WO2019087745A1 - Dispositif et procédé de nettoyage - Google Patents

Dispositif et procédé de nettoyage Download PDF

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Publication number
WO2019087745A1
WO2019087745A1 PCT/JP2018/038237 JP2018038237W WO2019087745A1 WO 2019087745 A1 WO2019087745 A1 WO 2019087745A1 JP 2018038237 W JP2018038237 W JP 2018038237W WO 2019087745 A1 WO2019087745 A1 WO 2019087745A1
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WIPO (PCT)
Prior art keywords
light
purification
pressure
purification device
ejection
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Application number
PCT/JP2018/038237
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English (en)
Japanese (ja)
Inventor
宮下　万里子
大山　達史
Original Assignee
パナソニックＩｐマネジメント株式会社
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 JP2018187783A external-priority patent/JP7228781B2/ja
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN201880057520.2A priority Critical patent/CN111051862B/zh
Publication of WO2019087745A1 publication Critical patent/WO2019087745A1/fr
Priority to US16/842,890 priority patent/US20200230631A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
    • G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
    • G01N21/64—Fluorescence; Phosphorescence
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications

Definitions

  • the present disclosure relates to a purification device and a purification method.
  • Patent Documents 1 to 5 disclose methods of optically detecting an object. Specifically, the type of the object can be determined by irradiating the object with excitation light and detecting the fluorescence emitted from the object excited by the excitation light.
  • the object to be detected must be disposed in the detection device, and it is difficult to apply in a general environment such as a room. In addition, there is no means to clean the detected object on the spot.
  • the present disclosure provides a purification device and a purification method that can easily perform the processes from detection of an object to purification of the detected object.
  • a purification device includes a light source that emits a first light, and a light receiving unit that receives a second light from a region irradiated with the first light, and outputs an electric signal. And a signal processing circuit that processes the electric signal, determines the presence or absence of an object in the area, and generates an image indicating the determination result, a container that contains the cleaning agent, and a jet outlet.
  • a squirt part that spouts the cleaning agent from the squirt, and a portable case in which the light sensor, the determination circuit, the squirt part, and the container are housed.
  • the purification device includes a light source that emits a first light, and a light receiving unit that receives a second light from the area irradiated with the first light, and outputs an electric signal.
  • the apparatus includes an optical sensor, a signal processing circuit that processes the electric signal, a determination circuit that determines the presence or absence of an object in the area, and generates an image indicating the determination result; And a control unit configured to control the ejection of the cleaning agent by the ejection unit based on the distance, and an ejection unit ejecting from the outlet, a distance measurement unit measuring a distance from the ejection nozzle to the object, and .
  • the purification method according to an aspect of the present disclosure is output from an optical sensor including a light source that emits a first light, and a light receiving unit that receives a second light from the area irradiated with the first light.
  • one aspect of the present disclosure can be realized as a program for causing a computer to execute the control method of the purification device.
  • it may be realized as a computer readable recording medium storing the program.
  • processing from detection of an object to purification of the detected object can be easily performed.
  • FIG. 1 is a front view of the purification device according to the first embodiment.
  • FIG. 2 is a rear view of the purification device according to the first embodiment.
  • FIG. 3 is a block diagram showing the configuration of the purification device according to the first embodiment.
  • FIG. 4 is a view showing a fluorescent fingerprint in a pixel where an object is present, which is acquired by the purification device according to the first embodiment.
  • FIG. 5 is a view showing a fluorescent fingerprint in a pixel where no object exists, which is acquired by the purification device according to the first embodiment.
  • FIG. 6 is a view showing a usage example of the purification device according to the first embodiment.
  • FIG. 7 is a flowchart showing the operation of the purification device according to the first embodiment.
  • FIG. 8 is a view showing an original image acquired by the purification device according to the first embodiment.
  • FIG. 9 is a flowchart showing an example of determination processing performed by the determination circuit of the purification device according to the first embodiment.
  • FIG. 10 is a diagram showing an image representing the determination result generated by the purification device according to the first embodiment.
  • FIG. 11 is a flowchart showing pre-processing of the purification device according to the first embodiment.
  • FIG. 12 is a flowchart showing an example of the determination process performed by the determination circuit of the purification device according to the first modification of the first embodiment.
  • FIG. 13 is a diagram showing an image showing the determination result generated by the purification device according to the first modification of the first embodiment.
  • FIG. 14 is a block diagram showing a configuration of an optical sensor of the purification device according to the second modification of the first embodiment.
  • FIG. 15 is a block diagram showing the configuration of a purification apparatus according to Modification 3 of Embodiment 1.
  • FIG. 16 is a block diagram showing a configuration of a purification device according to Embodiment 2.
  • FIG. 17 is a schematic view showing the positional relationship between the purification device according to Embodiment 2 and the object at the time of distance measurement.
  • FIG. 18A is a diagram showing an example of a display screen on a display at the time of distance measurement of the purification device according to Embodiment 2.
  • FIG. 18B is a diagram showing an example of a display screen on a display at the time of distance measurement of the purification device according to Embodiment 2.
  • FIG. 19 is a schematic view showing a state where the cleaning agent is spouted in a state where the spout of the purification device according to Embodiment 2 is inclined downward.
  • FIG. 20 is a schematic view showing a state where the cleaning agent is spouted in a state where the spout of the purification device according to Embodiment 2 is inclined upward.
  • FIG. 21 is a flowchart showing the operation of the purification device according to the second embodiment.
  • FIG. 22 is a flowchart showing the operation of the purification device according to the first modification of the second embodiment.
  • FIG. 23 is a flowchart illustrating another example of the operation of the purification device according to the first modification of the second embodiment.
  • FIG. 24 is a flowchart showing an operation of the purification device according to the second modification of the second embodiment.
  • FIG. 25 is a diagram showing an example of a locus display screen displayed on the display of the purification device according to the second modification of the second embodiment.
  • a purification device includes: an optical sensor including a light source; and a light receiving unit that receives a second light from a region irradiated with the first light emitted by the light source;
  • a determination circuit that has a signal processing circuit that processes an electrical signal, determines the presence or absence of an object in the area, and generates an image indicating the determination result, and a display that displays the image generated by the determination circuit; It has a container in which a purification agent for purifying the object is placed, and an ejection port for ejecting the purification agent, and an ejection unit for ejecting the purification agent from the ejection port.
  • the purification device includes the discrimination circuit and the ejection unit, and ejects the purification agent based on the discrimination result of the presence or absence of the object, so that the process from the detection of the object to the purification of the object detected is simplified. Can.
  • the purification device includes a light source that emits a first light, and a light receiving unit that receives a second light from the area irradiated with the first light, and outputs an electric signal.
  • a discrimination circuit that includes an optical sensor and a signal processing circuit that processes the electrical signal, determines the presence or absence of an object in the area, and generates an image indicating the determination result, a container that contains a cleaning agent, and a jet outlet And a portable case that ejects the cleaning agent from the jet, and a portable case in which the light sensor, the determination circuit, the ejection unit, and the container are accommodated.
  • the light sensor, the discrimination circuit, the ejection unit, and the container are housed in the portable case, it is possible to easily perform the detection of the object to the purification of the detected object.
  • the portability is excellent, it becomes possible to easily carry the purification device to a place where the target of purification may exist, and the discrimination of the presence or absence of the target in various places and the purification thereof are possible. It will be possible.
  • the first light may be excitation light for exciting the object
  • the second light may be fluorescence emitted by the object when the excitation light is irradiated.
  • the presence or absence of the object can be accurately determined based on the wavelength and intensity of the fluorescence. Therefore, the detection accuracy of the object can be suppressed by enhancing the accuracy of the determination, and the object can be sufficiently cleaned.
  • the determination circuit may determine the presence or absence of the target based on a combination of the wavelength of the fluorescence and the wavelength of the excitation light.
  • an optical sensor when an optical sensor is comprised by the combination according to the target object of a detection target, detection accuracy of a target object can be raised more.
  • an object to be detected is an object containing tryptophan, which is an amino acid
  • tryptophan is known to emit fluorescence having a wavelength near 360 nm when irradiated with excitation light having a wavelength of 280 nm. Therefore, by setting the wavelength of the excitation light emitted from the light source to 280 nm and extracting the wavelength component of 360 nm from the light received by the light receiving unit, it is possible to detect tryptophan of the amino acid with high accuracy.
  • the determination circuit may determine the presence or absence of the target based on the comparison result of the light reception intensity of the second light and a threshold.
  • the presence or absence of the target can be determined by the comparison process, the amount of processing required for the determination process can be reduced.
  • the determination circuit may determine the presence or absence of the object based on a component of the second light having a wavelength longer than the wavelength of the first light.
  • the presence or absence of the object is determined based on the wavelength component different from the irradiated first light, so that the influence of the reflected light of the first light can be suppressed, and the detection accuracy of the object can be enhanced. it can.
  • the purification device may further include a housing that forms an outer shell of the purification device, and the housing may have a handle.
