasher provided with the basket position estimation device according to the first embodiment of the present invention with the door open and a part of the lower basket drawn out.

FIG. 3 is a schematic perspective view of the bottom basket shown in FIG. 2.

4 is an operation flowchart showing a basket position estimation method using the basket position estimation device according to the first embodiment of the present invention.

It is a top view which shows the identification pattern performed to the handle of a lower basket.

6 is a plan view illustrating the control pattern of FIG. 5.

7 is a schematic plan view showing the feature points defined as marks on the bottom basket.

8 is a schematic plan view of another feature point defined as an indication in the bottom basket.

9 is a cross-sectional view of the dishwasher provided with the object detecting apparatus according to the third embodiment of the present invention with the door closed.

FIG. 10 is a view illustrating a state in which the entire lower basket is taken out by opening the door of FIG. 9.

It is explanatory drawing which shows the picked-up image in the state which pulled out the whole lower basket by opening a door.

FIG. 12 is a view illustrating a state in which a part of the lower basket is drawn out by opening the door of FIG. 11.

It is a flowchart which shows the operation | movement of the dishwasher provided with the thing detection apparatus by 3rd Embodiment of this invention.

It is a schematic top view of the storage container provided with the thing detection apparatus by 4th Embodiment of this invention.

FIG. 15 is a view corresponding to FIG. 2 according to a fifth embodiment of the present invention. FIG.

It is an explanatory drawing which shows the area | region to which the whole lower basket was pulled out, and is image | photographed to the picked-up image of the object detection apparatus by 6th Embodiment of this invention.

17 is a view illustrating a state in which a part of the lower basket is withdrawn in FIG. 16.

It is explanatory drawing which shows the area | region imprinted on the picked-up image of the object detection apparatus by 7th Embodiment of this invention in the state which pulled out the whole lower basket.

19 is a view illustrating a state in which a part of the lower basket is withdrawn in FIG. 18.

20 is a plan view showing an example of a mark for recognition.

FIG. 21 is a virtual diagram in which a linear component is extracted from the recognition mark of FIG. 21.

Fig. 22 is a virtual diagram in which a linear component is extracted from a mark for recognition when a transparent tableware is stored.

It is sectional drawing in the front-back direction of the dishwasher which concerns on 8th Embodiment of this invention.

It is sectional drawing of the state which opened the door in the front-back direction of the dishwasher which concerns on 8th Embodiment of this invention.

It is a top view which shows the recognition mark which can determine easily that a tableware was accommodated in the dish storage basket in the dishwasher which concerns on 8th Embodiment of this invention.

It is a perspective view which shows the state in which the tableware was accommodated in the drawer dish storage basket which was drawn out in the dishwasher which concerns on 8th Embodiment of this invention.

FIG. 27 is a perspective view illustrating a state where the dish storage basket of FIG. 26 starts to be accommodated in the washing tank. FIG.

FIG. 28 is a development view showing a state in which each of the image images of FIGS. 26 and 27 is developed as a plan view.

It is an operation flowchart explaining the operation | movement of the dishwasher which concerns on 8th Embodiment of this invention.

30 is an operation flowchart showing the operation of the dish washing machine according to the ninth embodiment of the present invention.

31 is an operation flowchart showing the operation of the dish washing machine according to the tenth embodiment of the present invention.

Configurations shown in the embodiments and drawings described herein is a preferred example of the disclosed invention, there can be various modifications that can replace the embodiments and drawings of the present specification at the time of the filing of the present application.

Also, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting and / or limiting the disclosed invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise", "comprise" or "have" are intended to designate that the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification exist. Or any other feature or number, step, operation, component, part, or combination thereof, is not excluded in advance.

In addition, terms including ordinal numbers such as "first", "second", and the like used in the present specification may be used to describe various components, but the components are not limited by the terms. It is used only to distinguish one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of a plurality of related items or any item of a plurality of related items.

Hereinafter, with reference to the accompanying drawings an embodiment according to the present invention will be described in detail.

Patent Document 1 described above discloses a method of photographing a position display provided at each predetermined region of a side of a rack as a basket position estimation method of a dishwasher. However, in patent document 1, since a position indication is provided in every area | region of the side part of a rack, aesthetics are bad.

Therefore, in the first embodiment and the second embodiment of the present invention, the aesthetics of the dish washing machine is improved while the basket position estimating device is mounted.

(1st embodiment)

First, the first embodiment of the present invention will be described.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the structure of the basket position estimation apparatus which concerns on the 1st Embodiment of this invention, and FIG. 2 is the basket by 1st Embodiment of this invention in the state which pulled out a part of lower basket by opening a door. It is a schematic perspective view of the dishwasher provided with a position estimation apparatus, and FIG. 3 is a schematic perspective view which shows the lower basket shown in FIG.

In FIG. 1, the basket position estimating apparatus 1 which concerns on 1st Embodiment of this invention is provided in the dishwasher as an example, The camera 3 as a visible light imaging part, the feature point detection part 5, and a position estimating part (7) is included.

The basket position estimating apparatus 1 which concerns on 1st Embodiment of this invention can be mounted in the dishwasher 101, for example as shown in FIG.

In FIG. 2, the dishwasher 101 is provided with a box-shaped washing tank 103 having an opening 103a in a rectangular shape in plan view at the front end portion (left side of FIG. 2). The washing tank 103 has a pair of side portions 103e facing in the horizontal direction with the upper surface portion 103b, the bottom surface portion 103c, the back portion 103d facing the opening portion 103a and the opening portion 103a interposed therebetween. Have. The lower edge of the opening 103a of the washing tank 103 is rectangular in view of the plane in which the opening 103a can be sealed, and the substantially flat plate-shaped door 104 connects the end of the longitudinal direction with the hinge 104a. It is installed so that rotation is possible in the direction.

In addition, both the upper basket 105 and the lower basket 107 are disposed at intervals so that the upper basket 105 and the lower basket 107 can be drawn out toward the opening 103a side of the washing tank 103.

Moreover, the visible light camera 119 opens the opening part 103a in the center part of the washing tank 103 in the opposing direction of the both side part 103e in the front end surface of the upper upper surface part 103b of the opening 103a. It is arrange | positioned in the state facing inclined downward toward the direction. The position and direction of the visible light camera 119 or the camera 3 of FIG. 1 are set so that the whole lower basket 107 drawn out to the extraction position, and the tableware accommodated in the lower basket 107 can be photographed. Therefore, the basket position estimation apparatus 1 which concerns on this 1st Embodiment can be provided in the position where the visible light camera 119 is arrange | positioned, and the site | part behind it.

Here, the lower basket 107 is formed by intersecting a linear material, and the lower basket 107 is colored with a circumference and distinguishable color, as shown, for example, by the handle 108 of FIG. 3. .

In addition, the detailed structure of FIG. 2 is demonstrated in 3rd Embodiment mentioned later.

Hereinafter, the basket position estimation method using the basket position estimation apparatus 1 according to the first embodiment of the present invention will be described with reference to FIG. 4.

First, when the power supply of the basket position estimation apparatus 1 is turned on, the camera 3 (refer FIG. 1) performs visible light imaging with respect to the predetermined | prescribed place containing the whole movement area of the lower basket 107. FIG.

Subsequently, the feature point detector 5 detects the handle 108 of the lower basket 107 as the feature point based on the color of the knob 108 preset from the image captured by the camera 3 (S101). Specifically, if there is an area in the image that contains, for example, a predetermined ratio or more of pixels having a color equal to or close to the color of the knob 108 preset, it is detected as a feature point (S102).

Subsequently, the position estimating unit 7 estimates the position of the lower basket 107 of the dishwasher 101 based on the positions S103 and S104 in the image of the feature point detected by the feature point detection unit 5 ( S105).

The feature point detector 5 and the position estimator 7 are realized by arithmetic processing devices such as a CPU (Central Processing Unit).

More specifically, first, the camera 3 photographs a specific place that covers the entire moving area of the bottom basket 107. At this time, since the camera 3 photographs a predetermined place, it becomes possible to accurately estimate the position of the lower basket 107 based on the position of the handle 108 in the captured image. Thereafter, the feature point detector 5 detects the knob 108 as the feature point based on the color of the knob 108 preset from the image photographed by the camera 3.

Subsequently, the position estimating unit 7 estimates the position of the lower basket 107 of the dish washing machine 101 based on the position in the image of the feature point detected by the feature point detecting unit 5.

Therefore, according to the first embodiment, since the handle normally installed in the basket is used as a feature point, it is not necessary to separately install the detection mark, so that the aesthetics of the dishwasher 101 can be improved.

In addition, when the mounting position of the tableware can be specified according to the position of the basket, time and energy required for washing can be reduced by limiting the washing range based on the estimated position of the basket.

(2nd embodiment)

EMBODIMENT OF THE INVENTION Hereinafter, 2nd Embodiment of this invention is described.

In the second embodiment, the detection display unit is provided as a display in the basket. Therefore, the feature point detection unit 5 detects the handle and the detection display unit as two feature points on the basis of the handle color of the basket and the color of the detection display unit set in advance from the image photographed by the camera 3. Reliability of both feature points is determined based on the position in the image of. When the feature point detection unit 5 determines that the reliability of both feature points is low, the camera 3 photographs again without outputting the positions of the detected feature points to the position estimating unit 7. On the other hand, when the feature point detector 5 determines that the reliability of both feature points is high, the position estimator 7 estimates the basket position of the dish washing machine based on the position in the image of the detected feature points. The reliability of the two feature points is determined to be high when, for example, the positional relationship between the position in the image of the detected handle and the position in the image of the detected display portion is a predetermined positional relationship set in advance, and the predetermined If it is not in the positional relation of, it is determined as low.

