Note: Descriptions are shown in the official language in which they were submitted.
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PROCESSING APPARATUS FOR PROCESSING SUBJECT
Technical Field
[0001] The present invention relates to a processing apparatus for processing
a
processing subject such as a deformable thin object.
Background Art
[0002] The applicant is currently undertaking research and development into an
apparatus for unfurling and folding a deformable thin object such as a garment
(see
Patent Document 1, for example).
Citation List
Patent Document
[0003] Patent Document 1: WO 2012/073500
Summary
Technical Problem
[0004] When this type of apparatus is used in a typical household, for
example, a
situation is envisaged in which the apparatus folds a fixed number of garments
within
a limited time period during the afternoon, while a user is not at home, at
night, and so
on, for example. It is therefore necessary to shorten an operation for
retaining and
switching a processing subject in order to further reduce the amount of time
required
for folding processing (including unfurling the processing subject in order to
fold the
processing subject).
[0005] The present invention has been designed in consideration of the
background
described above, and an object thereof is to provide a processing apparatus
with
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which an operation for retaining and switching a processing subject can be
shortened
in order to reduce an amount of time required for folding processing.
Solution to Problem
[0006] To solve the problem described above, a processing apparatus for
unfurling
or folding a processing subject according to one aspect of the present
invention
includes a first retaining device and a second retaining device that are
capable of
moving within a first area and retaining the processing subject, a carrying
device
disposed within the first area so as to be capable of carrying the processing
subject,
and a third retaining device that is capable of moving within a second area
disposed
below the first area so as to overlap the first area, and retaining the
processing subject
below the carrying device.
[0007] According to this configuration, the processing subject can be retained
by the
third retaining device in a condition where the processing subject is retained
by the
first retaining device and/or the second retaining device. Further, a part (an
end
portion, for example) of the processing subject positioned below the carrying
device
can be retained by the third retaining device without moving the first
retaining device
and/or the second retaining device below the carrying device. As a result, the
time
required for retention can be shortened.
[0008] Further, the third retaining device may be configured to retain the
processing
subject below the carrying device in a condition where the processing subject
is
retained by the first retaining device and/or the second retaining device and
hangs
down from the carrying device.
[0009] The processing subject is pulled and displaced in a horizontal
direction (also
including a direction having a horizontal direction component, such as a
diagonal
direction) while hanging down from the carrying device, and therefore the
overall
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height of the processing subject is reduced (a profile thereof is lowered) in
comparison
with a case where the processing subject is simply lifted up in a vertical
direction. As
a result, a larger processing subject can be lifted up (in other words, a
lowermost end
of the processing subject can be separated from a floor surface of the
processing
apparatus) by the first retaining device and/or the second retaining device.
Moreover,
the overall height of the processing apparatus can be reduced in comparison
with a
case where the processing subject is simply lifted up in the vertical
direction.
Furthermore, in this condition, the part (the end portion, for example) of the
processing subject positioned below the carrying device can be retained by the
third
retaining device without moving the first retaining device and/or the second
retaining
device below the carrying device. As a result, the time required for retention
can be
shortened.
[0010] Further, the third retaining device may be configured to hand over the
retained
processing subject to the first retaining device or the second retaining
device below
the carrying device.
[0011] According to this configuration, the processing subject is handed over
below
the carrying device, and therefore there is no need to extend the movable
range of the
third retaining device above the first area.
[0012] Further, the first retaining device or the second retaining device may
be
configured to lift up the processing subject handed over thereto while causing
the
processing subject to slide against the carrying device.
[0013] According to this configuration, the processing subject is lifted up
while sliding
against the carrying device, and therefore creases, kinks, and so on in the
processing
subject can be smoothed out at this time.
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[0014] Further, the first retaining device may include a pair of first
gripping portions
disposed on a central axis thereof, the second retaining device may include a
pair of
second gripping portions disposed on a central axis thereof, and the third
retaining
device may include a pair of third gripping portions and a pair of fourth
gripping
portions, the third gripping portions and the fourth gripping portions being
disposed at
equal distances from a central axis of the third retaining device.
[0015] According to this configuration, in a condition where the first
retaining device
(the second retaining device) and the third retaining device oppose each other
such
that the respective central axes thereof are aligned during handover of the
processing
subject, the pair of first gripping portions (second gripping portions) of the
first
retaining device (the second retaining device), which are disposed on the
central axis,
are located in different positions to the pair of third gripping portions and
the pair of
fourth gripping portions of the third retaining device, which are disposed at
a remove
from the central axis. Accordingly, handover can be performed with the
respective
central axes of the first retaining device (the second retaining device) and
the third
retaining device in alignment, and as a result, drive control can be executed
on the
respective retaining devices more easily. Further, during handover, the
processing
subject can be gripped at two points by the pair of third gripping portions
and the pair
of fourth gripping portions of the third retaining device, and in this
condition, a point in
the center of these two gripped locations can be gripped by the pair of first
gripping
portions (second gripping portions) of the first retaining device (the second
retaining
device). As a result, movement of a center of gravity of the processing
subject T
during handover can be suppressed.
[0016] Further, the first retaining device and/or the second retaining device
retaining
the processing subject may be configured to release the processing subject at
a stage
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where the third retaining device retains the processing subject below the
carrying
device.
[0017] According to this configuration, the processing subject T is dropped
below the
carrying device, and therefore, when the processing subject is entangled or
the like,
the processing subject can be disentangled.
[0018] Further, when the first retaining device and/or the second retaining
device
releases the processing subject, the carrying device may be rotated so as to
drop the
processing subject hanging down therefrom.
[0019] According to this configuration, momentum can be generated in the fall
of the
processing subject by rotating the carrying device, and therefore the
processing
subject can be more thoroughly disentangled.
[0020] According to another aspect of the present invention, the processing
apparatus includes a washing tub provided to be capable of rotating, a
detection unit
for detecting the processing subject in the washing tub, a retaining device
for
extracting the processing subject detected by the detection unit from the
washing tub
by retaining the processing subject, and a control device, wherein the control
device
rotates the washing tub before the retaining device extracts the processing
subject
from the washing tub.
[0021] By rotating the washing tub before the retaining device extracts the
processing subject from the washing tub, the processing subject rotates
together with
the washing tub such that a position, a shape, and so on of the processing
subject in
the washing tub change as a result of generated rotary force and the weight of
the
processing subject itself. Hence, when the processing subject is in a blind
spot of
the detection unit, for example, the processing subject can be moved into a
detectable
area of the detection unit. Further, for example, by changing the position and
shape
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of the processing subject and a positional relationship thereof to other
processing
subjects, a site or a processing subject that can be retained by the retaining
device
more easily can be exposed, and the processing subject can be changed to a
shape
enabling easier retention. Accordingly, the processing subjects in the washing
tub
can be detected and extracted accurately, and as a result, situations in which
a
processing subject remains in the washing tub can be suppressed.
[0022] Note that the "washing tub" is a storage container in which processing
subjects are stored in order to be subjected to washing, spinning, or drying
(also
referred to hereafter as "drying and so on"), and is typically provided in a
washer/dryer
(a device having at least one of a washing function, a spinning function, and
a drying
function, including both a device having only washing and spinning functions
and a
device having only a drying function, for example, and not necessarily a
device having
all of these functions; also referred to hereafter as a "dryer or the like").
