WO2018044094A1 - Lave-vaisselle - Google Patents

Lave-vaisselle Download PDF

Info

Publication number
WO2018044094A1
WO2018044094A1 PCT/KR2017/009545 KR2017009545W WO2018044094A1 WO 2018044094 A1 WO2018044094 A1 WO 2018044094A1 KR 2017009545 W KR2017009545 W KR 2017009545W WO 2018044094 A1 WO2018044094 A1 WO 2018044094A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
basket
tableware
washing tank
lower basket
Prior art date
Application number
PCT/KR2017/009545
Other languages
English (en)
Korean (ko)
Inventor
요시모토모리오
아라키카츠노리
카와사키히사시
카미이토시히로
시미즈카즈오
Original Assignee
삼성전자주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017145572A external-priority patent/JP2018102899A/ja
Application filed by 삼성전자주식회사 filed Critical 삼성전자주식회사
Priority to KR1020187032967A priority Critical patent/KR102391425B1/ko
Priority to EP17847019.1A priority patent/EP3485794B1/fr
Priority to US16/330,055 priority patent/US11058280B2/en
Publication of WO2018044094A1 publication Critical patent/WO2018044094A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/4295—Arrangements for detecting or measuring the condition of the crockery or tableware, e.g. nature or quantity
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/0018—Controlling processes, i.e. processes to control the operation of the machine characterised by the purpose or target of the control
    • A47L15/0021—Regulation of operational steps within the washing processes, e.g. optimisation or improvement of operational steps depending from the detergent nature or from the condition of the crockery
    • A47L15/0028—Washing phases
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/4251—Details of the casing
    • A47L15/4257—Details of the loading door
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/50—Racks ; Baskets
    • A47L15/501—Baskets, e.g. for conveyor-type, in-sink type or hood-type machines
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2401/00—Automatic detection in controlling methods of washing or rinsing machines for crockery or tableware, e.g. information provided by sensors entered into controlling devices
    • A47L2401/04—Crockery or tableware details, e.g. material, quantity, condition
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2501/00—Output in controlling method of washing or rinsing machines for crockery or tableware, i.e. quantities or components controlled, or actions performed by the controlling device executing the controlling method
    • A47L2501/30—Regulation of machine operational steps within the washing process, e.g. performing an additional rinsing phase, shortening or stopping of the drying phase, washing at decreased noise operation conditions
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2601/00—Washing methods characterised by the use of a particular treatment
    • A47L2601/20—Other treatments, e.g. dry cleaning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30242—Counting objects in image