Since other configurations and operations are the same as those in the first embodiment, detailed description thereof will be omitted.

Therefore, according to the second embodiment, the position of the basket can be estimated with high accuracy by using a plurality of feature points.

(Other variations)

FIG. 5 is a plan view showing an identification pattern applied to a handle of a lower basket, and FIG. 6 is a plan view showing a control pattern of FIG.

In the first and second embodiments of the present invention, the feature point detection unit 5 detects the knob or the detection display unit from the image based on the preset color, but the present invention is not limited thereto but is based on the preset shape (pattern). May be detected.

For example, as shown in FIG. 5, the characteristic display may be a configuration that can be picked up by the camera 3, for example, an identification pattern 150 having a checkered pattern. With this arrangement, the collation pattern 151 shown in FIG. 6 may be collated and the position of the basket may be estimated by sensing the position of the handle.

In addition, you may judge that a handle was detected only when this matching result was, for example, arranged two or more consecutively in the horizontal direction.

In addition, if it is a handle which has a pattern different from FIG. 5, you may judge that a handle was detected only when a matching result is a structure arrange | positioned 2 or more continuously in the vertical direction, for example. Further, the detection accuracy of the handle can be further improved by adding, as detection conditions, conditions that match the shape of the handle, such as a combination thereof and a combination with a color different from the surroundings.

In addition, in the said 1st and 2nd embodiment, although the handle or display part displayed on a basket is provided as a characteristic point, it is good also as a line cross | intersection point which comprises the lower basket 107. This will be described with reference to FIGS. 7 and 8.

FIG. 7 is a schematic plan view showing a feature point defined as an indication in a bottom basket, and FIG. 8 is a schematic plan view showing another feature point defined as an indication in a bottom basket.

In FIG. 7, the feature point is at least one intersection 107x at the bottom 107b of the lower basket 107, and in FIG. 8, the feature point is at least one intersection at the peripheral wall portion 107c of the lower basket 107. The location 107x may be used. Thereby, the intersection point 107x normally provided in the lower basket 107 can be used as a characteristic point. For example, it may be determined that the lower basket 107 has been detected only when two or more continuous intersections are arranged in the vertical direction. In addition, you may judge that the lower basket 107 was detected only when the intersection is arranged 2 or more consecutively in the horizontal direction. In addition, the state where the crossing point 107x is covered by the shape of a basket or the thing accommodated in a basket, such as a combination of these or a change of a quantity condition will change. In addition, the position and number of the intersection point 107x which make into a detection condition can be changed easily. In addition, the detection accuracy of the basket can be improved by using the combination with the color or the combination with the shape of the handle as the detection condition. This eliminates the need to provide a separate display for detection, so that the aesthetics of the dishwasher 101 can be improved.

In the first and second embodiments of the present invention, one or two feature points are provided, but three or more feature points may be provided.

Hereinafter, when the feature point to be displayed is not installed in the dish storage basket, various methods of detecting the position of the dish storage basket (for example, the bottom basket) in the washing tank 103 including the door 104 are provided. Modifications will be described.

First, a time of flight (TOF) sensor is disposed on a wall surface (door facing surface) facing the door 104 in the washing tank 103. On the other hand, the reflecting plate which can reflect the light emitted from the TOF sensor is provided in the opposite part to the washing tank 103 in the lower basket 107. By measuring the distance with the reflecting plate by the TOF sensor, the position of the lower basket 107, that is, the amount of drawouts from the washing tank 103 of the lower basket 107 can be calculated.

In addition, on the contrary, the TOF sensor may be provided on the opposite side to the washing tank 103 in the lower basket 107, and the reflecting plate may be provided on the door facing surface of the washing tank 103. In this case, the TOF sensor installed in the lower basket 107 is fed by wire, wireless or battery. When employing a wired or wireless power feeding method, communication means are required.

Second, a winding machine may be provided on the door facing surface of the washing tank 103, and the other end of the string given the force to be wound around the winding machine may be connected to the lower basket 107. In this configuration, for example, the number of turns of the winding machine can be measured to calculate the position of the lower basket 107, that is, the amount of the lower basket 107 from the washing tank 103, from the amount of pull out of the string. .

In addition, instead of the structure which uses the rotation speed of a winding machine for the measurement of the draw amount of a string, it is good also as a structure which provides a scale in the string itself, and reads this scale with an image processing sensor, for example.

Third, in the case where a wheel is provided at the bottom of the lower basket 107, a rotation measuring system (speed sensor) may be provided on the wheel. The amount of drawing out from the washing tank 103 of the lower basket 107 can be calculated from this rotational speed. In addition, power supply to a rotation measuring system can be performed by wire, wireless, or a battery, and notification of the calculation result to the dishwasher 101 can be performed by wire or wireless communication.

Fourth, a plurality of weight sensors may be disposed on the front surface of the traveling area of the lower basket 107 on the inner surface of the door 104 (upper surface when opened). In this case, the position of the weight sensor which sensed the weight at the position farthest from the washing tank 103 can be calculated as the withdrawal amount from the washing tank 103 of the lower basket 107.

Fifth, a plurality of switches may be placed on the front surface of the traveling area of the lower basket 107 on the inner surface of the door 104 (upper surface when opened). The switch at this time may be a switch which conducts when pressed by the bottom contact part (including the case of a wheel) of the lower basket 107, for example. Also in this case, the position of the switch which was conducted at the position farthest from the washing tank 103 can be calculated as the withdrawal amount from the washing tank 103 of the lower basket 107.

Sixth, the position where the user grasps the lower basket 107 and the position where it is placed is sensed by image recognition of the hand (finger) from the captured image, and the amount of withdrawal from the washing tank 103 of the lower basket 107 is separated from the interval. It can be calculated as

Seventh, the wire frame of the lower basket 107 itself can be detected by image recognition from the picked-up image, and the withdrawal amount from the washing tank 103 in the lower basket 107 can be calculated from the detected position of the wire frame. . In this case, the lower basket 107 is a specific portion, for example, the peripheral wall 107c on the door 104 side in the lower basket 107 or the door of the washing tank 103 in the lower basket 107. Arbitrary site | parts, such as the peripheral wall part 107c on the opposing surface side, can be selected.

(Third embodiment)

EMBODIMENT OF THE INVENTION Hereinafter, the 3rd Embodiment of this invention is described.

FIG. 9 is a cross-sectional view of the dishwasher provided with the object detecting apparatus according to the third embodiment of the present invention with the door closed, and FIG. 10 is a view illustrating a state in which the entire lower basket is taken out by opening the door of FIG. 9. FIG. 11 is an explanatory view showing a photographed image in a state in which the entire lower basket is taken out by opening the door, and FIG. 12 is a view illustrating a state in which a part of the lower basket is taken out by opening the door of FIG. 11.

9 and 10, the same parts as in FIG. 2 will be described with the same reference numerals and the same names.

9, 10, and 2 show the dishwasher 101.

Hereinafter, the withdrawal direction of the dishwasher 101 is set to the front side. This dishwasher 101 includes a washing tank 103 as a substantially rectangular parallelepiped storage portion that forms a box shape having a rectangular opening 103a in a planar view at the front end portion.

The washing tank 103 has a pair of side surfaces 103e facing each other in the horizontal direction with the upper surface 103b, the bottom surface 103c, the rear surface 103d facing the opening 103a and the opening 103a interposed therebetween. Equipped with. The lower edge of the opening 103a of the washing tank 103 has a rectangular, substantially plate-shaped door 104 in a planar viewable sealable opening, connecting the longitudinal end to the hinge portion 104a. It is installed so that rotation is possible. The rear surface of the door 104 is made of stainless steel.

In the vicinity of the hinge end (rotating shaft) 104a side end of the door 104, as shown in Figs. 11 and 12, the recognition mark 104b extends in the opposite direction of the side face 103e. Attached.

In the third embodiment of the present invention, the recognition mark 104b is formed of, for example, a pattern in which triangularly painted triangles are stacked in three stages and arranged in opposite directions of the side portions 103e. Here, each vertex of the plurality of triangles is directed toward the side of the hinge portion (rotation shaft) 104a. In addition, the recognition mark 104b is not limited to the pattern which combined the figure, but can also be comprised by letters (a Chinese character, Hiragana, katakana, various alphabets, etc.), a symbol, color saturation or brightness, or a combination thereof.

On the inner surfaces of both side portions 103e of the washing tub 103, a pair of guide rails 103f extending in the opening direction (drawing direction) of the opening 103a are provided at intervals in the vertical direction. The upper basket 105 is slidably mounted in the front-rear direction on both upper guide rails 103f. Wheels 105a are provided on opposite sides of the side surface 103e of the upper basket 105, and the wheels 105a are coupled to the guide rail 103f in a state where they can be rotated. Similarly, the lower basket 107 as a storage part is provided in both lower guide rails 103f so that sliding to the front-back direction is possible. Wheels 107a are provided on opposite sides of the side surface 103e of the lower basket 107, and the wheels 107a may be coupled to the guide rail 103f in a state where the wheels 107a are rotatable.

The upper basket 105 and the lower basket 107 have

rectangular bottoms

105b and 107b and rectangular annular

peripheral wall portions

105c and 107c protruding from the entire periphery of the

bottoms

105b and 107b and are made of metal. Are formed by crossing the linear material.

As shown in Figs. 11 and 12, the sheet (with the identification pattern PA as a checkered pattern on the one side) is attached to the peripheral wall portion 107c on the front side (drawout side) of the lower basket 107 (as shown in Figs. 107d is provided in the state which made the surface of the identification pattern PA side facing back (half draw direction). In addition, the identification pattern PA is not limited to the pattern which combined the figures similarly to the recognition mark 104b, but can also be comprised by the saturation or brightness of a character, a symbol, a color, or a combination thereof.