[0023] The "processing subject" typically includes an object to be subjected
to drying
and so on, and there are no particular limitations on the material, shape,
size, and so
on thereof. For example, the processing subject includes a deformable thin
object
made of fabric, such as a garment or a towel, a net (a laundry net, for
example) for
storing these objects, and so on.
[0024] Further, the "retaining device" may have any configuration that
includes a
retaining mechanism and is capable of retaining the processing subject. For
example, the retaining mechanism includes a pair of finger members, the pair
of finger
members being configured to approach and move away from each other. A hook or
the like on which the processing subject is hooked may be cited as another
example
of the retaining mechanism.
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[0025] The moving mechanism that enables the retaining mechanism to move may
be, in addition to that described above, a belt slider mechanism, a ball screw
mechanism, an air cylinder mechanism, a motor cylinder mechanism, an electric
slider mechanism, a linear slider mechanism, a rack and pinion mechanism, and
so
on as well as the mechanism described above. Note that these mechanisms are
mainly constituted by a driving force source, a feed member, and a guide
member. A
belt slider mechanism is a slide moving mechanism that has a motor as the
driving
force source, a belt or a wire as the feed member, and an LM guide member or
the
like as the guide member, and causes a movement subject to slide along the LM
guide member or other guide member by transmitting rotation of the motor to
the belt
or wire. Further, a ball screw mechanism is a slide moving mechanism that has
a
motor as the driving force source, a ball screw or a trapezoidal screw as the
feed
member, and an LM guide member or the like as the guide member, and causes a
movement subject to slide along the LM guide member or other guide member by
transmitting the rotation of the motor to the ball screw or trapezoidal screw.
Furthermore, an air cylinder mechanism is a slide moving mechanism that has an
air
compressor as the driving force source and a piston rod that doubles as the
feed
member and the guide member, and causes a movement subject attached to the
piston rod to slide using a linear motion of the piston rod. Further, a motor
cylinder
mechanism is a slide moving mechanism that has a motor as the driving force
source
and a piston rod that doubles as the feed member and the guide member, and
causes
a movement subject attached to the piston rod to slide by transmitting the
rotation of
the motor to the ball screw. An electric slider mechanism is a slide moving
mechanism that has a motor as the driving force source, a ball screw or the
like as the
feed member, and an LM guide member or the like as the guide member, and
causes
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a movement subject to slide along the LM guide member or other guide member by
transmitting the rotation of the motor to the ball screw. Moreover, a linear
slider
mechanism is a slide moving mechanism that has a magnet as the driving force
source, another magnet as the feed member, and an LM guide member or the like
as
the guide member, and causes a movement subject to slide using the principles
of a
linear motor. Furthermore, a rack and pinion mechanism is a slide moving
mechanism that has a motor as the driving force source, a rack and pinion as
the feed
member, and an LM guide member or the like as the guide member, and causes a
movement subject attached to the rack to slide along the LM guide member or
other
guide member by rotating the pinion using the rotation of the motor.
[0026] The control device is preferably configured to rotate the washing tub
when the
processing subject is not detected.
[0027] When the processing subject is not detected, this means either that
there are
no remaining processing subjects actually in the washing tub or that there is
a
remaining processing subject but the processing subject cannot be detected due
to
being in a blind spot of the detection unit or the like. According to this
configuration,
the position and shape of the processing subject can be shifted by rotating
the
washing tub when the processing subject is not detected, and in so doing,
situations
in which a processing subject remains in the washing tub without being
detected can
be suppressed.
[0028] The control device is preferably configured to rotate the washing tub
when the
retaining device cannot retain the processing subject.
[0029] According to this configuration, when the retaining device cannot
retain the
processing subject, the position and shape of the processing subject and the
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positional relationship thereof to other processing subjects are varied by
rotating the
washing tub, and in so doing, the processing subject can be gripped by the
retaining
device more easily. As a result, situations in which the processing subject
cannot be
retained and therefore remains in the washing tub can be suppressed.
[0030] The processing apparatus preferably includes a folding device for
unfurling
and/or folding the extracted processing subject.
[0031] According to this configuration, processing such as unfurling
(expanding the
processing subject), recognition (recognizing the type and properties of the
processing subject), folding (folding the processing subject in accordance
with the
type and properties thereof), and/or transportation (which may also include
sorting the
processing subject in accordance with the type, properties, and so on thereof)
can be
executed on the processing subject extracted from the washing tub as is by
having
the folding device implement a series of operations. After completing a drying
process in the washing tub, the processing subject has a high temperature and
contains a large amount of air, and is therefore fluffy. Hence, creases are
unlikely to
form during folding and so on, and the processing subject can be recognized
accurately and folded neatly. Note that depending on the processing subject,
the
processing subject may be extracted from the washing tub and folded and so on
following spinning, for example, rather than following drying.
[0032] Note that the "folding device" may be any device that performs one or a
plurality of processes such as folding, and includes a device that only
unfurls the
processing subject, for example.
[0033] The folding device and a washer/dryer that includes the washing tub are
preferably provided in a housing.
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[0034] According to this configuration, the folding device and the
washer/dryer are
provided in the housing, and therefore the overall configuration can be made
more
compact. Further, when the washer/dryer has a drying function, heat discharged
during drying can be used to increase an internal temperature of the housing,
and
therefore the internal temperature of the housing can be kept high even during
folding
and so on. Hence, the processing subject continues to be dried during folding
and
so on, and as a result, creases in the processing subject can be reduced and
the
processing subject can be folded neatly.
[0035] The folding device is preferably disposed above the washer/dryer.
[0036] According to this configuration, by lifting up the processing subject
extracted
from the washing tub, processing such as folding can be started, and the
processing
subject can be transported more easily. Further, when the washer/dryer
includes a
drying function, the heat discharged during drying rises upwards, and
therefore the
folding device disposed on the upper side of the housing can use the heat more
easily.
[0037] A ventilation device disposed above the washer/dryer is preferably
provided in
the housing.
[0038] According to this configuration, heat discharged from the washer/dryer
can be
discharged to the outside, and air from the outside can be taken in. As a
result, the
internal temperature of the housing can be kept in a favorable condition.
[0039] Note that the ventilation device may perform natural ventilation by
supplying
and/or discharging air through air vents, or may perform mechanical
ventilation using
fans or the like to supply and/or discharge air. Moreover, ventilation may be
performed by a continuous operation or an intermittent operation.
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[0040] The folding device is preferably configured to include the aforesaid
retaining
device or another retaining device for retaining the extracted processing
subject, and
a carrying device capable of carrying the processing subject.
[0041] According to this configuration, the processing subject can be folded
and so
on using the retaining device or the other retaining device and the carrying
plate.
[0042] The folding device is preferably configured to further include a pair
of
clamping devices that move relative to the carrying device so as to clamp the
carrying
device carrying the processing subject.
[0043] According to this configuration, by clamping the processing subject
carried on
the carrying device using the pair of clamping devices, a fold can be formed
in the
processing subject.
[0044] A plurality of air vents for ejecting steam are preferably provided in
the
retaining device or the other retaining device, the carrying device, or the
clamping
devices.
[0045] According to this configuration, steam can be applied to the processing
subject by ejecting steam through the air vents during, or before and after,
folding and
so on. In other words, the retaining device or the other retaining device, the
carrying
device, or the clamping devices can be provided with a so-called steaming
function of
an iron. As a result, creases in the processing subject can be reduced, and a
neat
fold can be formed in the processing subject.
