Spraying device, and spraying method

Abstract

To appropriately spray liquid to an object.SOLUTION: A spraying device is provided, comprising: a spraying unit that sprays liquid; a measurement unit that measures the size of an object and the position of the object to which the liquid is sprayed by the spraying unit; and a control unit that causes the spraying unit to spray the liquid under spraying conditions according to the size and position of the object measured by the measurement unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a spray device and a spray method. [Background technology]

[0002] Conventionally, devices that spray liquid such as disinfectant (e.g., alcohol) onto objects such as hands are known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 07-289612 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conventional technology has a problem that, for example, for a person with relatively small hands (for example, a child), a relatively large amount of the total amount of sprayed liquid is wasted without hitting the hand.

[0005] An object of the present invention is to provide a technique capable of appropriately spraying a liquid onto an object. [Means for solving the problem]

[0006] In one aspect of the present invention, a spray device is provided having a spray unit that sprays a liquid, a measurement unit that measures the size of an object onto which the liquid is to be sprayed by the spray unit and the position of the object, and a control unit that causes the spray unit to spray the liquid under spray conditions that correspond to the size and position of the object measured by the measurement unit. Effect of the Invention

[0007] According to the present invention, liquid can be appropriately sprayed onto an object. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of a configuration of a spray device according to an embodiment; [Diagram 2] 5 is a flowchart illustrating an example of a process of the spray device according to the embodiment. [Diagram 3] FIG. 11 is a diagram showing an example of spray range setting information according to the embodiment. [Figure 4] 5A and 5B are diagrams illustrating an example of a spray range from an outlet according to an embodiment. [Diagram 5] FIG. 4 is a diagram showing an example of a spray range for an object according to the embodiment; [Figure 6] 6 is a diagram showing an example of spray amount setting information according to the embodiment; FIG. [Figure 7] FIG. 2 is a diagram illustrating an example of the hardware configuration of a computer of the spray device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The principles of the present invention are described with reference to some exemplary embodiments. It should be understood that these embodiments are set forth for illustrative purposes only, to aid those skilled in the art in understanding and practicing the present invention, without implying any limitation on the scope of the invention. The invention described herein may be implemented in a variety of ways other than those described below.

[0010] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. <Configuration> The configuration of a spray device 10 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the configuration of the spray device 10 according to an embodiment. In the example of Fig. 1, the spray device 10 has a spray unit 11, a measurement unit 12, and a control unit 13.

[0012] The spray unit 11 sprays (sprays, ejects, discharges, scatters) a liquid. The liquid may be, for example, a disinfectant, a moisturizer, a lotion, a soapy solution, or a sunscreen. The spray unit 11 may have, for example, a full cone nozzle as an outlet that realizes a circular spray pattern with a uniform flow rate distribution.

[0013] The measuring unit 12 measures the size of the object onto which the liquid is sprayed by the spray unit 11 (the size of the object as viewed from the spray unit 11, or the size of the object in the actual three-dimensional space), the position of the object relative to the spray device 10, and the like. In the example of FIG. 1, the measuring unit 12 measures (estimates) the position of the object using the proximity sensors 121A, 121B, and 121C provided at different positions (distances) within the range in which the liquid can be sprayed from the spray unit 11. Each of the proximity sensors 121A to 121C may be, for example, a capacitance type proximity sensor or a proximity sensor that detects the object by reflection of infrared rays or the like. In the example of FIG. 1, the measuring unit 12 measures (estimates) the size of the object in the actual three-dimensional space based on the measured distance between the spray unit 11 and the object and the image captured by the image capture device 122.

[0014] The measurement unit 12 may use various sensors to measure the size of an object and the position of the object relative to the spray device 10. Examples of the sensors may include, for example, a stereo camera that simultaneously captures an object from a plurality of different directions, a LiDAR (Light Detection And Ranging) sensor that measures the distance to the object and its shape by irradiating laser light and detecting reflected light or scattered light, or a ToF (Time-of-Flight Camera) camera that can measure three-dimensional information using the flight time of light.

[0015] The control unit 13 causes the spray unit 11 to spray the liquid under spray conditions according to the size and distance of the object measured by the measurement unit 12.

