WO2021107436A1 - Automated cleaning system and method using dry ice - Google Patents

Automated cleaning system and method using dry ice Download PDF

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Publication number
WO2021107436A1
WO2021107436A1 PCT/KR2020/015378 KR2020015378W WO2021107436A1 WO 2021107436 A1 WO2021107436 A1 WO 2021107436A1 KR 2020015378 W KR2020015378 W KR 2020015378W WO 2021107436 A1 WO2021107436 A1 WO 2021107436A1
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Prior art keywords
dry ice
information
washed
vision
washing
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PCT/KR2020/015378
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French (fr)
Korean (ko)
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김호진
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김호진
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
    • B08B7/0092—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by cooling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass

Definitions

  • the present invention relates to a dry ice cleaning automated system and method. More particularly, it relates to a dry ice washing automation system and method for automating a dry ice washing apparatus.
  • a worker is performing a cleaning operation of removing foreign substances attached to the surface of the produced parts by using a chemical treatment such as shot blasting, steam cleaning, solvent, or a brush or the like through manual operation.
  • a chemical treatment such as shot blasting, steam cleaning, solvent, or a brush or the like
  • the surface peeling phenomenon occurs depending on the material of the part to be cleaned.
  • washing devices have been developed that can cleanly and effectively wash foreign substances attached to manufactured parts.
  • dry ice washing technology that can perform environmentally friendly washing while preventing environmental pollution is being developed. Research is being actively conducted.
  • Dry ice cleaning automation system includes a first vision for collecting information on the type of mold of the object to be cleaned and a second vision for collecting information on the thickness and distribution of contaminants embedded in the object to be cleaned and an information collection unit that collects information about the object to be washed;
  • a determination unit that determines the degree of contamination of the object to be washed based on the information collected by the information collection unit, and determines the particle size of the nozzle and dry ice required for cleaning based on the determined information
  • control unit configured to set the particle size of the nozzle and dry ice based on the information determined by the determination unit, and to wash the object to be washed
  • a database including a first DB in which data of the type of mold of the object to be washed is stored, and a second DB in which data of a type, thickness, and distribution of contaminants are stored, in which prior data of the object to be cleaned is stored;
  • control unit includes one or more nozzles each having a polygonal or circular inner diameter, and a nozzle control unit that selects the nozzle determined by the determination unit and controls the nozzle ;
  • a particle size adjusting unit configured to receive the particle size data of the dry ice determined by the determination unit, and to include a grinding unit for crushing the dry ice according to the received particle size, and to adjust the dry ice particle size;
  • information may be collected by including the first non-transfer 2D camera, and information may be collected by including the second non-transfer 3D camera.
  • the controller may select a spray mode to spray dry ice on the object to be washed.
  • the method comprising: (a) collecting information on molds and contaminants of an object to be cleaned with a first vision and a second vision;
  • information may be collected by including the first non-transfer 2D camera, and information may be collected by including the second non-transfer 3D camera.
  • the step (a) may include: matching the information collected in the first vision with information stored in a first DB;
  • the step (c) may include grinding the dry ice through the grinding unit when the size of the dry ice determined by the determining unit does not exist;
  • the step (d) comprises: controlling the nozzle determined by the determination unit among one or more nozzles;
  • the inner diameter of the nozzle may be formed in a polygonal or circular shape.
  • step (e) when contaminants are found in the object to be washed inspected in step (e), the washing may be performed again by performing step (b). .
  • cleaning is performed according to the type of mold and the degree of contamination of the object to be cleaned, and an automated system can be implemented, thereby reducing costs.
  • FIG. 1 is a block diagram showing an automated dry ice washing system according to an embodiment of the present invention.
  • FIG. 2 is a flowchart illustrating an automated method for cleaning dry ice according to an embodiment of the present invention.
  • the dry ice washing automation system includes an information collection unit 10 that collects information about an object to be washed, and based on the information collected by the information collection unit, The determination unit 20 for determining the degree of contamination of the object to be washed, the control unit 30 for setting the particle size of the nozzle and dry ice based on the information determined by the determination unit, and cleaning the object to be cleaned; It includes an inspection unit 40 for re-inspecting the object to be washed, and a database 50 in which data of the type of mold and the type of contaminants of the object to be cleaned are stored in advance.
  • the information collection unit 10 collects information about the object to be washed, and may include a first vision 11 including a 2D camera and a second vision 12 including a 3D camera.
  • the first vision 11 may collect an image or image information of the object to be washed through the 2D camera, and collect mold information of the object to be cleaned based on the collected information.
  • the second vision 12 may collect the type, thickness, and distribution of contaminants embedded in the object to be washed as images or image information through the 3D camera.
  • the determination unit 20 may determine the degree of contamination of the object to be washed based on the information collected by the information collection unit 10 . Specifically, the determination unit 20 acquires the information on the type, thickness, and distribution of the contaminant collected in the second vision 12 , and matches the information of the contaminant stored in advance in the database 50 to the object to be washed It is possible to determine the contaminants attached to the surface, and it is possible to determine the presence or frequency of an additionally difficult point (eg, a gap formed between the molds of the object to be cleaned).
  • an additionally difficult point eg, a gap formed between the molds of the object to be cleaned.
  • the determination unit 20 may determine the particle size of the nozzle and dry ice required for cleaning based on the determined information. Specifically, the particle size of the nozzle and the dry ice may be differently determined according to the degree of contamination of the object to be washed and the degree of cleaning difficulty.