[0046] A heat transfer body is preferably provided in the retaining device or
the other
retaining device, the carrying device, or the clamping devices.
[0047] According to this configuration, the retaining device or the other
retaining
device, the carrying device, or the clamping devices can be provided with an
ironing
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function by increasing a surface temperature thereof using the heat transfer
body.
As a result, creases in the processing subject can be reduced, and a neat fold
can be
formed in the processing subject.
[0048] Note that the "heat transfer body" may be any component that transfers
heat
to the carrying device or the clamping devices, for example a heating wire
that
generates heat itself, a pipe through which a temperature-adjusted fluid
flows, and so
on.
[0049] The folding device is preferably configured to include a storage
portion
capable of storing the processing subject and moving up and down through the
housing.
[0050] According to this configuration, the storage portion is capable of
moving up
and down through the housing, and can therefore be moved to an optimum
position in
accordance with the processing. For example, during folding and so on, the
storage
portion is moved to an uppermost portion or a lowermost portion of the housing
so as
not to obstruct the movement of the retaining device, the carrying plate, and
so on,
whereas when the processing subject is extracted, the storage portion is moved
to the
height of the upper body or waist of the user, for example, so that the
processing
subject can be extracted easily and so on.
[0051] The washer/dryer is preferably a drum-type washer/dryer.
[0052] A drum-type washer/dryer is configured to lift the processing subjects
up and
drop the processing subjects down during drying and so on such that air enters
the
processing subjects, making the processing subjects feel fluffy (ensuring that
the
processing subjects do not shrink) and reducing the likelihood of creasing. As
a
result, the processing subjects can be extracted from the washing tub easily,
and
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processing such as folding can be facilitated. Hence, a drum-type washer/dryer
can
be used favorably with the folding device.
[0053] A door of the washing tub is preferably provided in an upper surface of
the
washer/dryer.
[0054] According to this configuration, the processing subject can be
extracted from
the washing tub by lifting up the processing subject using the retaining
device. As a
result, the processing subject can be prevented from catching on another
structural
body of the washer/dryer when being extracted, and therefore the processing
subject
can be extracted easily. Moreover, the structure of the retaining device can
be
simplified.
[0055] The door of the washing tub is preferably provided in a side face of
the
washer/dryer and configured to open by sliding downward.
[0056] According to this configuration, the door of the washing tub is
provided in the
side face of the dryer, and therefore the processing subject can be inserted
into the
washing tub from the side face of the housing. Further, the door is configured
to
open by sliding downward, and therefore the size of the washer/dryer in a side
face
direction when the door is open can be reduced. As a result, the housing can
be
made more compact.
[0057] The detection unit preferably includes a digital still camera, an
infrared
camera, an infrared sensor, an ultrasonic sensor, or a projector.
[0058] According to this configuration, the shape and size of the processing
subject,
positional relationships between processing subjects, and so on can be
detected by
the digital still camera, infrared camera, infrared sensor, ultrasonic sensor,
or
projector.
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[0059] The detection unit is preferably provided on the retaining device.
[0060] According to this configuration, the detection unit can move into the
interior of
the washing tub together with the retaining device, and therefore the
processing
subject can be detected even when stuck to one corner of the washing tub or
the like,
for example. As a result, the processing subject can be detected more
accurately.
Advantageous Effects of Invention
[0061] According to the present invention, it is possible to provide a
processing
apparatus with which an operation for retaining and handing over a processing
subject can be shortened in order to reduce an amount of time required for
folding
processing.
Brief Description of Drawings
[0062] Fig. 1 is a perspective view showing a processing apparatus 1.
Fig. 2 is a view showing a front surface of the processing apparatus 1 from
the
inside, and illustrating a reception transportation device, a clamping device,
and a
transportation device of the processing apparatus 1.
Fig. 3 is a perspective view showing the reception transportation device of
the
processing apparatus 1.
Fig. 4 is a perspective view showing the reception transportation device, the
clamping device, and the transportation device of the processing apparatus 1.
Fig. 5 is a perspective view showing a retaining device of the processing
apparatus 1.
Fig. 6 is a perspective view showing a retaining mechanism of the retaining
device.
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Fig. 7 is a perspective view showing the retaining mechanism of the retaining
device.
Fig. 8 is a perspective view showing a carrying device of the processing
apparatus 1.
Fig. 9(a) is a view showing the front surface of the processing apparatus 1
from the inside, and illustrating the transportation device of the processing
apparatus
1, and Fig. 9(b) is a side view showing a support member.
Fig. 10 is a function block diagram showing a control device of the processing
apparatus 1.
Fig. 11 is a view illustrating "folding information" relating to a T-shirt
that
serves as an example of a processing subject.
Fig. 12 is a flowchart showing a T-shirt reception transportation process
performed by the processing apparatus 1 shown in Fig. 1.
Fig. 13 is a flowchart showing a T-shirt recognition process performed by the
processing apparatus 1 shown in Fig. 1.
Fig. 14 is a flowchart showing a T-shirt folding process performed by the
processing apparatus 1 shown in Fig. 1.
Fig. 15 is a flowchart showing a T-shirt transportation process performed by
the processing apparatus 1 shown in Fig. 1.
Fig. 16 is a view illustrating a T-shirt processing operation performed by the
processing apparatus 1 shown in Fig. 1.
Fig. 17 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
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Fig. 18 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
Fig. 19 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
Fig. 20 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
Fig. 21 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
Fig. 22 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
Fig. 23 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
Fig. 24 is a view illustrating the T-shirt processing operation performed by
the
processing apparatus 1 shown in Fig. 1.
Fig. 25 is a left side view showing a condition in which a door of the
processing apparatus 1 is open.
Fig. 26 is a view showing another example of the retaining device according to
modified example (I).
Fig. 27 is a view illustrating a T-shirt processing operation according to
modified example (I).
Fig. 28 is a view illustrating the T-shirt processing operation according to
modified example (I).
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Fig. 29 is a view illustrating the T-shirt processing operation according to
modified example (I).
Fig. 30 is a view illustrating a T-shirt processing operation according to
modified example (L).
Fig. 31 is a view illustrating the T-shirt processing operation according to
modified example (L).
Fig. 32 is a view illustrating first and second conveyors according to
modified
example (0).
Fig. 33 is a view illustrating an auxiliary reception member according to
modified example (P).
Fig. 34 is a view illustrating a T-shirt processing operation according to
modified example (R).
Fig. 35 is a view illustrating the T-shirt processing operation according to
modified example (R).
Fig. 36 is a view illustrating the T-shirt processing operation according to
modified example (R).
Fig. 37 is a view illustrating a slacks processing operation according to
modified example (S).
Fig. 38 is a view illustrating the slacks processing operation according to
modified example (S).
Fig. 39 is a view illustrating the slacks processing operation according to
modified example (S).
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Fig. 40 is a view illustrating the slacks processing operation according to
modified example (S).
Fig. 41 is a view illustrating the slacks processing operation according to
modified example (S).
Fig. 42 is a view illustrating the slacks processing operation according to
modified example (S).
Fig. 43 is a view illustrating a T-shirt processing operation according to
modified example (U).
Fig. 44 is a view illustrating the T-shirt processing operation according to
modified example (U).