Definitions

  • 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.
  • 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. .
  • the conventional dishwasher 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.
  • Patent Document 2 Japanese Patent Laid-Open No. 10-014849
  • 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)).
  • the object detection apparatus of patent document 1 is a structure which provides a position indication for every predetermined
  • 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.
  • 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.
  • 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.
  • the present invention does not necessarily satisfy the above three objects at the same time.
  • the dishwasher 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • FIG. 6 is a plan view illustrating the control pattern of FIG. 5.
  • FIG. 7 is a schematic plan view showing the feature points defined as marks on the bottom basket.
  • FIG. 8 is a schematic plan view of another feature point defined as an indication in the bottom basket.
  • 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.
  • 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. 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.
  • FIG. 15 is a view corresponding to FIG. 2 according to a fifth embodiment of the present invention.
  • FIG. 15 is a view corresponding to FIG. 2 according to a fifth embodiment of the present invention.
  • FIG. 17 is a view illustrating a state in which a part of the lower basket is withdrawn in FIG. 16.
  • FIG. 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.
  • 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. 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.
  • FIG 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.
  • first may be referred to as the second component
  • 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.
  • 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.
  • a position indication is provided in every area
  • the aesthetics of the dish washing machine is improved while the basket position estimating device is mounted.
  • 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.
  • FIG. 3 is a schematic perspective view which shows the lower basket shown in FIG.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • 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. .
  • FIG. 2 In addition, the detailed structure of FIG. 2 is demonstrated in 3rd Embodiment mentioned later.
  • FIG. 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.
  • the camera 3 (refer FIG. 1) performs visible light imaging with respect to the predetermined
  • 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).
  • 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).
  • arithmetic processing devices such as a CPU (Central Processing Unit).
  • 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.
  • 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.
  • 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.
  • 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.
  • the position of the basket can be estimated with high accuracy by using a plurality of feature points.
  • FIG. 5 is a plan view showing an identification pattern applied to a handle of a lower basket
  • FIG. 6 is a plan view showing a control pattern of FIG.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 7 is a schematic plan view showing a feature point defined as an indication in a bottom basket
  • FIG. 8 is a schematic plan view showing another feature point defined as an indication in a bottom basket.
  • the feature point is at least one intersection 107x at the bottom 107b of the lower basket 107
  • 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.
  • 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.
  • 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.
  • the position and number of the intersection point 107x which make into a detection condition can be changed easily.
  • 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.
  • one or two feature points are provided, but three or more feature points may be provided.
  • a time of flight (TOF) sensor is disposed on a wall surface (door facing surface) facing the door 104 in the washing tank 103.
  • 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.
  • 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.
  • the TOF sensor installed in the lower basket 107 is fed by wire, wireless or battery.
  • communication means are required.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • parts, such as the peripheral wall part 107c on the opposing surface side, can be selected.
  • 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
  • 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
  • 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.
  • 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.
  • the recognition mark 104b extends in the opposite direction of the side face 103e. Attached.
  • 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.
  • each vertex of the plurality of triangles is directed toward the side of the hinge portion (rotation shaft) 104a.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • the some upper rotating nozzle 109 which sprays water downward is arrange
  • 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.
  • the support rail 111 extended in the front-back direction is arrange
  • 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.
  • 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.
  • 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
  • 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.
  • 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
  • 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.
  • the object detection apparatus 123 which concerns on 3rd Embodiment of this invention is comprised.
  • step S201 the microcomputer 121 continues monitoring until the door 104 is opened.
  • step S202 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.
  • step S203 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.
  • 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.
  • the position in the lower basket 107 of the location to be stamped is specified.
  • 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).
  • identification pattern PA is detected based on the figure contained in 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S205 when the lower basket 107 is accommodated in the predetermined driving position, the process proceeds to step S206.
  • step S206 the microcomputer 121 specifies the area
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the rotary tray 131 accommodated in the storage main body 127 is provided with the storage surface which accommodates an object facing upward.
  • the door 129 and the rotation tray 131 comprise the accommodating part.
  • the visible light camera 119 is arrange
  • the detection main body P2 is a storage main body (in the photographed image P1 (image which took the area
  • 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.
  • the aesthetics of the door 129 and the rotary tray 131 can be improved similarly to the third embodiment.
  • 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.
  • the mark 104b for recognition is attached to two regions spaced apart in the drawing direction from the rear surface of the door 104.
  • 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.
  • 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.
  • 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
  • FIG. 17 is a part of the lower basket taken out from FIG. It is a figure which shows one state.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • detection image P2 was made into a part of picked-up image P1 in 3rd-7th embodiment mentioned above, you may make it all.
  • 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.
  • the stored information obtained can be used for inventory management or valuables management.
  • 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.
  • a TOF (distance image) sensor is disposed on a wall surface (door facing surface) facing the door 104 in the washing tank 103.
  • 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.
  • 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.
  • 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.
  • a scale may be provided on the string itself, and the scale may be read by, for example, an image processing sensor.
  • the extraction amount from the washing tank 103 of the bottom basket 107 can be estimated from the area
  • 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.
  • 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.