  • the control unit 30 may set the particle size of the nozzle and the dry ice based on the information determined by the determination unit 20 , and may wash the object to be washed.
  • control unit 30 may select any one of one or more spray modes to spray dry ice on the object to be washed.
  • the injection mode may include concentrated injection, spread injection, and powder injection.
  • the control unit 30 includes one or more nozzles each having a polygonal or circular inner diameter, and a nozzle control unit 31 that selects and controls the nozzle determined by the determination unit 20 and the dry ice determined by the determination unit 20 . It may include a particle size adjusting unit 32 that receives the particle size data of the dry ice and adjusts the particle size of the dry ice by crushing the dry ice to the received particle size.
  • the dry ice may crush the dry ice through the crushing unit 33 .
  • the inspection unit 40 re-inspects the object to be washed through the control unit 30 to check whether there are unwashed points, and when the unwashed points are found, it can be re-washed.
  • the database 50 includes a first DB 51 in which mold information of the object to be washed is stored and a second DB 52 in which information on the type, distribution, and thickness of contaminants is stored, and information for cleaning the object to be washed is provided. It can be stored as data.
  • the database 50 provides information to the determination unit 20 to match the information collected from the information collection unit 10, and can determine the mold and contaminants of the object to be cleaned.
  • the method for operating the dry ice washing automation system uses a first vision 11 and a second vision 12 to mold the object to be cleaned. and collecting information on contaminants (S10 and S11), and determining the object to be washed and the contaminant in the determination unit 20 based on the collected information (S12), and cleaning the object to be washed.
  • a step (S13) of determining the required nozzle and dry ice particle sizes by the determination unit 20 (S13), setting the nozzle and dry ice particle sizes determined by the determination unit 20 through the control unit 30, and washing the object to be washed It includes a step (S14) and a step (S17) of inspecting the washed object to be washed.
  • mold information of the object to be cleaned may be collected with the first vision 11 including a 2D camera, and the collected information may be transmitted to the determination unit 20 ( S10 ), and the determination unit 20 may receive the first vision 11 ) and the information stored in the first DB 51 may be matched to determine the type of mold of the object to be cleaned (S10a).
  • the information stored in the first DB 51 may be re-collected with the first vision 11 .
  • the second vision 12 including the 3D camera collects information on the contaminants on the object to be cleaned, and transmits the collected information to the determination unit 20 (S11) , the determination unit 20 may match the information collected from the second vision 12 and the information stored in the second DB 52 to determine the type, thickness, and distribution of the pollutant (S11a).
  • the information stored in the second DB 52 may be re-collected with the second vision 12 , and when the number of times set in advance by the controller 30 is exceeded (S11b) , it is possible to re-collect information about the mold of the object to be cleaned with the first vision 11 .
  • the determination unit 20 may determine the degree of contamination of the object to be washed based on the information on the type, thickness, and distribution of the contaminants determined by the first vision 11 and the second vision 12 ( S12 ). .
  • the determination unit 20 may subdivide the degree of contamination of the object to be washed into steps 1 to 9, and may determine a required washing method step by step.
  • the determination unit 20 may determine the type of nozzle and the particle size of dry ice required to wash the object to be washed based on the determined washing method ( S13 ).
  • the nozzle includes one or more nozzles each having a polygonal or circular inner diameter, and may be controlled by selecting a nozzle determined by the determination unit 20 .
  • control unit 30 After determining the particle size of the nozzle and dry ice in this way, the control unit 30 performs a setup for washing the object to be washed (S14), and then the object to be washed may be washed (S16).
  • the cause of the set-up failure is determined, and when there is no dry ice material (S15), the particle size determined by the determination unit 20 on dry ice through the crushing unit 33 Dry ice required for washing can be provided by pulverizing as much as possible.
  • this may be displayed through a separate alarm device installed in the washing device.
  • the washed object can be inspected through the inspection unit 40 (S17).
  • the process may be repeated from step S12 so that the object to be washed can be re-washed. If no contaminants are found in the inspected object to be washed, washing can be terminated.
  • the dry ice generating and washing apparatus may be used for the purpose of generating dry ice in a chamber and spraying the generated dry ice to wash an object to be washed with dry ice.

Abstract

The present invention comprises: an information collection unit for collecting information about an object to be cleaned; a determination unit for determining a nozzle required for cleaning and a particle size of dry ice; a control unit for cleaning the object to be cleaned; an inspection unit for re-inspecting the object to be cleaned; and a database in which previous data of the object to be cleaned is stored. According to an embodiment of the present invention, an automated system can be implemented according to the type of a mold and the degree of contamination of the object to be cleaned, and thus cost can be reduced.

Description

드라이아이스 세척 자동화 시스템 및 방법Dry ice cleaning automation system and method
본 발명은 드라이아이스 세척 자동화 시스템 및 방법에 관한 것이다. 더욱 상세하게는 드라이아이스 세척 장치를 자동화하기 위한 드라이아이스 세척 자동화 시스템 및 방법에 관한 것이다.The present invention relates to a dry ice cleaning automated system and method. More particularly, it relates to a dry ice washing automation system and method for automating a dry ice washing apparatus.
일반적으로 부품의 생산공정에서는 생산되는 부품 표면에 각종 이물질들이 묻어나고, 이를 제거하기 위한 별도의 세척공정을 거치고 있다.In general, in the production process of parts, various foreign substances are smeared on the surface of the parts produced, and a separate cleaning process is performed to remove them.