  • the casing forming the outer shell of the purification device has the handle portion, the purification device excellent in portability can be realized. Therefore, it becomes possible to easily carry the purification device to a place where an object may exist, and it is possible to determine the presence or absence of the object at various places. Thereby, for example, the detection of the object can be performed over a wide range, and the detection omission of the object can be suppressed.
  • the purification device further performs at least one of emission of the first light by the light source and ejection of the purification agent by the ejection portion provided in the handle portion.
  • An operation button may be provided.
  • the operation button in the hand holding portion the user can operate the operation button with a finger or the like while gripping the hand holding portion. Therefore, the purification device having high operability can be realized.
  • the container may be provided inside the handle portion.
  • the space in the handle can be used effectively, so that the purification device can be miniaturized.
  • the purification device further includes a distance measuring unit that measures the distance to the object, and the ejection unit is configured to perform the above-described operation according to the distance measured by the distance measuring unit.
  • the conditions for the emission of the cleaning agent may be controlled.
  • the contact probability between the cleaning agent and the target can be increased, so that the target can be cleaned efficiently.
  • condition for the ejection of the purification agent may be a pressure for ejecting the purification agent.
  • the purification device further includes an inclination detection unit that detects an inclination of the purification device, and the ejection unit detects the distance measured by the distance measurement unit and the inclination detection.
  • the mode of the jet of the cleaning agent may be controlled according to the inclination detected by the unit.
  • the contact probability between the cleaning agent and the target can be further increased, so that the target can be cleaned more efficiently.
  • the object may be vomit, excrement or body fluid.
  • the virus contained in the vomit can be cleaned, and the spread of secondary infection can be suppressed.
  • the cleaning agent may be a sodium hypochlorite preparation or an alcohol preparation.
  • the virus or the like when the target contains a virus or the like, the virus or the like can be purified, and the transmission of secondary infection or the like can be suppressed.
  • the purification device includes a light source that emits a first light, and a light receiving unit that receives a second light from the area irradiated with the first light, and outputs an electric signal.
  • the apparatus includes an optical sensor, a signal processing circuit that processes the electric signal, a determination circuit that determines the presence or absence of an object in the area, and generates an image indicating the determination result; And a control unit configured to control the ejection of the cleaning agent by the ejection unit based on the distance, and an ejection unit ejecting from the outlet, a distance measurement unit measuring a distance from the ejection nozzle to the object, and .
  • the light sensor, the determination circuit, and the ejection unit are provided, it is possible to easily perform the detection of the object to the purification of the detected object.
  • the ejection of the purification agent is controlled based on the distance measured by the distance measuring unit, the purification agent can be ejected accurately toward the object. Therefore, the contact probability between the cleaning agent and the target can be increased, and the target can be cleaned efficiently.
  • the purification device further includes an inclination detection unit that detects an inclination of the ejection port with respect to a virtual plane perpendicular to the gravity direction, and the control unit causes the distance and the ejection unit to eject the purification agent.
  • the conditions of the jet of the cleaning agent may be controlled according to the combination of the pressure and the combination of the distance and the inclination of the spout.
  • the aspect of the ejection is controlled based on not only the distance to the object but also the pressure at the time of ejection or the inclination of the ejection port, so that the purification agent can be ejected accurately toward the object. Therefore, the contact probability between the cleaning agent and the target can be increased, and the target can be cleaned efficiently.
  • the control unit receives the determination by the user of the inclination at the time of ejection, which is the inclination of the jet nozzle with respect to the virtual plane when the purification agent is ejected, and the control unit
  • the control unit When the inclination is a downward inclination from the virtual plane, a first pressure at which the purification agent reaches the object is calculated, and the purification agent is ejected from the ejection port at the first pressure, and the ejection is performed at the time of the ejection
  • a second pressure higher than the first pressure may be calculated, and the purifying agent may be ejected from the ejection port at the second pressure.
  • the display device may further include a display for displaying the second reaching trajectory.
  • the display displays the first reaching locus and the first pressure
  • the second pressure is calculated
  • the second reaching locus and the second pressure are calculated. 2 Pressure may be displayed.
  • the user can use the displayed pressure as a judgment material for selecting a reaching trajectory. That is, appropriate selection by the user can be supported, and purification of the object can be efficiently performed.
  • the control unit receives selection of any one of the first reaching trajectory and the second reaching trajectory,
  • the purifying agent may be jetted from the jet at a pressure corresponding to a selected reaching trajectory.
  • the user can be made to select the reaching trajectory, and user convenience can be enhanced.
  • the display may display recommendation information for recommending the selection of the first reaching trajectory.
  • the purification method according to an aspect of the present disclosure is output from an optical sensor including a light source that emits a first light, and a light receiving unit that receives a second light from the area irradiated with the first light.
  • the method further includes the step of detecting the inclination of the jet nozzle with respect to a virtual plane perpendicular to the direction of gravity, and in the controlling step, a combination of the measured distance and the pressure for jetting the cleaning agent, and measurement
  • the conditions for the jet of the cleaning agent may be controlled according to any one of the combinations of the distance and the tilt of the jet.
  • the purification agent can be ejected accurately toward the object. Therefore, the contact probability between the cleaning agent and the target can be increased, and the target can be cleaned efficiently.
  • the method further includes the step of accepting, by the user, the determination of an inclination at the time of ejection which is the inclination of the jet nozzle with respect to the virtual plane when the purification agent is jetted.
  • a first pressure at which the purification agent reaches the object is calculated, and the purification agent is ejected from the ejection port at the first pressure, and the ejection is performed.
  • a second pressure higher than the first pressure may be calculated when the inclination upward from the virtual plane is determined as the inclination of time, and the purifying agent may be ejected from the ejection port at the second pressure.
  • the method may further include the step of displaying the second reaching trajectory up to the display on the display.
  • the first reaching trajectory and the first pressure are displayed on the display, and when the second pressure is calculated, the second pressure is calculated.
  • the reaching trajectory and the second pressure may be displayed on the display.
  • the user can use the displayed pressure as a judgment material for selecting a reaching trajectory. That is, appropriate selection by the user can be supported, and purification of the object can be efficiently performed.
  • the controlling step when the first arrival locus and the second arrival locus are simultaneously displayed on the display, the selection of one of the first arrival locus and the second arrival locus is accepted.
  • the purification agent may be ejected from the ejection port at a pressure corresponding to a selected reaching trajectory.
  • the user can be made to select the reaching trajectory, and user convenience can be enhanced.
  • recommendation information for recommending selection of the first reaching trajectory may be displayed on the display.
  • the first light may be excitation light for exciting the object
  • the second light may be fluorescence emitted by the object when the excitation light is irradiated.
  • the presence or absence of the object can be accurately determined based on the wavelength and intensity of the fluorescence. Therefore, the detection accuracy of the object can be suppressed by enhancing the accuracy of the determination, and the object can be sufficiently cleaned.
  • the presence or absence of the target may be determined based on a combination of the wavelength of the fluorescence and the wavelength of the excitation light.
  • the presence or absence of the object may be determined based on a comparison result of the light reception intensity of the second light and a threshold.
  • the presence or absence of the target can be determined by the comparison process, the amount of processing required for the determination process can be reduced.
  • the presence or absence of the object may be determined based on a component of the second light whose wavelength is longer than the wavelength of the first light.
  • the presence or absence of the object is determined based on the wavelength component different from the irradiated first light, so that the influence of the reflected light of the first light can be suppressed, and the detection accuracy of the object can be enhanced. it can.
  • all or part of a circuit, unit, device, member or part, or all or part of a functional block in a block diagram represents a semiconductor device, a semiconductor integrated circuit (IC), or a large scale integration (LSI). It may be implemented by one or more electronic circuits, including: The LSI or IC may be integrated on one chip or may be configured by combining a plurality of chips. For example, functional blocks other than storage elements may be integrated on one chip.
  • LSI or “IC” is used here, the term is changed depending on the degree of integration, and may be called system LSI, VLSI (very large scale integration), or ULSI (ultra large scale integration).
  • a Field Programmable Gate Array (FPGA) programmed after the manufacture of the LSI, or a reconfigurable logic device capable of reconfiguring junctions inside the LSI or setting up circuit sections inside the LSI can also be used for the same purpose.
  • FPGA Field Programmable Gate Array
  • the software is recorded in one or more non-transitory recording media such as ROM, optical disk, hard disk drive, etc., and when the software is executed by a processor, the function specified by the software is It is performed by a processor and peripherals.
  • the system or apparatus may include one or more non-transitory storage media on which software is stored, a processor, and a required hardware device such as an interface.
  • each drawing is a schematic view, and is not necessarily illustrated exactly. Therefore, for example, the scale and the like do not necessarily match in each figure. Further, in each of the drawings, substantially the same configuration is given the same reference numeral, and overlapping description will be omitted or simplified.
  • Embodiment 1 [1. Constitution] First, the outline
  • FIG.1 and FIG.2 is the front view and back view of the purification apparatus 10 which concern on this Embodiment, respectively.
  • FIG. 3 is a block diagram showing the configuration of the purification device 10 according to the present embodiment.
  • the front of the purification device 10 is the side on which the display surface of the display 50 is provided.