  • the planar shape (outer shape) of the lower basket 107 may be formed in another shape along the extraction direction.
  • region is mixed by mixing the area
  • the withdrawal amount from the washing tank 103 of the lower basket 107 can be estimated from this.
  • 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.
  • 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.
  • each marker may have its own planar shape or its own color.
  • FIG. 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
  • FIG. 22 shows a linear component from the recognition mark when the transparent tableware is stored. The extracted virtual diagram.
  • a mark containing a linear component may be used as the mark 104b for recognition.
  • the mark containing the several linear component which intersects is preferable.
  • the so-called "scale shape" which comprises a some regular hexagon by a some equilateral triangle is employ
  • the linear component as shown in FIG. Can be extracted.
  • 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.
  • a light emitter may be used for the recognition mark 104b itself.
  • 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.
  • 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.
  • LED light emitting diode
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • movement of tableware it can be detected that tableware was accommodated in the area
  • 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).
  • 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. .
  • 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
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • a table top storage basket 205 hereinafter referred to as an 'top basket'
  • a table bottom storage basket 207 below.
  • bottom basket a table bottom storage basket
  • a plurality of lower rotary nozzles 208a, 208b for spraying water (washing water or rinsing water) upward and downward are rotatably disposed.
  • a plurality of upper rotating nozzles 209 for spraying water downward are arranged to be rotatable.
  • cleaning part extended in the width direction of the washing tank 203 is arrange
  • 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.
  • 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.
  • 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.
  • the drive mechanism can be constituted by the belt, the pulley and the motor.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • FIG. 28 is FIG.
  • the dishwasher 201 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.
  • the dishwasher 201 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.
  • the camera 219 is not limited to the camera which responds to visible light,
  • an area sensor may respond to infrared light.
  • 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.
  • the recognition mark 220 is applied to the area
  • 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.
  • the vertices of the plurality of triangles face upwards, that is, in the state in which the door 204 is opened.
  • 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.
  • 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.
  • a predetermined process is performed by the processor 221 including an MPU (microprocessor unit), for example, the image image (image data) image
  • 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.
  • 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.
  • 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.
  • 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.
  • the distance between the identification pattern 207a and the recognition mark 220 is set to d1.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • step S301 when power is supplied to the dishwasher 201, the monitoring is continued until the door 204 is opened in step S301.
  • 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.
  • step S303 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.
  • 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.
  • 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.
  • step S303 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.
  • 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.
  • step S305 when the lower basket 207 is accommodated in the predetermined washing position (operation position), the process proceeds to step S306.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • detection is performed by changing the determination condition. For example, it determines with the tableware being stored about the area
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the identification pattern 207a is provided in the front end part of the lower end basket 207. As shown in FIG.
  • positioned at this lower basket 207 is an example, It does not necessarily need to be installed.
  • 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.
  • the rail 211 is freely slidable and has an elongated shape extending in the width direction.
  • 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.
  • 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.
  • 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.
  • a plurality of light emitting diodes 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.
  • CMOS Complementary Metal-Oxide Semiconductor
  • a distance 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.
  • the emitted signal is not limited to light (electromagnetic waves including visible light), but may be ultrasonic waves.
  • 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.
  • the distance sensor described in the second modification can be used for position recognition of the lower basket 207.
  • the slide member 212 which is a washing part is controlled according to the arrangement
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG 30 is an operation flowchart showing the operation of the dish washing machine according to the ninth embodiment of the present invention.
  • 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.
  • the processor 221 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.
  • 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.
  • 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.
  • step S407 when the lower basket 207 is accommodated in a washing position (operation position), it progresses to step S408.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • positioning area of the tableware accommodated in the basket 207, its quantity, its shape, and its kind (material) can be detected with high precision.
  • 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.
  • the first to seventh modifications which is a modification in the case of no use, can be applied.
  • a tenth embodiment of the operation of the dish washing machine of the present invention will be described below with reference to FIG. 31.
  • the structure of the dishwasher 201 is the same as that of the 8th embodiment.
  • the recognition mark 220 used as a background of photography is composed of an arrangement (pattern) of regular figures as shown in FIG.
  • 31 is an operation flowchart showing the operation of the dish washing machine according to the tenth embodiment of the present invention.
  • 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.
  • step S504 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.
  • step S505 when the lower basket 207 is accommodated in the washing position (operation position), the process proceeds to step S506.
  • 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.
  • 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
  • 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.
  • step S509 it is determined whether or not an irregular area exists in the arrangement of the photographed recognition marks 220.
  • 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.
  • 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.
  • the processor 221 controls the fixed nozzle 212 to change the washing range to the required area to adjust the operation time.
  • step S511 such as washing, etc., according to the contents set in step S507.
  • 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.
  • 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.
  • step S511 a washing operation, a rinsing operation, and a drying operation are progressed sequentially, and operation is complete
  • 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.
  • 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.
  • the camera 219 which is an image photographing part is not limited to visible light, but may be an infrared camera.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first to seventh modifications which is a modification in the case of no use, can be applied.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Washing And Drying Of Tableware (AREA)
  • Image Analysis (AREA)

