Dishwashing apparatus and method for washing dishes

Abstract

The objective is to provide a dishwashing device and dishwashing method that eliminate the need to allocate personnel to the task of turning dishes upside down after use, thereby contributing to labor savings. [Solution] The present invention relates to a dishwashing device and a dishwashing method using the same, comprising: a 3D model generation means that generates a 3D model of tableware from an image created by a shooting means; a first estimation means that estimates and determines whether the tableware included in the 3D model is in a state where the eating surface is facing upward or in an upside-down state; a second estimation means that estimates the movement of an inversion means that inverts a tableware with the eating surface facing upward into an upside-down state; and a dishwashing unit that washes the tableware. The dishwashing device and a dishwashing method using the same are described.

Description

Technical Field

[0001] The present invention relates to a dishwashing apparatus and a method for washing dishes.

Background Art

[0002] Conventionally, the following are known as devices for transporting a large number of dishes after meals generated in employee cafeterias, student cafeterias, hospitals, etc. to a dishwashing apparatus.

[0003] The device described in Patent Document 1 includes an immersion sink for storing immersion water for immersing dishes after meals, a conveyor for scooping up the immersed dishes, and a cleaning machine body for spraying cleaning water onto the dishes scooped up and conveyed by the conveyor for cleaning.

[0004] The dishes after meals put into the immersion water stored in the immersion sink are washed downward by the water flow generated by the jet nozzles in the immersion sink and are collected at the inclined portion of the downstream conveyor. Then, the dishes are scooped up by the conveyor, transported to the cleaning machine body, and cleaned.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Since the cleaning machine body of such a dishwashing apparatus sprays cleaning water from below while transporting the dishes by a conveying means which is a net conveyor, the dishes need to be carried into the cleaning machine body in a state where the eating surface faces downward, that is, in a face-down state.

[0007] Therefore, the dishes that were lifted from the immersion sink by the inclined conveyor belt had their eating surfaces facing either upwards or downwards. Before being transported to the washing machine, workers had to manually turn them all upside down. In recent times, with the decline in the workforce being a problem, many companies are promoting multi-skilling of their workers, and there is no longer room to allocate personnel solely to the task of turning all the dishes upside down. As soon as possible, there is a need to reduce the number of people involved.

[0008] The present invention aims to provide a dishwashing apparatus and a dishwashing method that can contribute to labor savings by eliminating the need to allocate personnel to the task of turning dishes upside down after use. [Means for solving the problem]

[0009] To achieve the above objective, the dishwashing apparatus according to the present invention A dishwashing device that inverts dishes with the eating surface facing upwards into an upside-down position, and then sprays washing water onto the upside-down dishes from below to wash them, A dish reversing unit comprising a plate-shaped mounting plate on which to place the dish, and a reversing means for lifting a specific position of the dish with the eating surface facing upwards, which is placed on the aforementioned mounting plate, and inverting it to an upside-down state, A photographing means for taking a picture of the tableware placed on the aforementioned mounting plate and creating an image, A 3D model generation means generates a 3D model of tableware from an image created by the aforementioned shooting means, A first estimation means estimates and determines whether the tableware included in the 3D model generated by the 3D model generation means is in a state where the eating surface is facing upwards or in an upside-down state, A second estimation means estimates the movement of the inversion means that lifts a specific position of a dish included in the 3D model, with the eating surface facing upward, and inverts the dish into an upside-down state. Based on the motion data estimated by the second estimation means, a control means controls the reversal means, A dishwashing unit that washes the inverted dishes by spraying washing water from below onto the inverted dishes, Equipped with, When the first estimation means estimates and determines that at least one of the dishes included in the 3D model is a dish with its eating surface facing upwards, With respect to the tableware placed on the aforementioned mounting plate with the eating surface facing upward, the movement of the inversion means estimated by the second estimation means inverts the tableware with the eating surface facing upward into an upside-down state. The dishwashing unit washes the dishes by spraying washing water from below onto the inverted and face-down dishes. It is characterized by the following:

[0010] Furthermore, the method for washing tableware according to the present invention is A first estimation step involves generating a 3D model of the tableware placed on a mounting plate from an image of the tableware captured by a photographing means, and estimating and determining which of the tableware included in the 3D model has its eating surface facing upwards using a first estimation means. A second estimation step in which, with respect to a dish whose eating surface is facing upward, as included in the 3D model generated in the first estimation step, the second estimation means estimates the movement of a reversing means that lifts a specific position of the dish and inverts it into an upside-down state, Based on the motion data estimated in the second estimation step, the inversion means is controlled in a first inversion step to invert the dish with the eating surface facing upwards into an upside-down state, Perform the first dish inversion step, which includes: Following the first dish inversion step, a dishwashing step is performed in which washing water is sprayed onto the inverted dishes from below to wash them. It is characterized by the following: [Effects of the Invention]

[0011] The dishwashing apparatus and dishwashing method of the present invention eliminate the need to allocate personnel to the task of turning dishes upside down after eating, thereby contributing to labor savings. [Brief explanation of the drawing]

[0012] [Figure 1] Top view showing the overall configuration of a dishwashing device according to an embodiment of the present invention. [Figure 2] Left side view showing the overall configuration of the immersion cleaning section of the dishwashing device, omitting the immersion cleaning piping and the jet nozzle. [Figure 3] Front view showing the overall configuration of the first conveyance section of the dishwashing device. [Figure 4] Top view showing the overall configuration of the dish inversion section of the dishwashing device. [Figure 5] Of the above dishwashing device, (a) is a sectional view taken along line A-A in FIG. 4, and (b) is a sectional view taken along line A-A in FIG. 4 showing the state where the mounting plate is inclined by the inclination means in the second conveyance step or the fourth conveyance step. [Figure 6] Front view showing the overall configuration of the second conveyance section of the dishwashing device. [Figure 7] Front view showing the overall configuration of the dishwashing section of the dishwashing device. [Figure 8] Block diagram showing the configuration of the control section of the dishwashing device. [Figure 9] Step diagram of the dishwashing method by the above dishwashing device. [Figure 10] Step diagram of the first dish inversion step among the step diagrams of the dishwashing method by the above dishwashing device. [Figure 11] Step diagram of the second dish inversion step among the step diagrams of the dishwashing method by the above dishwashing device. [Figure 12] Of the dishwashing method by the above dishwashing device, (a) is a top view showing the state of performing the first conveyance step, and (b) is a top view showing the state of performing the first sorting step. [Figure 13] Top view of the second 3D model or the fourth 3D model generated in the first estimation step or the third estimation step of the dishwashing method by the above dishwashing device and recorded by the recording means. [Figure 14]A conceptual diagram of the dishwashing method using the above-mentioned dishwashing apparatus, in which the data of motion estimated by the second estimation means in the second estimation step or the fourth estimation step is shown on the top view of the second 3D model or the fourth 3D model. [Figure 15] The dishwashing method using the above-described dishwashing apparatus comprises a part of the first conveying section and a dish inversion section performing the first inversion step or the second inversion step, wherein (a) is a left side cross-sectional view showing the ejector rod protruding from the openings corresponding to (1) and (2) in Figure 14, (b) is a left side cross-sectional view showing the ejector rod protruding from the openings corresponding to (1) to (3) in Figure 14, and (c) is a left side cross-sectional view showing the ejector rod returned downward. [Figure 16] In the dishwashing method using the dishwashing apparatus described above, (a) is a top view showing the state in which the third transport step is being performed, and (b) is a top view showing the state in which the second sorting step has been performed. [Figure 17] A step diagram describing the repeated washing method of dishes using the above-mentioned dishwashing device. [Figure 18] A step diagram of the learning method for the first estimation means. [Figure 19] A step diagram of the learning method for the second estimation means. [Modes for carrying out the invention]

[0013] The first invention is, A dishwashing device that inverts dishes with the eating surface facing upwards into an upside-down position, and then sprays washing water onto the upside-down dishes from below to wash them, A dish reversing unit comprising a plate-shaped mounting plate on which to place the dish, and a reversing means for lifting a specific position of the dish with the eating surface facing upwards, which is placed on the aforementioned mounting plate, and inverting it to an upside-down state, A photographing means for taking a picture of the tableware placed on the aforementioned mounting plate and creating an image, A 3D model generation means generates a 3D model of tableware from an image created by the aforementioned shooting means, A first estimation means estimates and determines whether the tableware included in the 3D model generated by the 3D model generation means is in a state where the eating surface is facing upwards or in an upside-down state, A second estimation means estimates the movement of the inversion means that lifts a specific position of a dish included in the 3D model, with the eating surface facing upward, and inverts the dish into an upside-down state. Based on the motion data estimated by the second estimation means, a control means controls the reversal means, A dishwashing unit that washes the inverted dishes by spraying washing water from below onto the inverted dishes, Equipped with, When the first estimation means estimates and determines that at least one of the dishes included in the 3D model is a dish with its eating surface facing upwards, With respect to the tableware placed on the aforementioned mounting plate with the eating surface facing upward, the movement of the inversion means estimated by the second estimation means inverts the tableware with the eating surface facing upward into an upside-down state. The dishwashing unit washes the dishes by spraying washing water from below onto the inverted and face-down dishes. This dishwashing device is characterized by the following features.

[0014] This eliminates the need to allocate personnel to flip dishes with the eating surface facing upwards to an inverted position, thus contributing to labor savings. Furthermore, the inverted dishes can be washed using a dishwashing machine.

[0015] The second invention is, in the first invention, The immersion cleaning unit immerses the dishes in immersion water stored in the immersion tank and performs immersion cleaning, A first conveying unit that conveys dishes immersed in the immersion water of the aforementioned immersion washing unit by a conveying means, lifts the dishes out of the immersion water, and conveys the dishes downstream, A second conveying unit transports the dishes, which have been inverted into an upside-down position by the dish inversion unit, to the dish washing unit located downstream. Equipped with, The following components are arranged in the order of immersion washing section, first conveying section, dish reversing section, second conveying section, and dish washing section, starting from the upstream side in the direction of dish transport: This dishwashing device is characterized by the following features.

[0016] This allows for pre-washing of dishes before they are to be washed in a dishwasher, making the dishwashing process more effective.

[0017] The third invention is, in the first invention, The mounting plate has multiple openings, The reversing means is a protruding rod provided below the openings in the aforementioned mounting plate so as to correspond to the multiple openings in the aforementioned mounting plate, and which protrudes upward from the openings and is retracted downward. The second estimation means estimates the movement of the protruding rod that lifts a specific position on a dish, causing it to be inverted and placed face down, based on the image captured by the photographing means, where the eating surface of the dish is facing upwards. The control means controls the movement of the protruding rod based on the movement data estimated by the second estimation means. This dishwashing device is characterized by the following features.

[0018] This allows for a simple setup where a protruding rod lifts a specific position on the tableware, enabling it to be flipped over from a position where the eating surface is facing upwards to an upside-down position.

[0019] The fourth invention is, in the second invention, The mounting plate is composed of a first mounting plate and a second mounting plate located upstream of the first mounting plate in the direction of transporting tableware. The photographic means comprises a first photographic means for photographing tableware placed on the first mounting plate to create a first image, and a second photographic means for photographing tableware placed on the second mounting plate to create a third image. A determination means for determining whether a predetermined amount of tableware has been placed on the first mounting plate based on the first image, and whether a predetermined amount of tableware has been placed on the second mounting plate based on the third image, By being positioned in a closed position, the first sorting means guides the tableware to be transported by the first transport unit to the first placement plate, A second sorting means, when positioned in a closed position, guides the dishes transported by the first transport unit to the second mounting plate, and when positioned in an open position, guides the dishes to the first mounting plate by the first sorting means located in the closed position. The second distribution means is provided with a second moving means for moving it from the closed position to the open position and from the open position to the closed position, Furthermore, Based on the determination by the determination means, the tableware to be transported by the first transport unit is configured to be distributed to the first and second placement plates by the first and second sorting means. This dishwashing device is characterized by the following features.

[0020] This makes it possible to create a dishwashing device that can invert dishes with the eating surface facing upwards into an upside-down state, even when the amount of dishes lifted from the immersion washing section and transported downstream by the first conveying section per unit time increases.