Fig. 45 is a view illustrating a towel processing operation according to
modified example (V).
Fig. 46 is a view illustrating the towel processing operation according to
modified example (V).
Fig. 47 is a view illustrating the towel processing operation according to
modified example (V).
Fig. 48 is a view illustrating processing operation performed using a carrying
body according to modified example (X).
Fig. 49 is a view illustrating the processing operation performed using the
carrying body according to modified example (X).
Fig. 50(a) is a schematic front view showing a processing apparatus 1A
according to modified example (Y), and Fig. 50(b) is a side view thereof.
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Fig. 51 is a pattern diagram illustrating a configuration of a processing
apparatus 1B.
Fig. 52 is a function block diagram showing a control device of the processing
apparatus 1B.
Fig. 53 is a view illustrating an extraction process performed on a processing
subject T.
Fig. 54 is a view illustrating a steaming function of a carrying device
according
to modified example (AA).
Fig. 55 is a view illustrating a steaming function of a clamping device
according to modified example (AA).
Fig. 56 is a view illustrating a steaming function of a retaining device
according to modified example (AA).
Fig. 57 is a view illustrating an ironing function of the carrying device
according to modified example (AA).
Fig. 58 is a view illustrating a drying function according to modified example
(AA).
Fig. 59 is a view illustrating a washer/dryer according to modified example
(BB).
Fig. 60 is a view illustrating a projected image projected by a projector
according to modified example (CC).
Fig. 61 is a view illustrating a detection unit according to modified example
(CC).
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Fig. 62 is a view illustrating the detection unit according to modified
example
(CC).
Fig. 63 is a view illustrating a carrying plate according to modified example
(Q).
Fig. 64 is a view illustrating the carrying body according to modified example
(X).
Fig. 65 is a view illustrating the carrying body according to modified example
(X).
Fig. 66 is a view illustrating a folding operation according to modified
example
(Z).
Fig. 67 is a view illustrating the folding operation according to modified
example (Z).
Fig. 68 is a view illustrating the folding operation according to modified
example (Z).
Fig. 69 is a pattern diagram illustrating a configuration of a processing
apparatus 1C.
Fig. 70 is a pattern diagram illustrating a configuration of a retaining
device of
the processing apparatus 1C.
Fig. 71 is a pattern diagram illustrating a handover operation performed by
the
processing apparatus 1C.
Fig. 72 is a pattern diagram illustrating a retaining device according to a
modified example of the processing apparatus 1C.
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Fig. 73 is a view illustrating a recognition process of the processing
apparatus
1C.
Fig. 74 is a view illustrating a storage operation performed by the processing
apparatus 1C to store a processing subject.
Fig. 75 is a view illustrating the slacks processing operation according to
modified example (S).
Fig. 76 is a view illustrating the folding operation according to modified
example (Z).
Fig. 77 is a view illustrating the handover operation performed by the
processing apparatus 1C.
Fig. 78 is a view illustrating a towel recognition operation performed by the
processing apparatus 1C.
Fig. 79 is a view illustrating the storage operation performed by the
processing apparatus 1C to store the processing subject.
Fig. 80 is a view illustrating the storage operation performed by the
processing apparatus 1C to store the processing subject.
Description of Embodiments
[0063] An embodiment of the present invention will be described in detail
below.
Note that it is assumed, unless specified otherwise, that positional
relationships
illustrated as up, down, left, right, and so on in the figures are based on
the positional
relationships in the figures. Moreover, various dimensional ratios shown in
the
figures are not limited to the illustrated ratios.
Furthermore, the following
embodiment is an illustrative example of the present invention, and the
present
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invention is not limited thereto. Various amendments may be applied to the
present
invention within a scope that does not depart from the spirit thereof.
[0064] Hereafter, first, in "I. First processing apparatus", a processing
apparatus 1 for
subjecting a processing subject T to folding and so on, and modified examples
thereof,
will be described.
[0065] Next, in "II. Second processing apparatus", a processing apparatus 1B
for
extracting a processing subject T dried and so on in a dryer or the like from
the dryer
or the like, and subjecting the processing subject T to folding and so on, and
modified
examples thereof, will be described.
[0066] Next, in "Ill. Third processing apparatus", a processing apparatus 1C
for
subjecting a processing subject T to folding and so on using three retaining
devices,
and modified examples thereof, will be described.
[0067] I. First processing apparatus
First, operations for subjecting a processing subject to folding and so on
will
be described using the processing apparatus 1 as an example.
[0068] [Overall configuration of processing apparatus 1]
The processing apparatus 1 is an apparatus for retaining, recognizing,
folding,
and transporting a processing subject T constituted by a deformable thin
object. As
shown in Fig. 1, the processing apparatus 1 mainly includes a frame 100, a
reception
transportation device 200, retaining devices 300A, 300B, a carrying device
400, an
imaging device 500, a clamping device 700, a transportation device 800, and a
control
device 900 (Fig. 10).
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[0069] Note that the processing subject T is a deformable thin object
represented by
a textile such as a garment or a towel, a film, a piece of paper, a sheet, or
the like, for
example, and the processing subject may have a rectangular shape such as that
of a
towel, or a substantially rectangular shape such as that of a T-shirt or a
running shirt.
[0070] [Frame 1001
The frame 100 is constituted by four frame pieces 102, and a frame base 104
provided on the bottom of the frame pieces 102. Further, respective upper ends
of
the frame pieces 102 that are adjacent to each other in a front-rear direction
(the
direction of an arrow Y) are connected by lateral frame pieces 105.
Furthermore,
wall surfaces are provided respectively between the frame pieces 102. As a
result,
an enclosed internal space is formed in the processing apparatus 1. Note that
in the
following description, a wall surface to which a door main body 210 is
attached will be
referred to as a front surface 106A, a wall surface opposing the front surface
106A will
be referred to as a back surface 106B, a right side wall surface will be
referred to as a
right side surface 106C, and a left side wall surface will be referred to as a
left side
surface 106D. Moreover, the frame and the wall surfaces are collectively
referred to
as "housing".
[0071] [Reception transportation device 200]
The reception transportation device 200 is a device for receiving the
processing subject T from the outside, and as shown in Figs. 2 to 4, includes
a door
202 (Fig. 2) and a transportation conveyor 204 (Fig. 3). The reception
transportation
device 200 is connected communicably to the control device 900, to be
described
below, either by wire or wirelessly. The control device 900 controls an
operation of
the transportation conveyor 204.
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[0072] The door 202 is disposed in a position slightly below the center of the
front
surface 106A of the processing apparatus 1 so as to be easily accessible to a
user.
As shown in Fig. 2, the door 202 includes the door main body 210, a door shaft
212, a
pair of door shaft retaining members 214, a door opening/closing motor 216,
door
opening/closing motor power transmitting means 218, a processing subject
reception
member 220, and a barrier member 222.
[0073] The door main body 210 is a rectangular plate used to open and close an
opening portion 0 (Fig. 1) formed in the front surface 106A of the processing
apparatus 1. The door shaft 212 is attached to a lower end portion of the door
main
body 210 such that a rotary axis thereof extends in a width direction (the
direction of
an arrow X).
[0074] The pair of door shaft retaining members 214 retain respective end
portions of
the door shaft 212 so that the door shaft 212 is free to rotate. Further, the
respective
door shaft retaining members 214 are attached to a rear side of the front
surface
106A.