When the upper basket 105 and the lower basket 107 are at the maximum extraction width, the entirety of the upper basket 105 and the lower basket 107 are located at the extraction position drawn out to the outside of the washing tank 103 through the opening 103a, while the extraction width is minimum. , The whole is located in the operating position housed outside the washing tank 103.

Moreover, between the operation position of the upper basket 105 and the operation position of the lower basket 107 in the inside of the washing tank 103, several lower rotation which injects water (wash water or rinsing water) toward upper direction and lower direction. The

nozzles

108a and 108b are arranged.

Moreover, the some upper rotating nozzle 109 which sprays water downward is arrange | positioned above the operation position of the upper basket 105 in the inside of the washing tank 103. As shown in FIG.

Near the bottom of the washing tank 103, that is, near the lower rear end of the operation position of the lower basket 107, a hollow fixed nozzle 110 extending in the opposite direction of the both side portions 103e is disposed, and the fixed nozzle 110 ), A plurality of injection holes (not shown) for spraying water horizontally toward the front are formed at intervals in the longitudinal direction of the fixed nozzle 110.

Moreover, the support rail 111 extended in the front-back direction is arrange | positioned in the bottom part of the washing tank 103, ie, substantially the center part of the opposing direction of the both side parts 3e in the lower side of the operation position of the lower basket 107. . This support rail 111 supports the long slide member 112 of the elongate shape extended in the opposing direction of both side parts 103e so that a slide is possible from below.

The slide member 112 is provided with a collision surface (not shown) which collides with water jetted from the fixed nozzle 110 to change the direction of water upward. Although not shown, the slide member 112 is connected to the belt, and when the pulley on the rear side is rotated by the operation of the motor, the slide member 112 slides along the support rail 111 as the belt travels. Therefore, a drive mechanism is comprised by a belt, a pulley, and a motor.

In addition, an outlet (not shown) is formed in the bottom portion 103c of the washing tank 103, and a tank 113 for storing water discharged through the outlet from the inside of the washing tank 103 and a tank (below the outlet). The pump 115 which circulates by pressurizing the water stored by 113 to the

lower rotation nozzles

108a and 108b, the upper rotation nozzle 109, and the fixed nozzle 110 side is arrange | positioned.

When water is sprayed horizontally forward from each injection hole of the fixed nozzle 110 by driving the pump 115 of the dishwasher 101 configured as described above, the water sprayed from the fixed nozzle 110 is a slide member. It collides with the collision surface of 112, it scatters upwards, and washes the tableware accommodated in the lower basket 107. At this time, when the motor is operated in a state where the spraying of water by the fixed nozzle 110 is continued, the slide member 112 slides back and forth along the support rails 111, and thus the slide range of the slide member 112 is reduced. Water is evenly distributed to the upper space.

In addition, the visible light camera 119 as the imaging unit is provided at the center of the upper peripheral portion of the opening 103a of the washing tub 103, that is, at the front end portion of the front surface 103b in the opposite direction of the both side portions 103e. 103a) It is arrange | positioned in the state facing inclined downward toward the opening direction. The position and the direction of this visible light camera 119 are set so that photography of the whole lower basket 107 located in an extraction position, and tableware as a thing accommodated in the lower basket 107 is possible. Specifically, the lens of the visible light camera 119 is arrange | positioned so that it may face the outer side of the washing tank 103. As shown in FIG.

Further, a microcomputer 121 as a control means is built slightly behind the visible light camera 119 in the upper surface portion 103b of the washing tank 103. The microcomputer 121 obtains storing information including at least one of the position, size and quantity of tableware in the lower basket 107 based on the captured image P1 photographed by the visible light camera 119. It is.

With the visible light camera 119 and the microcomputer 121, the object detection apparatus 123 which concerns on 3rd Embodiment of this invention is comprised.

In the dishwasher 101 configured as described above, the position, size and quantity of the cutlery of the lower basket 107 in the process of pressing the lower basket 107 into the driving position from the front side of the washing tank 103. And storing information including at least one of the above. This will be described with reference to FIG. 13.

When power is supplied to the dishwasher 101, the visible light camera 119 starts shooting at 10 faces in 1 second, for example. In step S201, the microcomputer 121 continues monitoring until the door 104 is opened. When the door 104 is opened, it progresses to step S202 and waits until the lower basket 107 is taken out from the washing tank 103.

When the lower basket 107 is withdrawn from the washing tank 103, the flow advances to step S203, and the microcomputer 121 stores the dishes in the lower basket 107 at a proper position and the lower basket 107 is washed with the washing tank 103. Wait until the movement to accommodate the is started.

Subsequently, when the microcomputer 121 recognizes the start of movement of the lower basket 107 in step S203, the microcomputer 121 proceeds to the next step S204 and the sheet 107d from each photographed image P1 captured by the visible light camera 119. ) Detects the identification pattern PA attached to the predetermined pattern, and forms a part of the captured image P1 based on the position of the identification pattern PA in each captured image P1. The position in the lower basket 107 of the location to be stamped is specified. At this time, since the detection image P2 is a specific area of the picked-up image P1, information indicating the position of the bottom basket 107, such as a draw amount of the bottom basket 107 at the time of shooting the picked-up image P1, is detected. It can obtain as information which shows the position in the lower basket 107 of the location shown by P2). In 3rd Embodiment of this invention, identification pattern PA is detected based on the figure contained in identification pattern PA.

However, depending on the type of the identification pattern PA, the detection may be performed based on the appearance, the color, or the characters included in the identification pattern PA, and also include the appearance, the color, and the characters included in the identification pattern PA. You may perform based on the some of the figure to make. 11 and 12, the detection image P2 is a portion where the recognition mark 104b is taken and constitutes the vicinity of the side edge of the washing tank 103 of the captured image P1. In detail, the detection image P2 is set so that it may be included in the part located most in the washing tank 103 side, when the photographed image P1 is divided into four in the extraction direction. For example, the position in the lower end basket 107 of the location picked up to the detected image P2 by the captured image P1 of FIG. 12 corresponds to the distance d1 rather than the sheet 107d (identification pattern PA). It can be specified that the position of the rear side by much.

Moreover, the position in the lower end basket 107 of the location picked up by the picked-up image P1 of FIG. 12 by the detected image P2 is rearward by the distance corresponding to d2 rather than the sheet 107d (identification pattern PA). It can specify that it is a position of a side. The distance between the location stamped on the detected image P2 and the sheet 107d is obtained by correcting the distance in the captured image P1 based on the position and angle of the visible light camera 119.

The microcomputer 121 stores the detected image P2 and the position in the lower basket 107 of the location picked up by the detected image P2. In addition, when the detection image P2 in which the corresponding position is common already is stored, the newly obtained detection image P2 is overwritten.

In step S204, the lower basket 107 is repeated until it is accommodated in the driving position of the washing tank 103. That is, the microcomputer 121 repeats step S204 with respect to the some picked-up image P1 from which the position of the lower basket 107 differs.

In the next step S205, when the lower basket 107 is accommodated in the predetermined driving position, the process proceeds to step S206.

In step S206, the microcomputer 121 specifies the area | region which cannot distinguish the recognition mark 104b in each detected image P2 memorize | stored in step S204 as an arrangement area of tableware. The microcomputer 121 lowers the position based on the arrangement area of the tableware in the plurality of detected images P2 and the position (the position specified in Step S204) in the lower basket 107 of the location stamped on each detected image P2. The storing information including at least one of the position, the size and the quantity of the tableware in the basket 107 is obtained. In addition, when the detection image P2 of the partial area | region of the lower basket 107 cannot be obtained in step S204 by some circumstances, based on the arrangement area of the tableware in the obtained detection image P2, the detection image P2 is carried out. The position, size, quantity, etc. of the utensils in the area where it cannot be obtained may be estimated. In addition, you may make it possible to specify the color, kind, material, etc. of the tableware accommodated in the lower basket 107 based on each detected image P2 at this time.

Subsequently, in step S207, the microcomputer 121 controls the drive mechanism in accordance with the storage information obtained in step S206 so that the slide member 112 at the time of spraying water by the fixed nozzle 110, such as during washing and rinsing, is To control the position. For example, the tableware can be efficiently washed by controlling the slide member 112 to set the time under the tableware arrangement area longer than the time under the tableware arrangement area. Can be. Therefore, the washing time can be shortened.

According to the third embodiment of the present invention, since the position in the lower basket 107 of the point where the number of displays is at least stamped on the detected image P2 can be specified, the arrangement point of the detection identification pattern PA is lowered. It can be limited to only one place of the basket 107. Therefore, compared with the case where a display is provided for every area like patent document 1, the number of displays is few and the aesthetics of the lower basket 107 is good.

Moreover, since the position in the lower basket 107 of the location where the arrangement | positioning of the identification pattern PA was at least shown in the detection image P2 can be pinpointed with high precision, the beauty of the lower basket 107 is worsened. The accuracy of the stored information obtained can be improved without making it.

Since the detected image P2 is part of the photographed image P1, the incident amount and incidence of external light in the entire photographed image P1 as compared with the case where the detected image P2 is the entire photographed image P1. The influence of the deviation of the angle can be reduced, and the reliability of the stored information obtained can be improved.

In addition, since the part where the vicinity of the visible light camera 119 in the picked-up image P1 was imaged was made into the detection image P2, the tableware which differs in the tableware accommodated in the detection image P2 corresponding place in the lower basket 107 is used. Can be prevented from being hidden by the detected image P2. Therefore, the reliability of the stored information obtained can be improved.