  • the back of the purification device 10 is the opposite side of the front.
  • the light sensor 30 and the spout 62 of the spouting portion 60 are provided on the back side of the purification device 10.
  • the purification device 10 is a device that integrally performs from detection of an object to purification of the detected object.
  • the purification device 10 performs non-contact detection and purification of an object.
  • the purification device 10 optically detects an object in a region away from the purification device 10 and ejects the purification agent toward the detected object to purify the object. Do.
  • the object is, for example, one excreted by a person such as vomit, excrement or body fluid.
  • the object may be a food or a food.
  • the objects include microorganisms that can cause human diseases, such as viruses or bacteria.
  • the object contains an organic substance, and emits fluorescence when irradiated with excitation light of a predetermined wavelength.
  • the organic substance is, but not limited to, an amino acid and the like contained in a large amount in food or an organism.
  • An amino acid emits fluorescence near 320 nm, for example, when it is irradiated with excitation light near 280 nm.
  • the cleaning agent is an agent or the like for purifying the object.
  • the purification of an object is, for example, the decomposition and detoxification of microorganisms such as viruses or bacteria contained in the object.
  • the cleaning agent is, for example, a sodium hypochlorite preparation or an alcohol preparation.
  • the cleaning agent is, for example, a liquid, but may be a gas or a solid.
  • the purification device 10 includes a housing 20, an optical sensor 30, a determination circuit 40, a display 50, an ejection unit 60, an operation button 70, and a distance measurement unit 80. Prepare. Below, each component which comprises the purification apparatus 10 is demonstrated in detail.
  • the housing 20 is an outer shell of the purification device 10. As shown in FIGS. 1 and 2, the housing 20 includes a frame portion 21 and a handle 22.
  • the frame portion 21 mainly holds the display 50, and is formed in a flat tray shape. As shown in FIG. 1, the display surface of the display 50 is exposed on the front side of the frame portion 21. As shown in FIG. 2, the light sensor 30, the jet nozzle 62 of the jet unit 60, and the distance measuring unit 80 are exposed on the back side of the frame portion 21.
  • the arrangement of the light sensor 30, the jet nozzle 62, and the distance measuring unit 80 is not limited to the illustrated example.
  • the handle portion 22 is a portion for a person to hold with one hand or both hands. As shown in FIGS. 1 and 2, the handle portion 22 is a rod-like portion provided so as to extend in one direction from a part of the frame portion 21.
  • the shape of the handle 22 is cylindrical or prismatic, but is not limited thereto.
  • the handle portion 22 is provided with the operation button 70 of the ejection portion 60.
  • the operation button 70 is provided, for example, on the front side of the handle 22. When holding the holding portion 22 with one hand, it is provided in an operable range with the thumb.
  • the light sensor 30 has a light source 31 and a light receiving unit 32.
  • the light sensor 30 outputs the electrical signal generated by the light receiving unit 32 to the signal processing circuit 41 of the determination circuit 40.
  • the light source 31 emits excitation light for exciting an object.
  • the excitation light is an example of the first light emitted by the light source 31.
  • the excitation light is, for example, light having a peak at a wavelength selected in advance according to the type of the object to be detected.
  • the full width at half maximum of the excitation light peak is, for example, in the range of 10 nm to 50 nm.
  • the light source 31 emits a plurality of excitation lights having different wavelengths as the first light. Specifically, the light source 31 emits a plurality of excitation lights exclusively in time. For example, the light source 31 sequentially emits a plurality of excitation lights having respective wavelengths of 280 nm, 350 nm and 450 nm. In addition, these excitation wavelengths are only an example, for example, may be suitably selected from arbitrary wavelengths according to the kind etc. of a target object.
  • the light source 31 may irradiate the excitation light to the object while changing the wavelength continuously for time.
  • the light source 31 may sequentially irradiate the target with a plurality of excitation lights having different wavelengths while changing the wavelength in steps of 10 nm in the range of 220 nm to 550 nm.
  • a plurality of filters having different transmission bands may be provided on the light emission side of the light source 31 .
  • a plurality of filters having different transmission bands may be provided on the light emission side of the light source 31 .
  • the light source 31 is, for example, a discharge lamp such as a halogen lamp, or a solid light emitting element such as a light emitting diode (LED), but is not limited thereto.
  • the light receiving unit 32 receives the second light from the irradiation area irradiated with the first light emitted by the light source 31.
  • the irradiation area by the first light emitted by the light source 31 and the light receiving area (that is, the imaging range) by the light receiving unit 32 overlap or coincide with each other.
  • the light receiving unit 32 is an image sensor in which a plurality of pixels are two-dimensionally arranged.
  • Each of the plurality of pixels includes a photoelectric conversion element such as a photodiode that photoelectrically converts the received light.
  • a photographed image is generated.
  • the light receiving unit 32 selectively receives the incident light as the second light. Specifically, the light receiving unit 32 generates and outputs an electric signal representing the light reception intensity for each observation wavelength while changing the wavelength of the second light to be received (that is, the observation wavelength).
  • the light receiving unit 32 is a plurality of filters disposed on the light incident side of the photoelectric conversion element, and includes a plurality of filters having different transmission bands.
  • the transmission band of the filter corresponds to the observation wavelength by the light receiving unit 32.
  • the light receiving unit 32 receives light of different wavelengths by switching a plurality of filters exclusively in time.
  • the light receiving unit 32 sequentially receives a plurality of lights having wavelengths of 310 nm, 425 nm, and 520 nm.
  • these observation wavelengths are only an example, and may be appropriately selected from arbitrary wavelengths according to, for example, the type of an object.
  • the determination circuit 40 determines the presence or absence of an object in the irradiation area, and generates an image indicating the determination result.
  • the determination circuit 40 is realized by, for example, a non-volatile memory in which a program is stored, a volatile memory which is a temporary recording area for executing a program, an input / output port, a processor that executes the program, or the like.
  • the determination circuit 40 has a signal processing circuit 41 that processes the electrical signal output from the light sensor 30.
  • the signal processing circuit 41 is realized by an integrated circuit or the like including one or more electronic circuits.
  • the discrimination circuit 40 discriminates the presence or absence of the object based on the combination of the wavelength of the fluorescence and the wavelength of the excitation light. Specifically, the determination circuit 40 determines the presence or absence of an object for each pixel of the light receiving unit 32. Thereby, the determination circuit 40 determines which pixel in the captured image, that is, in which position in the imaging range the object is present, and the size and shape of the object if it is present. be able to.
  • the determination circuit 40 performs a determination process using a fluorescent fingerprint for each pixel. Details of the discrimination process using the fluorescent fingerprint will be described later.
  • the display 50 displays the image generated by the determination circuit 40. In addition, the display 50 displays the photographed image generated by the light receiving unit 32.
  • the display 50 is, for example, a flat panel display such as a liquid crystal display device or an organic EL (Electro Luminescence) display device.
  • the ejection unit 60 has a container 61 into which the purification agent for purifying the object is placed, and an ejection port 62 for ejecting the purification agent, and ejects the purification agent from the ejection port 62 based on the determination result.
  • the jet part 60 sprays a mist-like cleaning agent from the jet nozzle 62.
  • the ejection unit 60 includes a control circuit (not shown) and the like.
  • the control circuit is realized by an integrated circuit or the like including one or more electronic circuits, and controls the timing and the aspect of the ejection of the cleaning agent.
  • the container 61 is provided inside the handle 22.
  • the container 61 is attachable to and detachable from the handle 22.
  • the container 61 is a cartridge type container in which a cleaning agent is pre-filled.
  • the handle 22 is formed in a tubular shape, and the container 61 is inserted from the end.
  • the container 61 and the spout 62 are connected, and the cleaning agent in the container 61 is attached to be able to spout through the spout 62.
  • the cleaning agent is ejected from the ejection port 62.
  • the ejection unit 60 controls the ejection of the cleaning agent according to the distance measured by the distance measurement unit 80.
  • the mode of spouting the cleaning agent is the pressure for spouting the cleaning agent.
  • the jetting unit 60 changes the pressure at which the cleaning agent is jetted, based on the distance measured by the distance measuring unit 80.
  • the ejection unit 60 ejects the cleaning agent with a strong pressure as the distance to the object is longer.
  • the purification agent can be brought into contact with an object located far away, and the object can be cleaned.
  • the ejection unit 60 ejects the purification agent with a weak pressure.
  • the ejection amount of the cleaning agent, the ejection direction, the opening width of the ejection port 62, and the like may be included in the aspect of the ejection.
  • the ejection part 60 may widen the opening width of the ejection port 62 to eject the purification agent in a wide range.
  • the ejection portion 60 may increase the ejection amount of the purification agent.
  • the spouting unit 60 may spout the cleaning agent into a narrow range by reducing the opening width of the spout 62. At this time, the ejection unit 60 may reduce the ejection amount of the purification agent.
  • the operation button 70 is a physical button serving as a trigger for causing at least one of light emission of the light source 31 and ejection of the cleaning agent. For example, when the operation button 70 is pressed once, excitation light is emitted from the light source 31 and discrimination processing of an object is performed. Thereafter, when the operation button 70 is pressed once again, the cleaning agent is spouted from the spout 62.