이러한 세척공정에 의하면, 생산된 부품을 작업자가 수작업을 통해 쇼트블래스팅, 증기세척, 솔벤트 등의 약품처리나 브러쉬 등을 이용하여 표면에 묻어있는 이물질들을 제거하는 세척작업을 진행하고 있다.According to this cleaning process, a worker is performing a cleaning operation of removing foreign substances attached to the surface of the produced parts by using a chemical treatment such as shot blasting, steam cleaning, solvent, or a brush or the like through manual operation.
그러나 상기한 세척공정은 작업자가 수작업으로 진행을 하는 것으로, 작업자의 숙련도에 따라 세척작업의 품질차이가 발생되는 단점을 내재하고 있다.However, the above-described washing process is performed manually by an operator, and has a disadvantage in that a difference in quality of the cleaning operation occurs depending on the skill of the operator.
특히, 브러쉬를 이용하는 세척작업에서는 세척하고자 하는 부품의 재질에 따라서 표면박리 현상이 발생되고 있다.In particular, in the cleaning operation using a brush, the surface peeling phenomenon occurs depending on the material of the part to be cleaned.
이에 따라서, 최근에는 생산되는 부품에 묻어있는 이물질들을 보다 깨끗하고, 효과적으로 세척할 수 있도록 하는 세척장치들이 개발되고 있으며, 특히, 환경오염을 방지하면서 친환경적으로 세척작업을 진행할 수 있는 드라이아이스 세척기술에 대한 연구가 활발하게 진행되고 있는 실정이다.Accordingly, recently, washing devices have been developed that can cleanly and effectively wash foreign substances attached to manufactured parts. In particular, dry ice washing technology that can perform environmentally friendly washing while preventing environmental pollution is being developed. Research is being actively conducted.
본 발명의 목적은 드라이아이스 세척 장치를 자동화하기 위한 드라이아이스 세척 자동화 시스템 및 방법을 제공하는 데 있다.It is an object of the present invention to provide a dry ice washing automation system and method for automating a dry ice washing apparatus.
상기 과제를 해결하기 위하여,In order to solve the above problem,
본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 시스템은 피세척물의 금형종류의 정보를 수집하는 제1 비전 및 피세척물에 묻어있는 오염물질의 두께 및 분포도의 정보를 수집하는 제2 비전을 포함하며, 피세척물에 대한 정보를 수집하는 정보수집부;Dry ice cleaning automation system according to an embodiment of the present invention includes a first vision for collecting information on the type of mold of the object to be cleaned and a second vision for collecting information on the thickness and distribution of contaminants embedded in the object to be cleaned and an information collection unit that collects information about the object to be washed;
상기 정보수집부에서 수집된 정보를 기초하여 피세척물의 오염정도를 판단하고, 판단한 정보를 근거로하여 세척에 필요한 노즐 및 드라이아이스의 입도를 결정하는 판단부;a determination unit that determines the degree of contamination of the object to be washed based on the information collected by the information collection unit, and determines the particle size of the nozzle and dry ice required for cleaning based on the determined information;
상기 판단부에서 결정한 정보를 기초로하여 노즐 및 드라이아이스의 입도를 셋업하며, 피세척물의 세척을 실시하는 제어부;a control unit configured to set the particle size of the nozzle and dry ice based on the information determined by the determination unit, and to wash the object to be washed;
세척을 완료한 상기 피세척물을 재검수하는 검수부; 및an inspection unit for re-inspecting the object to be washed after washing; and
상기 피세척물의 금형종류의 데이터가 저장된 제1 DB와, 오염물질의 종류, 두께 및 분포도의 데이터가 저장된 제2 DB를 포함하며, 상기 피세척물의 사전 데이터가 저장된 데이터베이스;a database including a first DB in which data of the type of mold of the object to be washed is stored, and a second DB in which data of a type, thickness, and distribution of contaminants are stored, in which prior data of the object to be cleaned is stored;
를 포함할 수 있다.may include.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 시스템에 있어서, 상기 제어부는 내경이 다각형 또는 원형으로 각각 형성된 하나 이상의 노즐을 구비하되, 상기 판단부에서 결정한 노즐을 선택하여 이를 제어하는 노즐제어부; 및In addition, in the dry ice washing automation system according to an embodiment of the present invention, the control unit includes one or more nozzles each having a polygonal or circular inner diameter, and a nozzle control unit that selects the nozzle determined by the determination unit and controls the nozzle ; and
상기 판단부에서 결정한 드라이아이스의 입도 데이터를 제공받고, 제공받은 입도만큼의 드라이아이스를 분쇄하는 분쇄부를 포함하며, 드라이아이스의 입도를 조정하는 입도조정부;a particle size adjusting unit configured to receive the particle size data of the dry ice determined by the determination unit, and to include a grinding unit for crushing the dry ice according to the received particle size, and to adjust the dry ice particle size;
를 포함할 수 있다.may include.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 시스템에 있어서, 상기 제1 비전이 2D 카메라를 포함하여 정보를 수집하고, 상기 제2 비전이 3D 카메라를 포함하여 정보를 수집할 수 있다.In addition, in the dry ice washing automation system according to an embodiment of the present invention, information may be collected by including the first non-transfer 2D camera, and information may be collected by including the second non-transfer 3D camera.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 시스템에 있어서, 상기 제어부는 분사모드를 선택하여 피세척물에 드라이아이스를 분사할 수 있다.In addition, in the dry ice washing automation system according to an embodiment of the present invention, the controller may select a spray mode to spray dry ice on the object to be washed.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 방법에 있어서, (a) 제1 비전 및 제2 비전으로 피세척물의 금형 및 오염물질의 정보를 수집하는 단계;In addition, in an automated dry ice washing method according to an embodiment of the present invention, the method comprising: (a) collecting information on molds and contaminants of an object to be cleaned with a first vision and a second vision;