In addition, since the storage information is obtained based on the captured image P1 of the portion drawn out of the washing tank 103 of the lower basket 107, the lens of the visible light camera 119 is disposed so as to face the outside of the washing tank 103. Since it is possible, water, steam and detergent in the washing tank 103 can be prevented from adversely affecting the lens.

(4th embodiment)

EMBODIMENT OF THE INVENTION Hereinafter, 4th Embodiment of this invention is described.

FIG. 14 is a schematic plan view of a storage box including the storage detecting device according to the fourth embodiment of the present invention, showing the storage 125 including the storage detecting device 123.

In Fig. 14, the storage 125 has a storage main body 127 as an approximately rectangular parallelepiped storage part that forms a box shape having a rectangular opening 127a in plan view at the front end portion.

In the left edge portion (lower edge portion) of the opening portion 127a of the storage unit body 127, a door 129 as a mark for opening and closing the opening portion 127a is shown through the hinge portion (not shown). It is rotatably connected in the left and right directions.

On the rear surface of the door 129, the rotary tray 131 accommodated in the storage main body 127 is provided with the storage surface which accommodates an object facing upward.

Therefore, the door 129 and the rotation tray 131 comprise the accommodating part.

Furthermore, the visible light camera 119 is arrange | positioned so that the whole moving range of the door 129 may be image | photographed, and the detection main body P2 is a storage main body (in the photographed image P1 (image which took the area | region enclosed by the dotted line in FIG. 14)). It is a part to which the periphery (part enclosed by the dashed-dotted line in FIG. 14) of the opening 127a of 127 is stamped. The microcomputer 121 detects the door 129 from the picked-up image P1, and specifies the position in the rotation tray 131 at the location picked up by the detected image P2. Subsequently, storing information including at least one of a position, a size, and a quantity of the received object based on the position of the stored object in the detected image P2 and the position in the rotation tray 131 at the location stamped on the detected image P2. Get

Other configurations and operations are the same as in the third embodiment, and detailed description thereof will be omitted.

As described above, according to the fourth embodiment of the present invention, the aesthetics of the door 129 and the rotary tray 131 can be improved similarly to the third embodiment.

(5th embodiment)

EMBODIMENT OF THE INVENTION Hereinafter, 5th Embodiment of this invention is described.

FIG. 15 is a view corresponding to FIG. 2 according to the fifth embodiment of the present invention, showing the dishwasher 101 having the object detecting device 123.

In FIG. 15, the mark 104b for recognition is attached to two regions spaced apart in the drawing direction from the rear surface of the door 104.

In step S204 of FIG. 13, the microcomputer 121 makes two detection images P2 constituting portions corresponding to respective recognition marks 104b of the captured image P1, that is, different portions of the captured image P1. The position in the lower end basket 107 of the location picked up by the two detection images P2 which comprises this is specified.

In addition, in step S206 of FIG. 13, the storage information described above is obtained based on the arrangement area of the tableware in the two detection images P2 and the positions specified in step S204 for the two detection images P2. Since the two detected images P2 constituting different portions of the picked-up image P1 approximate two images from different viewpoints, the two detected images P2 are regarded as images from different viewpoints. Three-dimensional information such as height, direction, and sharpness may be included in the storage information.

Since other configurations and operations are the same as those in the third embodiment, detailed description thereof will be omitted.

As described above, according to the fifth embodiment of the present invention, since three-dimensional information of tableware can be obtained without providing the plurality of visible light cameras 119, the number of parts and the manufacture of parts are compared with those of the installation of the plurality of visible light cameras 119. Reduce costs

(6th Embodiment)

EMBODIMENT OF THE INVENTION Hereinafter, 6th Embodiment of this invention is described.

FIG. 16 is an explanatory view showing a region taken out of the entirety of the lower basket, taken on the picked-up image of the object detecting apparatus according to the sixth embodiment of the present invention, and FIG. 17 is a part of the lower basket taken out from FIG. It is a figure which shows one state.

In the dishwasher 101 provided with the thing detection apparatus 123 which concerns on 6th Embodiment of this invention, painting of the color different from another part is carried out in the front-back direction (at the left-right direction one end of the lower basket 107). It is colored on the line extended in the drawing direction), and the coating part constitutes the identification pattern PA as a display.

In step S204 of FIG. 13, the microcomputer 121 determines whether the identification pattern PA is taken out of the upper end and the lower end of each captured image P1 (the position of the identification pattern PA), and each captured image P1. Based on the length (quantity) of the identification pattern PA in, the position in the lower end basket 107 of the location stamped on the detected image P2 is specified.

In FIG. 16 and FIG. 17, when the area captured by the captured image P1 is represented by R1 and the area captured by the detected image P2 is represented by R2, in the state of FIG. 16, the identification pattern PA is the upper end of the captured image P1. Is taken, the length of the identification pattern PA in the picked-up image P1 becomes the length corresponding to L1. In addition, in the state of FIG. 17, identification pattern PA is imprinted on the lower end part of picked-up image P1, and the length of identification pattern PA in picked-up image P1 becomes the length corresponding to L2.

(Seventh embodiment)

The seventh embodiment of the present invention will be described below.

FIG. 18 is an explanatory view showing a region to be taken out of the captured image of the object detecting apparatus according to the seventh embodiment of the present invention with the entire lower basket taken out; FIG. 19 is a part of the lower basket taken out from FIG. 18. It is a figure which shows one state.

In the dishwasher 101 provided with the thing detection apparatus 123 which concerns on 7th Embodiment of this invention, the mark MA by a some mark is shown in the front-back direction (at the left-right direction one end of the lower basket 107). Are attached at equal intervals in the drawing direction).

In step S204 of FIG. 13, the microcomputer 121 checks whether the mark MA is taken out of the upper end and the lower end of each captured image P1 (the position of the mark MA), and the respective captured images P1. Based on the number of marks MA, the position in the lower basket 107 of the location stamped on the detected image P2 is specified.

In FIG. 18 and FIG. 19, if the area to be captured on the captured image P1 is represented by R1 and the area to be captured on the detected image P2 is represented by R2, in the state of FIG. 18, the mark MA is placed on the upper end of the captured image P1. The number of marks MA in the picked-up image P1 is five. In addition, in the state of FIG. 19, the mark MA is imprinted on the lower end of the picked-up image P1, and the number of marks MA in the picked-up image P1 becomes two.

In addition, although the 5th embodiment mentioned above used two detection image P2 which comprises the different part of picked-up image P1, three or more detection image P2 which comprises the different part of picked-up image P1 is used. ) May be used.

In addition, in the above-mentioned 3rd and 5th embodiment, although the identification pattern PA of the lower basket 107 was made into display, when the handle is installed in the lower basket 107 in order to hold it by hand at the time of movement, it is applicable. The handle may be displayed. Thereby, it becomes unnecessary to provide a detection display separately, and the aesthetics of the lower basket 107 can be improved.

In addition, although the visible light camera 119 was provided in the upper peripheral part of the opening part 103a of the washing tank 103 in the above-mentioned 3rd and 5th-7th embodiment, the arrangement point of the visible light camera 119 is a lower basket. The display of 107 can be image | photographed, and if it is a location which is not influenced by the water, steam, and detergent in the washing tank 103, it can arrange | position another place.

In addition, although the detection image P2 was made into a part of picked-up image P1 in 3rd-7th embodiment mentioned above, you may make it all.

In the third to seventh embodiments, the present invention is applied to the dishwasher 101 or the cabinet 125, but the present invention can also be applied to a desk or a warehouse that accommodates a movable storage unit. In this case, the stored information obtained can be used for inventory management or valuables management. Moreover, this invention can be applied also to the refrigerator with a drawer, In this case, the obtained storing information can be used for adjustment of a cooling effect, or food control.

Hereinafter, various modifications of the method of detecting the position of the dish storage basket when the identification pattern PA is not provided in the dish storage basket (bottom basket 107) will be described.

First, a TOF (distance image) sensor is disposed on a wall surface (door facing surface) facing the door 104 in the washing tank 103. On the other hand, the reflecting plate which can reflect the light emitted from the TOF sensor is provided in the opposite part to the washing tank 103 in the lower basket 107. By measuring the distance with the reflecting plate by the TOF sensor, the position of the lower basket 107, that is, the amount of drawouts from the washing tank 103 of the lower basket 107 can be calculated.

Second, a winding machine may be provided on the door facing surface of the washing tank 103, and the other end of the string applied to the winding machine may be connected to the lower basket 107. In this case, for example, the position of the lower basket 107, that is, the amount of the lower basket 107 from the washing tank 103 can be calculated from the number of turns of the winding machine or the amount of the pull out of the string.

In addition, a scale may be provided on the string itself, and the scale may be read by, for example, an image processing sensor.

Third, you may form the some area | region which apply | coated differently to the different color toward the extraction direction on the substantially whole surface of the extraction direction of the bottom part 107b in the lower basket 107. When such a bottom basket 107 is imaged with the visible light camera 119, for example, the extraction amount from the washing tank 103 of the bottom basket 107 can be estimated from the area | region imaging position of a specific color.

Fourth, the direction or the knitting method of the mesh of the bottom part 107b of the lower basket 107 may be made into a plurality of kinds along the extraction direction so that visible light can be distinguished. When the lower basket 107 is photographed by the visible light camera 119, the amount of draws from the washing tank 103 of the lower basket 107 can be estimated from the photographing position of a specific area such as a mesh.

Fifth, the planar shape (outer shape) of the lower basket 107 may be formed in another shape along the extraction direction. For example, with respect to the peripheral wall part 107c of the drawing-out direction in the lower basket 107, the imaging position of a specific area | region is mixed by mixing the area | region formed in wave shape (uneven | corrugated shape), the area | region formed in linear form, etc. in plan view. The withdrawal amount from the washing tank 103 of the lower basket 107 can be estimated from this.