[0075] The door opening/closing motor 216 is capable of rotating normally and
in
reverse, and is attached to a rear surface of the front surface 106A in the
vicinity of the
opening portion 0.
[0076] The door opening/closing motor power transmitting means 218 is
constituted
by a drive side pulley 224, a driven side pulley 226, and a belt 228. The
drive side
pulley 224 is attached to an output shaft end of the door opening/closing
motor 216.
The driven side pulley 226 is attached to the door shaft 212 in the vicinity
of the door
opening/closing motor 216. The belt 228 is wound around the drive side pulley
224
and the driven side pulley 226.
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[0077] By means of this configuration, rotary force from the door
opening/closing
motor 216 is transmitted to the door shaft 212 via the door opening/closing
motor
power transmitting means 218. When the door shaft 212 rotates about the rotary
axis, the door main body 210 rotates about the door shaft 212. The opening
portion
0 is opened and closed by rotating the door main body 210.
[0078] As shown in Fig. 4, the processing subject reception member 220 is
constituted by a pair of side surface plates 230, a bottom surface plate 232,
and a
back surface plate 234. The processing subject reception member 220 is
attached
to an inner surface of the door main body 210. By attaching the processing
subject
reception member 220 to the door main body 210, a space for receiving the
processed processing subject T is formed on the rear side of the door main
body 210.
A processing subject reception box R is disposed in this space. A basket may
be
used instead of the processing subject reception box R, or the processed
processing
subject T may be carried directly on the bottom surface plate 232.
[0079] The barrier member 222 is an elongated member that extends in the width
direction (the direction of the arrow X) and has an arc-shaped cross-section.
A
height of the barrier member 222 (in the direction of an arrow Z) may be set
as desired,
but is preferably set to be approximately equal to or slightly larger than a
diameter (10
to 20 mm, for example) of a substantially disc-shaped gripping member 328 (see
Fig.
6) of the retaining mechanism 322, for example. By setting the height in this
manner,
the processing subject can be gripped by the entire surface of the gripping
member
328 of the retaining mechanism 322 when lifted onto the barrier member 222.
Further, one end of each of the pair of support members 236 is connected to a
back surface (a convex surface opposing the door main body 210) of the barrier
member 222. The other ends of the support members 236 are connected to
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respective lower end portions of the side surface plates 230 forming the
processing
subject reception member 220. As a result, the barrier member 222 is disposed
substantially parallel to the door main body 210 in a more deep-set position
than the
processing subject reception member 220.
[0080] As shown in Fig. 3, the transportation conveyor 204 is disposed
directly
beneath the processing subject reception member 220 when the door main body
210
is closed. The transportation conveyor 204 includes four support frames 238
standing substantially vertically upright from the frame base 104, a pair of
rollers 240,
a conveyor belt 242, a conveyor drive motor 244, and conveyor drive motor
power
transmitting means 246.
[0081] The pair of rollers 240 are suspended rotatably between respective
pairs of
the support frames 238 such that respective rotary axes thereof extend in the
width
direction (the direction of the arrow X). Further, a height direction position
of each
roller 240 is set such that a line linking respective upper ends of the
surfaces of the
two rollers 240 is separated from a lower end of the barrier member 222 when
the
door main body 210 is closed by a slightly larger amount than a thickness of
the
conveyor belt 242. Hence, when the door main body 210 is closed, the lower end
of
the barrier member 222 is positioned in the vicinity of an upper surface of
the
conveyor belt 242. The conveyor belt 242 is wound around the pair of rollers
240.
[0082] The conveyor drive motor 244 is capable of rotating normally and in
reverse,
and as shown in Fig. 3, is attached to an upper surface of the frame base 104.
The
conveyor drive motor power transmitting means 246 is constituted by a drive
side
pulley 248, a driven side pulley 250, and a belt 252. The drive side pulley
248 is
attached to an output shaft end of the conveyor drive motor 244. The driven
side
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pulley 250 is attached to one of the rollers 240. The belt 252 is wound around
the
drive side pulley 248 and the driven side pulley 250.
[0083] By means of this configuration, rotary force from the conveyor drive
motor 244
is transmitted to one of the rollers 240 (the roller 240 disposed directly
beneath the
door 202) via the conveyor drive motor power transmitting means 246. When this
roller 240 rotates, the conveyor belt 242 rotates in the same direction. As
will be
described below, the rotation direction (a forward direction or a reverse
direction) of
the conveyor drive motor 244 is controlled by the control device 900. Note
that in
this specification, rotation by which the conveyor belt 242 moves away from
the door
main body 210 will be referred to as "forward direction rotation", and
rotation by which
the conveyor belt 242 approaches the door main body 210 will be referred to as
"reverse direction rotation".
[0084] [Retaining device 300]
The retaining device 300 retains and lifts up the processing subject T carried
on the transportation conveyor 204 of the reception transportation device 200,
and
performs operations to recognize and fold the processing subject T
cooperatively with
the carrying device 400. (A retaining system for retaining the processing
subject T is
constituted by at least the transportation conveyor 204 and barrier member 222
described above, and the retaining device 300.)
[0085] As shown in Fig. 1, the processing apparatus 1 includes the pair of
retaining
devices 300A, 300B, which respectively include retaining mechanisms 310A, 310B
and moving mechanisms 320A, 320B. Note that the pair of retaining mechanisms
300A, 300B are disposed side by side in the front-rear direction (the
direction of the
arrow Y). In the following description, the two retaining devices and
constituent
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elements thereof will be differentiated by attaching a suffix "A" to the
retaining device
and constituent elements thereof that are closer to the door 202 and attaching
a suffix
"B" to the retaining device and constituent elements thereof that are further
from the
door 202.
[0086] The pair of retaining devices 300A, 300B are respectively capable of
moving
relative to the carrying device 400 in an up-down direction (a Z direction), a
width
direction (an X direction), and a front-rear direction (a Y direction). For
example, the
holding devices 300A, 300B may be arranged collinearly with (at an identical
height
to) an edge portion of a carrying plate 402 of the carrying device 400, and by
disposing the retaining device 300A in front of the carrying plate 402 and
disposing
the other retaining device 300B to the rear of the carrying plate 402 or the
like, the
retaining devices 300A, 300B are capable of moving freely within respective
movable
ranges thereof. In other words, the carrying device 400 is disposed within a
movable
range of the retaining device 300.
[0087] The retaining device 300B will now be described using Fig. 5. Note that
the
retaining device 300A is configured basically identically to the retaining
device 300B,
and can be described by replacing the reference symbol "B" of the retaining
device
300A with the reference symbol "A". Accordingly, description thereof has been
omitted.
[0088] The retaining mechanism 310B retains a part of the processing subject
T.
Further, the moving mechanism 320B moves the retaining mechanism 310B. The
retaining device 300B is connected communicably to the control device 900, to
be
described below, either by wire or wirelessly. Operations of the retaining
mechanism
310B and the moving mechanism 320B are controlled by the control device 900.
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[0089] A gripping mechanism that actively grips the processing subject T or a
hooking mechanism that simply hooks the processing subject T may be used as
the
retaining mechanism 310B. In the processing apparatus 1 according to this
embodiment, a gripping mechanism is used in the retaining device 300B as the
retaining mechanism 310B, and therefore a case in which the retaining
mechanism is
a gripping mechanism will be described below.