(b) 수집한 정보를 기초로하여 피세척물 및 오염물질을 판단부에서 판단하는 단계;(b) determining the object to be washed and contaminants based on the collected information by the determination unit;
(c) 상기 피세척물을 세척하는데 필요한 노즐 및 드라이아이스의 입도를 판단부에서 결정하는 단계;(c) determining a particle size of a nozzle and dry ice required for washing the object to be washed by a determination unit;
(d) 상기 판단부에서 결정한 노즐 및 드라이아이스의 입도를 제어부를 통해 셋업하고, 상기 피세척물을 세척하는 단계;(d) setting the particle size of the nozzle and dry ice determined by the determination unit through the control unit, and washing the object to be washed;
(e) 세척한 피세척물을 검수하는 단계;(e) inspecting the washed object;
를 포함할 수 있다.may include.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 방법에 있어서, 상기 제1 비전이 2D 카메라를 포함하여 정보를 수집하고, 상기 제2 비전이 3D 카메라를 포함하여 정보를 수집할 수 있다.In addition, in the dry ice washing automation method according to an embodiment of the present invention, information may be collected by including the first non-transfer 2D camera, and information may be collected by including the second non-transfer 3D camera.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 방법에 있어서, 상기 (a) 단계는 상기 제1 비전에서 수집한 정보가 제1 DB에 저장된 정보를 매칭하는 단계; 및In addition, in the dry ice washing automation method according to an embodiment of the present invention, the step (a) may include: matching the information collected in the first vision with information stored in a first DB; and
상기 제2 비전에서 수집한 정보가 제2 DB에 저장된 정보를 매칭하는 단계;matching the information collected in the second vision with information stored in a second DB;
를 포함하고, 상기 제1 DB 또는 제2 DB에 저장된 정보와 일치하지 않을 경우, 일치하지 않은 정보에 한하여 해당 정보를 재수집할 수 있다.and, when the information stored in the first DB or the second DB does not match, only the information that does not match may be re-collected.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 방법에 있어서, 상기 (c) 단계는 상기 판단부에서 결정한 드라이아이스의 크기가 없는 경우, 분쇄부를 통해서 드라이아이스를 분쇄하는 단계; 및In addition, in the dry ice washing automation method according to an embodiment of the present invention, the step (c) may include grinding the dry ice through the grinding unit when the size of the dry ice determined by the determining unit does not exist; and
상기 드라이아이스가 수용공간에 없을 경우, 알람장치를 통해 표시하는 단계;displaying through an alarm device when the dry ice is not in the receiving space;
를 포함할 수 있다.may include.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 방법에 있어서, 상기 (d) 단계는 하나 이상의 노즐 중에서 상기 판단부에서 결정한 노즐을 제어하는 단계;In addition, in the dry ice washing automation method according to an embodiment of the present invention, the step (d) comprises: controlling the nozzle determined by the determination unit among one or more nozzles;
를 포함하며, 상기 노즐의 내경이 다각형 또는 원형으로 형성될 수 있다.Including, the inner diameter of the nozzle may be formed in a polygonal or circular shape.
또한, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 방법에 있어서, 상기 (e) 단계에서 검수한 피세척물에 오염물질이 발견될 경우, 상기 (b) 단계를 실시하여 재세척할 수 있다.In addition, in the dry ice washing automated method according to an embodiment of the present invention, when contaminants are found in the object to be washed inspected in step (e), the washing may be performed again by performing step (b). .
본 발명의 일실시 예에 따르면, 피세척물의 금형 종류 및 오염정도에 따라 세척을 실시하며, 자동화 시스템을 구현할 수 있고, 이에 따른 비용이 감소하는 효과가 있다.According to an embodiment of the present invention, cleaning is performed according to the type of mold and the degree of contamination of the object to be cleaned, and an automated system can be implemented, thereby reducing costs.
도 1은 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 시스템을 나타내 보인 블록도.1 is a block diagram showing an automated dry ice washing system according to an embodiment of the present invention.
도 2는 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 방법을 나타내 보인 순서도.2 is a flowchart illustrating an automated method for cleaning dry ice according to an embodiment of the present invention.
(도면의 부호)(signs in the drawing)
10 - 정보수집부 11 - 제1 비전10 - Information Collection Unit 11 - 1st Vision
12 - 제2 비전 20 - 판단부12 - Second Vision 20 - Judgment Unit
30 - 제어부 31 - 노즐제어부30 - control unit 31 - nozzle control unit
32 - 입도조정부 33 - 분쇄부32 - Particle size adjustment part 33 - Grinding part
40 - 검수부 50 - 데이터베이스40 - Inspector 50 - Database
51 - 제1 DB 52 - 제2 DB51 - 1st DB 52 - 2nd DB
도 1에 도시된 바와 같이, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 시스템은 피세척물에 대한 정보를 수집하는 정보수집부(10)와, 정보수집부에서 수집한 정보를 기초로하여 피세척물의 오염정도를 판단하는 판단부(20)와, 판단부에서 판단한 정보를 기초로하여 노즐 및 드라이아이스의 입도를 셋업하며, 피세척물을 세척하는 제어부(30)와, 세척을 완료한 피세척물을 재검수하는 검수부(40) 및 피세척물의 금형종류, 오염물질의 종류의 데이터가 사전에 저장된 데이터베이스(50)를 포함한다.As shown in FIG. 1 , the dry ice washing automation system according to an embodiment of the present invention includes an information collection unit 10 that collects information about an object to be washed, and based on the information collected by the information collection unit, The determination unit 20 for determining the degree of contamination of the object to be washed, the control unit 30 for setting the particle size of the nozzle and dry ice based on the information determined by the determination unit, and cleaning the object to be cleaned; It includes an inspection unit 40 for re-inspecting the object to be washed, and a database 50 in which data of the type of mold and the type of contaminants of the object to be cleaned are stored in advance.