Sixth, a plurality of markers extending in the extraction direction may be provided on the bottom portion 107b of the lower basket 107. The plurality of markers may be arranged at an interval, for example, in an island shape. In addition, the arrangement direction is not limited to the direction parallel to the extraction direction in plan view, and may be the diagonal direction of the lower basket 107.

When the lower basket 107 is photographed by the visible light camera 119, for example, the amount of draws from the washing tank 103 of the lower basket 107 can be estimated from the photographing position of the specific marker. Further, each marker may have its own planar shape or its own color.

Next, various modified examples of the detection method of an object, for example, tableware, in the rectangular detection image P2 which is an imaging area of the recognition mark 104b will be described with reference to FIGS. 20 to 22.

20 is a plan view showing an example of a recognition mark, FIG. 21 is an imaginary view of extracting a linear component from the recognition mark of FIG. 20, and FIG. 22 shows a linear component from the recognition mark when the transparent tableware is stored. The extracted virtual diagram.

First, a mark containing a linear component may be used as the mark 104b for recognition. In this case, the mark containing the several linear component which intersects is preferable. For example, as shown in FIG. 20, when the so-called "scale shape" which comprises a some regular hexagon by a some equilateral triangle is employ | adopted as the mark 104b for recognition, from the detection image of FIG. The linear component as shown in FIG. Can be extracted.

Here, as shown in FIG. 22, when distortion occurs in a linear component in a part of the area 300 in the imaging area, it is possible to detect and estimate that the transparent tableware is stored in the area 300. Can be.

Second, the mark 104b for recognition may be provided not only on the lower end of the inner surface of the door 104 but also on the bottom face 103c of the cleaning tank 103. In this way, the mark with a good image pickup state can be used for the detection of dishes, and the detection accuracy can be improved.

Third, a light emitter may be used for the recognition mark 104b itself. In the detected image P2, it is possible to detect that a tableware or the like is stored in an area darker than the brightness of the recognition mark 104b itself. As the light emitter, for example, a light emitting diode (LED) element, a sheet-like photoluminescent member, a strong reflection member, or the like can be used.

Next, various modified examples of the detection method of the object in the rectangular detection image P2 when the recognition mark 104b is not provided, for example tableware, will be described.

First, the position of the lower basket 107 may be estimated, and the shape of the lower basket 107 may be specified from the estimated position of the basket. In this case, it is preferable that the planar shape (outer shape) of the lower basket 107 differs along the extraction direction. If the planar shape of the image of the basket at the specified position is different from the image of the initial state in which the dishes are not stored, it can be detected that the dishes are stored.

Second, the position of the bottom basket 107 is estimated, and the shape of the background (inner surface of the door 104) of the estimated position is specified. If the background image of the specified shape is different from the image of the initial state in which no dishes are stored, it is possible to detect that the dishes are stored.

Third, if there is a difference between the image of the background (inner surface of the door 104) and the image when the lower basket 107 has passed on the background, it can be detected that the tableware is stored.

Fourth, the lower basket 107 may be painted with a specific color. The number of pixels of a particular color component is recorded as an initial value from an image of the initial state in which the dishes are not stored, and the tableware is stored by measuring the variation (decrease or increase) in the number of pixels of the specific color component due to the receipt of the dishes. We can detect that there is.

Fifth, for the lower basket 107, a plurality of rectangular images, for example, a plurality of detection images P2 may be acquired for each extraction position. Each image of the rectangle photographed during the detection operation of the tableware is compared with each image of the corresponding rectangular shape acquired in advance, and if a difference occurs between the compared images, it is possible to detect that the tableware is stored.

Sixth, an empty lower basket 107 may be photographed in advance, and a linear component of the wire rod (wire) constituting the lower basket 107 may be extracted from this image. The position of the lower basket 107 can be estimated based on the extracted linear component of the initial state. Moreover, in the image picked up during the detection operation | movement of tableware, it can be detected that tableware was accommodated in the area | region where the linear component of the wire was broken along the way.

Seventh, an empty lower basket 107 may be photographed in advance, and the intersections of the wire rods (wires) constituting the lower basket 107 may be extracted from this image. The position of the lower basket 107 can be estimated based on each intersection point of the extracted initial state. Further, in the image photographed during the operation of detecting the tableware, it is possible to detect that the tableware has been stored in an area in which the intersection point of the wire is covered, that is, an area that does not exist.

The lower basket 107 may be three-dimensionally modeled using an eighth, one or a plurality of cameras (visible light camera 119). In this case, the image photographed during the detection operation of the tableware is also three-dimensionally modeled, and in addition to the spatial coordinates of the lower basket 107 itself, if there are three-dimensional restored spatial coordinates, it can be detected that the tableware is stored. .

Ninth, an image having a specific pattern may be irradiated toward the lower basket 107 from the photographing direction of the backlight camera 119. The specific pattern means, for example, a pattern including a plurality of straight lines parallel to each other, or a pattern in which a plurality of straight lines parallel to each other cross. If the reflected light of this pattern is image | photographed with the visible light camera 119, and the shift | offset | difference, distortion, etc. of the said pattern generate | occur | produced in the image, it can detect that the tableware is accommodated.

Tenth, each colorable dish to be washed in the lower basket 107 may be colored with a dye or a paint washable with a dish detergent by automatic spraying by the dishwasher 101 or spraying by a user. Subsequently, the pigment | dye etc. which were colored in each tableware can be detected by the visible light camera 119, and the position where the tableware in the lower basket 107 was accommodated can be detected.

Eleventh, in the upper basket 107 or above, the movement of the user's fingertip stops for a moment, and the returned position may be determined as the position where the dishes are stored. In this case, it is also necessary to determine whether the tableware stored in the returned position has been removed.

(8th Embodiment)

EMBODIMENT OF THE INVENTION Hereinafter, 8th Embodiment of this invention is described with reference to FIG. 23 and FIG.

It is sectional drawing in the front-back direction of the dishwasher which concerns on 8th Embodiment of this invention, and FIG. 24 is sectional drawing of the state which opened the door in the front-back direction of the dishwasher which concerns on 8th Embodiment of this invention.

23 and 24 show a cross-sectional configuration in the front-rear direction of the dish washing machine 201 according to the eighth embodiment of the present invention.

Hereinafter, the withdrawal direction of the dishwasher 201 is set to the front side. The dishwasher 201 has a substantially rectangular parallelepiped shape, and is provided with the common washing tank 203 which has the opening part which carries in and out of a tableware in the front side. The door 204 which can open and close the washing tank 203 is provided in the opening part.

As shown in Figs. 23 and 24, the washing tank 203 has a table top storage basket 205 (hereinafter referred to as an 'top basket') for storing dishes, and a table bottom storage basket 207 below. Hereinafter referred to as a "bottom basket."

Between the upper basket 205 and the lower basket 207, a plurality of lower

rotary nozzles

208a, 208b for spraying water (washing water or rinsing water) upward and downward are rotatably disposed.

Above the upper basket 205, a plurality of upper rotating nozzles 209 for spraying water downward are arranged to be rotatable.

The hollow fixed nozzle 209 as a washing | cleaning part extended in the width direction of the washing tank 203 is arrange | positioned near the lower rear end part of the lower basket 207. As shown in FIG.

The fixed nozzle 210 is provided with the some injection hole which sprays water horizontally toward the front at intervals in the width direction of the washing tank 203. As shown in FIG.

Moreover, the rail 211 extended in the front-back direction is provided in the substantially center of the lower width direction of the lower basket 207. As shown in FIG.

The rail 211 slidably supports the elongate slide member 212 extending in the width direction as the washing part from below.

The slide surface 212 is provided with the collision surface which the water sprayed from the fixed nozzle 210 collides and changes the advancing direction of water upward, over the full length.

Although not shown, the slide member 212 is connected to the belt, and when the pulley on the rear side is rotated by the operation of the motor, the slide member 212 slides along the rail 211 as the belt travels. Thus, the drive mechanism can be constituted by the belt, the pulley and the motor.

In FIG. 23, a tank 213 connected to the bottom 203a to store water and a pump 215 for discharging water stored in the tank 213 are disposed on the bottom 203a of the washing tank 203. .

The pump 215 circulates the water in the tank 213 by pressurizing the lower

rotating nozzles

208a and 208b, the upper rotating nozzle 209 and the fixed nozzle 210, respectively.

When water is sprayed horizontally toward the front from each spray hole of the fixed nozzle 210 by driving the pump 215 of the dish washing machine 201 configured as described above, the sprayed water sprayed from the plurality of fixed nozzles 210 Collides with the collision surface of the slide member 212 and scatters upwards like a fountain, and washes the dishes contained in the lower basket 207. At this time, if the motor is operated while the jet of water by the fixed nozzle 210 is continued, the slide member 212 slides in the front-rear direction along the rail 211, so that the slide member 212 is positioned above the slide range. The spray water is evenly distributed into the space.

(Detection method of tableware)

Hereinafter, a method of detecting a tableware in an eighth embodiment of the present invention will be described with reference to FIGS. 25 to 28.

Fig. 25 is a plan view showing a mark for recognizing that dishes can be easily stored in a dish storage basket in a dish washing machine according to an eighth embodiment of the present invention, and Fig. 26 is an eighth embodiment of the present invention. FIG. 27 is a perspective view illustrating a state in which utensils are stored in the drawn dish storage basket in the dishwasher, FIG. 27 is a perspective view illustrating a state in which the dish storage basket of FIG. 26 starts to be accommodated in the washing tank, and FIG. 28 is FIG. And a developed view showing a state in which each of the image images of FIG. 27 is developed as a plan view.