[0021] The fifth invention is, A first estimation step involves generating a 3D model of the tableware placed on a mounting plate from an image of the tableware captured by a photographing means, and estimating and determining which of the tableware included in the 3D model has its eating surface facing upwards using a first estimation means. A second estimation step in which, with respect to a dish whose eating surface is facing upward, as included in the 3D model generated in the first estimation step, the second estimation means estimates the movement of a reversing means that lifts a specific position of the dish and inverts it into an upside-down state, Based on the motion data estimated in the second estimation step, the inversion means is controlled in a first inversion step to invert the dish with the eating surface facing upwards into an upside-down state, Perform the first dish inversion step, which includes: Following the first dish inversion step, a dishwashing step is performed in which washing water is sprayed onto the inverted dishes from below to wash them. This invention provides a method for washing tableware characterized by the following:

[0022] This eliminates the need to allocate personnel to flip dishes with the eating surface facing upwards to an inverted position, thus contributing to labor savings. Furthermore, the dishes can be washed in that inverted position.

[0023] The sixth invention is, in the fifth invention, Before the first dish inversion step, The process involves an immersion cleaning step in which dishes are immersed in immersion water stored in an immersion tank for immersion cleaning, and The first conveying unit lifts the dishes that have been immersed and washed in the immersion washing step and conveys them to the mounting plate where the first dish inversion step is performed, Perform This invention provides a method for washing tableware characterized by the following:

[0024] This allows for pre-washing of dishes before they are to be washed in a dishwasher, making the dishwashing process more effective.

[0025] The seventh invention is, in the fifth invention, In the second estimation step, for a dish whose eating surface is facing upward, as included in the 3D model generated in the first estimation step, the second estimation means estimates the movement of the protruding rod that extends upward from a plurality of openings in the mounting plate and retracts downward, thereby lifting a specific position of the dish and inverting it into an upside-down position. In the first inversion step, based on the motion data estimated in the second estimation step, the protruding rod is extended upward and retracted downward to invert the dish with the eating surface facing upward into an upside-down position. This invention provides a method for washing tableware characterized by the following:

[0026] This allows you to flip a dish with the eating surface facing upwards into an upside-down position using a simple method of lifting a specific point on the dish with a push rod.

[0027] The eighth invention is, in the sixth invention, The mounting plate is composed of a first mounting plate and a second mounting plate, and the imaging means is composed of a first imaging means and a second imaging means. In the first transport step, the first sorting means is positioned in a closed position to guide the tableware to be transported by the first transport unit to the first mounting plate. A first sorting step in which the tableware is guided to the first placement plate in the first transport step, the placed tableware is photographed by the first photographing means to create a first image, and when the determination means determines from the first image that a predetermined amount of tableware has been placed on the first placement plate, the second sorting means is moved to the closed position to guide the tableware to the second placement plate, Following the first sorting step, a third transport step is performed in which the second sorting means guides the tableware to be transported by the first transport unit to the second placement plate, A second sorting step is performed in which the dishes are guided to the second loading plate in the third transport step, photographed by the second photographing means to create a third image, and when the determination means determines from the third image that a predetermined amount of dishes has been placed on the second loading plate, the second sorting means is moved to the open position to guide the dishes to the first loading plate. This invention relates to a method for washing tableware, characterized by including [a specific ingredient / substance].

[0028] This makes it possible to perform a dishwashing method that allows dishes with the eating surface facing upwards to be inverted to an upside-down position, even when the amount of dishes lifted from the immersion washing section and transported downstream by the first conveying section per unit time increases.

[0029] (Embodiment 1) (Configuration of a dishwashing machine) First, the basic configuration of the dishwashing apparatus 1 of the present invention will be described.

[0030] As shown in Figure 1, the dishwashing device 1 is The immersion cleaning unit 10 performs immersion cleaning on the tableware D that has been placed into the immersion water stored in the immersion tank 11, The first conveying unit 20 lifts the tableware D, which has been immersed in the immersion water stored in the immersion tank 11, and transports it to the tableware inversion unit 30 located downstream. A dish inversion unit 30 lifts a specific position of the dish Du with the eating surface facing upward and inverts it to an upside-down position, A second conveying unit 50 conveys the inverted, face-down dishes Dd, which have been turned over by the dishes inversion unit 30, to the downstream side. The dishwashing unit 60 transfers the dishes D, which are transported by the second transport unit 50, to the fourth conveyor (transporting means) 62, and washes the dishes D by spraying washing water from above and below while transporting them. A control unit 70 that controls the equipment and receives signals from sensors, It is composed of the following.

[0031] Here, the "specific position" to which the dish inversion unit 30 lifts the dish Du, with its eating surface facing upward, to invert it into an upside-down state, is at least a portion of the dish Du with its eating surface facing upward. It also refers to a position where lifting disrupts the stable state of the dish Du, allowing it to be inverted into an upside-down state.

[0032] For example, a "specific position" could be a part of the protrusion on the contact surface of a dish Du with its eating surface facing upwards. By lifting a part of the protrusion from below, the stable state of the dish Du with its eating surface facing upwards can be disrupted, causing it to invert and fall over. Furthermore, even if the dish D does not have a protrusion, lifting a "specific position" that is a part of the contact surface of the dish Du with its eating surface facing upwards from below can disrupt its stable state and cause it to fall over.

[0033] Furthermore, the "specific position" is not limited to the bottom edge of dish D; any position where dish Du, with its eating surface facing upwards, can be lifted from below to disrupt its stable state and be turned upside down is acceptable.

[0034] In this embodiment, the dishes D to be washed by the dishwashing device 1 may be described separately as dishes Du with the eating surface facing upwards and dishes Dd in an upside-down state, depending on their condition.

[0035] (Immersion cleaning section) As shown in Figures 1 and 2, the immersion cleaning section 10 is An immersion tank 11 for storing immersion water, The immersion cleaning pump 12 sucks in the immersion water stored in the immersion tank 11 through the immersion cleaning pipe 13 and discharges it, and sprays it from jet nozzles 14 provided on the walls and bottom of the immersion tank 11. A water supply pipe 15 connects to the water supply and supplies immersion water to the immersion tank 11, It is composed of the following.

[0036] Furthermore, it is preferable to provide an overflow port on the wall of the immersion tank 11 for draining immersion water that exceeds a predetermined water level. In addition, it is preferable to provide a drain port on the bottom of the immersion tank 11 for draining the stored immersion water after removing the lid after use.

[0037] (First transport section) As shown in Figures 1 and 3, the first transport unit 20 is The first conveyor (conveying means) 21, by providing multiple protrusions, which are known technologies, on an endless net-like belt, locks the tableware D placed on the belt, which is inclined upward toward the downstream side in the portion that is partially submerged in the immersion water, and lifts it out of the immersion tank 11, that is, scoops it up, and transports it downstream to the second conveyor (conveying means) 22. A second conveyor 22 is a belt conveyor that transports the tableware D transferred from the first conveyor 21, A first flap (first sorting means) 23a changes the direction of transport of the tableware D being transported by the second conveyor 22 and guides the tableware D to the first mounting plate (mounting plate) 31 located downstream, A second flap (second sorting means) 23b changes the direction of transport of the tableware D being transported by the second conveyor 22 and guides the tableware D to the second mounting plate (mounting plate) 36 located downstream, A first moving means (first distribution means) 24a rotates the first flap 23a from an open position to a closed position, or from a closed position to an open position, A second moving means (second distribution means) 24b rotates the second flap 23b from an open position to a closed position, or from a closed position to an open position, It is composed of the following.

[0038] Furthermore, adjacent to the second conveyor 22 is a first transfer plate (transfer plate) 25a made of a highly sliding plate material, such as polyacetal resin, for transporting the tableware D conveyed by the second conveyor 22 to the first mounting plate 31, Adjacent to the second conveyor 22 is a second transfer plate (transfer plate) 25b, which is made of the same plate material as the first transfer plate 25a, for transporting the tableware D transported by the second conveyor 22 to the second mounting plate 36, It is equipped with.

[0039] Here, the open position of the first flap 23a refers to the position between the second conveyor 22 and the first mounting plate 31, as shown in Figure 12(b), and the closed position of the first flap 23a refers to the position where the tableware D transported by the second conveyor 22 is guided to the first mounting plate 31 by the first flap 23a, as shown in Figure 12(a).

[0040] Furthermore, the open position of the second flap 23b refers to the position between the second conveyor 22 and the second mounting plate 36, as shown in Figure 12(a), and the closed position of the second flap 23b refers to the position where the tableware D transported by the second conveyor 22 is guided to the second mounting plate 36 by the second flap 23b, as shown in Figure 12(b).

[0041] (Tableware reversal section) As shown in Figures 4 and 5(a)(b), the dish reversing unit 30 is A rectangular plate-shaped first mounting plate 31 and a second mounting plate 36, having multiple openings 31a, 36a, on which multiple dishes D can be placed, Multiple projection rods (reversing means) 33, 38 are arranged to correspond to the multiple openings 31a, 36a of the first mounting plate 31 and the second mounting plate 36, and are electrically operated by a cylinder to project upward from the openings 31a, 36a and retract downward. A first fixed wall (wall surface) 41 rises from the mounting surface of the first mounting plate 31 to a predetermined height, for example, 60 mm, along the downstream side of the second conveyor 22, on one of the sides of the first mounting plate 31. A second fixed wall (wall surface) 42 is located between the first mounting plate 31 and the second mounting plate 36, and rises a predetermined height, for example 60 mm, upward from the mounting surfaces of the first mounting plate 31 and the second mounting plate 36, A third fixed wall (wall surface) 43 is provided that rises from the mounting surface of the second mounting plate 36 to a predetermined height, for example, 60 mm, along the upstreammost edge of the second conveyor 22 of the second mounting plate 36, A first movable wall (wall surface) 46 is located between the first mounting plate 31 and the third conveyor (transporting means) 51, rises from a predetermined height, for example 60 mm, above the mounting surface of the first mounting plate 31, and moves up and down by an electric cylinder located below it. A second movable wall (wall surface) 47 is located between the second mounting plate 36 and the third conveyor 51, rises from a predetermined height, for example 60 mm, above the mounting surface of the second mounting plate 36, and moves up and down by an electric cylinder located below it. It is composed of the following.

[0042] Figures 5(a) and 5(b) show cross-sectional views of AA in Figure 4, illustrating the elements constituting the first mounting plate 31. Reference numerals also indicate the elements constituting the second mounting plate 36, which will be described in this embodiment.

[0043] Furthermore, as shown in Figures 5(a) and 5(b), the dish reversal unit 30 is The side of the first mounting plate 31 facing the third conveyor 51 is rotatably connected to the frame constituting the framework of the dishwashing device 1 by a hinge (tilting means) 32a, The side of the second mounting plate 36 facing the third conveyor 51 is rotatably connected to the frame constituting the framework of the dishwashing device 1 by a hinge (tilting means) 37a, A first inclined rod (inclining means) 32b, which starts from the hinge 32a, raises the second conveyor 22 side of the first mounting plate 31 with an electric cylinder, thereby inclining the first mounting plate 31, A second inclined rod (inclining means) 37b, which starts from the hinge 37a, raises the second conveyor 22 side of the second mounting plate 36 using an electric cylinder, thereby inclining the second mounting plate 36, It has.

[0044] Furthermore, it is preferable to provide, for example, a photoelectric sensor or the like, that can detect when the first mounting plate 31 and the second mounting plate 36 have returned from an inclined state to a position (original position) where the tableware D can be transported from the second conveyor 22, which is approximately horizontal.

[0045] (Second transport section) As shown in Figures 1 and 6, the second transport unit 50 is It consists of a third conveyor 51, which is a belt conveyor that transports the placed tableware D horizontally.