  • one press of the operation button 70 may be a trigger of light emission of the light source 31, and the long press of the operation button 70 may be a trigger of ejection of the cleaning agent.
  • the operation button 70 may be integrated with the display 50.
  • the display 50 may be a touch panel display, and may display a GUI (Graphical User Interface) object or the like for causing at least one of light emission of the light source 31 and ejection of the cleaning agent.
  • the user may touch the GUI object displayed on the display 50 to perform at least one of light emission of the light source 31 and ejection of the cleaning agent.
  • GUI Graphic User Interface
  • the distance measuring unit 80 measures the distance to the object.
  • the distance measuring unit 80 measures the distance to the object by, for example, the ToF (Time of Flight) method.
  • the distance measuring unit 80 includes a light source for emitting light, and a light receiving unit for receiving reflected light by the object of the emitted light, and the emitted light is reflected by the object and received by the light receiving unit.
  • the distance to the object is measured by measuring the time until it is done.
  • the distance measuring unit 80 may use any of a phase difference distance method and a pulse propagation method.
  • the distance measuring unit 80 may be shared with at least one of the light source 31 and the light receiving unit 32 of the light sensor 30.
  • the distance measuring unit 80 may be an ultrasonic sensor or an infrared sensor.
  • the distance measuring unit 80 may measure the distance to the object by a stereo camera method.
  • the fluorescent fingerprint is Excitation Emission Matrix (EEM) information.
  • the fluorescent fingerprint is three-dimensional data in which the excitation wavelength, the fluorescence wavelength, and the fluorescence intensity are in three axes.
  • the excitation wavelength is the wavelength of excitation light to be irradiated to the object.
  • the fluorescence wavelength is the wavelength of fluorescence emitted from the object.
  • a fluorescent fingerprint is obtained, for example, by measuring a fluorescence spectrum while continuously changing the wavelength of excitation light with which an object is irradiated.
  • the fluorescent fingerprint is determined for each type of object. That is, the combination of the excitation wavelength and the fluorescence wavelength at which the fluorescence intensity increases is determined for each type of object.
  • amino acids constituting a protein which is a main component of food or an organism emit fluorescence having a peak near 320 nm when irradiated with excitation light having a peak near 280 nm.
  • the light source 31 emits excitation light having a peak near, for example, 280 nm as the first light.
  • the light receiving unit 32 receives light with an observation wavelength of, for example, around 320 nm.
  • the signal intensity of the electrical signal output from the light sensor 30 represents the magnitude of the fluorescence intensity. Therefore, the determination circuit 40 can determine the presence or absence of an amino acid based on the signal strength of the electrical signal.
  • the signal processing circuit 41 can generate a fluorescent fingerprint.
  • FIG. 4 is a view showing a fluorescent fingerprint in a pixel where an object exists, which is acquired by the purification device 10 according to the present embodiment.
  • FIG. 4 in the two-dimensional coordinate system in which the vertical axis is an excitation wavelength and the horizontal axis is a fluorescence wavelength, an isointensity line connecting the coordinates having equal fluorescence intensity continuously is illustrated.
  • a toilet bowl tile with yoghurt attached instead of vomit is used as an object.
  • the light source 31 emits excitation light while continuously changing the wavelength as excitation light
  • the light receiving unit 32 receives light while changing the observation wavelength continuously using time, using a filter or the like.
  • an electric signal indicating the fluorescence intensity corresponding to the combination is obtained.
  • the signal processing circuit 41 processes the electrical signal output from the light receiving unit 32 to obtain the fluorescent fingerprint shown in FIG. 4.
  • peak P1 appears at a position where the excitation wavelength is around 280 nm and the fluorescence wavelength is around 320 nm.
  • the fluorescence emitted from the amino acids contained in the yogurt was detected.
  • the determination circuit 40 determines the presence or absence of an object
  • the light received by the light receiving unit 32 is also considered in the case where the object does not exist. Specifically, when there is no target, reflected light or fluorescence from a floor surface or the like that falls within the imaging range of the light receiving unit 32 is received by the light receiving unit 32. For example, as in FIG. 4, in the case of a toilet bowl tile with yogurt attached, fluorescence from the toilet bowl tile may also occur.
  • FIG. 5 is a view showing a fluorescent fingerprint in a pixel where an object does not exist, which is acquired by the purification device 10 according to the present embodiment.
  • FIG. 5 as in FIG. 4, in a two-dimensional coordinate system in which the vertical axis is an excitation wavelength and the horizontal axis is a fluorescence wavelength, isointensity lines that continuously connect coordinates having equal fluorescence intensity are illustrated.
  • FIG. 5 specifically shows the fluorescent fingerprint of the toilet bowl tile.
  • the method of generating the fluorescent fingerprint of the toilet bowl tile is the same as the method of generating the fluorescent fingerprint shown in FIG.
  • the peak P2 appears at a position where the excitation wavelength is around 220 nm and the fluorescence wavelength is around 480 nm.
  • the combination of the excitation wavelength and the fluorescence wavelength at which the fluorescence intensity increases is different between the toilet bowl tile and the amino acid contained in the yogurt. For this reason, it becomes possible to detect the presence or absence of an amino acid, without being influenced by the fluorescence by a toilet bowl tile.
  • peak P2 appears when nothing adheres to the surface of the toilet tile, it is determined that an object other than amino acid adheres to the surface of the toilet tile when peak P2 is not observed. It becomes possible. This makes it possible to determine the presence or absence of a substance other than the amino acid to be detected.
  • FIG. 6 is a view showing a usage example of the purification device 10 according to the present embodiment.
  • FIG. 7 is a flowchart showing the operation of the purification device 10 according to the present embodiment.
  • the purifier 10 can freely change the target area 91 according to the user's intention by holding the handle 22 with one hand 90 of the user. .
  • the user uses the purification device 10 to set the target area 91 as the area including the cleaning mark 92 of the vomiting material, and the target object 93 which is the vomiting material that could not be cleaned Check to see if you
  • the target area 91 corresponds to a light receiving area (that is, an imaging range) by the light receiving unit 32.
  • the display 50 displays a captured image captured by the light receiving unit 32.
  • the user adjusts the posture of the purification device 10 so that the cleaning mark 92 is included in the range displayed on the display 50 of the purification device 10, that is, the imaging range by the light receiving unit 32, and presses the operation button 70.
  • the operation button 70 is pressed, the operation of the purification device 10 is started.
  • the light source 31 irradiates excitation light as the first light to the target area 91 (S10).
  • the light receiving unit 32 receives the second light from the target area 91 in a state in which the first light from the light source 31 is irradiated (S11).
  • FIG. 8 is a figure which shows the original image acquired by the purification apparatus 10 which concerns on this Embodiment.
  • the area 95 to which the excitation light is irradiated is surrounded by a broken line.
  • the toilet tile is present.
  • yoghurt is attached as the object 93 in the area 96 on the left side, and nothing is attached in the area 97 on the right side.
  • the determination circuit 40 determines the presence or absence of the target object 93 in the target area 91 (S12).
  • the excitation light for exciting the object 93 is irradiated as the first light
  • the second light received by the light receiving unit 32 is , The fluorescence from the object 93 is included. Therefore, the determination circuit 40 can determine that the object 93 is present in the pixel in which the fluorescence from the object 93 is detected.
  • the determination circuit 40 determines the presence or absence of the object 93 for each pixel.
  • FIG. 9 is a flowchart showing an example of the discrimination process performed by the discrimination circuit 40 of the purification device 10 according to the present embodiment.
  • the discrimination circuit 40 first selects one pixel (S20).
  • the determination circuit 40 generates a fluorescent fingerprint based on the electrical signal output from the selected pixel (S21).
  • the discrimination circuit 40 removes the fluorescent fingerprint of the background component from the generated fluorescent fingerprint (S22).
  • the discrimination circuit 40 subtracts the fluorescent fingerprint of the background component from the generated fluorescent fingerprint.
  • the fluorescent fingerprint of the background component is a fluorescent fingerprint of floor material or the like included in the imaging range, and is generated in advance when it is clear that the object 93 is not present.
  • the determination circuit 40 determines the presence or absence of the target object 93 in the selected pixel based on the fluorescence fingerprint after subtraction (S23). For example, the determination circuit 40 determines whether the fluorescence intensity of a combination corresponding to an amino acid, specifically, a combination of an excitation wavelength near 280 nm and a fluorescence wavelength near 320 nm is equal to or higher than a predetermined threshold. If the fluorescence intensity of the combination is equal to or higher than the threshold, the determination circuit 40 determines that the object 93 is present. If the fluorescence intensity of the combination is smaller than the threshold, the determination circuit 40 determines that the object 93 does not exist.
  • the determination circuit 40 sets the pixel value of the selected pixel to the first value (S24).
  • the first value is, for example, the maximum value of the pixel values.
  • the determination circuit 40 sets the pixel value of the selected pixel to the second value (S25).
  • the second value is a value different from the first value, and is, for example, the minimum value of the pixel values.