Abstract

La présente invention est utile en tant que procédé de détection d'objet reçu et dispositif de détection d'objet reçu qui photographie un réceptacle mobile de celui-ci et un objet reçu, reçu dans le réceptacle, et acquiert des informations de contenu comprenant au moins une information parmi un emplacement, une taille et le nombre d'objets reçus sur la base d'une image photographiée obtenue. De plus, la présente invention propose un lave-vaisselle qui peut déterminer au moins une zone de réception pour un plat reçu dans un panier de réception de plats de celui-ci. Le lave-vaisselle permet l'estimation d'un emplacement d'un panier même avec un petit nombre de points d'attributs. Par conséquent, il n'est pas nécessaire de doter le lave-vaisselle de nombreuses marques de détection même lorsqu'une marque de détection est installée en tant que point d'attribut séparément d'un attribut typiquement installé dans un panier, et un aspect esthétique de celui-ci peut ainsi être amélioré. De plus, le lave-vaisselle peut utiliser un attribut généralement installé dans un panier en tant que point d'attribut. Par conséquent, il n'est pas nécessaire d'installer séparément une marque de détection dans le lave-vaisselle et on peut ainsi améliorer son aspect esthétique.
PCT/KR2017/009545 2016-09-01 2017-08-31 Lave-vaisselle WO2018044094A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020187032967A KR102391425B1 (ko) 2016-09-01 2017-08-31 식기 세척기
EP17847019.1A EP3485794B1 (fr) 2016-09-01 2017-08-31 Lave-vaisselle
US16/330,055 US11058280B2 (en) 2016-09-01 2017-08-31 Dishwasher

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
JP2016-170910 2016-09-01
JP2016170910 2016-09-01
JP2016254139 2016-12-27
JP2016-254139 2016-12-27
JP2016-253750 2016-12-27
JP2016253750 2016-12-27
JP2017145572A JP2018102899A (ja) 2016-09-01 2017-07-27 かご位置推定装置、収納物検出装置及び収納物検出方法、並びに食器洗い機
JP2017-145572 2017-07-27

Publications (1)

Publication Number Publication Date
WO2018044094A1 true WO2018044094A1 (fr) 2018-03-08

Family

ID=61301804

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/009545 WO2018044094A1 (fr) 2016-09-01 2017-08-31 Lave-vaisselle

Country Status (2)

Country Link
KR (1) KR102391425B1 (fr)
WO (1) WO2018044094A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108714013A (zh) * 2018-05-23 2018-10-30 佛山市顺德区美的洗涤电器制造有限公司 洗碗机的碗篮保护方法、洗碗机及计算机可读存储介质
CN109008877A (zh) * 2018-06-28 2018-12-18 北京金山安全软件有限公司 一种洗碗机及其工作方法
CN109512362A (zh) * 2018-12-05 2019-03-26 余姚市盈宝电器有限公司 机电式多层洗碗机
CN109528138A (zh) * 2018-12-18 2019-03-29 华帝股份有限公司 一种智能洗碗机
WO2020125458A1 (fr) * 2018-12-18 2020-06-25 广东美的白色家电技术创新中心有限公司 Procédé de commande de lave-vaisselle intelligent, lave-vaisselle, et appareil ayant une fonction de stockage
WO2020186676A1 (fr) * 2019-03-18 2020-09-24 Foshan Shunde Midea Washing Appliances Manufacturing Co., Ltd. Lave-vaisselle doté de caméras connectées en nuage
CN111820837A (zh) * 2020-07-17 2020-10-27 上海秒针网络科技有限公司 一种碗筐收纳装置及清洗系统
CN112806932A (zh) * 2021-01-07 2021-05-18 佛山市顺德区美的洗涤电器制造有限公司 用于洗碗机的方法、控制装置、处理器及洗碗机
CN112890719A (zh) * 2021-04-02 2021-06-04 珠海格力电器股份有限公司 洗碗机、洗碗机的烘干控制方法、装置及可读存储介质
US11058281B2 (en) 2019-06-20 2021-07-13 Midea Group Co., Ltd. Dishwasher including rack position sensor to control capture of rack images by a camera
DE102020211543A1 (de) 2020-09-15 2022-03-17 BSH Hausgeräte GmbH System mit einer Geschirrspülmaschine, Verfahren zum Betreiben einer Geschirrspülmaschine und Computerprogrammprodukt
EP4085815A1 (fr) * 2021-05-04 2022-11-09 Miele & Cie. KG Lave-vaisselle
US11825999B2 (en) 2021-02-17 2023-11-28 Haier Us Appliance Solutions, Inc. Dishwasher appliance with camera for basket detection