[0046] (Dishwashing Department) As shown in Figure 7, the dishwashing unit 60 is A housing 61 made of sheet metal covering the frame, A fourth conveyor 62 is a net conveyor that loads tableware D placed on the transport surface through an inlet 61a, which is an opening on one side of the housing 61, and loads it out through an outlet 61b, which is an opening on the other side of the housing 61. The rough washing section 63 transports the tableware D brought in from the entrance 61a by the fourth conveyor 62, while the rough washing water stored in the rough washing tank 63a is sucked in and discharged by the rough washing pump 63b through the rough washing pipe 63c, and the rough washing water is sprayed from rough washing nozzles 63d positioned above and below the transport surface of the fourth conveyor 62 to perform rough washing of the tableware D. The main washing section 64 performs the final washing of the dishes D, which have been roughly washed in the rough washing section 63, by transporting them on the fourth conveyor 62. At the same time, the main washing section 64 draws in and discharges the washing water stored in the main washing tank 64a through the main washing pipe 64c using the main washing pump 64b, and sprays the washing water from the main washing nozzles 64d positioned above and below the transport surface of the fourth conveyor 62. The finishing washing section 65 performs a final wash on the dishes D, which have been washed in the main washing section 64, by transporting them on the fourth conveyor 62, while clean tap water is sprayed through the finishing washing pipe 65a from finishing washing nozzles 65b positioned above and below the transport surface of the fourth conveyor 62, and It is composed of the following.

[0047] The rough washing tank 63a and the main washing tank 64a are equipped with heating means, such as an electric heater, a gas booster, or a discharge port for discharging high-temperature steam, to heat the washing water stored in the rough washing tank 63a and the main washing tank 64a to a predetermined temperature, for example, 60°C to 70°C.

[0048] Furthermore, it is preferable to provide drainage ports at the bottom of the rough washing tank 63a and the main washing tank 64a for draining the stored washing water, and to provide overflow piping, etc., in the rough washing tank 63a and the main washing tank 64a for draining washing water that exceeds a predetermined water level by inserting it into the drainage port.

[0049] (Control Unit) As shown in Figure 8, for example, the control unit 70, which is configured to connect to a computer, A shooting unit 80 that captures images using a shooting method and creates images, The processing unit 90 performs tasks such as determining what is included in the image created by the imaging unit 80, creating a 3D model of the image, and estimation. For example, a recording means 100 for recording a 3D model, which is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive), A control means 110, such as a PLC (Programmable Logic Controller), connects to various sensors and controls the driving, operation, and stopping of the equipment. It is equipped with.

[0050] Also, the camera unit 80, A first lighting (photography means) 81a is structured lighting that shines a specific pattern of light onto tableware D etc. placed on the first mounting plate 31, A first imaging means (imaging means) 81b is a 3D camera positioned above the first mounting plate 31, which is illuminated with a specific pattern of light by a first light source 81a, and photographs the tableware D and the like placed on the first mounting plate 31 to create a first image P1 and a second image P2. A second lighting (photography means) 82a is structured lighting that shines a specific pattern of light onto tableware D etc. placed on the second mounting plate 36, A second imaging means (imaging means) 82b is a 3D camera positioned above the second mounting plate 36, which is illuminated with a specific pattern of light by a second light source 82a and photographs the tableware D and the like placed on the second mounting plate 36 to create a third image P3 and a fourth image P4. It is equipped with.

[0051] Furthermore, the arithmetic unit 90, A determination means 91 for determining whether a predetermined amount of tableware D placed on the first mounting plate 31 in the first image P1, or on the second mounting plate 36 in the third image P3, has been placed. A 3D model generation means 92 generates a first 3D model (3D model) M1 from a second image P2 created by the first illumination 81a and the first imaging means 81b, and generates a third 3D model (3D model) M3 from a fourth image P4 created by the second illumination 82a and the second imaging means 82b, The first estimation means (estimation means) 93 is an AI model that estimates and determines whether at least one dish D included in the first 3D model M1 or at least one dish D included in the third 3D model M3 is in a state where the eating surface is facing upwards or upside down, characterizes the dish Du with the eating surface facing upwards, and creates a second 3D model (3D model) M2 from the first 3D model M1, or a fourth 3D model (3D model) M4 from the third 3D model M3. The second estimation means (estimation means) 94 is an AI model that estimates, for a characterized dish D Du with its eating surface facing upwards, which is included in the second 3D model M2 and the fourth 3D model M4, from which position the protruding rods 33 and 38 should be extended upwards by how far to lift a specific part of the dish D, invert it, and place it face down. A calculation means 95 that performs various operations such as monochrome binarization of an image, It is composed of the following.

[0052] Specifically, the arithmetic unit 90 is an arithmetic section that performs processing based on the computer program recorded in the recording means 100, and is composed of, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), an NPU (Neural Network Processing Unit), a general-purpose computer, a dedicated computer, etc. By executing the corresponding computer program recorded in the recording means 100, the functions of the determination means 91, the 3D model generation means 92, the first estimation means 93, the second estimation means 94, and the arithmetic means 95 are executed.

[0053] Furthermore, the first estimation means 93 and the second estimation means 94 are composed of an input layer, an intermediate layer, and an output layer, and a Convolutional Neural Network (CNN) is used as the learning model, with a convolutional layer, a pooling layer, and a fully connected layer incorporated into the intermediate layer. Note that other learning models may be used for the learning models of the first estimation means 93 and the second estimation means 94, as long as they can be learned as in this embodiment.

[0054] Furthermore, it is preferable to connect a display, keyboard, mouse, etc., to the control unit 70 to facilitate the operator's work.

[0055] (Method of washing dishes using a dishwashing machine) Next, we will explain how to wash the dishes D using the dishwashing device 1.

[0056] As shown in Figure 9, the method for washing dishes D using the dishwashing device 1 is as follows: The immersion cleaning step S10 involves immersing and cleaning the tableware D in the immersion water stored in the immersion tank 11, The first transport step S20 involves lifting the tableware D, which has been immersed and washed in the immersion washing step S10, by the first conveyor 21, transporting it by the second conveyor 22, and guiding it by the first flap 23a to the first mounting plate 31. In the first transport step S20, when the amount of tableware D to be placed on the first mounting plate 31 reaches a predetermined amount, the second flap 23b is rotated to the closed position, and the first sorting step S30 changes the way in which the tableware D to be transported by the second conveyor 22 is guided to the second mounting plate 36. The first conveying step S20 involves a first dish inversion step S40, in which the dish Du with the eating surface facing upwards, which is placed on the first mounting plate 31, is inverted to an upside-down state. The first conveying step S50 involves transferring the tableware D, which is placed on the first mounting plate 31 and includes the tableware Dd that has been inverted and turned face down by the first tableware inversion step S40, to the third conveyor 51 by tilting the first mounting plate 31, and then transporting it to the dishwashing section 60 located downstream by the third conveyor 51. In the third transport step S60, the tableware D, which has been immersed and washed in the immersion washing step S10, is lifted up by the first conveyor 21, transported by the second conveyor 22, and guided by the second flap 23b to be transported onto the second mounting plate 36. In the third transport step S60, when the amount of tableware D to be placed on the second mounting plate 36 reaches a predetermined amount, the second flap 23b is rotated to the open position, and the second conveyor 22 changes the way in which the tableware D to be transported is guided to the first mounting plate 31, in a second sorting step S70. The third transport step S60 involves a second dish inversion step S80, in which the dish Du with the eating surface facing upwards, which is placed on the second mounting plate 36, is inverted to an upside-down state. The second dish inversion step S80 in which the dish D placed on the second mounting plate 36, including the dish Dd which has been inverted and turned face down, is tilted on the second mounting plate 36 and transferred to the third conveyor 51, and then transported by the third conveyor 51 to the dish washing section 60 in the fourth transport step S90. The dishwashing step S100 involves transporting the dishes D, which were transported in the second transport step S50 and the fourth transport step S90, on the fourth conveyor 62 of the dishwashing unit 60, while washing water is sprayed from above and below to wash the dishes D. It is composed of the following.

[0057] Furthermore, as shown in Figure 10, the first dish inversion step S40 is, The first estimation step S41 involves the first estimation means 93 estimating and determining which of the tableware D placed on the first mounting plate 31 included in the first 3D model M1 has its eating surface facing upward, characterizing the tableware Du with its eating surface facing upward, and creating a second 3D model M2. In the second estimation step S42, the second estimation means 94 estimates the movement of the characterized tableware D, such as from which position of the protruding rod 33 in the first mounting plate 31 and by how far upward it should be extended, thereby lifting a specific position of the tableware D, inverting it, and placing it face down, based on the second 3D model M2 characterized and created in the first estimation step S41. Based on the motion data estimated in the second estimation step S42, the control means 110 drives the electric cylinder to extend the projection rod 33 upward by a predetermined distance from the opening 31a at a predetermined position in the first mounting plate 31, and the first inversion step S43 inverts the tableware Du with the eating surface facing upward into an upside-down state. It is composed of the following.

[0058] Furthermore, as shown in Figure 11, the second dish inversion step S80 is, The third estimation step S81 involves using the first estimation means 93 to estimate and determine which of the tableware D placed on the second mounting plate 36 included in the third 3D model M3 has its eating surface facing upward, characterizing the tableware Du with its eating surface facing upward, and creating a fourth 3D model M4. In the fourth estimation step S82, the second estimation means 94 estimates the movement of the tableware D characterized by the fourth 3D model M4 created in the third estimation step S81, determining from which position of the protruding rod 38 in the second mounting plate 36 and by how far upward it should be extended to lift a specific position of the tableware D, invert it, and place it face down. Based on the motion data estimated in the fourth estimation step S82, the control means 110 drives the electric cylinder to extend the projection rod 38 upward by a predetermined distance from the opening 36a at a predetermined position in the second mounting plate 36, and the second inversion step S83 inverts the dish Du with the eating surface facing upward into an upside-down state. It is composed of the following.

[0059] In this embodiment, the upstream side in the transport direction of tableware D may be referred to as the "upstream side," and the downstream side in the transport direction of tableware D may be referred to as the "downstream side."

[0060] (Immersion cleaning step) As shown in Figure 9, the first step, immersion cleaning S10, will be described.

[0061] First, the used dishes D are placed into the immersion water stored in the immersion tank 11 shown in Figure 1. The used dishes D may be placed into the immersion water by the person who ate the meal, or they may be placed into the water by a mechanism that mechanically drops multiple dishes D placed on a tray.

[0062] The used dishes D that are placed in the immersion tank 11 are immersed and cleaned by the immersion water stored in the immersion tank 11 and the flow of immersion water sprayed from the jet nozzle 14.

[0063] Here, immersion washing is a washing method performed in which tableware D is immersed in immersion water to separate or wet any dirt or other substances attached to tableware D, thereby making the washing of tableware D in the subsequent dishwashing step S100 more effective.

[0064] In the immersion water stored in the immersion tank 11, the flow of immersion water sprayed from the jet nozzle 14 transports the tableware D to the part of the first conveyor 21 that is immersed in the immersion water.

[0065] (First transport step) The first transport step S20, which is performed after the immersion cleaning step S10 shown in Figure 9, will now be described.

[0066] As shown in Figures 1 and 3, the tableware D, which is transported to the immersion water portion of the first conveyor 21 in the immersion washing step S10, is secured to a plurality of protrusions provided on the net-like belt of the first conveyor 21, which is inclined upward toward the downstream side, and is transported downstream.

[0067] As shown in Figure 12(a), the dishes D transported by the first conveyor 21 are transferred to the second conveyor 22 and transported downstream. The dishes D transported on the belt of the second conveyor 22 are guided by the first flap 23a and pushed by the following dishes D to slide on the first transfer plate 25a and are transported onto the first mounting plate 31.

[0068] The tableware D, once transported to the first mounting plate 31, is sequentially transported to remain on the first mounting plate 31 by the first fixed wall 41 and the second fixed wall 42, which rise upward surrounding the first mounting plate 31, and the first movable wall 46.

[0069] (First sorting step) The first sorting step S30, which follows the first transport step S20 shown in Figure 9, will now be described.

[0070] As shown in Figure 12(a), the tableware D is sequentially transported onto the first mounting plate 31, guided by the first flap 23a. During this time, the first lighting 81a and the first photographing means 81b intermittently take photographs, for example every 20 seconds, to create a first image P1, which is an image of the tableware D placed on the first mounting plate 31, and record it in the recording means 100.