정보수집부(10)는 피세척물의 정보를 수집하는 것으로, 2D 카메라를 포함한 제1 비전(11) 및 3D 카메라를 포함한 제2 비전(12)으로 구성될 수 있다.The information collection unit 10 collects information about the object to be washed, and may include a first vision 11 including a 2D camera and a second vision 12 including a 3D camera.
제1 비전(11)은 2D 카메라를 통해 피세척물의 이미지 또는 영상정보를 수집하고, 수집된 정보를 기초로하여 피세척물의 금형정보를 수집할 수 있다.The first vision 11 may collect an image or image information of the object to be washed through the 2D camera, and collect mold information of the object to be cleaned based on the collected information.
제2 비전(12)은 3D 카메라를 통해 피세척물에 묻어있는 오염물질의 종류, 두께 및 분포도를 이미지 또는 영상정보로 수집할 수 있다.The second vision 12 may collect the type, thickness, and distribution of contaminants embedded in the object to be washed as images or image information through the 3D camera.
판단부(20)는 정보수집부(10)에서 수집한 정보를 기초로하여 피세척물의 오염정도를 판단할 수 있다. 구체적으로, 판단부(20)는 제2 비전(12)에서 수집한 오염물질의 종류, 두께 및 분포도의 정보를 취득하고, 데이터베이스(50)에 사전에 저장된 오염물질의 정보를 매칭하여 피세척물에 묻어있는 오염물질을 판단할 수 있으며, 추가로 세척하기 어려운 지점(예컨대 피세척물의 금형의 사이에 형성된 틈)의 유무 또는 빈도수를 판단할 수 있다.The determination unit 20 may determine the degree of contamination of the object to be washed based on the information collected by the information collection unit 10 . Specifically, the determination unit 20 acquires the information on the type, thickness, and distribution of the contaminant collected in the second vision 12 , and matches the information of the contaminant stored in advance in the database 50 to the object to be washed It is possible to determine the contaminants attached to the surface, and it is possible to determine the presence or frequency of an additionally difficult point (eg, a gap formed between the molds of the object to be cleaned).
또한, 판단부(20)는 상기한 판단한 정보를 근거로하여 세척에 필요한 노즐 및 드라이아이스의 입도를 결정할 수 있다. 구체적으로, 피세척물의 오염정도 및 세척난이도에 따라 노즐 및 드라이아이스의 입도를 다르게 결정할 수 있다.Also, the determination unit 20 may determine the particle size of the nozzle and dry ice required for cleaning based on the determined information. Specifically, the particle size of the nozzle and the dry ice may be differently determined according to the degree of contamination of the object to be washed and the degree of cleaning difficulty.
제어부(30)는 판단부(20)에서 결정한 정보를 기초로하여 노즐 및 드라이아이스의 입도를 셋업하며, 피세척물의 세척을 실시할 수 있다.The control unit 30 may set the particle size of the nozzle and the dry ice based on the information determined by the determination unit 20 , and may wash the object to be washed.
또한, 제어부(30)는 하나 이상의 분사모드 중 어느 하나를 선택하여 피세척물에 드라이아이스를 분사할 수 있다. 여기서, 분사모드는 집중분사, 산개분사, 가루분사를 포함할 수 있다.Also, the control unit 30 may select any one of one or more spray modes to spray dry ice on the object to be washed. Here, the injection mode may include concentrated injection, spread injection, and powder injection.
이러한 제어부(30)는 내경이 다각형 또는 원형으로 각각 형성된 하나 이상의 노즐을 구비하되, 판단부(20)에서 결정한 노즐을 선택하여 이를 제어하는 노즐제어부(31) 및 판단부(20)에서 결정한 드라이아이스의 입도 데이터를 제공받고, 제공받은 입도만큼의 드라이아이스를 분쇄함으로써 드라이아이스의 입도를 조정하는 입도조정부(32)를 포함할 수 있다.The control unit 30 includes one or more nozzles each having a polygonal or circular inner diameter, and a nozzle control unit 31 that selects and controls the nozzle determined by the determination unit 20 and the dry ice determined by the determination unit 20 . It may include a particle size adjusting unit 32 that receives the particle size data of the dry ice and adjusts the particle size of the dry ice by crushing the dry ice to the received particle size.
여기서, 드라이아이스는 분쇄부(33)를 통해 드라이아이스를 분쇄할 수 있다.Here, the dry ice may crush the dry ice through the crushing unit 33 .
검수부(40)는 제어부(30)를 통해 세척완료된 피세척물을 재검수하여 세척되지 않은 지점이 있는지를 검수하며, 세척되지 않은 지점이 발견될 경우, 재새척할 수 있다.The inspection unit 40 re-inspects the object to be washed through the control unit 30 to check whether there are unwashed points, and when the unwashed points are found, it can be re-washed.