  • steps S20 to S25 are repeated until the processing of all the pixels is completed (No in S26). Thereby, the determination circuit 40 can binarize the photographed image according to the presence or absence of the object 93.
  • the determination circuit 40 may reduce the amount of processing and reduce the time required for the determination process, for example, by performing a pixel thinning process or the like. That is, in step S26 shown in FIG. 9, the process may not be performed on all the pixels.
  • FIG. 10 is a diagram showing an image showing the determination result generated by the purification device 10 according to the present embodiment.
  • the signal processing circuit 41 generates an image shown in FIG. 10 by representing the pixel in which the object 93 is determined to be present and the pixel in which the object 93 is not present in binary form.
  • the display 50 displays the image shown in FIG. 10 as a discrimination result (S13).
  • the image shown in FIG. 10 may be displayed superimposed on an image generated based on visible light. Thereby, the position of the object 93 in the real space can be displayed in an easy-to-understand manner.
  • the distance measuring unit 80 calculates the distance to the detected object 93 (S14). Specifically, the distance measuring unit 80 irradiates the object 93 with infrared light, and receives the reflected light of the infrared light, and thereby the distance based on the time from the irradiation to the light reception. Calculate
  • the ejection unit 60 adjusts the pressure of ejection of the purification agent based on the calculated distance (S15). Specifically, the ejection unit 60 strengthens the pressure as the calculated distance is longer, and weakens the pressure as the calculated distance is shorter. At this time, the ejection unit 60 may adjust the direction in which the cleaning agent is ejected based on the detected position of the object 93. For example, as shown in FIG. 10, when the object 93 is detected in the left area in the image, the ejection direction may be directed to the left.
  • the spouting portion 60 spouts the cleaning agent stored in the container 61 from the spout 62 at a predetermined pressure (S16).
  • the ejected cleaning agent comes in contact with the detected target object 93, and the target object 93 can be disassembled by decomposing it.
  • the calculation of the distance (S14) and the adjustment of the pressure (S15) may be performed prior to the display of the image (S13).
  • FIG. 11 is a flowchart showing pre-processing of the purification device 10 according to the present embodiment.
  • the light source 31 irradiates excitation light as the first light to the target area 91 (S30).
  • the light receiving unit 32 receives the second light from the target area 91 in a state where the first light from the light source 31 is irradiated (S31).
  • the discrimination circuit 40 generates the fluorescence intensity for each combination of the excitation wavelength and the fluorescence wavelength as a fluorescence fingerprint when the object 93 does not exist, and stores the generated fluorescence fingerprint in a memory or the like as a fluorescence fingerprint of the background component ( S32).
  • the fluorescent fingerprint of the background component stored in the memory or the like is used as reference information in the determination process (S12 and FIG. 7). Thereby, the influence of the background component such as the toilet bowl tile or the floor material can be suppressed, and the detection accuracy of the object 93 can be enhanced.
  • the light sensor 30, the determination circuit 40, the display 50, the ejection unit 60, the operation button 70, and the distance measuring unit 80 are housed or Held by twenty.
  • the purification device 10 is integrated by one casing 20, the processes from detection of the object 93 to purification can be easily performed.
  • the housing 20 has the handle 22, the purification device 10 can be easily carried. This makes it possible to determine the presence or absence of the object 93 in various places.
  • the determination circuit 40 determines the presence or absence of the target object 93 based on the comparison result of the light reception intensity of the second light and the predetermined threshold.
  • the light reception intensity of the second light is represented by the pixel value of the photographed image.
  • the threshold is determined based on the light reception intensity previously acquired when it is clear that the object 93 is not present.
  • the determination circuit 40 determines the light reception intensity of the light from the region 95 irradiated with the excitation light when there is no target object 93 as a threshold.
  • the average value of the light reception intensity of the region 97 is a threshold.
  • the threshold may be smaller than the average value of the light reception intensity of the region 97.
  • the object 93 may be erroneously determined as to the pixel in which the object 93 does not exist.
  • the pixel in which the object 93 is present can be determined almost certainly, it is sufficient for the purpose of purifying the object 93.
  • FIG. 12 is a flowchart illustrating an example of the determination process performed by the purification device 10 according to the present modification.
  • the determination circuit 40 compares the pixel value with the threshold value for each pixel (S40).
  • the determination circuit 40 performs a binarization process of the photographed image based on the comparison result (S41). Specifically, when the pixel value is equal to or greater than the threshold value, the pixel value is set to the first value, and when the pixel value is smaller than the threshold value, the pixel value is set to the second value.
  • the binarization process (S41) is the same as steps S24 and S25 shown in FIG.
  • FIG. 13 is a diagram showing an image showing the determination result generated by the purification device 10 according to the present modification.
  • FIG. 13 shows the case where the threshold value is smaller than the average value of the light reception intensity of the area 97.
  • the signal processing circuit 41 generates an image shown in FIG. 13 by binarizing the photographed image shown in FIG. 8 based on a threshold.
  • the ejection portion 60 ejects the cleaning agent not only to the area 96 but also to the area 97. Since the cleaning agent ejected into the area 97 does not have the object 93, the cleaning agent ejected into the area 96 can purify the object 93 without being particularly utilized.
  • the presence or absence of the target object 93 can be determined by binarizing the captured image, so the processing amount and time required for the determination can be reduced. be able to.
  • the light source 31 may emit one excitation light as the first light.
  • the light receiving unit 32 may receive the second light over the light receiving band corresponding to one wavelength or the entire band. Therefore, not only the configuration of the determination circuit 40 but also the configuration of the light sensor 30 can be simplified. Thereby, size reduction and weight reduction of the purification device 10 can be realized.
  • the determination circuit 40 determines the presence or absence of an object based on a longer wavelength component than the first light contained in the second light.
  • the second light includes the reflected light of the excitation light. Therefore, the detection accuracy of the object can be further enhanced by removing the component of the excitation light from the received light.
  • FIG. 14 is a block diagram showing the configuration of the optical sensor 130 provided in the purification device 10 according to the present modification. As shown in FIG. 14, the optical sensor 130 is different from the optical sensor 30 according to the first embodiment in that a light receiving unit 132 is provided instead of the light receiving unit 32.
  • the light receiving unit 132 includes an image sensor 133 and a filter 134.
  • the image sensor 133 is an image sensor in which a plurality of pixels are two-dimensionally arranged.
  • the filter 134 is a filter that blocks the first light emitted by the light source 31 and transmits light of a longer wavelength component than the first light.
  • the filter 134 blocks wavelength components of 300 nm or less and transmits light of wavelength components greater than 300 nm.
  • the operation of the purification device 10 according to the present modification is the same as the operation of the purification device 10 according to the first modification. Specifically, in the purification device 10 according to the present modification, the determination circuit 40 performs the determination process along the flowchart shown in FIG.
  • the threshold used for comparison with the pixel value may be smaller than the threshold used in the first modification. Since the wavelength component of the excitation light is removed by the filter 134, the influence of the reflected light of the excitation light can be suppressed even if the threshold is small. By reducing the threshold value, weak fluorescence from the object 93 can be detected, so that the detection accuracy of the object 93 can be enhanced.
  • the light source 31 may emit one excitation light as the first light.
  • the light receiving unit 32 may receive the second light over the light receiving band corresponding to one wavelength or the entire band. Therefore, not only the configuration of the determination circuit 40 but also the configuration of the optical sensor 130 can be simplified. Thereby, size reduction and weight reduction of the purification device 10 can be realized.
  • FIG. 15 is a block diagram showing a configuration of a purification device 210 according to the present modification. As shown in FIG. 15, in comparison with the purification device 10 according to the first embodiment, the purification device 210 further includes a tilt detection unit 280 and a jet unit 260 instead of the jet unit 60. Is different.
  • the inclination detection unit 280 detects the inclination of the purification device 210.
  • the inclination is represented, for example, by an angle with respect to the horizontal plane or the vertical direction.
  • the tilt detection unit 280 is realized by at least one of an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, and a capacitance sensor.
  • the spouting unit 260 includes the container 61 and the spout 62 similarly to the spouting unit 60.
  • the ejection unit 260 controls the ejection of the cleaning agent in accordance with the distance measured by the distance measurement unit 80 and the inclination detected by the inclination detection unit 280.
  • the ejection unit 260 determines the direction in which the purification agent is ejected based on the inclination detected by the inclination detection unit 280.
  • the direction in which the cleaning agent is spouted is determined by the direction of the spout 62 and the direction from the spout 62 toward the object 93.
  • the flight distance of the cleaning agent changes greatly under the influence of gravity. For example, when the object 93 is present on a ceiling surface or the like, the direction of ejection of the cleaning agent is upward or vertically upward. At this time, in order to cause the purification agent to reach the target object 93, the purification agent is ejected at a strong pressure.
  • the ejection direction of the purification agent is directed vertically downward, so that even if the pressure is weak, the purification agent is the object by gravity It will be easy to deliver up to 93.
  • the ejection unit 260 ejects the purification agent at a pressure higher than that in the case where the ejection direction is parallel to the horizontal surface when the ejection direction of the purification agent is above the horizontal surface.