The dishwasher 201 according to the eighth embodiment of the present invention recognizes not only the presence and the amount of the dishes stored in the bottom basket 207, but also the storage position of the dishes stored in the bottom basket 207, that is, the arrangement position. Then, the arrangement area is selectively washed and rinsed based on the recognized position of the tableware.

Thus, as shown in FIGS. 23 and 24, the dishwasher 201 according to the eighth embodiment of the present invention is placed on the front side (specifically, the door side) on the ceiling surface of the washing tank 203. The camera 219 which is a detection means which detects a tableware is provided.

In addition, the camera 219 is not limited to the camera which responds to visible light, For example, an area sensor may respond to infrared light.

In the eighth embodiment of the present invention, rather than directly photographing and detecting the dishes stored in the lower basket 207, the camera 219 is above the recognition mark 220 disposed below the lower basket 207. It may have a configuration for photographing the recognition mark 220 with the tableware passing through.

Specifically, in the state where the door 204 is opened in the area of at least lower part of the door 204, for example, the recognition mark 220 is applied to the area | region of the at least end part of the washing tank 203 side of the door 204, for example. Is installed.

In the eighth embodiment of the present invention, as shown in Fig. 25, the recognition mark 220 is, for example, stacked in three stages with a plurality of triangles painted without gaps, respectively, and arranged in the overall width direction of the washing tank 203. I do it with a pattern. Here, the vertices of the plurality of triangles face upwards, that is, in the state in which the door 204 is opened.

In addition, the recognition mark 220 is not limited to the arrangement pattern of a plurality of triangles, but may be an arrangement pattern of another figure.

Furthermore, the present invention is not limited to a combination pattern of figures, and may be constituted by letters (kanji, hiragana, katakana, various alphabets, etc.), symbols, color saturation or brightness, or a combination thereof.

In addition, a predetermined process is performed by the processor 221 including an MPU (microprocessor unit), for example, the image image (image data) image | photographed by the camera 219. FIG. Operation control of the dishwasher 201 including the processor 221 can be performed from the control unit 223 provided on the upper end of the front surface of the washing tank 203, that is, above the door 204.

Fig. 26 shows an image image captured by the camera 219 according to the eighth embodiment of the present invention.

In FIG. 26, the lower basket 207 is taken out on the door 204, and the

dishes

230 and 231 before washing are scattered and stored in the lower basket 207.

In this embodiment, the identification pattern 207a which has a checkered pattern is provided in the side end part of the front side in the lower basket 207, for example. By providing this identification pattern 207a in the lower basket 207, the position of the end farthest from the camera 219 in the wire-shaped lower basket 207, that is, the reference of the front side (outside) of the lower basket 207 This position can be detected easily. The identification pattern 207a is not limited to a pattern in which figures are combined, similarly to the mark 220 for recognition, and may be configured by saturation or brightness of characters, symbols, colors, or a combination thereof.

In FIG. 26, the distance between the identification pattern 207a and the recognition mark 220 is set to d1.

In addition, the detection and determination of tableware in an image image are performed in the 1st detection area 241 shown in FIG.

FIG. 27 shows that the lower basket 207 has a portion of the rear side of the washing tank (not shown) pressed in and accommodated, and thus the distance between the identification pattern 207a and the recognition mark 220 is d2 (d1> d2). The image of the image is shown.

Also in this case, detection and determination of tableware in an image image are performed in the 2nd detection area 242 shown in FIG.

As described above, in the present embodiment, by always photographing the identification pattern 207a as each image image, it is possible to calculate which part of the lower basket 207 the photographed range (area) is.

Here, for example, the images are sequentially introduced (recorded) at 10 timings in one second.

FIG. 28 illustrates a state in which each of the image images of FIGS. 26 and 27 is developed as a plan view.

In FIG. 28, the distances d1 and d2 developed in the plan view are formed by the distance from the camera 219, the image capturing unit of the camera 219, and the identification pattern 207a in the lower basket 207 of the door 204. It is calculated by correcting the angle.

Since the distance d1 after correction, that is, the depth dimension of the lower basket 207 is already known, the average moving speed can be calculated from the time until the movement of the lower basket 207 is started and accommodated in the washing tank 203. This average moving speed varies with the completion of the press-in operation of the user.

In this case, since 10 images are recorded every second for each image image, one image image can be used as a counter in units of 0.1 seconds. The distance d2 can also be detected from this moving speed and the counter value.

In addition, when the accommodation operation | movement of the lower basket 207 to the washing tank 203 stops in the middle, it is taken out once, and when the storage operation is restarted after that, the overlapping part of an image image is deleted.

In addition, when a continuous image image is missing, it can also complement | generate and generate it from the image image before and after.

As shown in FIG. 27, in the second detection area 242, a part of the tableware 231, a part of the frying pan, is covered on the recognition mark 220, and the recognition mark 220 is located thereon. It does not form a predetermined image, that is, the overall shape of the mark. Therefore, in the area | region of distance d2 after correction | amendment which is the draw amount of the lower basket 207 from the identification pattern 207a in the lower basket 207, the arrangement area | region where something is accommodated can be specified.

In this manner, when the lower basket 207 is accommodated, continuous shooting by the camera 219 can be performed to calculate a range in which the washing and rinsing in the lower basket 207 is necessary.

(Operation of the dishwasher)

Hereinafter, the operation of the dishwasher 201 according to the eighth embodiment of the present invention will be described with reference to FIG. 29.

In FIG. 29, when power is supplied to the dishwasher 201, the monitoring is continued until the door 204 is opened in step S301. When the door 204 is in the open state, the flow advances to step S302 and waits until the lower basket 207 is pulled out of the washing tank 203 on the door 204.

When the lower basket 207 is withdrawn from the washing tank 203, the flow advances to step S303, where the tableware is stored in an arbitrary position in the lower basket 207, and the lower basket 207 moves to accommodate the washing tank 203. Wait until is started.

In addition, the upper basket 205 is pulled out in front of (or behind) the lower basket 207 so that the tableware is stored in the upper basket 205 (or not stored therein), and the upper basket 205 is again washed. ) Does not affect the operation order of the dishwasher 201.

Here, in the operation from step S302 to step S303, the user opens the door 204 of the dishwasher 201, draws out at least the bottom basket 207, stores the dishes in the bottom basket 207 taken out, The lower basket 207 corresponds to a series of operations for accommodating the lower basket 207 again in the driving position.

Subsequently, when detecting the start of movement for accommodating the lower basket 207 in step S303, the processor 221 proceeds to the next step S304, as shown in FIG. 26, provided on the inner surface of the door 204. Photographing of the lower basket 207 is started including the recognition mark 220 as the background.

Here, as described above, the moving time t starting from the start of shooting toward the rear (depth direction) of the lower basket 207 and the position information x corresponding to the time t are recorded in the captured image. The position on the lower basket 207 in each image image photographed using this is determined. This imaging step S304 is performed until the lower basket 207 is accommodated in the predetermined washing position of the washing tank 203.

In the next step S305, when the lower basket 207 is accommodated in the predetermined washing position (operation position), the process proceeds to step S306.

In step S306, it is determined whether the image picked up from the correspondence between the shooting time and the number of shots includes a predetermined number of sheets, and whether the shooting state satisfies a predetermined condition. For example, if the shooting time is 3 seconds, 30 shots is a predetermined number. When such a condition is satisfied, in next step S307, the processor 221 determines that there are tableware in the part which cannot recognize the recognition mark 220 in the detection area | region of each image picked up, respectively. The tableware determination area at this time is the first detection area 241, the second detection area 242, and the like illustrated in FIG. 28. This determination operation is performed over the entire lower basket 207.

At this time, the processor 221 determines not only the arrangement area of the tableware, but also the amount of the tableware, the shape of the tableware (including the direction in which the tableware is placed (vertical / horizontal)), and the type (material) of the tableware as the judgment of the tableware. do. Here, the kind (material) of a tableware refers to ceramics, a resin tableware, a glass tableware, etc., and when it determines with a glass tableware, for example, control of water temperature etc. with respect to this glass tableware is attained.

In addition, the processor 221 controls the slide member 212 which is a washing part according to the determination result. In other words, the processor 221 adjusts the operation time by selecting the washing range corresponding to the arrangement area of each dish. At this time, when it determines with the quantity of the dish put relatively, you may adjust the washing detergent amount and the quantity for rinsing.

On the other hand, in step S306, when the number of shot images and the state do not satisfy the predetermined condition, the flow advances to the next step S308. In this step S308, in the whole lower basket 207 which is a detection object, the image only by determining the presence or absence of tableware, ie, the arrangement position of a tableware with high precision, will become insufficient. In this case, detection is performed by changing the determination condition. For example, it determines with the tableware being stored about the area | region lacking an image, and after that, predetermined | prescribed operation control is performed. This can prevent the occurrence of a problem that the dishes are not sufficiently washed.

Subsequently, in the next step S309, the washing operation, the rinsing operation, and the drying operation are sequentially performed according to the operating conditions set in step S307 or step S308, and the operation ends.

In addition, as one modification of the operation flowchart, it may be defined that the lower basket 207 is not a tableware in advance, regardless of whether the recognition mark 220 is detected with respect to a specific portion. Specifically, for example, the wheels provided on both sides of the lower basket 207 are defined as not tableware. In this way, the amount of information processing required for the determination of the tableware can be reduced.

(First variation: arrangement position of the mark for recognition)

EMBODIMENT OF THE INVENTION Hereinafter, the 1st modification of this invention is demonstrated.

In 8th Embodiment, when the recognition mark 220 is provided in the lower end on the inner surface of the door 204 which opens and closes the washing tank 203, when it moves from the position which pulled out the whole lower basket 207 to a driving position, By photographing a plurality of lower baskets 207 and the mark 220 for recognition by the camera 219 which is an imaging unit, it is judged whether the tableware stored in the lower basket 207 is present, and when it determines that there is a tableware, An example of identifying the position (arrangement area), the amount thereof, the shape thereof, and the kind (material) thereof has been described.