[0071] Based on the first image P1 recorded by the recording means 100, the determination means 91 determines whether a predetermined amount of tableware D has been placed on the first mounting plate 31. When the determination means 91 determines that a predetermined amount of tableware D has been placed on the first mounting plate 31, the second flap 23b is rotated to the closed position by the second moving means 24b.

[0072] As shown in Figure 12(b), specifically, in the first image P1, when the area on the first mounting plate 31 on which the tableware D can be placed falls below 50%, the determination means 91 determines that a predetermined amount of tableware D has been placed on the first mounting plate 31. The determination means 91 then sends a signal to the control means 110, which receives the signal and rotates the second flap 23b to the closed position using the second moving means 24b.

[0073] Furthermore, as a specific method for the determination means 91 to determine whether the area on the first mounting plate 31 on which the tableware D can be placed in the first image P1 is less than 50%, the first image P1 recorded in the recording means 100 is converted to monochrome by the calculation means 95, the area within the outline of the tableware D shown in the first image P1 is subtracted from the area of ​​the predetermined range of the first mounting plate 31 in the first image P1, and the subtracted area is divided by the range of the first mounting plate 31 to calculate the result.

[0074] Furthermore, if the determination means 91 can calculate the area on the first mounting plate 31 on which the tableware D can be placed, other means may be used.

[0075] When the second flap 23b is in the closed position, the dishes D that are placed on the belt of the second conveyor 22 are guided by the second flap 23b and transported onto the second mounting plate 36. As a result, no dishes D are transported onto the first mounting plate 31, and the next step, the first dishes inversion step S40, can be performed stably on the first mounting plate 31.

[0076] Then, after the second flap 23b is in the closed position, the first moving means 24a rotates the first flap 23a to the open position.

[0077] Furthermore, the first flap 23a may remain in the closed position without being rotated to the open position.

[0078] However, in the unlikely event that tableware D accumulates downstream of the second flap 23b, which is in the closed position on the second conveyor 22, particularly near the first transfer plate 25a, it is preferable to rotate the first flap 23a to the open position in order to reliably place the accumulated tableware D onto the first mounting plate 31.

[0079] (First step: turning the dishes over) The first dish reversal step S40, which is performed after the first sorting step S30 shown in Figure 9, will now be described. As shown in Figure 10, the first dish reversal step S40 consists of a first estimation step S41, a second estimation step S42, and a first reversal step S43.

[0080] (First estimation step) First, we will explain the first estimation step S41 of the first dish reversal step S40 shown in Figure 10.

[0081] As shown in Figure 13, the first lighting 81a and the first imaging means 81b capture a second image P2 of the state in which a predetermined amount of tableware D is placed on the first mounting plate 31, and record it in the recording means 100. Then, from the second image P2, the 3D model generation means 92 generates the first 3D model M1. Then, the first estimation means 93 estimates and determines which tableware Du among the tableware D included in the first 3D model M1 has its eating surface facing upward.

[0082] The first estimation means 93 is an AI model that has learned, for example, from tens of thousands of patterns, what kind of tableware D is inverted, what kind of tableware Dd is inverted, and what kind of tableware Du is with the eating surface facing upward. The specific learning method of the first estimation means 93 will be described later.

[0083] The first estimation means 93 characterizes the tableware Du in the first 3D model M1 whose eating surface is facing upward, for example by coloring it green, and creates a second 3D model M2, which is then recorded in the recording means 100. In Figure 13, the tableware Du with the eating surface facing upward is characterized by hatching.

[0084] This makes it possible to recognize which of the tableware D included in the second 3D model M2 is the tableware Du with its eating surface facing upwards, and in the next second estimation step S42, the second estimation means 94 can identify the tableware Du with its eating surface facing upwards.

[0085] (Second estimation step) The second estimation step S42, which follows the first estimation step S41 shown in Figure 10, will now be explained.

[0086] The second estimation means 94 estimates, based on the first estimation step S41 included in the second 3D model M2 recorded in the recording means 100, which tableware Du has an upward-facing eating surface, and how far the protruding rod 33 should be extended upward from which opening 31a of the first mounting plate 31 to lift a specific part of the tableware Du with an upward-facing eating surface, invert it, and place it face down, and records this in the recording means 100.

[0087] For example, Figure 14 is a conceptual diagram showing motion data created by estimation by the second estimation means 94 based on the second 3D model M2. In this diagram, the tableware D is shown with a dashed line and made transparent, and the multiple openings 31a in the first mounting plate 31 are made visible.

[0088] Furthermore, the black-filled circles represent the openings 31a at the positions where the projecting rods 33 are projected, as estimated in the second estimation step S42. The entries drawn from the filled-in circles by leader lines indicate the order in which the projecting rods 33 are projected, indicated by numbers ((1) to (3)) in parentheses, and the numbers to the right of these indicate the openings 31a.

[0089] In Figures 15(a) and 15(b), the locations of the openings 31a (1)31a to (3)31a described in Figure 14 are identified as (1)31a, (2)31a, and (3)31a, and are shown in the left side cross-sectional view.

[0090] The second estimation means 94 is an AI model that has undergone reinforcement learning in a virtual space to determine from which opening 31a of the first mounting plate 31, and by how far upward the protruding rod 33 should be extended, in order to lift and invert a specific position of the tableware Du with its eating surface facing upward, and place it in an upside-down position. The specific learning method of the second estimation means 94 will be described later.

[0091] The method for actually extending the protruding rod 33 will be explained in the following first reversal step S43.

[0092] In addition, in the second estimation step S42, if the second 3D model M2 does not include a dish Du with its eating surface facing upward, it is also possible to record in the recording means 100 that the thrusting rod 33 is not thrust out.

[0093] (First reversal step) The first inversion step S43, which follows the second estimation step S42 shown in Figure 10, will now be described.

[0094] First, as shown in Figure 15(a), for example, based on the motion data estimated by the second estimation means 94 in the second estimation step S42, the projection rod 33 is projected upward by 60 mm from the openings 31a ((1)31a) at the two positions corresponding to (1)31a in Figure 14.

[0095] Then, with the two projection rods 33 still protruding from the opening 31a of (1) 31a, the projection rods 33 are extended upward by 60 mm from the two openings 31a ((2) 31a) corresponding to (2) 31a in Figure 14. Note that in Figures 15(a) and 15(b), for the sake of clarity, one of the (2) 31a and the projection rod 33 protruding from its opening 31a are omitted from the description.

[0096] Furthermore, as shown in Figure 15(b), with the four protruding rods 33 still protruding from the openings 31a of (1)31a and (2)31a, the protruding rods 33 are extended 80 mm from the opening 31a ((3)31a) at the position corresponding to (3)31a in Figure 14, and a specific position of the tableware Du with the eating surface facing upward is lifted and inverted to an upside-down position.

[0097] The "specific position" of the dish Du with the eating surface facing upward is the position where the protruding rod 33, which extends from the opening 31a at the position corresponding to (3)31a in Figure 14, lifts the dish D from below. In this case, the "specific position" is a part of the tail end of the dish D.

[0098] Furthermore, the "specific position" from which the dish D is lifted from below by the protruding rod 33 is estimated by the second estimation means 94, and therefore may not be part of the tail end of the dish D.

[0099] In this case, as shown in Figure 12(b), the first mounting plate 31 is surrounded by the first fixed wall 41 and the second fixed wall 42, the first movable wall 46, and the first flap 23a, so that when the protruding rod 33 is extended, the tableware D does not move in an unintended direction and fall off the first mounting plate 31.

[0100] Then, as shown in Figure 15(c), after the first inversion step S43 returns all the protruding rods 33 that have been extended downward from the openings 31a corresponding to (1)31a to (3)31a in Figure 14, the first estimation step S41 and the second estimation step S42 shown in Figure 10 are performed again. If, after the first estimation step S41 is performed again, there are still tableware Du with the eating surface facing upward, the second estimation step S42 and the first inversion step S43 are performed again.

[0101] This allows the work to be performed without manual labor based on the estimation by the second estimation means 94. Furthermore, it eliminates the need to allocate personnel to the task of inverting the tableware Du, which has its eating surface facing upwards, into an upside-down state, thereby contributing to labor savings.

[0102] Furthermore, the tableware can be inverted using a simplified configuration in which the protruding rod 33 protrudes from multiple openings 31a located at predetermined positions on the first mounting plate 31.

[0103] Thus, in this first dish inversion step S40, the first estimation step S41, the second estimation step S42, and the first inversion step S43 are performed until there are no more dishes Du with the eating surface facing upwards, so that all the dishes D to be placed on the first mounting plate 31 are turned upside down. After that, the process proceeds to the second transport step S50.

[0104] (Second transport step) The second conveying step S50, which follows the first dish inversion step S40 shown in Figure 9, will now be described.

[0105] As shown in Figure 5(b), the first movable wall 46 is lowered by an electric cylinder until the height of the upper end of the first movable wall 46 is approximately aligned with the height of the conveying surface of the third conveyor 51. Furthermore, the first inclined rod 32b is raised by an electric cylinder, causing the first mounting plate 31 to tilt using the hinge 32a as the pivot point. The dishes D placed on the tilted first mounting plate 31 are then slid toward the third conveyor 51, and the third conveyor 51 is driven for a predetermined time, for example, 60 seconds.

[0106] Then, as shown in Figure 6, the upside-down dishes Dd, which have been transported by sliding, are carried downstream by the third conveyor 51 and transferred to the mounting surface of the fourth conveyor 62 of the dishwashing section 60 located downstream.

[0107] As shown in Figures 5(a) and 5(b), the placement surface of the third conveyor 51 for the dishes D is positioned at a predetermined height, for example, 40 mm lower than the height of the placement surface of the first placement plate 31 for the dishes D.

[0108] This prevents the dishes D sliding from the first mounting plate 31 from getting caught on the first movable wall 46 that has been lowered, or on the end face of the belt on the mounting plate side of the third conveyor 51, when the first mounting plate 31 is tilted by the hinge 32a and the first inclined rod 32b to slide the dishes D onto the third conveyor 51.

[0109] Then, after tilting for a predetermined time, for example 5 seconds, the first tilting rod 32b is lowered to return the first mounting plate 31 to a nearly horizontal position, and at the same time, the first movable wall 46 is raised to a predetermined height by an electric cylinder.

[0110] After the second transport step S50 is completed, the process moves on to the dishwashing step S100.

[0111] (Third transport step) Here, we will describe the third transport step S60, which is performed after the first sorting step S30 shown in Figure 9.

[0112] The method from the third transport step S60 to the fourth transport step S90 is largely the same as the method from the first transport step S20 to the second transport step S50 already described, so it will be described in a simplified manner.

[0113] As shown in Figures 1 and 16(a), in the third transport step S60, the dishes D that have been immersed and washed in the immersion washing step S10 are transported by the first conveyor 21 which is inclined upward toward the downstream side and transferred to the second conveyor 22. The dishes D that are placed on the belt of the second conveyor 22 and transported are guided by the second flap 23b which was rotated to the closed position in the first sorting step S30, and are pushed by the subsequent dishes D to slide on the second transfer plate 25b and are transported onto the second mounting plate 36.

[0114] The tableware D, once transported onto the second mounting plate 36, is sequentially transported to remain on the second mounting plate 36 by the second fixed wall 42 and the third fixed wall 43, which rise upward surrounding the second mounting plate 36, and the second movable wall 47.

[0115] (Second distribution step) The second sorting step S70, which follows the third transport step S60 shown in Figure 9, will now be described.

[0116] As shown in Figure 16(a), the tableware D is sequentially transported onto the second mounting plate 36, guided by the second flap 23b. During this time, the second lighting 82a and the second photographing means 82b intermittently take photographs, for example every 20 seconds, to create a third image P3, which is an image of the tableware D placed on the second mounting plate 36, and record it in the recording means 100.

[0117] Based on the third image P3 recorded by the recording means 100, the determination means 91 determines whether a predetermined amount of tableware D has been placed on the second placement plate 36. The specific method of determination is the same as in the first sorting step S30.

[0118] Then, when the determination means 91 determines that a predetermined amount of tableware D has been placed on the second mounting plate 36, the first moving means 24a first rotates the first flap 23a to the closed position, and then the second flap 23b is rotated to the open position by the second moving means 24b.