  • the ejection portion 260 increases the ejection pressure as the ejection direction approaches vertically upward.
  • the ejection unit 260 ejects the purification agent at a weaker pressure when the ejection direction of the purification agent is below the horizontal surface than when the ejection direction is parallel to the horizontal surface.
  • the ejection unit 260 reduces the ejection pressure as the ejection direction approaches the vertically downward direction.
  • the ejection unit 260 holds, for example, a table in which the pressure of ejection of the purification agent is associated with the combination of the inclination of the purification device 210 and the distance to the object 93 in a memory or the like.
  • the ejection part 260 determines the pressure from the inclination and the distance by referring to the table, and ejects the purification agent at the determined pressure.
  • the contact probability between the purification agent and the target can be further enhanced, so that the target can be more efficiently cleaned.
  • FIG. 16 is a block diagram showing the configuration of the purification device 310 according to this embodiment. As shown in FIG. 16, the purification device 310 further includes a control unit 340 in comparison with the third modification of the first embodiment.
  • the control unit 340 is, for example, a microcomputer.
  • the control unit 340 is realized by, for example, a non-volatile memory storing a program, a volatile memory which is a temporary recording area for executing a program, an input / output port, a processor executing a program, or the like.
  • the functions executed by the control unit 340 may be realized by software executed by a processor, or may be realized by dedicated electronic circuits including a plurality of circuit elements.
  • the control unit 340 and the determination circuit 40 may share hardware resources such as a memory.
  • the control unit 340 controls the ejection of the cleaning agent by the ejection unit 260 based on the distance measured by the distance measurement unit 80.
  • the control unit 340 is a combination of the distance measured by the distance measuring unit 80 and the pressure at which the jetting unit 260 jets the cleaning agent, and the distance measured by the distance measuring unit 80 and the pressure of the jet 62.
  • the conditions for spouting of the cleaning agent are controlled in accordance with any one of the combinations with the inclination.
  • the control unit 340 determines the pressure at which the ejection unit 260 ejects the cleaning agent, in accordance with the combination of the distance measured by the distance measurement unit 80 and the inclination of the ejection port 62. Specifically, the control unit 340 calculates and calculates a first pressure at which the cleaning agent reaches the object 93 when the virtual plane perpendicular to the gravity direction, that is, the inclination downward from the horizontal surface is detected. (1) The cleaning agent is spouted from the spout 62 at pressure. Specifically, the control unit 340 calculates the first pressure based on equation (7) described later.
  • control unit 340 calculates a second pressure higher than the first pressure, and ejects the cleaning agent from the spout 62 with the calculated second pressure. Specifically, control unit 340 calculates the second pressure based on equation (12) described later.
  • FIG. 17 is a schematic view showing a positional relationship between the purification device 310 and the object 93 according to the present embodiment at the time of distance measurement. Specifically, FIG. 17 is a side view when the user U holding the purification device 310 and the object 93 are viewed from the side.
  • FIG. 17 shows, as an example, a case where the object 93 is detected on the floor surface by the discrimination circuit 40.
  • the broken line shown in FIG. 17 indicates a virtual plane P perpendicular to the direction of gravity. The same applies to FIGS. 19 and 20 described later.
  • the distance “L” shown in FIG. 17 is a linear distance from the spout 62 to the object 93.
  • the distance L is measured by the distance measuring unit 80.
  • the inclination angle “ ⁇ 1 ” represents the inclination of the jet nozzle 62 with respect to the virtual plane P.
  • the inclination angle theta 1, to the virtual plane P is the angle at which the center axis forms the spout 62.
  • the central axis of the spout 62 coincides with the spouting direction.
  • Inclination angle theta 1 is detected by the tilt detection unit 280.
  • the horizontal distance “X 1 ” is the distance along the horizontal direction between the spout 62 and the object 93.
  • the height “H” is the distance along the vertical direction between the spout 62 and the object 93.
  • the height H is a positive value when the spout 62 is higher than the object 93, and is a negative value when the spout 62 is lower than the object 93.
  • the central axis of the spout 62, the optical axis of the light receiving unit 32, and the optical axis of the distance measuring unit 80 are parallel. Therefore, the inclination angle theta 1 of the ejection port 62 when performing a distance measurement substantially coincides with the angle formed by range finding direction with respect to the virtual plane P. Further, since the object 93 is separated from the purifier 310 by several tens of centimeters to several meters, the spout 62, the light receiving unit 32, and the distance measuring unit 80 can be regarded as substantially the same position.
  • each of the horizontal distance X 1 and height H is represented by the following formula (1) and (2).
  • control unit 340 uses equations (1) and (2) based on distance L measured by distance measuring unit 80 and inclination angle ⁇ 1 of jet nozzle 62 at the time of distance measurement. Horizontal distance X 1 and height H are calculated. Note that the control unit 340 corrects the measured distance L and the inclination angle ⁇ 1 based on the differences in the inclinations of the axes of the jet nozzle 62, the light receiving unit 32, and the distance measuring unit 80, and the corrected angles The horizontal distance X 1 and the height H may be calculated based on the distance L and the inclination angle ⁇ 1 of
  • FIG. 18A and FIG. 18B are diagrams showing examples of display screens on the display 50 at the time of distance measurement of the purification device 310 according to the present embodiment.
  • the display 50 displays the photographed image 55 generated by the light receiving unit 32.
  • the photographed image 55 includes the object 93 determined by the determination circuit 40.
  • an image generated by the determination circuit 40 may be displayed on the display 50, for example, as an image shown in FIG.
  • a so-called spirit level is displayed on the display 50 of the purification device 310.
  • a circular frame 51, a horizontal line 52, and a vertical line 53 are displayed on the display 50.
  • the circular frame 51 is a circle centered on the intersection of the horizontal line 52 and the vertical line 53.
  • the intersection of the horizontal line 52 and the vertical line 53 is, for example, located at the center of the screen of the display 50.
  • the circular frame 51, horizontal lines 52 and vertical lines 53 are all displayed to assist the user U in aligning the object 93.
  • the user U adjusts the tilt of the purification device 310 so that at least a part of the object 93 falls within the circular frame 51 while looking at the display 50.
  • the user U adjusts the inclination of the purification device 310 so that at least a part of the object 93 matches the intersection of the horizontal line 52 and the vertical line 53 while looking at the display 50.
  • at least one of the circular frame 51, the horizontal line 52, and the vertical line 53 may not be displayed.
  • the user U operates the operation button 70 or the like when at least a part of the object 93 enters the circular frame 51 or when it coincides with the intersection of the horizontal line 52 and the vertical line 53.
  • the detection of distance measurement and inclination is instructed.
  • the control unit 340 receives the instruction, the control unit 340 causes the distance measurement unit 80 to measure the distance L to the object 93, and causes the tilt detection unit 280 to detect the tilt of the jet nozzle 62.
  • the control unit 340 detects that at least a part of the object 93 has entered the circular frame 51 or that it matches the intersection of the horizontal line 52 and the vertical line 53, and detects the distance measurement and the inclination. You may do it.
  • the user U determines the inclination of the spout 62 at the time of spouting the cleaning agent.
  • the controller 340 calculates the pressure for spouting the cleaning agent according to the determined inclination. Below, the calculation method of a specific pressure is demonstrated using FIG.19 and FIG.20.
  • FIG. 19 is a schematic view showing a state where the cleaning agent is spouted in a state where the spout 62 of the purification device 310 according to the present embodiment is inclined downward. Specifically, FIG. 19 illustrates the case of ejecting the cleaning agent at a downward inclination angle theta 2 of the virtual plane P.
  • the inclination angle theta 2 in order to eject the cleaning agent is an angle that the user U is determined, is detected by the tilt detection unit 280.
  • the controller 340 uses the horizontal distance X 1 , the height H, and the inclination angle ⁇ 2 to calculate a first pressure at which the cleaning agent is ejected.
  • control unit 340 calculates initial velocity v 0 of the purification agent ejected from ejection port 62 as an example of the first pressure. Specifically, it is as follows.
  • the height H is expressed by equation (4) by integrating the gravitational acceleration g twice.
  • Horizontal distance X 1 calculated by the equation (6) is downward inclined angle theta 2, and the purification agent when ejected cleaning agent at an initial speed v 0 corresponding to the distance X p reachable.
  • the initial velocity v 0 is expressed by equation (7).
  • the gravitational acceleration g is a constant.
  • the horizontal distance X 1 and the height H are values obtained by distance measurement.
  • Inclination angle theta 2 is a value detected by the tilt detection unit 280. Therefore, the control unit 340 can calculate the downward initial velocity v 0 by using the equation (7).
  • the control unit 340 the pre-association table of correspondence between the downward initial velocity v 0 and the first pressure P A is stored in the memory, by referring to the memory, the calculated initial velocity v 0 determining a first pressure P a from.
  • the control unit 340 stores a function for determining the first pressure P A on the basis of the downward initial velocity v 0, the first pressure P A may be calculated based on the function.
  • the purification agent By injecting the purification agent downward, the purification agent can reach the object 93 with a small pressure.