[0090] As shown in Figs. 6 and 7, the retaining mechanism 310B includes a pair
of
finger members 322B, a linear actuator 324B, and a rotary actuator 326B. Note
that
Fig. 6 shows a condition in which the pair of finger members 322B are
separated from
each other, while Fig. 7 shows a condition in which the pair of finger members
322B
are in contact with each other. Further, a substantially disc-shaped gripping
member
328B is attached to a tip end portion of each finger member 322B to be free to
rotate.
Furthermore, the linear actuator 324B is connected to the rotary actuator 326B
via a
connecting plate 330B having an L-shaped cross-section.
[0091] The pair of finger members 322B serve to grip the processing subject T.
More specifically, the gripping members 328B attached to the respective tip
end
portions of the finger members 322B grip the processing subject T by directly
contacting the processing subject T.
[0092] The linear actuator 324B causes the pair of finger members 322B to
approach
or move away from each other. In this embodiment, one of the finger members
3226
is fixed to the linear actuator 324B, and the other finger member 322B moves
in
response to an operation of the linear actuator 324B. A maximum width (an
opening/closing stroke) between the pair of finger members 322B may be set as
appropriate.
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[0093] The rotary actuator 326B rotates the linear actuator 324B in the
direction of an
arrow R1 via the connecting plate 330B with the horizontal direction (the
direction of
the arrow X) serving as a rotary axis.
[0094] As shown in Fig. 5, the moving mechanism 320B includes a width
direction
moving mechanism 332B, a pair of up-down direction moving mechanisms 334B, and
a front-rear direction moving mechanism 336B.
[0095] The width direction moving mechanism 332B moves the retaining mechanism
310B in the width direction (the direction of the arrow X). The up-down
direction
moving mechanisms 334B move the retaining mechanism 310B in an up-down
direction (the direction of the arrow Z) together with the width direction
moving
mechanism 332B. Further, the front-rear moving mechanism 336B moves the
up-down direction moving mechanisms 334B, the width direction moving mechanism
332B, and the retaining mechanism 310B in the front-rear direction (the
direction of
the arrow Y).
[0096] As described above, the width direction moving mechanism 332B is
provided
in order to move the retaining mechanism 310B in the width direction (the
direction of
the arrow X). The width direction moving mechanism 332B includes a width
direction
moving motor 338B serving as a driving force source, and a linear guide 340B.
[0097] The linear guide 340B is inserted into the width direction moving motor
338B.
The linear guide 340B takes the shape of a round bar that is suspended between
a
right-left pair of up-down moving plates 344BR, 344BL of the up-down direction
moving mechanism 334B. In other words, the linear guide 340B is disposed such
that a lengthwise direction thereof extends in the width direction (the
direction of the
arrow X). When energized, the width direction moving motor 338B slides along
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linear guide 340B. The rotary actuator 326B of the retaining mechanism 310B is
fixed to the width direction moving motor 338B. When the width direction
moving
motor 338B moves in the width direction (the direction of the arrow X) along
the linear
guide 340B, the retaining mechanism 310B fixed to the width direction moving
motor
338B moves in the width direction (the direction of the arrow X).
[0098] The up-down direction moving mechanism 334B moves the width direction
moving mechanism 332B in the up-down direction (the direction of the arrow Z).
The
upper-down direction moving mechanism 334B includes the right-left pair of up-
down
moving plates 344BR, 344BL, and a right-left pair of elevating units 346BR,
346BL.
In the following description, the up-down moving plates, the elevating units,
and
constituent elements thereof will be differentiated by attaching a suffix "R"
to the
up-down moving plates, elevating units and constituent elements thereof that
are
disposed on the right side when the processing apparatus us seen from the
front,
and attaching a suffix "L" to the up-down moving plates, elevating units and
constituent elements thereof that are disposed on the left side. Note that the
up-down moving plate 344BL and the elevating unit 346BL are respectively
configured basically identically to the up-down moving plate 344BR and the
elevating
unit 346BR, and can be described by replacing the reference symbol "R" of the
up-down moving plate 344BR and the elevating unit 346BR with the reference
symbol
"L". Accordingly, description thereof has been omitted.
[0099] The width direction moving mechanism 332B, described above, is attached
to
the up-down moving plate 344BR. The up-down moving plate 344BR is attached to
the elevating unit 346BR. The elevating unit 346BR is attached to a frame body
348BR, to be described below, of the front-rear direction moving mechanism
336B.
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[0100] The elevating unit 346BR includes an up-down direction drive motor
350BR
serving as a driving force source, a ball screw 352BR, and a nut 354BR. The
up-down direction drive motor 350BR is capable of rotating normally and in
reverse.
The up-down direction drive motor 350BR is fixed to a lower portion of the
frame body
348BR of the front-rear direction moving mechanism 336B. The ball screw 352BR
is
disposed to extend in a vertical direction (the direction of the arrow Z) so
as to receive
driving force from the up-down direction drive motor 350BR. The nut 354BR is
screwed to the ball screw 352BR so as to move in the up-down direction (the
direction
of the arrow Z) as the ball screw 352BR rotates. Further, the up-down moving
plate
344 BR is fixed to the nut 354BR.
[0101] When the up-down direction drive motor 350BR of the elevating unit
346BR is
driven, the ball screw 352BR rotates. Accordingly, the nut 354BR screwed to
the ball
screw 352BR moves in a rotary axis direction of the ball screw 352BR (the
direction of
the arrow Z), whereby the up-down moving plate 344BR attached to the nut 354BR
moves in the rotary axis direction (the direction of the arrow Z). By
operating the
up-down direction drive motors 350BR, 350RL synchronously, the width direction
moving mechanism 332B is moved in the up-down direction (the direction of the
arrow
Z).
[0102] The front-rear direction moving mechanism 336B is constituted by a left-
right
pair of mechanisms that move the up-down direction moving mechanism 334B,
described above, in the front-rear direction (the direction of the arrow Y).
The
front-rear direction moving mechanisms 336B each include a frame body 348B, a
plurality of slide guides 356B, a front-rear direction drive motor 358B, and a
linear
guide 360B. The up-down direction moving mechanism 334B, described above, is
attached to the frame bodies 348B. In the following description, the front-
rear
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direction moving mechanisms 336B and constituent elements thereof will be
differentiated by attaching a suffix "R" to the front-rear direction moving
mechanism
336B and constituent elements thereof that are disposed on the right side when
the
processing apparatus 1 is seen from the front, and attaching a suffix "L" to
the left side
front-rear direction moving mechanism 336B and constituent elements thereof.
Note
that the front-rear direction moving mechanism 336BL is configured basically
identically to the front-rear direction moving mechanism 336BR, and can be
described
by replacing the reference symbol "R" of the front-rear direction moving
mechanism
336BR with the reference symbol "L". Accordingly, description thereof has been
omitted.
[0103] The slide guides 356BR guide front-rear movement of the front-rear
direction
moving mechanism 336BR. Two sets of the slide guide sets 356BR are used for
the
single front-rear direction moving mechanism 336BR. Each slide guide set 356BR
includes an LM guide 362BR and a slider 364BR. The LM guides 362BR are
disposed on an inner surface of the right side surface 106C such that
respective
lengthwise directions thereof are aligned with the front-rear direction (the
direction of
the arrow Y). The sliders 364BR are attached respectively to the frame body
348BR.