[0119] When the second flap 23b is in the open position, the dishes D, which are placed on the belt of the second conveyor 22 and transported, are guided by the first flap 23a and transported onto the first mounting plate 31, which has completed the second transport step S50. As a result, no dishes D are transported onto the second mounting plate 36, and the next step, the second dishes inversion step S80, can be performed stably on the second mounting plate 36.

[0120] (Second dish reversal step) The second dish reversal step S80, which follows the second sorting step S70 shown in Figure 9, will now be described. As shown in Figure 11, the second dish reversal step S80 consists of a third estimation step S81, a fourth estimation step S82, and a second reversal step S83.

[0121] (Third estimation step) First, we will explain the third estimation step S81 of the second dish reversal step S80 shown in Figure 11.

[0122] As shown in Figure 13, the second lighting 82a and the second imaging means 82b capture images of the state in which a predetermined amount of tableware D is placed on the second mounting plate 36 to create a fourth image P4, which is then recorded in the recording means 100. From the fourth image P4, the 3D model generation means 92 generates a third 3D model M3. Then, the first estimation means 93 estimates and determines which tableware Du among the tableware D included in the third 3D model M3 has its eating surface facing upward.

[0123] Then, the first estimation means 93 identifies and characterizes the tableware Du in the third 3D model M3 whose eating surface is facing upward, for example by coloring it green, and creates a fourth 3D model M4, which is then recorded in the recording means 100. In Figure 13, the tableware Du with the eating surface facing upward is characterized by hatching.

[0124] This makes it possible to recognize which of the tableware D included in the fourth 3D model M4 is the tableware Du with its eating surface facing upwards, and in the next fourth estimation step S82, the second estimation means 94 can identify the tableware Du with its eating surface facing upwards.

[0125] (Fourth estimation step) The fourth estimation step S82, which follows the third estimation step S81 shown in Figure 11, will now be described.

[0126] The second estimation means 94 estimates, for a dish Du with an upward-facing eating surface, characterized by the third estimation step S81 included in the fourth 3D model M4 recorded in the recording means 100, which opening 36a of the second mounting plate 36 and by how far upward the protruding rod 38 should be extended to lift a specific part of the dish Du with an upward-facing eating surface, invert it, and place it face down, and records this in the recording means 100.

[0127] For example, Figure 14 is a conceptual diagram showing the motion data estimated by the second estimation means 94 based on the fourth 3D model M4.

[0128] Furthermore, the black-filled circle represents the opening 36a from which the projecting rod 38, estimated in the fourth estimation step S82, protrudes. The notation at the end of the leader line drawn from the filled-in circle indicates the order in which the projecting rod 38 protrudes, indicated by the numbers ((1) to (3)) enclosed in parentheses, and the number shown to the right of it represents the opening 36a.

[0129] In Figures 15(a) and 15(b), the locations of the openings 36a described in Figure 14 (1)36a to (3)36a are identified as (1)36a, (2)36a, and (3)36a, and are shown in the left side cross-sectional view.

[0130] The method for actually extending the protruding rod 38 will be explained in the next second inversion step S83.

[0131] In addition, in the fourth estimation step S82, if the fourth 3D model M4 does not include a dish Du with its eating surface facing upward, it is also possible to record in the recording means 100 that the protruding rod 38 is not extended.

[0132] (Second reversal step) The second inversion step S83, which follows the fourth estimation step S82 shown in Figure 11, will now be described.

[0133] First, as shown in Figure 15(a), for example, based on the motion data estimated by the second estimation means 94 in the fourth estimation step S82, the projection rod 38 is projected upward by 60 mm from the openings 36a ((1)36a) at the two positions corresponding to (1)36a in Figure 14.

[0134] Then, with the two projection rods 38 still protruding from the opening 36a of (1) 36a, the projection rods 38 are extended upward by 60 mm from the two openings 36a ((2) 36a) corresponding to (2) 36a in Figure 14. Note that in Figures 15(a) and 15(b), for the sake of clarity, one of the (2) 36a and the projection rod 38 protruding from its opening 36a are omitted from the description.

[0135] Furthermore, as shown in Figure 15(b), with the four projection rods 38 protruding from the openings 36a of (1)36a and (2)36a, the projection rod 38 is extended 80 mm from the opening 36a ((3)36a) at the position corresponding to (3)36a in Figure 14, and a specific position of the tableware Du with the eating surface facing upward is lifted and inverted to an upside-down position.

[0136] The "specific position" of the dish Du with the eating surface facing upward is the position where the protruding rod 38, which extends from the opening 36a at the position corresponding to (3)36a in Figure 14, lifts the dish D from below. In this case, the "specific position" is a part of the base of the dish D.

[0137] Furthermore, the "specific position" from which the dish D is lifted from below by the protruding rod 38 is estimated by the second estimation means 94, and therefore may not be part of the tail end of the dish D.

[0138] In this case, as shown in Figure 16(b), the second mounting plate 36 is surrounded by the second fixed wall 42 and the third fixed wall 43, the second movable wall 47, and the second flap 23b, so that when the projection rod 38 is extended, the tableware D does not move in an unintended direction and fall off the second mounting plate 36.

[0139] Then, as shown in Figure 15(c), after the second inversion step S83 returns all the protruding rods 38 that have been extended downward from the openings 36a corresponding to (1)36a to (3)36a in Figure 14, the third estimation step S81 and the fourth estimation step S82 shown in Figure 11 are performed again. If, after the third estimation step S81 is performed again, there are still dishes Du with the eating surface facing upward, the fourth estimation step S82 and the second inversion step S83 are performed again.

[0140] This allows the work to be performed without manual labor based on the estimation by the second estimation means 94. Furthermore, it eliminates the need to allocate personnel to the task of inverting the tableware Du, which has its eating surface facing upwards, into an upside-down state, thereby contributing to labor savings.

[0141] Furthermore, the tableware can be inverted using a simplified configuration in which the protruding rod 38 protrudes from multiple openings 36a located at predetermined positions on the second mounting plate 36.

[0142] Thus, in this second dish inversion step S80, just like in the first dish inversion step S40, the third estimation step S81, the fourth estimation step S82, and the second inversion step S83 are performed until there are no more dishes Du with the eating surface facing upwards, so that all the dishes D to be placed on the second mounting plate 36 are turned upside down. After that, the process proceeds to the fourth transport step S90.

[0143] (Fourth transport step) The fourth conveying step S90, which follows the second dish inversion step S80 shown in Figure 9, will now be described.

[0144] As shown in Figure 5(b), the second movable wall 47 is lowered by an electric cylinder until the height of the upper end of the second movable wall 47 is approximately aligned with the height of the conveying surface of the third conveyor 51. Furthermore, the second inclined rod 37b is raised by an electric cylinder, causing the second mounting plate 36 to tilt using the hinge 37a as the pivot point. The tableware D placed on the tilted second mounting plate 36 is then slid towards the third conveyor 51, and the third conveyor 51 is driven for a predetermined time, for example, 60 seconds.

[0145] Then, as shown in Figure 6, the upside-down dishes Dd, which have been transported by sliding, are carried downstream by the third conveyor 51 and transferred to the mounting surface of the fourth conveyor 62 of the dishwashing section 60 located downstream.

[0146] As shown in Figures 5(a) and 5(b), the placement surface of the third conveyor 51 for the dishes D is positioned at a predetermined height, for example, 40 mm lower than the height of the placement surface of the second placement plate 36 for the dishes D.

[0147] This prevents the dishes D sliding from the second mounting plate 36 onto the third conveyor 51 by tilting the second mounting plate 36 with the hinge 37a and the second inclined rod 37b, from getting caught on the lowered second movable wall 47 or the end face of the belt on the mounting plate side of the third conveyor 51 and flipping over.

[0148] Then, after tilting for a predetermined time, for example 5 seconds, the second tilting rod 37b is lowered to return the second mounting plate 36 to a nearly horizontal position, and at the same time, the second movable wall 47 is raised to a predetermined height by an electric cylinder.

[0149] After the fourth transport step S90 is completed, the process moves on to the dishwashing step S100.

[0150] (Dishwashing step) Next, the dishwashing step S100, which is performed after the second transport step S50 and the fourth transport step S90 shown in Figure 9, will be described.

[0151] As shown in Figures 6 and 7, the dishes D slid from the first mounting plate 31 to the third conveyor 51 in the second transport step S50, and the dishes D slid from the second mounting plate 36 to the third conveyor 51 in the fourth transport step S90, are transported by the third conveyor 51 and transferred to the mounting surface of the fourth conveyor 62 of the dishwashing section 60. Then, the fourth conveyor 62 transports them into the rough washing section 63 through the entrance 61a of the housing 61.

[0152] The inverted tableware Dd, transported by the fourth conveyor 62, is roughly washed in the rough washing section 63 with washing water sprayed from the rough washing nozzle 63d, then thoroughly washed in the main washing section 64 with washing water sprayed from the main washing nozzle 64d, and finally thoroughly washed in the finishing washing section 65 with clean water sprayed from the finishing washing nozzle 65b.

[0153] The tableware D, which has been removed from the exit 61b of the housing 61, is stacked by workers and placed in a tableware basket, and the basket is then stored in a disinfection storage room. Inside the disinfection storage room, hot air is circulated to dry and disinfect the tableware D. The tableware D is then stored in the disinfection storage room until it is used again.

[0154] Furthermore, in this embodiment, the dishwashing apparatus 1 is arranged in the following order from the upstream side in the direction of transport of the dishes D: immersion washing section 10, first transport section 20, dish reversal section 30, second transport section 50, and dishwashing section 60. Then, the immersion washing step S10 to the dishwashing step S100 are performed in order. This allows for pre-washing of the dishes D to be washed by the dishwashing section 60, making the washing of the dishes D by the dishwashing section 60 more effective.

[0155] (Regarding the repeated washing of dishes using a dishwasher) As shown in Figures 9, 10, and 11, the dishwashing apparatus 1 of this embodiment can perform a washing method for dishes D, and this washing method for dishes D can be performed continuously.

[0156] As shown in Figure 17, the steps are performed as follows: the first transport step S20 to the second transport step S50, enclosed by a dashed line, are treated as one unit, and the third transport step S60 to the fourth transport step S90, also enclosed by a dashed line, are treated as another unit.

[0157] These two sets are performed alternately, starting from the first distribution step S30 and the second distribution step S70.

[0158] Before explaining the movement, let's explain the configuration. Here, "the first mounting plate 31 side" refers to the first conveying unit 20 and the dish reversing unit 30, and the various components and equipment belonging to the second conveying unit 50, which are used between the first sorting step S30 and the second conveying step S50.

[0159] Furthermore, "the second mounting plate 36 side" here refers to the components and equipment belonging to the first transport unit 20, the dish reversing unit 30, and the second transport unit 50 used between the second sorting step S70 and the fourth transport step S90. In Figure 17, the steps on the "first mounting plate 31 side" are listed in the right column, and the steps on the "second mounting plate 36 side" are listed in the left column.

[0160] Now, let's begin the explanation of the process. First, the immersion cleaning step S10 is started and performed continuously. Next, the first transport step S20 and the first sorting step S30 are performed on the "first mounting plate 31 side". Then, starting from the point where the first sorting step S30 has been completed, the third transport step S60 is performed on the "second mounting plate 36 side". Meanwhile, the first dish inversion step S40 and the second transport step S50 are performed on the "first mounting plate 31 side".

[0161] Next, on the "second mounting plate 36 side," the second sorting step S70 is performed after the third transport step S60. Then, starting from the second sorting step S70, the first transport step S20 is performed on the "first mounting plate 31 side." During this time, the second dish inversion step S80 and the fourth transport step S90 are performed on the "second mounting plate 36 side."

[0162] Next, on the "first mounting plate 31 side," the first sorting step S30 is performed after the first transport step S20. Then, starting from the first sorting step S30, the third transport step S60 is performed on the "second mounting plate 36 side." During this time, the first dish inversion step S40 and the second transport step S50 are performed on the "first mounting plate 31 side."