In this manner, the recognition mark 220 is not provided on a part of the inner surface of the door 204, but may be implemented even when the recognition mark 220 is provided on the entire inner surface of the door 204.

In this way, the photographed image of the lower basket 207 and the recognition mark 220 is made into only one sheet, and the presence, position, shape, and type (material) of the dishes stored in the entire lower basket 207 are determined. It is also possible.

Therefore, the range in which the recognition mark 220 is provided in the washing tank 203 and the number of images to be photographed are not limited.

(2nd modification: recognition of the storage basket)

Hereinafter, a second modification of the present invention will be described.

In the eighth embodiment, the depth of the lower basket 207 is used for the photographed image using the information of the movement time t in the depth direction of the lower basket 207 and the position x corresponding to the time t. The position x in the direction is detected. However, the position detection of the lower basket 207 can also be detected from a captured image or by a distance sensor such as optical or magnetic.

In addition, in 8th Embodiment, in order to make recognition of the front end part in the lower end basket 207 easy, the identification pattern 207a is provided in the front end part of the lower end basket 207. As shown in FIG. The identification pattern 207a arrange | positioned at this lower basket 207 is an example, It does not necessarily need to be installed.

When providing an identifier, instead of the front-end part identification pattern 207a of the bottom basket 207, the distance (position) from a front-end part can be discriminated in at least one of both sides of the bottom basket 207, for example. You may arrange a symbol (index) etc.

(Third variation: selective wash)

Hereinafter, a third modified example of the present invention will be described.

In the eighth embodiment, as a washing unit that can selectively wash the arrangement area of the tableware housed in the lower basket 207, the rail 211 is freely slidable and has an elongated shape extending in the width direction. Although using the slide member 212 and making it the structure which made the injection water sprayed from the some fixed nozzle 210 contact the oblique collision surface in the slide member 212, it is not limited to this.

For example, each of the plurality of nozzles provided in the fixed nozzle 210 may be opened and closed independently, and the injection amount may be controlled. Accordingly, the processor 221 may change the washing range or optimally control the washing time based on the determination result of the presence, position, and shape of the dishes stored in the lower basket 207.

(Fourth modification example: detection device of tableware: with mark for recognition)

Hereinafter, a fourth modified example of the present invention will be described.

In the eighth embodiment, the camera 219 which is an area sensor is used as a device for photographing the lower basket 207 and the recognition mark 220 serving as the background, but the upper region of the recognition mark 220 is selectively selected. You can also use a line sensor to shoot.

(Fifth modification: detection device of tableware: no mark for recognition)

Hereinafter, the fifth modification of the present invention will be described.

In 8th Embodiment, although the recognition mark 220 used as the background was provided in the detection part of the lower basket 207, the recognition mark 220 does not necessarily need to be provided.

In the case where the recognition mark 220 is not provided, a plurality of light emitting diodes (LEDs), for example, light emitting diodes (LEDs), which are light emitting (emission) means instead of the camera 219, are disposed in the width direction of the washing tank 203. Installs.

In addition, instead of the recognition mark 220, a plurality of Complementary Metal-Oxide Semiconductor (CMOS) sensors, which are light receiving (receiving) means, respectively, are disposed so as to face the plurality of LEDs. At this time, the LED and the CMOS sensor do not necessarily need to be installed one-to-one.

By this configuration, if there is a CMOS sensor that does not receive the light emitted from the LED, it is determined that there is a tableware thereon.

(Sixth Modification Example: Detection Device of Tableware: No Mark for Recognition)

Hereinafter, a sixth modified example of the present invention will be described.

Also in the sixth modification, a distance sensor (proximity sensor) configured as one device instead of the LED as the light emitting means and the CMOS sensor as the light receiving means, without using the recognition mark 220 in the fifth modification. ) As the distance sensor is known, the emitted signal is not limited to light (electromagnetic waves including visible light), but may be ultrasonic waves.

In this configuration, at least one distance sensor can be disposed in place of the camera 219 disposed on the front side of the ceiling surface of the washing tank 203.

In the case of the fourth, fifth and sixth modifications described above, the distance sensor described in the second modification can be used for position recognition of the lower basket 207.

Each of the modifications described above includes the eighth embodiment, and can be combined with each other in a range where physical contradiction does not occur.

As explained above, according to 8th Embodiment, the slide member 212 which is a washing part is controlled according to the arrangement | positioning area of the tableware image | photographed and determined by the camera 219 which is an image photographing part, and the quantity and its shape, and By controlling the washing range so as not to wash the area in which is not stored, the energy saving operation can be performed and the operation time can be shortened.

In addition, in 8th Embodiment, the predetermined | prescribed recognition mark 220 is provided in the one part which is lower side of the lower basket 207, and becomes a background of an image, and the movement time to the depth direction of the lower basket 207 ( The information of the position x corresponding to t) and the travel time t is used. For this reason, the arrangement position, quantity, shape, and kind (material) of the tableware accommodated in the lower basket 207 can be detected with high precision from the imaging state of the recognition mark 220 in the some image picked up.

In addition, in the eighth embodiment, it is determined that there is a tableware in the part where the recognition mark 220 cannot be discriminated in the photographed image. As a result, dirt or mist may occur on the lens of the camera 219, water vapor may contact, contaminants, or the like attached to the surface of the recognition mark 220, or the camera 219 and the lower basket 207 or for recognition. Even if it is covered by the user's hand or the shield between the marks 220 and the correct detection cannot be performed, it is determined that there is a tableware, and control is performed to wash the area. Accordingly, it is possible to prevent the tableware from being washed by the false detection.

In addition, also in the eighth embodiment, the feature point (identification pattern 207a), which is the display described in the first and second embodiments, is not provided in the dish storage basket as the detection method of the position of the dish storage basket (bottom basket 207). Each of the first to seventh modifications, which is a modification in the case of no use, can be applied.

(Ninth embodiment)

Hereinafter, a ninth embodiment of the operation by the dish washing machine of the present invention will be described with reference to FIG. Also in the 9th embodiment, the structure of the dishwasher 201 is the same as that of the 8th embodiment.

In FIG. 30, when the dishwasher 201 starts operation, the processor 221 opens the door 204, and then the lower basket 207 is pulled out and the lower basket 207 is removed by the user. Since the operation until the tableware is accommodated and the movement for accommodating the lower basket 207 in which the tableware is stored is started is the same as in the first embodiment, the description thereof is omitted.

When the movement of the lower basket 207 to the washing tank 203 is started, the processor 221 includes a recognition mark 220 serving as a background installed on the inner surface of the door 204 in step S404. 207) photographing starts. Lower basket in each image image photographed using the moving time t of the lower basket 207 to the rear (depth direction) of the lower basket 207, and the positional information x corresponding to the moving time t. A position on 207 is determined.

This imaging step S404 is performed until the lower basket 207 is accommodated in the predetermined washing position of the washing tank 203.

In the next step S405, it is determined whether there is an image in which the photographed image and the position information overlap, and when there is an image in which the position information overlaps, the flow proceeds to the next step S406.

In step S406, the old image before the captured time is deleted from the image in which the position information is duplicated, and a new image after the captured time is applied. This series of photographing is repeated from step S404 until the lower basket 207 is stored in the driving position in step S407.

In step S407, when the lower basket 207 is accommodated in a washing position (operation position), it progresses to step S408.

In step S408, it is determined whether the number of shot images and the photographed state satisfy predetermined conditions. If the condition is satisfied, the process proceeds to the next step S409.

In step S409, the processor 221 determines that there is a tableware in the part where the recognition mark 220 cannot be discriminated in the detection area of each photographed image.

In addition, the processor 221 determines the amount, shape (stored direction) and type (material) of the dishes in addition to the arrangement area of the dishes over the entire lower basket 207.

Processor 221 controls the slide member 212 which is a washing part according to this determination result, changes a washing | cleaning range, and performs control of an operation time.

On the other hand, in step S408, when the number of shot images and the state thereof do not satisfy predetermined conditions, the flow advances to the next step S410.

In step S410, in the whole lower basket 207 which is a detection object, a judgment condition is changed and detection is performed in response to the lack of the image only having a high precision which determines the presence or absence of the tableware, ie, the arrangement position of the tableware. For example, it is determined that the tableware is stored in an area lacking an image, and after that, predetermined operation control is performed.

That is, in the next step S411, the washing operation, the rinsing operation, and the drying operation are sequentially performed in accordance with the operating conditions set in step S409 or step S410, and the operation ends.

As described above, according to the ninth embodiment, not only the same effect as in the eighth embodiment can be obtained, but also when there is an image in which the photographed image and the position information overlap, the image in which the position information is duplicated The old time is deleted, and the new time is applied. Accordingly, when the user stores the tableware in the lower basket 207 and receives the lower basket 207 in the driving position, the lower basket 207 is returned to the front side or stopped while moving. Even if the lower basket 207 may be moved irregularly, the latest image required for the detection of the tableware is selected from the plurality of photographed images, and the lower basket 207 is lowered from the state of the recognition mark 220 in the plurality of photographed images. The arrangement | positioning area of the tableware accommodated in the basket 207, its quantity, its shape, and its kind (material) can be detected with high precision.

In addition, also in the ninth embodiment, as a detection method of the position of the dish storage basket (bottom basket 207), the feature point (identification pattern 207a), which is the display described in the first and second embodiments, is not provided in the dish storage basket. Each of the first to seventh modifications, which is a modification in the case of no use, can be applied.