[0016] <Processing> Next, an example of the process of the spray device 10 according to the embodiment will be described with reference to Fig. 2 to Fig. 5. Fig. 2 is a flowchart showing an example of the process of the spray device 10 according to the embodiment. Fig. 3 is a diagram showing an example of spray range setting information 301 according to the embodiment. Fig. 4 is a diagram showing an example of a spray range from an outlet according to the embodiment. Fig. 5 is a diagram showing an example of a spray range for an object according to the embodiment. Fig. 6 is a diagram showing an example of spray amount setting information 601 according to the embodiment.

[0017] In the following, an example will be described in which a disinfectant or the like is sprayed onto the hands of a person held out to the spray unit 11, but the present disclosure is not limited thereto. The technology of the present disclosure is applicable to cases in which a liquid is sprayed onto at least a part of a living or inanimate object.

[0018] The order of the following processes may be changed as appropriate as long as no contradiction occurs. For example, the process in Fig. 2 may be executed when a user holds out an object such as a hand within a range where the liquid can be sprayed from spray unit 11.

[0019] In step S101, measurement unit 12 measures (estimates) the size and position of an object onto which liquid is to be sprayed by spray unit 11. Here, measurement unit 12 may use, for example, proximity sensors 121A-C to measure the position of the hand held out by the user to spray liquid by spray unit 11. Then, measurement unit 12 may detect the size of the hand as seen from spray unit 11 by object recognition, for example, based on an image captured by imaging device 122. In this case, measurement unit 12 may estimate the size of the hand as seen from spray unit 11, for example, based on the number of pixels included in a bounding box, which is a rectangular (including square) area surrounding the detected hand. In this case, the size of the object as seen from spray unit 11 corresponds to the area of ​​the hand as seen from spray unit 11.

[0020] Furthermore, measurement unit 12 may estimate the size of the hand as seen from spray unit 11, for example, based on the vertical length or horizontal length of the hand detected based on an image captured by imaging device 122. In this case, measurement unit 12 may estimate the size of the hand as seen from spray unit 11, for example, based on the number of pixels in the longitudinal direction or the number of pixels in the lateral direction of a bounding box surrounding the detected hand.

[0021] Furthermore, measurement unit 12 may estimate the size of the hand as seen from spray unit 11, for example, based on the joints of the hand detected based on an image captured by imaging device 122. In this case, measurement unit 12 may recognize each joint of the fingers of the hand from the image by, for example, AI (Artificial Intelligence) using deep learning, and estimate the size of the hand as seen from spray unit 11 based on the distance between each joint.

[0022] Then, measurement unit 12 may estimate the size of the object (the actual size of the object) based on the measured position of the object and the size of the hand as seen from spray unit 11, for example.

[0023] In addition, the measurement unit 12 may measure the size and position of an object onto which liquid is sprayed by the spray unit 11, based on point cloud data (distance image) measured by, for example, a stereo camera, a LiDAR sensor, or a ToF camera.

[0024] Next, the control unit 13 determines the spray range and the like based on the size and position of the object measured by the measurement unit 12 (step S102). Here, the control unit 13 may determine the spray range according to the size and position of the object, for example, by referring to the spray range setting information 301 in FIG.

[0025] In the example of FIG. 3, the spray range setting information 301 records information indicating the spray range in association with a combination of the size of an object, the position of the object, and a user attribute. The user attribute may include, for example, attributes such as child and adult. The information indicating the spray range is information indicating the range in which the liquid is sprayed by the spray unit 11. The spray range is an example of a "spray condition" when spraying the liquid. The information indicating the spray range may include at least one of the position of the spray unit 11, the direction of the spray unit 11, one of the multiple outlets of the spray unit 11 that ejects the liquid, the diameter of the outlet that ejects the liquid, and the pressure of the liquid on the outlet that ejects the liquid. Since the spray height or the spray angle can be changed by one or more of these, the spray range (spray width) can be specified.

[0026] The example of Fig. 4 shows an example of a spray range 412 from the outlet 411 of the spray unit 11. The example of Fig. 4 shows an example of a diameter (spray width) 423 of the spray range 412 with respect to a distance (spray height) 421 from the outlet 411 of the spray unit 11 to an object and a spray angle 422.