데이터베이스(50)는 피세척물의 금형정보가 저장된 제1 DB(51) 및 오염물질의 종류, 분포도, 두께의 정보가 저장된 제2 DB(52)를 포함하며, 피세척물을 세척하기 위한 정보가 데이터화하여 저장될 수 있다.The database 50 includes a first DB 51 in which mold information of the object to be washed is stored and a second DB 52 in which information on the type, distribution, and thickness of contaminants is stored, and information for cleaning the object to be washed is provided. It can be stored as data.
이러한 데이터베이스(50)는 판단부(20)에 정보를 제공하여 정보수집부(10)로부터 수집된 정보와 매칭되며, 피세척물의 금형 및 오염물질을 판단할 수 있다.The database 50 provides information to the determination unit 20 to match the information collected from the information collection unit 10, and can determine the mold and contaminants of the object to be cleaned.
한편, 도 1 및 도 2에 도시된 바와 같이, 본 발명의 일실시 예에 따른 드라이아이스 세척 자동화 시스템을 운영하기 위한 방법은 제1 비전(11) 및 제2 비전(12)으로 피세척물의 금형 및 오염물질의 정보를 수집하는 단계(S10,S11)와, 수집한 정보를 기초로하여 피세척물 및 오염물질을 판단부(20)에서 판단하는 단계(S12)와, 피세척물을 세척하는데 필요한 노즐 및 드라이아이스의 입도를 판단부(20)에서 결정하는 단계(S13)와, 판단부(20)에서 결정한 노즐 및 드라이아이스의 입도를 제어부(30)를 통해 셋업하고, 피세척물을 세척하는 단계(S14) 및 세척한 피세척물을 검수하는 단계(S17)를 포함한다.On the other hand, as shown in FIGS. 1 and 2 , the method for operating the dry ice washing automation system according to an embodiment of the present invention uses a first vision 11 and a second vision 12 to mold the object to be cleaned. and collecting information on contaminants (S10 and S11), and determining the object to be washed and the contaminant in the determination unit 20 based on the collected information (S12), and cleaning the object to be washed. A step (S13) of determining the required nozzle and dry ice particle sizes by the determination unit 20 (S13), setting the nozzle and dry ice particle sizes determined by the determination unit 20 through the control unit 30, and washing the object to be washed It includes a step (S14) and a step (S17) of inspecting the washed object to be washed.
먼저, 2D 카메라를 포함한 제1 비전(11)으로 피세척물의 금형 정보를 수집하고, 수집한 정보를 판단부(20)에 전송할 수 있으며(S10), 판단부(20)에서 제1 비전(11)으로부터 수집된 정보 및 제1 DB(51)에 저장된 정보를 매칭하여 피세척물의 금형종류를 판단할 수 있다(S10a). First, mold information of the object to be cleaned may be collected with the first vision 11 including a 2D camera, and the collected information may be transmitted to the determination unit 20 ( S10 ), and the determination unit 20 may receive the first vision 11 ) and the information stored in the first DB 51 may be matched to determine the type of mold of the object to be cleaned (S10a).
이 때, 제1 DB(51)에 저장된 정보와 매칭이 되지 않을 경우, 제1 비전(11)으로 정보를 재수집할 수 있다.At this time, when the information stored in the first DB 51 does not match, the information may be re-collected with the first vision 11 .
피세척물의 금형정보를 판단한 이후, 3D 카메라를 포함한 제2 비전(12)으로 피세척물에 묻어있는 오염물질의 정보를 수집하고, 수집한 정보를 판단부(20)에 전송할 수 있으며(S11), 판단부(20)에서 제2 비전(12)으로부터 수집된 정보 및 제2 DB(52)에 저장된 정보를 매칭하여 오염물질의 종류, 두께 및 분포도를 판단할 수 있다(S11a).After determining the mold information of the object to be cleaned, the second vision 12 including the 3D camera collects information on the contaminants on the object to be cleaned, and transmits the collected information to the determination unit 20 (S11) , the determination unit 20 may match the information collected from the second vision 12 and the information stored in the second DB 52 to determine the type, thickness, and distribution of the pollutant (S11a).
이 때, 제2 DB(52)에 저장된 정보와 매칭이 되지 않을 경우, 제2 비전(12)으로 정보를 재수집할 수 있으며, 제어부(30)에서 사전에 설정된 횟수보다 초과한 경우(S11b), 제1 비전(11)으로 피세척물의 금형에 대한 정보를 재수집할 수 있다.At this time, if the information stored in the second DB 52 does not match, the information may be re-collected with the second vision 12 , and when the number of times set in advance by the controller 30 is exceeded (S11b) , it is possible to re-collect information about the mold of the object to be cleaned with the first vision 11 .
한편, 판단부(20)는 제1 비전(11) 및 제2 비전(12)으로 판단한 오염물질의 종류, 두께 및 분포도의 정보를 기초로하여 피세척물의 오염정도를 판단할 수 있다(S12).Meanwhile, the determination unit 20 may determine the degree of contamination of the object to be washed based on the information on the type, thickness, and distribution of the contaminants determined by the first vision 11 and the second vision 12 ( S12 ). .
구체적으로, 판단부(20)는 피세척물의 오염정도를 1단계 내지 9단계로 세분화할 수 있으며, 단계별로 필요한 세척법을 판단할 수 있다.Specifically, the determination unit 20 may subdivide the degree of contamination of the object to be washed into steps 1 to 9, and may determine a required washing method step by step.