(10th embodiment)

A tenth embodiment of the operation of the dish washing machine of the present invention will be described below with reference to FIG. 31. Also in the 10th embodiment, the structure of the dishwasher 201 is the same as that of the 8th embodiment. In addition, the recognition mark 220 used as a background of photography is composed of an arrangement (pattern) of regular figures as shown in FIG.

In FIG. 31, the processor 221 starts the operation when the dishwasher 201 starts, the door 204 is opened, and then the lower basket 207 is taken out, and the lower basket 207 is removed by the user. Since the operation until the movement for accommodating the lower basket 207 in which the tableware is stored and the storage of the tableware is started is the same as in the eighth embodiment, the description thereof is omitted.

When the movement of the lower basket 207 in the washing tank 203 of the lower basket 207 is started, in step S504, the lower basket including the recognition mark 220 serving as a background installed on the inner surface of the door 204. Photographing at 207 is started. Lower basket in each image image photographed using the moving time t of the lower basket 207 to the rear (depth direction) of the lower basket 207, and the positional information x corresponding to the moving time t. A position on 207 is determined. The imaging step S504 is performed until the lower basket 207 is accommodated in a predetermined washing position of the washing tank 203.

In the next step S505, when the lower basket 207 is accommodated in the washing position (operation position), the process proceeds to step S506.

In step S506, it is determined whether the number of shot images and the photographed state satisfy predetermined conditions. If the condition is satisfied, the process proceeds to the next step S507.

In step S507, it is determined that there is a tableware in the part where the recognition mark 220 cannot be discriminated in the detection area of each image | photographed image. At this time, the processor 221 determines the amount, shape (stored direction) and type (material) of the tableware in addition to the arrangement area of the tableware throughout the lower basket 207.

Next, in step S509, it is determined whether or not an irregular area exists in the arrangement of the photographed recognition marks 220. In other words, the recognition mark 220 is not completely covered by the object, but it is determined whether or not a distorted pattern exists in the recognition mark 220.

If an irregular region exists in the arrangement of the recognition mark 220, then in step S510, it is determined that there is a tableware in the region determined to have an irregular region in the arrangement of the recognition mark 220.

In addition, over the whole lower basket 207, the arrangement | positioning area, quantity, shape (direction stored), and kind (material) of the stored tableware are determined again.

Based on the determination result, the processor 221 controls the fixed nozzle 212 to change the washing range to the required area to adjust the operation time.

On the other hand, if an irregular region does not exist in the arrangement of the recognition marks 220, the flow proceeds to step S511 such as washing, etc., according to the contents set in step S507.

In addition, in the step S506, when the number of shot images and the photographing state do not satisfy the predetermined condition, the flow advances to the next step S508.

In step S508, in the whole lower basket 207 which is a detection object, a detection condition is changed and detected as there exists a lack of the image only of the presence or absence of the tableware, ie, the high-precision determination of the arrangement position of the tableware. For example, it is determined that the tableware is stored in an area lacking an image, and after that, predetermined operation control is performed.

That is, according to any one of the operating conditions set in step S507, S508, or S510, in the next step S511, a washing operation, a rinsing operation, and a drying operation are progressed sequentially, and operation is complete | finished.

As described above, according to the tenth embodiment, not only the effect equivalent to that of the eighth embodiment can be obtained, but also a recognition mark 220 having a regular arrangement is provided on a part of the background of the lower basket 207, The lower basket 207 and the recognition mark 220 are photographed, and the presence or absence of an irregular area in the arrangement of the recognition mark 220 in the photographed image is determined. At this time, when an irregular area is included in the arrangement of the recognition mark 220, it is determined that the tableware exists in the irregular area.

Therefore, when the tableware made of glass, such as a glass cup, is accommodated in the lower basket 207, when the tableware of transparent and light-transmitting material is accommodated, the transparent tableware is influenced by the influence of the refraction of light in a photographed image. The arrangement of the recognition mark 220, which is the background of the, becomes irregular. By detecting such irregular arrangement, even if the tableware accommodated in the lower basket 207 is a material which transmits light, the arrangement position, quantity, shape, and type (material) of the tableware can be detected with high accuracy.

In addition, the camera 219 which is an image photographing part is not limited to visible light, but may be an infrared camera.

In addition, as one modification of the tenth embodiment, the presence or absence of at least dishes may be detected on the area detected according to the number of the recognition marks 220 detected per unit area. Thereby, even if a tableware is a transparent material which transmits light, such as glass, since the tableware of transparent materials, such as glass, can be detected for every unit area, the detection precision of a glass tableware can be improved.

In addition, the detection per unit area can reduce the throughput per information processing amount, so that the MPU or CPU to be mounted should have the minimum capability, thereby reducing the manufacturing cost.

In addition, in each of the above-described embodiments and modified examples, also for the upper basket 205, if the washing unit has a configuration capable of selectively injecting water flow to the dish storage area of the upper basket 205, the lower basket ( Not only 207 but also the top basket 205, the present invention can be applied.

Moreover, also in the 1st thru | or 7th embodiment mentioned above, if a washing | cleaning part has the structure which can selectively inject water flow with respect to the dish storage area of an upper basket, not only a lower basket but an upper basket, this invention is applied. can do.

In addition, also in the tenth embodiment, as a detection method of the position of the dish storage basket (bottom basket 207), the feature point (identification pattern 207a), which is the display described in the first and second embodiments, is not provided in the dish storage basket. Each of the first to seventh modifications, which is a modification in the case of no use, can be applied.

In addition, this invention is not limited to said each embodiment, It cannot be overemphasized that the structure described in each embodiment can also be combined, and can be variously modified in the range which does not deviate from the meaning.

As described above, the present invention photographs a movable storage unit and an object stored in the housing unit, and an object for obtaining storage information including at least one of the position, size, and quantity of the object, based on the photographed photographed image. It is useful as a detection apparatus and a thing detection method. It is also useful as a dishwasher capable of determining at least a storage area of tableware housed in a dish storage basket.

Claims

Washing tank;

An accommodating part installed in the washing tank to accommodate the dishes;

A photographing unit which photographs the storing unit and the tableware stored in the storing unit;

And a processor configured to detect a feature point from the image photographed by the photographing unit, and detect a position of the tableware by recognizing a position of the storage unit according to the detected feature point.
The method of claim 1,

The processor,

And a dishwasher for detecting accommodation information including at least one of a position, a size, and a quantity of the dish, based on the image photographed by the photographing unit.
The method of claim 1,

The feature point,

A dish washing machine which is a mark for position recognition provided in the housing.
The method of claim 3,

The mark for position recognition,

A dishwasher composed of letters, symbols, saturation, lightness or pattern, or a combination thereof.
The method of claim 1,

The storage unit,

Is installed in the washing tank to be withdrawn through the opening of the washing tank,

The photographing unit,

The dish washer is installed around the opening of the washing tank to photograph the portion withdrawn from the washing tank.
The method of claim 5,

A door for opening and closing the opening further;

In the door,

There is a pattern for location identification,

The processor,

And the position identifying pattern is detected from the image photographed by the photographing unit, and the arrangement area in which the tableware is accommodated is detected using the position identifying pattern.
The method of claim 6,

The photographing unit,

Photographing is carried out at each of the extraction positions of the storage unit,

The processor,

The tableware which selects the image required for the detection of the tableware from the plurality of images taken, and detects the arrangement area of the tableware, the amount of the tableware, the shape of the tableware and the type of the tableware from the state of the position identification pattern. syringe.
The method of claim 7, wherein

Further comprising: a washing unit for washing the dishes;

The processor,

And a washing machine configured to selectively wash the area in which the dishes are arranged by controlling the washing unit.
The method of claim 8,

The processor,

And a washing time adjusted to selectively wash the area in which the dishes are arranged.
The method of claim 5,

The photographing unit,

Dishwasher that includes a camera, area sensor, or line sensor.
Washing tank;

An accommodating part movably installed in the washing tank and accommodating dishes;

A photographing unit which photographs the storing unit and the tableware stored in the storing unit;

And a processor configured to detect at least one storing information among the position, size, and quantity of the dishes based on the image photographed by the photographing unit.

In the storage section,

Location recognition feature,

The processor,

And detecting the feature point from the image photographed by the photographing unit, and recognizing the position of the storage unit according to the detected feature point to detect the position of the tableware.
The method of claim 11,

The feature point,

At least one display provided in the housing,

The processor,

Detecting a predetermined display from the photographed image, recognizing a position of the storage unit based on the position of the display, and detecting the storage information based on the recognized position of the storage unit.
The method of claim 12,

The processor,

A dishwasher for detecting the display on the basis of at least one of an appearance, color, text, and figure of a preset display.
The method of claim 11,

The storage unit,

Is installed inside the washing tank to be withdrawn through the opening of the washing tank,

The photographing unit,

The dish washer is installed around the opening of the washing tank to photograph the portion withdrawn from the washing tank.
The method of claim 14,

A door for opening and closing the opening further;

In the door,

There is a pattern for location identification,

The processor,

And the position identifying pattern is detected from the image photographed by the photographing unit, and the arrangement area in which the tableware is accommodated is detected using the position identifying pattern.
A washing tank having an opening;

An accommodating part installed in the washing tub so as to be able to be pulled out through the opening and storing dishes;

And a processor configured to measure the amount of draws drawn out from the washing tank by the storage unit and to detect a position of the storage unit according to the measured amount of draws.
The method of claim 16,

The processor,

Dishwasher comprising a distance image sensor, winding machine, weight sensor or camera.
The method of claim 16,

It further includes a photographing unit for photographing the shape of the housing;

The processor,

And comparing the photographed image with a pre-stored image and detecting at least one storing information of the position, size and quantity of the dish according to the comparison result.