[0027] The control unit 13 may change at least one of the vertical position and the orientation (toward the center of the spray range) of the spray unit 11 of the spray device 10 by an actuator. The control unit 13 may set one of the multiple outlets (nozzles) for discharging the liquid, for example, by rotating a rotary nozzle mounting device by an actuator. The control unit 13 may set the diameter of the outlet for discharging the liquid, for example, by rotating a rotary nozzle diameter setting device by an actuator. The control unit 13 may set the pressure of the liquid on the outlet for discharging the liquid, for example, by an actuator.

[0028] The control unit 13 may also determine the spray range according to the size and position of the object and the user attributes, for example, by referring to the spray range setting information 301 in FIG. 3. As a result, for example, when the user is a child, the spray range may be set to a part of the palm other than the fingers, or a relatively narrow range. This is because it is considered that in the case of children, the disinfectant is likely to be spilled and wasted relatively frequently due to the fingers being spread when the disinfectant is sprayed on the hands. The user attributes may be estimated, for example, by AI using deep learning based on an image captured by the imaging device 122.

[0029] 5 shows an example of image 511 captured by imaging device 122 and spray range 512 when the user is a child. In the example of Fig. 5, spray range 412 is set such that center 521 of the area of ​​the palm other than the fingers is set as the center of spray range 512, and spray range 412 is set to a range including the area of ​​the palm other than the fingers.

[0030] The data recorded in the spray range setting information 301 may be set (registered) in advance in the spray device 10, for example, at the time of shipment from a factory or by an administrator of the spray device 10. The control unit 13 may determine (calculate) the spray range so that a specific ratio (for example, 80%) of the size of the measured object is the spray range at the position of the measured object. In this case, the control unit 13 may determine the specific ratio based on user attributes.

[0031] (Example of determining spray amount) The control unit 13 may determine the amount of spray (one example of a "spray condition") based on at least one of the size of the object, the position of the object, and the state of the object. This allows, for example, a more appropriate amount of liquid to be provided. In this case, the control unit 13 may, for example, refer to the spray amount setting information 601 in FIG. 6 and determine a larger amount of spray as the object becomes larger and as the distance between the spray unit 11 and the object becomes greater. Note that the control unit 13 may adjust the amount of spray by, for example, changing at least one of the amount of sprayed within a specific time (spray speed) and the time length for spraying.

[0032] 6, information indicating the spray amount in association with a combination of the size of the object, the position of the object, and the condition of the object is recorded in the spray amount setting information 601. The data recorded in the spray amount setting information 601 may be set (registered) in advance in the spray device 10, for example, at the time of shipment from a factory or by an administrator of the spray device 10.

[0033] The state of the object includes at least one of the number of hands presented to spray unit 11 and the degree of bending of the fingers of the hands presented to spray unit 11. For example, control unit 13 may determine a larger amount of spray (for example, amount of liquid applied per unit area) for the size of the object as the number of hands presented to spray unit 11 increases. In this case, control unit 13 may determine a spray amount for the size of the object to be twice as large when one hand (one hand) is presented to spray unit 11 as when two hands (both hands) are presented to spray unit 11.

[0034] When a user holds out one hand, the size of the hand measured is smaller than when both hands are held out. Therefore, when determining the amount of spray to be larger as the size of the object increases, the amount of spray will be larger in the case of both hands compared to the case of one hand. However, when a user receives liquid in one hand, it is assumed that the user will rub the received liquid with both hands. Therefore, in the case of one hand, the amount of spray for the size of the object can be set to twice that in the case of both hands to ensure an appropriate amount.

[0035] Furthermore, the control unit 13 may determine a larger amount of spray for the size of the object, for example, the greater the degree of bending of the fingers of the hand presented to the spray unit 11. This can reduce the amount of spray that spills out of the hand and is wasted, for example, when the hand is presented with the palm open rather than closed.

[0036] Next, the control unit 13 causes the spray unit 11 to spray the liquid in the determined spray range etc. (Step S103). This allows the liquid to be appropriately sprayed onto the object.

[0037] <Hardware configuration> Fig. 7 is a diagram showing an example of a hardware configuration of a computer 100 of the spray device 10 according to the embodiment. In the example of Fig. 7, the computer 100 includes a processor 101, a memory 102, and a communication interface 103. These components may be connected by a bus or the like. The memory 102 stores at least a part of a program 104. The communication interface 103 includes an interface required for communication with other network elements.