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210088327A (ko) 2020-01-06 2021-07-14 엘지전자 주식회사 식기 세척기 및 식기 세척기의 제어 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6463940B1 (en) * 2000-04-13 2002-10-15 Ecolab Inc. Smart rack and machine system
EP1192893B1 (fr) * 2000-09-28 2004-11-10 Miele & Cie. KG Procédé pour détecter la charge dans un lave-vaisselle programmable avec de la vaisselle et lave-vaisselle pour exécuter un tel procédé
KR101071831B1 (ko) * 2004-12-30 2011-10-11 엘지전자 주식회사 식기세척기의 유아 출입 방지장치
US8696827B2 (en) * 2010-12-01 2014-04-15 Whirlpool Corporation Dishwasher with imaging device for measuring load characteristics and a method for controlling same
KR20150079221A (ko) * 2013-12-31 2015-07-08 삼성전자주식회사 식기 세척기 및 그 제어 방법

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10048081A1 (de) 2000-09-28 2002-04-18 Miele & Cie Verfahren zur Erkennung der Spülgutbeladung und/oder des Verschmutzungsgrades von Spülgut in einer programmgesteuerten Geschirrspülmaschine und Geschirrspülmaschine dafür
JP2003235781A (ja) 2002-02-19 2003-08-26 Matsushita Electric Ind Co Ltd 食器洗い乾燥機
DE102004035847A1 (de) 2004-07-23 2006-03-23 BSH Bosch und Siemens Hausgeräte GmbH Verfahren zur Erkennung der Spülgutbeladung und Geschirrspülmaschine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6463940B1 (en) * 2000-04-13 2002-10-15 Ecolab Inc. Smart rack and machine system
EP1192893B1 (fr) * 2000-09-28 2004-11-10 Miele & Cie. KG Procédé pour détecter la charge dans un lave-vaisselle programmable avec de la vaisselle et lave-vaisselle pour exécuter un tel procédé
KR101071831B1 (ko) * 2004-12-30 2011-10-11 엘지전자 주식회사 식기세척기의 유아 출입 방지장치
US8696827B2 (en) * 2010-12-01 2014-04-15 Whirlpool Corporation Dishwasher with imaging device for measuring load characteristics and a method for controlling same
KR20150079221A (ko) * 2013-12-31 2015-07-08 삼성전자주식회사 식기 세척기 및 그 제어 방법