  • the purification agent does not reach the object 93 when the purification agent is jetted downward. Things can happen.
  • the user U determines the tilt of the spout 62 upward.
  • the cleaning agent can reach the object 93 beyond the obstacle 99.
  • the obstacle 99 is, for example, a transparent glass cup and the like, and is a substance that does not affect the distance measurement, but is not limited thereto.
  • the obstacle 99 may be furniture or a home appliance, or an animal such as a pet.
  • FIG. 20 is a schematic view showing a state in which the purification agent is ejected in a state where the purification device 310 according to the present embodiment is inclined upward. Specifically, FIG. 20 illustrates the case of ejecting a cleaning agent an upward inclination angle theta 3 than the virtual plane P.
  • the height H is expressed by equation (9) by integrating the gravitational acceleration g twice.
  • the gravitational acceleration g is a constant.
  • the horizontal distance X 1 and the height H are values obtained by distance measurement.
  • Inclination angle theta 3 is a value detected by the tilt detection unit 280. Therefore, the control unit 340 can calculate the upward initial velocity v 0 by using the equation (12).
  • the control unit 340 an upward initial speed v 0 and have a pre-association table of correspondence between the second pressure P B stored in the memory, by referring to the memory, the calculated initial velocity v 0 determining a second pressure P B.
  • the control unit 340 stores a function for determining a second pressure P B on the basis of an upward initial velocity v 0, may calculate the second pressure P B on the basis of the function.
  • the inclination of the spout 62 determined by the user U may be horizontal. That is, the inclination angle of the spout 62 may be 0 °.
  • either of the equations (7) and (12) may be used, and the same initial velocity v 0 , ie, the same pressure, is calculated.
  • the inclination of the spout 62 may be in the downward direction. That is, the inclination angle of the spout 62 may be 90 °. In this case, the pressure can be substantially zero.
  • the control unit 340 may determine the inclination of the ejection port 62 in accordance with the combination of the distance measured by the distance measurement unit 80 and the pressure at which the ejection unit 260 ejects the cleaning agent. Specifically, the control unit 340 sets the initial velocity v 0 to a known value, sets the inclination angle ⁇ 2 or ⁇ 3 as an unknown, and uses the equation (7) or the equation (12) to determine the inclination angle ⁇ 2 or ⁇ 3 may be calculated.
  • FIG. 21 is a flowchart showing the operation of the purification device 310 according to the present embodiment.
  • the discrimination of the object 93 is first performed, and after it is determined that the object 93 is present, the operation shown in FIG. 21 is performed. Specifically, after the processing from step S10 to step S12 shown in FIG. 7 is performed, the operation shown in FIG. 21 is performed.
  • the control unit 340 of the purification device 310 recognizes the object 93 at the center of the screen of the display 50 (S50). Specifically, as shown in FIG. 18B, the control unit 340 receives an instruction to be issued after the user U places at least a part of the object 93 into the circular frame 51. Recognize in the center of the screen. Alternatively, the control unit 340 may recognize that the object 93 has entered the circular frame 51 by image processing.
  • the control unit 340 controls the distance measuring unit 80 to measure the distance L from the spout 62 to the object 93, and controls the inclination detection unit 280. measuring the inclination angle theta 1 of the ejection port 62 at the time of distance measurement by (S51). Next, the control unit 340, based on the measured distance L tilt angle theta 1 and, using the foregoing equation (1) and (2) to calculate the horizontal distance X 1 and height H (S52).
  • control unit 340 determines an angle at which the cleaning agent is to be ejected (S53). For example, the user U determines the inclination such that the cleaning agent reaches the object 93 in consideration of the presence of the obstacle 99 and the like, and operates the operation button 70 in a state where the ejection port 62 is inclined with the determined inclination. Control unit 340, by controlling the tilt detection unit 280, thereby detecting the inclination angle theta 2 or theta 3 jets 62 at the time the operation button 70 is operated.
  • the control unit 340 uses the calculation formula for downward, to calculate a first pressure P A for ejecting a cleaning agent (S55). Specifically, the control unit 340 calculates an initial velocity v 0 based on the detected inclination angle ⁇ 2 and the calculated horizontal distance X 1 and height H using the above-mentioned equation (7). determines a first pressure P a on the basis of the initial speed v 0 calculated.
  • the control unit 340 uses the calculation formula for upward, calculating a second pressure P B for ejecting a cleaning agent (S56). Specifically, the control unit 340 calculates the initial velocity v 0 based on the detected inclination angle ⁇ 3 and the calculated horizontal distance X 1 and height H using the above-mentioned equation (12). determines a second pressure P B on the basis of the initial speed v 0 calculated.
  • control unit 340 by controlling the ejection unit 260, jetting cleaning agent at a first pressure P A and the second pressure P B determined (S57). Note that, before the clarifier is actually jetted, the reaching trajectory of the clarifier from the spout 62 to the object 93 and / or the pressure may be displayed on the display 50. A specific example of the reaching trajectory will be described in a second modification described later.
  • the initial velocity v 0 is, for example, predetermined. It is a value, and it has a limited change.
  • the initial velocity v 0 may be a fixed value that can not be changed at all, or may be a value selected from a plurality of stepwise determined candidate values.
  • FIG. 22 is a flowchart showing the operation of the purification device 310 according to the first modification. As shown in FIG. 22, the process up to the process (S53) of determining the angle at which the cleaning agent is ejected is the same as that of the second embodiment.
  • the control unit 340 determines whether the cleaning agent can reach the object 93 (S64). Specifically, the control unit 340, based on the formula (6) or Formula (11), cleaning agent in the determined angle to calculate the distance X p that can be reached.
  • the control unit 340 determines that the cleaning agent can not reach the object 93 (No in S64). In this case, when the pressure does not reach the upper limit and can be raised, the control unit 340 raises the pressure to a value at which the purification agent can reach the object 93 (S65). Since the purification agent can reach the object 93 by raising the pressure, the control unit 340 controls the ejection portion 260 to eject the purification agent from the ejection port 62 toward the object 93. (S57).
  • the control unit 340 determines that the control unit 340, a cleaning agent is reachable in the object 93 (Yes in S64). Since the cleaning agent can reach the object 93, the control unit 340 controls the ejection portion 260 to eject the purification agent from the ejection port 62 toward the object 93 (S57).
  • the purification agent can not reach the object 93 (No in S64), the purification is performed as it is. The agent can not reach the object 93. Therefore, in the purification device 310 according to the present modification, as shown in FIG. 23, an instruction may be issued to the user U.
  • FIG. 23 is a flowchart showing another example of the operation of the purification device 310 according to the first modification.
  • the control unit 340 when it is determined that the cleaning agent can not reach the object 93 (No in S64), the control unit 340 outputs, to the user U, an instruction to urge the user U to approach the object 93. (S66). Specifically, control unit 340 causes display 50 to display a text prompting access to object 93. At this time, the control unit 340, the cleaning agent may display the distance X p is the distance reachable object 93 on the display 50. Since the positional relationship between the spout 62 and the object 93 changes as the user U moves, the purification device 310 repeats the process from recognition of the object 93 for distance measurement (S50).
  • control unit 340 may give an instruction to urge the user U to approach by voice.
  • the purification device 310 may have an audio output unit such as a speaker, and the control unit 340 may output an audio prompting the user to approach the speaker.
  • the purification agent causes the display 50 to display the reaching trajectory from the spout 62 to the target object 93, so that the user U schematically ejects the purification agent before ejection. To present. Further, by displaying a plurality of arrival trajectories, the user U is made to select the arrival trajectories when actually spouting.
  • the structure of the purification apparatus which concerns on this modification is the same as that of the purification apparatus 310 which concerns on Embodiment 2, description is abbreviate
  • FIG. 24 is a flowchart showing the operation of the purification device 310 according to the second modification. As shown in FIG. 24, the processing up to the processing (S53) of determining the angle at which the cleaning agent is ejected is the same as that of the second embodiment.
  • the controller 340 calculates the pressure to eject the cleaning agent based on the determined angle (S74).
  • the specific calculation method is the same as that of the second embodiment.
  • the control unit 340 calculates the pressure for spouting the cleaning agent in the same manner as in step S55 or S56 of FIG.
  • control unit 340 calculates the pressure corresponding to the plurality of inclination angles. Therefore, when the calculated pressure is one or less (No in S75), the process returns to step S53, and the user U is made to determine a different inclination angle.
  • the plurality of inclination angles include at least one downward angle and one upward angle from the virtual plane P, but the present invention is not limited thereto.
  • the plurality of tilt angles may include only downward angles, and may include only upward angles.
  • the control unit 340 After the plurality of pressures are calculated (Yes in S75), the control unit 340 generates an arrival locus for each pressure and causes the display 50 to display the arrival locus (S76). For example, the control unit 340 displays a trajectory display screen 350 shown in FIG.
  • FIG. 25 is a view showing an example of a locus display screen 350 displayed on the display 50 of the purification device 310 according to the second modification.
  • the trajectory display screen 350 includes the purifier 310 having the spout 62 and the object 93.
  • the display position of the spout 62 and the object 93 is determined based on the calculated horizontal distance X 1 and the height H.