[0038] When the program 104 is executed by the processor 101, the memory 102, etc. in cooperation with each other, the computer 100 performs at least some processing of the embodiment of the present invention. The memory 102 may be of any type. The memory 102 may be a non-transitory computer-readable storage medium, as a non-limiting example. The memory 102 may also be implemented using any suitable data storage technology, such as semiconductor-based memory devices, magnetic memory devices and systems, optical memory devices and systems, fixed memory and removable memory. Although only one memory 102 is shown in the computer 100, several physically different memory modules may be present in the computer 100. The processor 101 may be of any type. The processor 101 may include one or more of a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (DSP), and a processor based on a multi-core processor architecture, as a non-limiting example. The computer 100 may have multiple processors, such as application-specific integrated circuit chips that are time-slaved to a clock that synchronizes the main processor.

[0039] Embodiments of the present invention may be implemented in hardware or special purpose circuits, software, logic, or any combination thereof. Some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that may be executed by a controller, microprocessor or other computing device.

[0040] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as instructions included in program modules, that execute on a target real or virtual processor device to perform the processes or methods of the present invention. Program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The functionality of the program modules may be combined or split between program modules as desired in various embodiments. The machine-executable instructions of the program modules may be executed in local or distributed devices. In a distributed device, the program modules may be located in both local and remote storage media.

[0041] The program codes for carrying out the methods of the present invention may be written in any combination of one or more programming languages. These program codes are provided to a processor or controller of a general purpose computer, a special purpose computer, or other programmable data processing apparatus. When the program codes are executed by the processor or controller, the functions / operations in the flowcharts and / or implementing block diagrams are performed. The program codes are executed entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine, or entirely on a remote machine or server.

[0042] The program can be stored and provided to the computer using various types of non-transitory computer-readable media. The non-transitory computer-readable media include various types of tangible recording media. Examples of the non-transitory computer-readable media include magnetic recording media, magneto-optical recording media, optical disk media, semiconductor memories, and the like. The magnetic recording media include, for example, flexible disks, magnetic tapes, hard disk drives, and the like. The magneto-optical recording media include, for example, magneto-optical disks, and the like. The optical disk media include, for example, Blu-ray disks, CD (Compact Disc)-ROM (Read Only Memory), CD-R (Recordable), CD-RW (ReWritable), and the like. The semiconductor memory includes, for example, solid-state drives, mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, RAMs (random access memories), and the like. The program may also be provided to the computer by various types of temporary computer-readable media. Examples of the temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire or an optical fiber, or via a wireless communication path.

[0043] <Modification> The spray device 10 may be a device contained in one housing, but the spray device 10 of the present invention is not limited to this. Each part of the spray device 10 (e.g., the control unit 13) may be realized by cloud computing consisting of one or more computers. Such spray devices are also included as examples of the "spray device" of the present invention.

[0044] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0045] 10 Spraying device 11 Spray part 12 Measuring part 121A~C Proximity Sensor 122 Imaging Device 13 Control section

Claims

1. A spray unit that sprays liquid; a measuring unit that measures a size of an object onto which the liquid is sprayed by the spray unit and a position of the object; a control unit that causes the spray unit to spray the liquid under spray conditions corresponding to the size and position of the object measured by the measurement unit; A spray device comprising:

2. the control unit determines at least one of the position of the spray unit, the orientation of the spray unit, one of a plurality of nozzles of the spray unit that ejects the liquid, the aperture of the nozzle that ejects the liquid, and the pressure of the liquid on the nozzle that ejects the liquid, based on the size and position of the object measured by the measurement unit.

2. The spray device of claim 1.

3. The control unit causes the spray unit to spray the liquid in a spray amount corresponding to the size of the object according to the state of the object. A spray device according to claim 1 or 2.

4. the object includes a person's hand; The state of the object includes at least one of the number of hands presented to the spray unit and the degree of bending of the fingers of the hands presented to the spray unit.

4. The spray device of claim 3.

5. Measure the size of the object onto which the liquid is sprayed by the spray unit and the position of the object; A spraying method comprising: setting spray conditions for the liquid by the spray unit according to the measured size and position of the object.

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