[0163] From thereafter, starting from the first sorting step S30 performed on the "first mounting plate 31 side," the third transport step S60 to the fourth transport step S90 are performed on the "second mounting plate 36 side." Also, starting from the second sorting step S70 performed on the "second mounting plate 36 side," the first transport step S20 to the second transport step S50 are performed on the "first mounting plate 31 side."

[0164] In this way, specific parts of the tableware Du with the eating surface facing upward are alternately lifted and inverted on the "first mounting plate 31 side" and the "second mounting plate 36 side," placing them face down, and the tableware D is then transported and transferred to the fourth conveyor 62.

[0165] The dishes D are then sequentially transported to the fourth conveyor 62, and the transported dishes D are then transported into the dishwashing section 60 by the dishwashing step S100 and continuously washed.

[0166] This makes it possible to create a dishwashing device 1 that can continuously and continuously invert dish Du with the eating surface facing upwards into an upside-down state, even when the amount of dish D scooped up from the immersion washing section 10 and transported downstream by the first conveying section 20 per unit time increases.

[0167] Furthermore, this eliminates the need to allocate personnel to the task of turning the dishes D inverted, thereby contributing to further labor savings in the dishwashing device 1, and enables the washing method of dishes D using this dishwashing device 1.

[0168] (Learning method for the first estimation method) Next, the learning method S200 for the first estimation means will be described. As shown in Figure 18, the learning method S200 for the first estimation means consists of a first generation step S210 and a first processing step S220, a second generation step S230 and a second processing step S240, and a learning step S250.

[0169] (First generation step) First, let's explain the first generation step S210.

[0170] A single serving dish Du with its eating surface facing upwards is placed on the first mounting plate 31 shown in Figure 4, and in Figure 8... The first lighting 81a and the first shooting means 81b are used to capture images and create them, which are then recorded in the recording means 100. From these images, the 3D model generation means 92 generates a 3D model. Ten different types of tableware D are prepared for generation, and a model is generated for each. Then, the 3D models of the ten patterns of tableware Du with the eating surface facing upwards are cut out from the background.

[0171] (First processing step) The first processing step S220, which follows the first generation step S210 shown in Figure 18, will now be described.

[0172] First, the 3D model generated in the first generation step S210 is tilted from the horizontal plane at 5-degree increments, creating 13 different patterns from 0 to 60 degrees.

[0173] The tilted object is duplicated, and 36 patterns are created by rotating it in 10-degree increments around the vertical axis, from 0 to 350 degrees.

[0174] Duplicate the rotated image and create a total of five variations: one with multiple brightness levels (for example, four levels) and one without any changes.

[0175] Following the above conditions, it is possible to create 10 × 13 × 36 × 5 = 23,400 patterns of 3D models of a single dish Du with the eating surface facing upwards. The 3D models thus created are labeled "Du," which signifies a dish with the eating surface facing upwards, and stored in the recording means 100.

[0176] (Second generation step) Next, the second generation step S230 will be described.

[0177] A single inverted dish Dd is placed on the second mounting plate 36, and an image is captured by the second lighting 82a and the second imaging means 82b, which is then recorded in the recording means 100. From this image, a 3D model is generated by the 3D model generation means 92. For generation, ten different types of dish D are prepared, and a model is generated for each. Then, the 3D models of these ten patterns of inverted dish Dd are cut out from the background.

[0178] (Second processing step) The second processing step S240, which is performed after the second generation step S230, will now be described.

[0179] The same processing steps as in the first processing step S220 are performed to create 23,400 patterns of 3D models of a single upside-down dish Dd, and these are stored in the recording means 100 with the label Dd indicating an upside-down dish.

[0180] (Learning Steps) The learning step S250, which is performed after the first machining step S220 and the second machining step S240, will now be described.

[0181] In the first processing step S220 and the second processing step S240, the 23,400 patterns of 3D models of a single dish Du with the eating surface facing upwards and the 23,400 patterns of 3D models of a single dish Dd in an upside-down position, stored in the recording means 100, are divided into training data used to adjust the parameters (weights, biases, etc.) of the AI ​​model of the first estimation means 93, verification data used to adjust the hyperparameters (number of neurons, batch size, number of epochs, etc.) of the trained AI model, and test data for evaluating the final AI model.

[0182] Here, for example, the training data:validation data:test data ratio is divided into 8:1:1 for tableware Du with the eating surface facing upwards and the eating surface being randomly arranged, and tableware Dd in an upside-down position and the eating surface being randomly arranged. Note that this ratio may be different.

[0183] Specifically, when dividing tableware Du with the eating surface facing upwards and in a random order, the ratio of training data:validation data:test data is 8:1:1, that is, 18,720:2,340:2,340. Similarly, when dividing tableware Dd in an upside-down state and in a random order, the ratio of training data:validation data:test data is 8:1:1, that is, 18,720:2,340:2,340.

[0184] First, the hyperparameters are roughly set, and the first estimation means 93 is trained using training data of tableware Du with the eating surface facing upwards. Next, the trained first estimation means 93 is validated using validation data to calculate its accuracy. Based on the validation results, several hyperparameters that are likely to be appropriate are prepared, and training is performed using each of these hyperparameters. This training and validation process is repeated multiple times until the hyperparameters are set to what is considered to be the optimal value. Finally, the accuracy of the AI ​​model, the first estimation means 93, is calculated and evaluated using test data.

[0185] Similarly, using training data of inverted tableware Dd, the first estimation means 93 is trained with rough hyperparameters using the training data, and the trained first estimation means 93 is validated using validation data. Based on the validation results, several hyperparameters that are likely to be optimal are prepared, and training is performed using each of these hyperparameters. Then, the hyperparameters are set to values ​​that are considered to be optimal, and finally, the accuracy of the AI ​​model, the first estimation means 93, is calculated and evaluated using test data.

[0186] In this way, the learning step S250 of the first estimation means 93 is performed, and the learning method S200 of the first estimation means is completed.

[0187] In the learning step S250, it is preferable to perform backpropagation on the first estimation means 93 to adjust parameters such as the weighting between nodes, thereby improving the accuracy of the first estimation means 93.

[0188] (Learning method for the second estimation method) The learning method S300 for the second estimation means is described below. As shown in Figure 19, the learning method S300 for the second estimation means consists of a 3D model creation step S310 and a reinforcement learning step S320.

[0189] (3D model creation steps) First, let's explain the 3D model creation step S310.

[0190] Ten different types of tableware D used in the learning method S200 of the first estimation means are prepared and created as 3D models using 3D CAD. When creating the 3D models, fine patterns and designs are not reflected, and only protrusions and indentations that affect the determination of the center of gravity of the tableware D are reflected in the 3D models and recorded in the recording means 100.

[0191] (Reinforcement learning steps) The reinforcement learning step S320, which follows the 3D model creation step S310, will now be described.

[0192] One of the 10 dishes D created in the 3D model creation step S310 is incorporated into the device assembly of the dish reversal unit 30 and the control unit 110, which was previously created using 3D CAD and recorded in the recording means 100. The device assembly combines a known technique that links a control device emulator, which virtually reproduces the operation of the dish reversal unit 30 based on various signals from the control unit 110, with a physics engine, and simulates the result as operation.

[0193] Then, a single dish Du with its eating surface facing upwards, which has been incorporated into the device assembly, is placed on the first mounting plate 31. The protruding rod 33 is freely extended from the opening 31a of the first mounting plate 31 and retracted downwards, and reinforcement learning is performed to lift a specific position of the dish Du and invert it into an upside-down position.

[0194] Reinforcement learning is a method of learning actions that maximize cumulative rewards through trial and error, even without training data. Algorithms that can be used include Q-learning, which learns to acquire the optimal policy that maximizes cumulative rewards when an agent takes a certain action in a given environment, and Deep Q Network (DQN), which is a form of Q-learning incorporating deep learning.

[0195] Here, Q-learning is employed as the algorithm, and under the environment of a pre-created device assembly consisting of a dish reversal unit 30 and a control means 110, an agent that performs the action of extending the protruding rod 33 from the opening 31a or returning it downward is rewarded for each action and for a series of actions.

[0196] As a reward, for example, a reward of -0.05 is given each time the protruding rod 33 is extended through the opening 31a or retracted downwards. Additionally, a reward of +1 is given for a series of actions that successfully invert the dish Du, which has its eating surface facing upwards, into an upside-down position, and a reward of -1 is given for a series of actions that do not result in inversion.

[0197] Furthermore, two stopping conditions are set: when the tableware Du, with its eating surface facing upwards, is inverted to an upside-down position, and when the protruding rod 33 has been moved five times.

[0198] Under these conditions, reinforcement learning is repeated a predetermined number of times, for example 20,000 times, for each of the 10 different dishes D, and by maximizing the cumulative reward, the number of movements of the protruding rod 33 is minimized while learning to flip the dishes Du with the eating surface facing upwards to an upside-down state.

[0199] Then, at the end of reinforcement learning step S320, multiple dishes D are placed into the device assembly, and the system is trained to perform the action of inverting the dishes Du, which have their eating surfaces facing upwards, into an upside-down position, while minimizing the number of movements of the protruding rod 33 as described above.

[0200] For example, with multiple pieces of tableware D, reinforcement learning is repeated a predetermined number of times, for instance, 20,000 times, for each of the following patterns: two pieces of the same type of tableware D, two pieces of different types of tableware D, three pieces of the same type of tableware D, two of the three pieces of tableware D being the same type of tableware D, and three pieces of tableware D being all different types of tableware D.

[0201] However, when training with multiple dishes D, it is advisable to change the stopping condition depending on the number of dishes Du with their eating surfaces facing upwards in the initial state. For example, if there is one dish Du with its eating surface facing upwards in the initial state, the system should stop after moving the protruding rod 33 five times; if there are two dishes, it should stop after 10 times; if there are three dishes, after 15 times, and so on.

[0202] In this way, the reinforcement learning step S320 of the second estimation means 94 is performed using one to three pieces of tableware D, and the learning method S300 of the second estimation means is completed.

[0203] In this embodiment, we used dish D as the object to be inverted, but you may also use the lid of a dish or the like.

[0204] Furthermore, the second conveyor 22 may be fitted with an alignment member that aligns the dishes D in a single line in the transport direction on the belt of the second conveyor 22. This allows the dishes D to be effectively guided to the first mounting plate 31 or the second mounting plate 36 in the first sorting step S30 and the second sorting step S70.

[0205] In this embodiment, a heating means may be provided to heat the immersion water stored in the immersion tank 11. However, during the first sorting step S30 and the first estimation step S41, and the second sorting step S70 and the third estimation step S81, steam may be generated due to moisture adhering to the tableware D, potentially causing the lenses of the first and second photographic means 81b and 82b to fog up. Therefore, it is preferable not to provide a heating means to heat the immersion water stored in the immersion tank 11.

[0206] If a heating means is provided to heat the immersion water stored in the immersion tank 11 in order to improve the effectiveness of the immersion cleaning performed in step S10, it is advisable to provide a blower or the like to create airflow so that steam does not accumulate where the lenses of the first imaging means 81b and the second imaging means 82b are located. Alternatively, a nozzle or the like that sprays cold water above the first transport unit 20 and sprays it onto the transported tableware D to cool the tableware D and any moisture adhering to it.

[0207] In the second transport step S50 and the fourth transport step S90, the tableware D placed on the mounting plates 31 and 36 was slid toward the third conveyor 51 by tilting the mounting plates 31 and 36, but the tableware D may be slid by other methods.

[0208] For example, the first flap 23a and the second flap 23b, which rotate between a closed position and an open position, can be made rotatable up to the mounting plates 31 and 36, and the first flap 23a and the second flap 23b, once rotated up to the mounting plates 31 and 36, can be configured to slide the tableware D placed on the mounting plates 31 and 36 towards the third conveyor 51.

[0209] This ensures that even tableware D, which is difficult to slide due to its shape or material, can be reliably slid onto the third conveyor 51. Furthermore, the tilting means 32a, 32b, 37a, and 37b become unnecessary, simplifying the configuration.

[0210] Although the projecting rods 33 and 38, the first movable wall 46 and the second movable wall 47, the first inclined rod 32b and the second inclined rod 37b are described as being driven by electric cylinders, other driving methods may be used. For example, hydraulic cylinders or a mechanism combining racks and pinions may be used.