Note that the LM guides 362BR are also used by the slide guides 356AR provided
on
the moving mechanism 320A of the retaining device 300A. In other words, LM
guides 362AR and the LM guides 362BR are identical members.
[0104] The linear guide 360BR is inserted into the front-rear direction drive
motor
358BR. Two sets of the front-rear direction drive motor 358BR and the linear
guide
360BR are used for the single front-rear direction moving mechanism 336BR. One
front-rear direction drive motor 358BR is attached to an upper end of the
frame body
348BR. The other front-rear direction drive motor 358BR is attached to a lower
end
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of the frame body 348BR. The linear guides 360BR are disposed on the inner
surface of the right side surface 106C such that respective lengthwise
directions
thereof are aligned with the front-rear direction (the direction of the arrow
Y). When
the front-rear direction drive motor 358BR moves along the linear guide 360BR,
the
frame body 348BR moves together therewith. When the frame body 348BR moves,
the width direction moving mechanism 332BR and the retaining mechanism 310B
likewise move therewith. Note that the linear guide 360BR is also used by the
moving mechanism 320A of the retaining device 300A. In other words, a linear
guide
360AR and the linear guide 360BR are identical members.
[0105] [Carrying device 400]
As shown in Fig. 8, the carrying device 400 rotates and moves the carrying
plate 402 carrying the processing subject T during recognition processing and
folding
processing.
[0106] The carrying device 400 mainly includes the carrying plate 402, a right-
left
pair of frame bodies 404R, 404L, a rotation mechanism 406, a front-rear
direction
moving mechanism 408, and a processing subject sensor 409.
[0107] The carrying device 400 operates in conjunction with the motion of the
retaining device 300. For example, during the recognition processing, the
carrying
device 400 carries the processing subject T, which is retained by the
retaining device
300 so as to hang in a downward direction (the direction of the arrow Z), on
the
carrying plate 402 (either places the processing subject T on a main surface
of the
carrying plate 402 or hooks the processing subject T on an edge portion
thereof) so
that a part of the processing subject T is pulled and displaced in a
horizontal direction,
and as a result, the processing subject T separates from the bottom surface of
the
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processing apparatus 1 while a length thereof in the up-down direction (the
direction
of the arrow Z) shortens (a profile thereof is lowered). As a result, a larger
processing subject T can be lifted up (in other words, a lowermost end of the
processing subject T can be removed from the bottom surface of the processing
apparatus) and retained by the retaining device 300. Moreover, the overall
height of
the processing apparatus can be reduced in comparison with a case where the
processing subject T is lifted up in the upward direction by the retaining
device 300
alone. Further, during the folding processing, for example, the carrying
device 400
forms a fold line in the processing subject T by hooking the processing
subject T on
the edge portion of the carrying plate 402.
[0108] The carrying plate 402 is constituted by a carrying plate main body 410
formed from a substantially rectangular plate, and a rotary shaft 412. The
rotary
shaft 412 is fixed to the carrying plate main body 410 so as to be offset from
a
front-rear direction (the Y direction) center of the carrying plate main body
410 toward
one long side thereof. Since the carrying plate main body 410 is disposed at
an
offset relative to the rotary shaft 412, respective distances from the rotary
shaft 412 to
the long sides of the carrying plate main body 410 differ on each long side.
Accordingly, by bringing the processing subject T into contact with the long
side that is
further from the rotary shaft 412, for example, the processing subject T can
be lifted
higher at an identical tilt angle (60 degrees, for example) than in a case
where the
carrying plate main body 410 is not offset, and as a result, the limited space
within the
processing apparatus 1 can be used more effectively. Note that the rotary
shaft 402
may be disposed in the front-rear direction (the Y direction) center of the
carrying
plate 410 rather than being offset.
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[0109] Further, the rotary shaft 412 is formed to be longer than the carrying
plate
main body 410, and therefore projects from respective short sides of the
carrying plate
main body 410. A right end of the rotary shaft 412 (in the direction of an
arrow X1) is
connected to a rotary center of an upper side pulley 426 of the rotation
mechanism
406, to be described below. The rotary shaft 412 is disposed such that a
central axis
thereof is aligned with the left-right direction (the direction of the arrow
X). Further,
rotation of the rotary shaft 412 in a counterclockwise direction, as seen from
the left
side surface 106D, will be referred to as "forward direction rotation", while
rotation of
the rotary shaft 412 in a clockwise direction will be referred to as "reverse
direction
rotation".
[0110] The right-left pair of frame bodies 404R, 404L are members for
retaining the
rotary shaft 412 rotatably at a predetermined height. The right side frame
body 404R
includes a rectangular parallelepiped-shaped hollow member 418 having an
internal
space, and a bracket 420 (for convenience, Fig. 8 shows a condition in which
the
bracket 420 on the left side (in the direction of an arrow X2) has been
removed). The
bracket 420 is a substantially rhomboid plate. The hollow member 418 is
attached to
the bracket 420 so as to extend along a long axis thereof. Further, a moving
plate
416R is attached to the bracket 420 so as to extend along a short axis
thereof. As a
result, the hollow member 418 stands upright from the moving plate 416.
Furthermore, a bearing 421 that retains a left end (in the direction of the
arrow X2) of
the rotary shaft 412 rotatably is provided on an upper end portion of a strut
419.
[0111] The rotation mechanism 406 rotates the carrying plate 402. The rotation
mechanism 406 mainly includes a rotation motor 422, a lower side pulley 424,
the
upper side pulley 426, and a belt 428.
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[0112] The rotation motor 422 generates driving force for rotating the
carrying plate
402. The rotation motor 422 is fixed to the moving plate 416R. Further, a
turntable
430 is attached to an output shaft end of the rotation motor 422.
[0113] The lower side pulley 424 receives the driving force from the rotation
motor
422. The lower side pulley 424 is retained rotatably by a substantially U-
shaped
lower side pulley retaining member 432. The output shaft of the rotation motor
422 is
set at a substantially orthogonal orientation to a rotary axis of the lower
side pulley
424. The rotation motor 422 and the lower side pulley 424 are positioned so
that an
outer edge of the turntable 430 contacts a peripheral edge surface of the
lower side
pulley 424. As a result, the driving force from the rotation motor 422 is
transmitted to
the lower side pulley 424 at a 900 offset.
[0114] As described above, the tip end of the rotary shaft 412 of the carrying
plate
402 is attached to the center of the upper side pulley 426. Further, the belt
428 is
wound around the upper side pulley 426 and the lower side pulley 424. As a
result,
driving force received from the rotation motor 422 is transmitted from the
lower side
pulley 424 to the upper side pulley 426 via the belt 428. The upper side
pulley 426
rotates upon reception of the driving force. When the upper side pulley 426
rotates,
the carrying plate 402 also rotates.
[0115] The front-rear direction moving mechanism 408 includes the right-left
pair of
moving plates 416R, 416L, a connecting member 434 for connecting the right-
left pair
of frame bodies 404R, 404L to each other, a front-rear direction drive motor
436, and
a linear guide 438. Further, the front-rear direction moving mechanism 408 is
disposed below the transportation conveyor 204 of the reception transportation
device
200.
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[0116] The connecting member 434 connects lower ends of the two frame bodies
404R, 404L to each other on the lower side of the transportation conveyor 204.