또한, 판단부(20)는 판단한 세척법을 기초로하여 피세척물을 세척하는데 필요한 노즐의 종류 및 드라이아이스의 입도를 결정할 수 있다(S13).Also, the determination unit 20 may determine the type of nozzle and the particle size of dry ice required to wash the object to be washed based on the determined washing method ( S13 ).
노즐은 내경이 다각형 또는 원형으로 각각 형성된 하나 이상의 노즐을 구비하되, 판단부(20)에서 결정한 노즐을 선택하여 이를 제어할 수 있다.The nozzle includes one or more nozzles each having a polygonal or circular inner diameter, and may be controlled by selecting a nozzle determined by the determination unit 20 .
이러한 방법으로 노즐 및 드라이아이스의 입도를 결정한 이후, 제어부(30)에서 피세척물을 세척하기 위한 셋업을 실시하며(S14), 이후 피세척물을 세척할 수 있다(S16).After determining the particle size of the nozzle and dry ice in this way, the control unit 30 performs a setup for washing the object to be washed (S14), and then the object to be washed may be washed (S16).
예컨대 피세척물을 세척하기 위한 셋업이 안될 경우, 셋업이 안되는 원인을 판단하고, 드라이아이스의 재료가 없을 경우(S15), 분쇄부(33)를 통해 드라이아이스를 판단부(20)에서 판단한 입도만큼 분쇄하여 세척에 요구되는 드라이아이스를 구비할 수 있다. 여기서, 분쇄할 드라이아이스가 없을 경우, 세척 장치에 설치된 별도의 알람장치를 통해 이를 표시할 수 있다.For example, if the set-up for washing the object to be washed cannot be set up, the cause of the set-up failure is determined, and when there is no dry ice material (S15), the particle size determined by the determination unit 20 on dry ice through the crushing unit 33 Dry ice required for washing can be provided by pulverizing as much as possible. Here, when there is no dry ice to be crushed, this may be displayed through a separate alarm device installed in the washing device.
세척완료한 피세척물은 검수부(40)를 통해 피세척물을 검수할 수 있다(S17).The washed object can be inspected through the inspection unit 40 (S17).
예컨대 검수한 피세척물에 오염물질이 발견될 경우(S18), 피세척물을 재새척할 수 있도록 S12단계부터 재실시할 수 있으며, 검수한 피세척물에 오염물질이 발견되지 않은 경우, 세척을 종료할 수 있다.For example, if contaminants are found in the inspected object to be washed (S18), the process may be repeated from step S12 so that the object to be washed can be re-washed. If no contaminants are found in the inspected object to be washed, washing can be terminated.
본 발명의 일실시 예에 따른 드라이아이스 생성 및 세척장치는 챔버 내부에 드라이아이스를 생성하고, 생성한 드라이아이스를 분사하여 피세척물을 드라이아이스로 세척하기 위한 목적으로 이용될 수 있다.The dry ice generating and washing apparatus according to an embodiment of the present invention may be used for the purpose of generating dry ice in a chamber and spraying the generated dry ice to wash an object to be washed with dry ice.

Claims (10)

  1. 피세척물의 금형종류의 정보를 수집하는 제1 비전 및 피세척물에 묻어있는 오염물질의 두께 및 분포도의 정보를 수집하는 제2 비전을 포함하며, 피세척물에 대한 정보를 수집하는 정보수집부;An information collection unit that collects information on the object to be cleaned, including a first vision for collecting information on the type of mold of the object to be cleaned and a second vision for collecting information on the thickness and distribution of contaminants embedded in the object to be cleaned ;
    상기 정보수집부에서 수집된 정보를 기초하여 피세척물의 오염정도를 판단하고, 판단한 정보를 근거로하여 세척에 필요한 노즐 및 드라이아이스의 입도를 결정하는 판단부;a determination unit that determines the degree of contamination of the object to be washed based on the information collected by the information collection unit, and determines the particle size of the nozzle and dry ice required for cleaning based on the determined information;
    상기 판단부에서 결정한 정보를 기초로하여 노즐 및 드라이아이스의 입도를 셋업하며, 피세척물의 세척을 실시하는 제어부;a control unit configured to set the particle size of the nozzle and dry ice based on the information determined by the determination unit, and to wash the object to be washed;
    세척을 완료한 상기 피세척물을 재검수하는 검수부; 및an inspection unit for re-inspecting the object to be washed after washing; and
    상기 피세척물의 금형종류의 데이터가 저장된 제1 DB와, 오염물질의 종류, 두께 및 분포도의 데이터가 저장된 제2 DB를 포함하며, 상기 피세척물의 사전 데이터가 저장된 데이터베이스;a database including a first DB in which data of the type of mold of the object to be washed is stored, and a second DB in which data of a type, thickness, and distribution of contaminants are stored, in which prior data of the object to be cleaned is stored;
    를 포함하는 드라이아이스 세척 자동화 시스템.Dry ice cleaning automation system comprising a.