[0211] Furthermore, to prevent tableware D from falling from the first conveyor 21, the second conveyor 22, and the third conveyor 51, fixed walls or baskets to catch any fallen tableware D may be installed around each. In addition, it is preferable to install a basket to catch the tableware D, or a conveyor or chute to guide the tableware D to the immersion tank 11, at the downstream end of the second conveyor 22.

[0212] Although the calculation unit 90 and recording means 100 are described as being located within the control unit 70, they may also be located on the cloud.

[0213] Note that the criteria for determining whether a predetermined amount of tableware D has been placed on the mounting plates 31 and 36 in the first distribution step S30 and the second distribution step S70 are just examples. In this embodiment, the criteria for determining whether a first image P1 is created by taking a picture with the first lighting 81a and the first shooting means 81b, or a third image P3 is created by taking a picture with the second lighting 82a and the second shooting means 82b, were set to take a picture every 20 seconds, but this could be changed to every 10 seconds or every 60 seconds.

[0214] Alternatively, other criteria could be used, such as when the area on the mounting plates 31 and 36 where the tableware D can be placed falls below 30% or 80% in the first image P1 or the third image P3; or the weight of the tableware D placed on the mounting plates 31 and 36 could be used as a criterion; or a predetermined number of tableware D (e.g., one or two) could be placed on the mounting plates 31 and 36; or a predetermined time interval, such as 60 seconds, could be used as a criterion based on the time when the tableware D was first placed on the mounting plates 31 and 36.

[0215] Furthermore, in the first sorting step S30, if, for example, a large amount of tableware D is to be transported by the second conveyor 22, some tableware D will remain downstream of the second flap 23b, which is in the closed position. This tableware D may fall from the downstream end of the second conveyor 22 in the third transport step S60. Therefore, it is preferable to ensure that there is no tableware D downstream of the second flap 23b.

[0216] Specifically, when the determination means 91 determines from the first image P1 that the area on the first mounting plate 31 where tableware D can be placed has fallen below, for example, 100%, it controls the operation of the second conveyor 22 while the first conveyor 21 is stopped, thereby creating a region on the upstream end of the second conveyor 22 where there is no tableware D.

[0217] Then, when a predetermined amount of tableware D is placed on the first loading plate 31, the second conveyor 22 is rotated in the reverse direction for a predetermined time, for example, 5 seconds, to move the tableware D to the upstream side of the range of rotation of the second flap 23b, and then the second flap 23b is rotated to the closed position and the first flap 23a is rotated to the open position. Then, in the third transport step S60, the second conveyor 22 is rotated forward and the first conveyor 21 is driven to transport the tableware D to the second loading plate 36.

[0218] As a result, in the first sorting step S30, it is possible to make the state such that there is no tableware D on the second conveyor 22 on the downstream side of the second flap 23b, and in the third conveying step S60, it is possible to prevent the tableware D from falling from the downstream end side of the second conveyor 22.

[0219] In addition, the tableware D that has reached the downstream end may be configured to be returned to, for example, the immersion tank 11 by conveying means separately provided on the downstream end side of the second conveyor 22.

[0220] In addition, in the first sorting step S30 and the second sorting step S70, when the second flap 23b is rotationally moved to the closed position or the open position by the second moving means 24b, the tableware D conveyed by the second conveyor 22 may be pushed by the second flap 23b and may fall from the second conveyor 22. Therefore, when the second flap 23b is rotationally moved, the second conveyor 22 may be stopped. Or, the driving of the second conveyor 22 may be reversed for a predetermined time, for example, 10 seconds, and after the tableware D placed on the placement surface of the second conveyor 22 is conveyed upstream and retracted, the second flap 23b may be rotationally moved.

[0221] Alternatively, imaging means such as a camera may be installed above the second conveyor 22, an image captured by the imaging means may be recorded by the recording means 100, and based on the recorded image, the timing for rotationally moving the second flap 23b may be determined by separately provided estimation means.

[0222] As a learning method for the separately provided estimation means, it is preferable to combine a known technique that links a control device emulator, which virtually reproduces the operation of the first transport unit 20 and the dish reversal unit 30 based on various signals from the control means 110, with a physics engine, and simulates the result as an operation. This allows the system to learn, for example, through 20,000 reinforcement learning iterations, when dishes D are randomly placed on the second conveyor 22 and transported, and when the second flap 23b is rotated to prevent the dishes D from falling from the second conveyor 22, thereby enabling the first sorting step S30 and the second sorting step S70 to be performed.

[0223] In addition to the first mounting plate 31 and the second mounting plate 36, at least one additional mounting plate, such as a third mounting plate, may be added. This improves the ability to invert the tableware Du with the eating surface facing upwards into an upside-down state when a large number of dishes D are placed into the immersion water stored in the immersion tank 11 and a large number of dishes D are picked up per unit time by the first conveyor 21.

[0224] Alternatively, to simplify the configuration, only the first mounting plate 31 may be used. In that case, the first conveyor 21 and the second conveyor 22 are stopped together with or before the first sorting step S30. Then, after the second transport step S50, the first flap 23a is rotated to the closed position, and the first conveyor 21 and the second conveyor 22 are driven again.

[0225] Furthermore, when only the first mounting plate 31 is used, the first mounting plate 31 and the third conveyor 51 may be arranged in a straight line along the conveying direction of the second conveyor 22 for the dishes D. In that case, the first movable wall 46 may be provided on the downstream side of the first mounting plate 31 in the conveying direction of the dishes D, and a movable wall may also be provided on the upstream side of the first mounting plate 31 in the conveying direction of the dishes D instead of the first flap 23a. The movable wall provided on the upstream side of the first mounting plate 31 in the conveying direction of the dishes D will function as the open position of the first flap 23a when raised, and as the closed position of the first flap 23a when lowered.

[0226] Furthermore, the fourth conveyor 62 of the dishwashing section 60 may be arranged in a straight line downstream of the third conveyor 51, along the direction in which the second transport conveyor 22 transports the dishes D.

[0227] This allows the dishwashing device 1 to be arranged in a straight line along the conveying direction, enabling it to be installed even in narrow spaces.

[0228] Furthermore, at least the first illumination 81a and the first imaging means 81b, or the second illumination 82a and the second imaging means 82b, may be a stereo illumination and camera, or a ToF (Time Of Flight) illumination and camera. However, the accuracy of 3D models generated from images captured using a structured illumination method is generally high, and is said to be lower in comparison when using a stereo or ToF method. For this reason, it is preferable to adopt a structured illumination method.

[0229] Note that Figures 5 and 12-16 only depict the state in which multiple dishes D are placed on the first and second mounting plates 31 and 36. However, it is also possible to perform the first dish reversal step S40 and the second dish reversal step S80 with at least one dish D placed on either the first or second mounting plate 31.

[0230] Note that the descriptions of the second estimation step S42 and the first inversion step S43, and the fourth estimation step S82 and the second inversion step S83 are examples and will change depending on the number and condition of the dishes D placed on the mounting plates 31 and 36.

[0231] In the first inversion step S43 and the second inversion step S83, the tableware D is inverted by extending the protruding rods 33 and 38 from the openings 31a and 36a of the first and second mounting plates 31 and 36a, respectively. However, the tableware D may also be inverted by lifting a specific position using a different method.

[0232] For example, the dish D may be inverted by injecting a fluid from below the opening of the mounting plate, or by forming the mounting plate from a flexible resin material and curving a part of the mounting plate with a cylinder or the like provided below it. Also, if the method of lifting and inverting a specific position of the dish D is changed, the content of the learning method S300 of the second estimation means is changed accordingly.

[0233] Furthermore, even if the first estimation step S41, the second estimation step S42, and the first inversion step S43 are repeated in the first dish inversion step S40, it is not always the case that all the dishes D placed on the mounting plate 31 are turned upside down. Furthermore, even if the third estimation step S81, the fourth estimation step S82, and the second inversion step S83 are repeated in the second dish inversion step S80, it is not always the case that all the dishes D placed on the mounting plate 36 are turned upside down.

[0234] To prepare for such a case, for example, after repeating the first inversion step S43 or the second inversion step S83 a predetermined number of times, for example three times, the system may not return to the first estimation step S41 or the third estimation step S81, but instead proceed to the next step, the second transport step S50 or the fourth transport step S90.

[0235] Furthermore, assuming that it is not possible to turn all the dishes D face down in the first dish inversion step S40 and the second dish inversion step S80, a method may be adopted in which, before proceeding to the dish washing step S100, or during the dish washing step S100, the dishes Du with the eating surface facing upwards that have been removed from the dish washing section 60 are placed into the immersion water stored in the immersion tank 11, and the process is restarted from the immersion washing step S10.

[0236] Furthermore, when the tableware Du, with its eating surface facing upward, is inverted on the mounting plates 31 and 36, the immersion water and dirt accumulated on the tableware D will flow onto the mounting plates 31 and 36. If the mounting plates 31 and 36 become dirty, it may become difficult to accurately generate a 3D model by the 3D model generation means 92 or to accurately estimate by the estimation means 93 and 94. After the first inversion step S43 and the second inversion step S83, water may be sprayed onto the mounting plates 31 and 36 to remove the immersion water and dirt. Spraying water while the mounting plates 31 and 36 are tilted will more effectively remove the immersion water and dirt. Alternatively, the first flap 23a and the second flap 23b may be made rotatable over the mounting plates 31 and 36, and flaps made of flexible rubber or the like may be provided on the underside of the first flap 23a and the second flap 23b to act like wipers to remove the immersion water and dirt.

[0237] Furthermore, since the information estimated in the second estimation step S42 and the fourth estimation step S82 is estimated by the second estimation means 94, it does not explain what role the protruding rods 33 and 38, which protrude from which openings 31a and 36a, play. For this reason, it is possible to visualize some of the basis for the judgment using XAI (Explainable AI), such as LIME (Local Interpretable Model agnostic Explainations), which can provide local explanations, or Grad-CAM (Gradient weighted Class Activation Mapping), which can provide global explanations.

[0238] Furthermore, in the second transport step S50 and the fourth transport step S90, the timing for driving the third conveyor 51 can be either when the mounting plates 31 and 36 are tilted by the tilting means, or when the tableware D is detected by the photoelectric sensor installed on the third conveyor 51. It is also possible to keep the third conveyor 51 running continuously without stopping it.

[0239] Note that the number of patterns and the number of learning times described in the learning method S200 of the first estimation means and the learning method S300 of the second estimation means are just examples. As long as it is possible to estimate whether the tableware D placed on the placement plates 31 and 36 in the tableware D washing method is the tableware Du with the eating surface facing upward or the tableware Dd in the face-down state, the number of such patterns and learning times can be at least less or at most more.

[0240] Note that although it has been described that the first generation step S210 of the learning method S200 of the first estimation means is performed on the first placement plate 31 and the second generation step S230 is performed on the second placement plate 36, it is not limited thereto. The first generation step S210 may be performed on the second placement plate 36, or the second generation step S230 may be performed on the first placement plate 31. Also, any step may be performed on the first placement plate 31 or on the second placement plate 36. Furthermore, any step may also use a photographing means such as a separately prepared 3D camera to photograph the tableware D placed on a flat plate to create an image, and based on that image, a 3D model may be generated by the 3D model generation means 92.

[0241] Note that in the first processing step S220 and the second processing step S240 of the learning method S200 of the first estimation means, 13 patterns in which the generated 3D model is tilted from the horizontal plane by 5 degrees each up to 60 degrees were created, but without sticking to this angle, a wider range of angles, for example, up to 0 degrees to 90 degrees, may be created.

[0242] Note that in the learning method S200 of the first estimation means, a 3D model of the tableware D created by 3DCAD may also be used. Thereby, the error when generating a 3D model can be eliminated, and the learning method S200 of the first estimation means can be implemented with a 3D model of an accurate shape. Also, without preparing the actual tableware D at hand, the learning method S200 of the first estimation means can be implemented with a 3D model created by 3DCAD.

[0243] In this embodiment, the first generation step S210 and the first processing step S220, and the second generation step S230 and the second processing step S240 of the learning method S200 of the first estimation means are examples, and other methods may be adopted.