  • Display 50 when the first pressure P A downward is calculated, to display the first arrival path 351 from spout 62 to the object 93. At this time, as shown in FIG. 25, the display 50 may display the first pressure information 353.
  • First pressure information 353 is text information indicating a first pressure P A calculated.
  • display 50 when the upward second pressure P B is calculated, and displays the second arrival path 352 from spout 62 to the object 93. At this time, as shown in FIG. 25, the display 50 may display the second pressure information 354.
  • the second pressure information 354 is text information indicating the calculated second pressure P B.
  • the display 50 further indicates the recommendation information 355.
  • the recommendation information 355 is information that recommends the selection of the first reaching locus 351.
  • the recommendation information 355 is text information of “energy saving”, it is not limited thereto.
  • the recommendation information 355 may be text information “recommendation”.
  • the recommendation information 355 is not limited to the text information, and may be represented by the display mode of the first arrival locus 351 or the first pressure information 353.
  • the display mode may include emphasizing processing such as highlighting or blinking.
  • the recommendation information 355 may be information for recommending the selection of the second arrival locus 352.
  • the downward initial velocity v 0 represented by the equation (7) and the upward initial velocity v 0 represented by the equation (12) differ in magnitude depending on the inclination of the spout 62.
  • the downward first pressure P A and the upward second pressure P B, the size of the inclination angle theta 2 and theta 3 jets 62, the magnitude relationship is different.
  • Recommendation information 355, one of the first pressure P A and the second pressure P B, may recommend the choice of arrival trajectories of the smaller pressure.
  • the trajectory display screen 350 shown in FIG. 25 also functions as a screen for selecting a reaching trajectory. Specifically, the user U operates the operation button 70 or the touch panel display 50 to select one of a plurality of reaching trajectories.
  • the control unit 340 selects one of the first reaching locus 351 and the second reaching locus 352. (Yes in S77).
  • the control unit 340 ejects the purification agent from the ejection port 62 at a pressure corresponding to the selected reaching trajectory (S78). For example, if the first arriving path 351 is selected, the control unit 340, jetting cleaning agent at a first pressure P A. When the second arrival path 352 is selected, the control unit 340, jetting cleaning agent at a second pressure P B.
  • the controller 340 maintains the standby state until the selection is received (No in S77). Alternatively, if the selection is not made even after the predetermined period has elapsed, the control unit 340 may return to step S53 and start again from the determination of the inclination of the spout 62. In addition, the control unit 340 may receive an instruction for redoing the display of the arrival track, or the like. If the instruction is received, the control unit 340 may return to step S53 and start again from the determination of the inclination of the ejection port 62.
  • trajectory display screen 350 may be displayed for confirmation to the user U. In this case, only one of the first reaching locus 351 and the second reaching locus 352 may be displayed. In addition, at least one of the first pressure information 353, the second pressure information 354, and the recommendation information 355 may not be displayed.
  • the purification device may not be portable.
  • the purification device may be a stationary purification device installed indoors or the like, or may be an autonomous mobile purification device.
  • at least one of the light sensor, the determination circuit, the ejection unit, and the distance measuring unit may be provided separately.
  • the purification device may detect light reflected or scattered by the object.
  • the purification device may detect reflected light or scattered light from particles constituting the object or moisture contained in the object.
  • the purification device can accurately detect the object by measuring in advance the reflected light or the scattered light of the background component when the object is not present.
  • the purification device may detect Raman spectroscopy by water contained in the object.
  • the light receiving unit may include a photodetector for one pixel instead of the image sensor.
  • the light receiving unit may include a photodetector for one pixel instead of the image sensor.
  • the excitation wavelength and the observation wavelength may not be changed. That is, in the purification device 10 according to the embodiment, it is not necessary to generate a fluorescent fingerprint, and the wavelength of the light emitted by the light source 31 and the light receiving unit 32 according to the combination of the excitation wavelength and the fluorescence wavelength
  • the observation wavelength to be received may be set.
  • the light source 31 may emit excitation light having a peak near 280 nm as the first light.
  • the light receiver 32 may receive light through a filter having a transmission band in the vicinity of 320 nm, for example.
  • the purification device may determine the presence or absence of an object by detecting fluorescence emitted from vitamins or NADH (nicotinamide adenine dinucleotide) or the like.
  • vitamin A generates fluorescence having a peak at 425 nm when irradiated with excitation light having a wavelength of 325 nm.
  • Vitamin B2 generates fluorescence having a peak at 520 nm when irradiated with excitation light having a wavelength of 450 nm.
  • NADH generates fluorescence having a peak at 460 nm when the excitation light having an excitation wavelength of 350 nm is irradiated.
  • the present disclosure can be realized as a purification method including, as a step, processing performed by the determination circuit and the ejection unit of the purification device according to each embodiment.
  • the present disclosure can be realized not only as a cleaning method, but also as a program for causing a computer to execute each step included in the cleaning method, and a recording medium such as a DVD (Digital Versatile Disc) recording the program. It can also be done.
  • a recording medium such as a DVD (Digital Versatile Disc) recording the program. It can also be done.
  • Each step described above is realized by the computer reading and executing the program stored in the recording medium.
  • the program may be pre-recorded on the recording medium, or may be supplied to the recording medium via a wide area communication network including the Internet.
  • each component of the purification apparatus may be configured by dedicated hardware, or may be realized by executing a software program suitable for each component.
  • Each component may be realized by a program execution unit such as a central processing unit (CPU) or processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.
  • the type of processor is not limited as long as the function can be realized by executing a program.
  • the processor is configured of one or more electronic circuits including a semiconductor integrated circuit such as an integrated circuit (IC) or a large scale integration (LSI).
  • IC integrated circuit
  • LSI large scale integration
  • the plurality of electronic circuits may be integrated on one chip or may be provided on a plurality of chips.
  • the plurality of chips may be integrated into one device or may be distributed and provided to a plurality of devices.
  • the above-described general or specific aspects may be realized by a system, an apparatus, an integrated circuit, a computer program, or a computer readable recording medium, and the system, the apparatus, the integrated circuit, the computer program, and the recording It may be realized by any combination of media.
  • the present disclosure can be used as a purifier that can easily perform from detection of an object to purification of the detected object.

Abstract

Un mode de réalisation de la présente invention concerne un dispositif de nettoyage qui comprend : un capteur optique, qui comprend une source de lumière qui émet une première lumière, et une unité de réception de lumière qui reçoit une deuxième lumière transmise à partir d'une région irradiée avec la première lumière, et qui transmet un signal électrique; un circuit de discrimination, qui comprend un circuit de traitement de signal qui traite le signal électrique transmis à partir du capteur optique, détermine s'il existe un sujet dans la région, et génère une image indiquant des résultats de discrimination; un récipient pour stocker un produit de nettoyage; une unité d'éjection, qui comprend un orifice d'éjection, et qui éjecte le produit de nettoyage à partir de l'orifice d'éjection; et un boîtier portable, dans lequel sont stockés le capteur optique, le circuit de discrimination, l'unité d'éjection et le contenant.
PCT/JP2018/038237 2017-10-31 2018-10-15 Dispositif et procédé de nettoyage WO2019087745A1 (fr)

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CN201880057520.2A CN111051862B (zh) 2017-10-31 2018-10-15 净化装置及净化方法
US16/842,890 US20200230631A1 (en) 2017-10-31 2020-04-08 Purifying apparatus and purifying method

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JP2017211349 2017-10-31
JP2018187783A JP7228781B2 (ja) 2017-10-31 2018-10-02 浄化装置及び浄化方法
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JP2001212161A (ja) * 2000-01-31 2001-08-07 Matsushita Electric Ind Co Ltd ビデオスコープ付き口腔洗浄器
JP2007135989A (ja) * 2005-11-21 2007-06-07 Olympus Corp 分光内視鏡
JP2007260241A (ja) * 2006-03-29 2007-10-11 Terumo Corp 内視鏡
WO2011162342A1 (fr) * 2010-06-25 2011-12-29 コニカミノルタオプト株式会社 Sonde, dispositif de diagnostic et procédé d'utilisation du dispositif de diagnostic
US20120116234A1 (en) * 2009-07-20 2012-05-10 Farcy Rene Alfred Sharp fibrous needle probe for the in-depth optical diagnostics of tumours by endogenous fluorescence
WO2013187148A1 (fr) * 2012-06-15 2013-12-19 オリンパス株式会社 Dispositif de traitement d'image, système de microscope, système d'endoscope et procédé de traitement d'image
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JP2007135989A (ja) * 2005-11-21 2007-06-07 Olympus Corp 分光内視鏡
JP2007260241A (ja) * 2006-03-29 2007-10-11 Terumo Corp 内視鏡
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WO2011162342A1 (fr) * 2010-06-25 2011-12-29 コニカミノルタオプト株式会社 Sonde, dispositif de diagnostic et procédé d'utilisation du dispositif de diagnostic
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JP2015123201A (ja) * 2013-12-26 2015-07-06 オリンパス株式会社 内視鏡による距離測定方法及び内視鏡システム

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