  2. 청구항 1에 있어서,The method according to claim 1,
    상기 제1 비전이 2D 카메라를 포함하여 정보를 수집하고, 상기 제2 비전이 3D 카메라를 포함하여 정보를 수집하는 드라이아이스 세척 자동화 시스템,a dry ice cleaning automation system for collecting information by including the first vision 2D camera and collecting information including the second vision 3D camera;
  3. 청구항 1에 있어서,The method according to claim 1,
    상기 제어부는 내경이 다각형 또는 원형으로 각각 형성된 하나 이상의 노즐을 구비하되, 상기 판단부에서 결정한 노즐을 선택하여 이를 제어하는 노즐제어부; 및The control unit includes one or more nozzles each having a polygonal or circular inner diameter, and a nozzle control unit for selecting the nozzle determined by the determination unit and controlling it; and
    상기 판단부에서 결정한 드라이아이스의 입도 데이터를 제공받고, 제공받은 입도만큼의 드라이아이스를 분쇄하는 분쇄부를 포함하며, 드라이아이스의 입도를 조정하는 입도조정부;a particle size adjusting unit configured to receive the particle size data of the dry ice determined by the determination unit and to include a grinding unit for crushing the dry ice according to the received particle size, and to adjust the dry ice particle size;
    를 포함하는 드라이아이스 세척 자동화 시스템,Dry ice washing automation system comprising a,
  4. 청구항 3에 있어서,4. The method according to claim 3,
    상기 제어부는 분사모드를 선택하여 피세척물에 드라이아이스를 분사하는 드라이아이스 세척 자동화 시스템,The control unit selects a spray mode and sprays dry ice on the object to be washed, a dry ice washing automation system;
  5. 청구항 1에 기재된 드라이아이스 세척 자동화 시스템을 운영하기 위한 방법에 있어서, In the method for operating the dry ice washing automated system according to claim 1,
    (a) 제1 비전 및 제2 비전으로 피세척물의 금형 및 오염물질의 정보를 수집하는 단계;(a) collecting information on molds and contaminants of the object to be cleaned with a first vision and a second vision;
    (b) 수집한 정보를 기초로하여 피세척물 및 오염물질을 판단부에서 판단하는 단계;(b) determining the object to be washed and contaminants based on the collected information by the determination unit;
    (c) 상기 피세척물을 세척하는데 필요한 노즐 및 드라이아이스의 입도를 판단부에서 결정하는 단계;(c) determining a particle size of a nozzle and dry ice required for washing the object to be washed by a determination unit;
    (d) 상기 판단부에서 결정한 노즐 및 드라이아이스의 입도를 제어부를 통해 셋업하고, 상기 피세척물을 세척하는 단계;(d) setting the particle size of the nozzle and dry ice determined by the determination unit through the control unit, and washing the object to be washed;
    (e) 세척한 피세척물을 검수하는 단계;(e) inspecting the washed object;
    를 포함하는 드라이아이스 세척 자동화 방법,Dry ice washing automation method comprising:
  6. 청구항 5에 있어서,6. The method of claim 5,
    상기 제1 비전이 2D 카메라를 포함하여 정보를 수집하고, 상기 제2 비전이 3D 카메라를 포함하여 정보를 수집하는 드라이아이스 세척 자동화 방법,A dry ice cleaning automation method in which the first vision includes a 2D camera to collect information, and the second vision includes a 3D camera to collect information;
  7. 청구항 5에 있어서,6. The method of claim 5,
    상기 (a) 단계는 상기 제1 비전에서 수집한 정보가 제1 DB에 저장된 정보를 매칭하는 단계; 및The step (a) may include matching the information collected in the first vision with information stored in a first DB; and
    상기 제2 비전에서 수집한 정보가 제2 DB에 저장된 정보를 매칭하는 단계;matching the information collected in the second vision with information stored in a second DB;
    를 포함하고, 상기 제1 DB 또는 제2 DB에 저장된 정보와 일치하지 않을 경우, 일치하지 않은 정보에 한하여 해당 정보를 재수집하는 드라이아이스 세척 자동화 방법,and, if the information stored in the first DB or the second DB does not match, the dry ice washing automation method for re-collecting the information that does not match the information;
  8. 청구항 5에 있어서,6. The method of claim 5,
    상기 (c) 단계는 상기 판단부에서 결정한 드라이아이스의 크기가 없는 경우, 분쇄부를 통해서 드라이아이스를 분쇄하는 단계; 및The step (c) may include grinding the dry ice through the crushing unit when the size of the dry ice determined by the determination unit does not exist; and
    상기 드라이아이스가 수용공간에 없을 경우, 알람장치를 통해 표시하는 단계;displaying through an alarm device when the dry ice is not in the receiving space;
    를 포함하는 드라이아이스 세척 자동화 방법,Dry ice washing automation method comprising:
  9. 청구항 5에 있어서,6. The method of claim 5,
    상기 (d) 단계는 하나 이상의 노즐 중에서 상기 판단부에서 결정한 노즐을 제어하는 단계;The step (d) may include controlling a nozzle determined by the determination unit among one or more nozzles;
    를 포함하며, 상기 노즐의 내경이 다각형 또는 원형으로 형성되는 드라이아이스 세척 자동화 방법,A dry ice washing automation method comprising: the inner diameter of the nozzle is formed in a polygonal or circular shape;
  10. 청구항 5에 있어서,6. The method of claim 5,
    상기 (e) 단계에서 검수한 피세척물에 오염물질이 발견될 경우, 상기 (b) 단계를 실시하여 재세척하는 드라이아이스 세척 자동화 방법,When contaminants are found in the to-be-washed object inspected in step (e), the dry ice washing automation method of re-cleaning by performing step (b);
PCT/KR2020/015378 2019-11-29 2020-11-05 Automated cleaning system and method using dry ice WO2021107436A1 (en)

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