[0244] For example, in the first estimation means's learning method S200, multiple types of tableware D prepared may be supported at various angles, photographed with a shooting means to create images, and a 3D model may be generated by the 3D model generation means 92. Then, the learning step S250 may be performed using the generated 3D model.

[0245] Furthermore, for example, in the learning method S300 of the second estimation means, the reinforcement learning step may be performed by actually extending the protruding rod 33 in the dish inversion unit 30, retracting it downwards, and inverting the dish Du, which has its eating surface facing upwards, onto the mounting plate so that it is face down.

[0246] Furthermore, for example, multiple 3D models of tableware D can be created using a GAN (Generative Adversarial Network), and each of these 3D models of tableware D can be labeled as either tableware Du with the eating surface facing upwards or tableware Dd in an upside-down position, and used as training data. Alternatively, a Support Vector Machine (SVM) can be used to classify tableware Du with the eating surface facing upwards and tableware Dd in an upside-down position.

[0247] In addition, in the reinforcement learning step S320 of the learning method S300 of the second estimation means, the pattern of extending the protruding rod 33 was learned. However, in that learning, the distance and speed at which the protruding rod 33 is extended may be set in several stages and learned as one of the parameters.

[0248] Furthermore, the control unit 70 may be connected to other dishwashing devices installed in facilities other than the facility where the dishwashing device 1 is installed, or to an information network such as the Internet connected to a server having a database. This allows the data stored in the recording means 100 to be transmitted and stored in a database on the server via the information network, and the data stored in the database can be used as training data to create more sophisticated first estimation means 93 and second estimation means 94.

[0249] Furthermore, multiple components from the immersion washing unit 10, the first transport unit 20, the dish inversion unit 30, the second transport unit 50, and the dish washing unit 60 may be combined into one. For example, the dish inversion unit 30, the second transport unit 50, and the dish washing unit 60 can be combined into a single dish washing device. After the immersion washing step S10, the dishes are transported to the dish washing device, where the dishes Du with the eating surface facing upwards are inverted to an upside-down state in the dish inversion step, and washing water is sprayed from at least below the dishes D to wash them.

[0250] Although the explanation used tableware D as the object to be cleaned, other objects to be cleaned may also be used, such as machine parts or civil engineering machinery and equipment, where cleaning is difficult if the parts of the object that tend to accumulate water are located at the top. For example, if machine parts are used as the object to be cleaned, the liquid stored in the immersion tank 11 may be changed to an organic solvent, and if an organic solvent is used, it is preferable to use materials such as SUS304, which has high chemical resistance, for the components of the device that cleans the object to be cleaned.

[0251] Thus, the invention described in this embodiment includes those that have the same essence even if their configuration differs.

[0252] Please note that the configuration shown in the drawing is a conceptual example, and the gaps between components are depicted as large for ease of explanation. In actual use, the position of the components and the gaps between them can be adjusted according to the specific application.

[0253] Furthermore, the present invention can be appropriately combined with the contents described in the embodiments and modified examples. [Explanation of Symbols]

[0254] 1. Dishwasher 10 Immersion cleaning section 11 Soaking tank 12 Immersion cleaning pump 13 Immersion cleaning pipes 14. Jet nozzle 15 Water supply pipe 20 First conveying section 21. First conveyor (transporting means) 22. Second conveyor (transporting means) 23a First flap (first sorting means) 23b Second flap (second sorting means) 24a First means of transport (first means of sorting) 24b Second means of transport (second means of sorting) 25a First transfer board (transfer board) 25b Second transfer board (transfer board) 30 Dish reversal section 31. First mounting plate (mounting plate) 31a aperture 32a Hinge (tilting mechanism) 32b First inclined rod (inclinating means) 33. Protruding rod (reversal mechanism) 36. Second mounting plate (mounting plate) 36a aperture 37a Hinge (tilting mechanism) 37b Second inclined rod (inclination means) 38. Protruding rod (reversal mechanism) 41. First fixed wall (wall surface) 42. Second fixed wall (wall surface) 43. Third fixed wall (wall surface) 46. ​​First movable wall (wall surface) 47. Second movable wall (wall surface) 50 Second transport section 51. Third conveyor (transporting means) 60 Dishwashing section 61 Housing 61a Loading entrance 61b Exit 62. Fourth conveyor (transporting means) 63 Rough cleaning section 63a Rough washing tank 63b Coarse washing pump 63c Rough cleaning of piping 63d Coarse cleaning nozzle 64 Cleaning Unit 64a Main washing tank 64b Main cleaning pump 64c Main Cleaning Pipe 64d Main cleaning nozzle 65 Finishing Cleaning Section 65a Finishing cleaning piping 65b Finishing cleaning nozzle 70 Control Unit 80 Photography Department 81a First illumination (photographic means) 81b First photographic means (photographic means) 82a Second illumination (means of photography) 82b Second photographic means (photographic means) 90 Arithmetic section 91 Judgment means 92 3D Model Generation Means 93 First estimation means (estimation means) 94 Second estimation means (estimation means) 95 Calculation means 100 Recording means 110 Control means D tableware Du - Dishes with the eating surface facing upwards Dd Upside-down dishes M1 First 3D Model (3D Model) M2 Second 3D Model (3D Model) M3 Third 3D Model (3D Model) M4 4th 3D model (3D model) P1 First image P2 Second image P3 Third image P4 Image 4 S10 Immersion cleaning step S20 First transport step S30 First distribution step S40 First dish inversion step S41 First estimation step S42 Second estimation step S43 First reversal step S50 Second transport step S60 Third transport step S70 Second distribution step S80 Second dish reversal step S81 Third estimation step S82 Fourth estimation step S83 Second reversal step S90 Fourth conveying step S100 Dishwashing Steps S200 Learning method for the first estimation means S210 First generation step S220 First machining step S230 Second generation step S240 Second machining step S250 Learning Steps S300 Learning method for the second estimation means S310 3D Model Creation Steps S320 Reinforcement Learning Steps

Claims

1. A dishwashing device that inverts dishes with the eating surface facing upwards into an upside-down position, and then sprays washing water onto the upside-down dishes from below to wash them, A dish reversing unit comprising a plate-shaped mounting plate on which to place the dish, and a reversing means for lifting a specific position of the dish with the eating surface facing upwards, which is placed on the aforementioned mounting plate, and inverting it to an upside-down state, A photographing means for taking a picture of the tableware placed on the aforementioned mounting plate and creating an image, A 3D model generation means generates a 3D model of tableware from an image created by the aforementioned shooting means, A first estimation means estimates and determines whether the tableware included in the 3D model generated by the 3D model generation means is in a state where the eating surface is facing upwards or in an upside-down state, A second estimation means estimates the movement of the inversion means that lifts a specific position of a dish included in the 3D model, with the eating surface facing upward, and inverts the dish into an upside-down state. A control means that controls the reversal means based on the motion data estimated by the second estimation means, A dishwashing unit that washes the inverted dishes by spraying washing water from below onto the inverted dishes, Equipped with, When the first estimation means estimates and determines that at least one of the dishes included in the 3D model is a dish with its eating surface facing upwards, With respect to the tableware placed on the aforementioned mounting plate with the eating surface facing upward, the movement of the inversion means estimated by the second estimation means inverts the tableware with the eating surface facing upward into an upside-down state. The dishwashing unit washes the dishes by spraying washing water from below onto the inverted and face-down dishes. A dishwashing device characterized by the following features.

2. The immersion cleaning unit immerses the dishes in immersion water stored in the immersion tank and performs immersion cleaning, A first conveying unit transports the dishes immersed in the immersion water of the aforementioned immersion washing unit by a conveying means, lifts them out of the immersion water, and transports the dishes downstream. A second conveying unit transports the dishes, which have been inverted to an upside-down position by the dish inversion unit, to the dish washing unit located downstream. Equipped with, The following components are arranged in the order of immersion washing section, first conveying section, dish reversing section, second conveying section, and dish washing section, starting from the upstream side in the direction of dish transport: The dishwashing apparatus according to feature 1.

3. The mounting plate has multiple openings, The reversing means is a protruding rod provided below the openings in the aforementioned mounting plate so as to correspond to the multiple openings in the aforementioned mounting plate, and which protrudes upward from the openings and is retracted downward. The second estimation means estimates the movement of the protruding rod that lifts a specific position on a dish, causing it to be inverted and placed face down, based on the image captured by the photographing means, where the eating surface of the dish is facing upwards. The control means controls the movement of the protruding rod based on the movement data estimated by the second estimation means. The dishwashing apparatus according to feature 1.

4. The mounting plate is composed of a first mounting plate and a second mounting plate located upstream of the first mounting plate in the direction of transporting tableware. The photographic means comprises a first photographic means for photographing tableware placed on the first mounting plate to create a first image, and a second photographic means for photographing tableware placed on the second mounting plate to create a third image. A determination means for determining whether a predetermined amount of tableware has been placed on the first mounting plate based on the first image, and whether a predetermined amount of tableware has been placed on the second mounting plate based on the third image, By being positioned in a closed position, the first sorting means guides the tableware to be transported by the first transport unit to the first placement plate, A second sorting means, when positioned in a closed position, guides the dishes being transported by the first transport unit to the second mounting plate, and when positioned in an open position, guides the dishes to the first mounting plate by the first sorting means located in the closed position. The second distribution means is provided with a second moving means for moving it from the closed position to the open position and from the open position to the closed position, Furthermore, Based on the determination by the determination means, the tableware to be transported by the first transport unit is configured to be distributed to the first and second placement plates by the first and second sorting means. The dishwashing apparatus according to feature 2.

5. A first estimation step involves generating a 3D model of the tableware placed on a mounting plate from an image of the tableware created by a photographing means, and estimating and determining which of the tableware included in the 3D model has its eating surface facing upwards using a first estimation means. A second estimation step in which, with respect to a dish whose eating surface is facing upward, as included in the 3D model generated in the first estimation step, the second estimation means estimates the movement of a reversing means that lifts a specific position of the dish and inverts it into an upside-down state, Based on the motion data estimated in the second estimation step, the inversion means is controlled in a first inversion step to invert the dish with the eating surface facing upwards into an upside-down state, Perform the first dish inversion step, which includes: After the first dish inversion step, a dishwashing step is performed in which washing water is sprayed onto the inverted dishes from below to wash them. A method for washing tableware characterized by the following.

6. Before the first dish inversion step, The process involves an immersion cleaning step in which dishes are immersed in immersion water stored in an immersion tank for immersion cleaning, and The first conveying unit lifts the dishes that have been immersed and washed in the immersion washing step and conveys them to the mounting plate where the first dish inversion step is performed, Perform The method for washing tableware according to feature 5.

7. In the second estimation step, the second estimation means estimates the movement of a protruding rod that, when a dish with an upward-facing eating surface is included in the 3D model generated in the first estimation step, extends upward from a plurality of openings in the mounting plate and retracts downward, thereby lifting a specific position of the dish and inverting it into an upside-down position. In the first inversion step, based on the motion data estimated in the second estimation step, the protruding rod is extended upward and retracted downward to invert the dish with the eating surface facing upward into an upside-down position. The method for washing tableware according to feature 5.

8. The mounting plate is composed of a first mounting plate and a second mounting plate, and the imaging means is composed of a first imaging means and a second imaging means. In the first transport step, the first sorting means is positioned in a closed position to guide the dishes to be transported by the first transport unit to the first mounting plate. A first sorting step in which the tableware is guided to the first placement plate in the first transport step, the placed tableware is photographed by the first photographing means to create a first image, and when the determination means determines from the first image that a predetermined amount of tableware has been placed on the first placement plate, the second sorting means is moved to the closed position to guide the tableware to the second placement plate, Following the first sorting step, a third transport step is performed in which the second sorting means guides the tableware to be transported by the first transport unit to the second placement plate, A second sorting step is performed in which the dishes are guided to the second placement plate in the third transport step, photographed by the second photographing means to create a third image, and when the determination means determines from the third image that a predetermined amount of dishes has been placed on the second placement plate, the second sorting means is moved to the open position to guide the dishes to the first placement plate. The method for washing dishes according to claim 6, characterized by including the following.

Images