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3485794A4 *

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108714013A (zh) * 2018-05-23 2018-10-30 佛山市顺德区美的洗涤电器制造有限公司 洗碗机的碗篮保护方法、洗碗机及计算机可读存储介质
CN108714013B (zh) * 2018-05-23 2021-07-27 佛山市顺德区美的洗涤电器制造有限公司 洗碗机的碗篮保护方法、洗碗机及计算机可读存储介质
CN109008877A (zh) * 2018-06-28 2018-12-18 北京金山安全软件有限公司 一种洗碗机及其工作方法
CN109512362A (zh) * 2018-12-05 2019-03-26 余姚市盈宝电器有限公司 机电式多层洗碗机
CN109528138A (zh) * 2018-12-18 2019-03-29 华帝股份有限公司 一种智能洗碗机
WO2020125458A1 (fr) * 2018-12-18 2020-06-25 广东美的白色家电技术创新中心有限公司 Procédé de commande de lave-vaisselle intelligent, lave-vaisselle, et appareil ayant une fonction de stockage
WO2020186676A1 (fr) * 2019-03-18 2020-09-24 Foshan Shunde Midea Washing Appliances Manufacturing Co., Ltd. Lave-vaisselle doté de caméras connectées en nuage
US10809685B2 (en) 2019-03-18 2020-10-20 Midea Group Co., Ltd. Dishwasher with cloud connected cameras
US11194305B2 (en) 2019-03-18 2021-12-07 Midea Group Co., Ltd. Dishwasher with cloud connected cameras
US11058281B2 (en) 2019-06-20 2021-07-13 Midea Group Co., Ltd. Dishwasher including rack position sensor to control capture of rack images by a camera
CN111820837B (zh) * 2020-07-17 2021-07-27 上海秒针网络科技有限公司 一种碗筐收纳装置及清洗系统
CN111820837A (zh) * 2020-07-17 2020-10-27 上海秒针网络科技有限公司 一种碗筐收纳装置及清洗系统
DE102020211543A1 (de) 2020-09-15 2022-03-17 BSH Hausgeräte GmbH System mit einer Geschirrspülmaschine, Verfahren zum Betreiben einer Geschirrspülmaschine und Computerprogrammprodukt
WO2022058223A1 (fr) 2020-09-15 2022-03-24 BSH Hausgeräte GmbH Système comprenant un lave-vaisselle, procédé de fonctionnement d'un lave-vaisselle et produit-programme informatique
CN112806932A (zh) * 2021-01-07 2021-05-18 佛山市顺德区美的洗涤电器制造有限公司 用于洗碗机的方法、控制装置、处理器及洗碗机
US11825999B2 (en) 2021-02-17 2023-11-28 Haier Us Appliance Solutions, Inc. Dishwasher appliance with camera for basket detection
CN112890719A (zh) * 2021-04-02 2021-06-04 珠海格力电器股份有限公司 洗碗机、洗碗机的烘干控制方法、装置及可读存储介质
CN112890719B (zh) * 2021-04-02 2022-03-15 珠海格力电器股份有限公司 洗碗机、洗碗机的烘干控制方法、装置及可读存储介质
EP4085815A1 (fr) * 2021-05-04 2022-11-09 Miele & Cie. KG Lave-vaisselle
BE1029372B1 (de) * 2021-05-04 2022-12-05 Miele & Cie Geschirrspülmaschine

Also Published As

Publication number Publication date
KR102391425B1 (ko) 2022-04-27
KR20190039023A (ko) 2019-04-10

Similar Documents

Publication Publication Date Title
WO2018044094A1 (fr) Lave-vaisselle
WO2021049846A1 (fr) Sèche-chaussures et son procédé de commande
WO2018155999A2 (fr) Robot mobile et son procédé de commande
WO2019083291A1 (fr) Robot mobile à intelligence artificielle qui apprend des obstacles, et son procédé de commande
WO2015056856A1 (fr) Réfrigérateur et procédé de commande associé
WO2021020816A1 (fr) Lave-linge et son procédé de commande
WO2016175562A1 (fr) Réfrigérateur et procédé d'ouverture d'une porte de réfrigérateur
WO2016003077A1 (fr) Robot de nettoyage et son procédé de commande
WO2017200343A1 (fr) Robot nettoyeur
WO2016013774A1 (fr) Appareil d'achat de biens et système d'achat de biens qui en est doté
WO2020111616A1 (fr) Appareil d'entretien de vêtements et son procédé de commande
WO2015005639A1 (fr) Système pour produire un contenu à réalité augmentée en utilisant un appareil complémentaire à fixer sur un jouet
WO2015102358A1 (fr) Lave-vaisselle et son procédé de commande
WO2016028021A1 (fr) Robot de nettoyage et son procédé de commande
EP3068277A1 (fr) Lave-vaisselle et procédé de commande associé
WO2014025120A1 (fr) Dispositif d'alimentation de bande de support, système de montage de puces et procédé de montage de puces
WO2021112409A1 (fr) Réfrigérateur
WO2021080144A1 (fr) Appareil de culture de plantes
WO2019078392A1 (fr) Dispositif de jeu de fléchettes et système de jeu de fléchettes comprenant une partie d'affichage
WO2021040156A1 (fr) Dispositif de mesure du corps et procédé de commande associé
WO2015068990A1 (fr) Lave-vaisselle et procédé de commande associé
WO2022080934A1 (fr) Appareil de traitement du linge
WO2019078394A1 (fr) Dispositif de jeu de fléchettes et système de jeu de fléchettes pour fournir une image de leçon
WO2021157833A1 (fr) Aspirateur robot et procédé de commande associé
WO2015050380A1 (fr) Appareil d'affichage d'image et son procédé de pointage

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 20187032967

Country of ref document: KR

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17847019

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2017847019

Country of ref document: EP

Effective date: 20190215

NENP Non-entry into the national phase

Ref country code: DE