In
other words, the connecting member 434 extends in the width direction (the
direction
of the arrow X).
[0117] The linear guide 438 is inserted into the front-rear direction drive
motor 436.
The front-rear direction drive motor 436 is attached to a lower side of the
connecting
member 434, described above, via a bracket 440. The linear guide 438 is
disposed
such that a lengthwise direction thereof is aligned with the front-rear
direction (the
direction of the arrow Y). Moreover, the front-rear direction drive motor 436
is
attached to the lower side of a central portion of the connecting member 434.
[0118] When the front-rear direction drive motor 436 moves along the linear
guide
438, the connecting member 434 moves in the same direction. When the
connecting
member 434 moves, the frame bodies 404R, 404L and the carrying plate 402 also
move in the same direction.
[0119] The processing subject sensor 409 is attached to a surface of the
moving
plate 416R so as to be oriented toward the moving plate 416L. In other words,
the
processing subject sensor 409 is attached in a substantially orthogonal
orientation
relative to the conveyor belt 242 of the transportation conveyor 204. By
attaching the
processing subject sensor 409 to the moving plate 416R in this manner, when
the
carrying device 400 is moved in the front-rear direction by the front-rear
direction
moving mechanism 408, the processing subject sensor 409 moves in the front-
rear
direction simultaneously therewith.
[0120] The processing subject sensor 409 is an obstruction detection sensor
that
issues an obstruction detection signal after detecting an obstruction (the
processing
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subject T, for example) in front of the processing subject sensor 409. In this
embodiment, the obstruction detection signal issued by the processing subject
sensor
409 is transmitted to the control device 900 over a signal line.
[0121] [Imaging device 500]
The imaging device 500 detects an end point or the like of the processing
subject T during the processing for receiving and transporting the processing
subject
T and the processing for recognizing and folding the processing subject T, and
is
capable of photographing at least the entire movement range of the retaining
device
300 and the carrying device 400. As shown in Fig. 1, the imaging device 500
includes a first imaging unit 502 and a second imaging unit 504. Digital still
cameras
are used as the respective imaging units 502, 504.
[0122] Note that wide angle lenses or varifocal lenses may be used as lenses
of the
digital still cameras used as the first imaging unit 502 and the second
imaging unit 504.
In this case, visual fields of the respective imaging units 502, 504 are
widened, and as
a result, a larger processing subject T can be photographed by a single
imaging unit.
Further, zoom lenses may be used as the lenses in order to photograph the
processing subject T at a high magnification. In this case, the material of
the
processing subject T can be detected by the imaging units 502, 504 from the
weave
texture of the processing subject T. When the material of the processing
subject T
can be ascertained, gripping, folding, and other operations can be performed
in a
manner suited to the material.
[0123] In this embodiment, the imaging range of the imaging device 500 extends
below the processing apparatus 1 so as to include at least the barrier member
222,
and as a result, a first point P directly above the barrier member 222 can be
detected
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(see Fig. 17(f)). Monochrome or color CCDs, for example, can be used as image
sensors of the digital still cameras. When color CCDs are used, the "color" of
the
processing subject T can be used during the recognition process performed on
the
processing subject T as an element for determining whether or not the
processing
subject T has been recognized.
[0124] The first imaging unit 502 is attached to an inner wall surface on a
far side (in
the direction of an arrow Y1) of the processing apparatus 1 so as to be
oriented
toward an inner side of the door main body 210. The first imaging unit 502 is
configured to be positioned on a front surface of the processing subject T
when the
processing subject T is unfurled. Further, the second imaging unit 504 is
attached to
an inner wall surface on one side face (in the direction of an arrow X1) of
the
processing apparatus 1 so as to be oriented toward the other side face (in the
direction of the arrow X2). The second imaging unit 504 is configured to be
positioned on a side face of the processing subject T when the processing
subject T is
unfurled. In other words, an imaging direction employed by the first imaging
unit 502
and an imaging direction employed by the second imaging unit 504 are
substantially
orthogonal to each other. Accordingly, the processing subject T can be
recognized
in three dimensions by trigonometry, and as a result, the processing subject T
can be
retained more accurately by the retaining mechanisms 310A, 310B (note that the
processing subject T can also be recognized in three dimensions by
trigonometry
using the first imaging unit 502 alone, i.e. without providing the second
imaging unit
504, by moving the processing subject T a predetermined distance, and
therefore, in
this light, the second imaging unit 504 is not essential. However, it is
preferable to
provide a plurality of imaging units in order to increase the speed, accuracy,
and so on
of the processing).
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[0125] The first imaging unit 502 and the second imaging unit 504 may have
different
height positions (in the Z direction). In this case, a situation in which the
first imaging
unit 502 and the second imaging unit 504 enter blind spots simultaneously due
to the
movement of structures (the retaining devices 300A, 300B, for example) in the
processing apparatus 1 and so on can be suppressed. Further, the camera lens
of
the unit, among the first imaging unit 502 and the second imaging unit 504,
that is
disposed in a higher position may be oriented downward in order to widen the
downward viewing angle. Hence, the first imaging unit 502 and the second
imaging
unit 504 are preferably disposed in consideration of the structures in the
processing
apparatus 1, the movement loci thereof, and so on to ensure that the two
imaging
units do not enter blind spots simultaneously.
[0126] Furthermore, the camera lenses of both the first imaging unit 502 and
the
second imaging unit 504 may be oriented downward. In this case, a situation in
which dust and the like floating through a housing of the processing apparatus
1
adheres to and accumulates on the lenses can be suppressed.
[0127] [Clamping device 700]
The clamping device 700 receives the processing subject T from the carrying
device 400 by clamping the processing subject T when the processing subject T
is
transported thereto while carried on the carrying plate 402 of the carrying
device 400.
As shown in Figs. 2 and 4, the clamping device 700 mainly includes an upper
side
clamping plate 702, a lower side clamping plate 704, an upper side clamping
plate
rotary shaft 706, a lower side clamping plate rotary shaft 708, upper side
bearings 710,
lower side bearings 712, a clamping plate rotation motor 714, and driving
force
transmitting means 716.
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[0128] The upper side clamping plate 702 is a rectangular plate disposed such
that a
lengthwise direction thereof is aligned with the width direction (the
direction of the
arrow X). The upper side clamping plate rotary shaft 706 is attached to a
lower side
edge portion of the upper side clamping plate 702. The upper side clamping
plate
rotary shaft 706 is disposed such that a rotary axis thereof is aligned with
the width
direction (the direction of the arrow X). The pair of upper side bearings 710
are
attached to respective end portions of the upper side clamping plate rotary
shaft 706.
The upper side bearings 710 are attached to an inner side of the front surface
106A of
the processing apparatus 1 on which the door main body 210 is provided.
[0129] The lower side clamping plate 704 is a rectangular plate having a
larger
surface area than the upper side clamping plate 702 described above. Further,
the
lower side clamping plate 704 is disposed such that a lengthwise direction
thereof is
aligned with the width direction (the direction of the arrow X). Furthermore,
the lower
side clamping plate 704 is disposed directly below the upper side clamping
plate 702.
The lower side clamping plate rotary shaft 708 is attached to an upper side
edge
portion of the lower side clamping plate 704. The lower side clamping plate
rotary
shaft 708 is disposed such that a rotary axis thereof is aligned with the
width direction
(the direction of the arrow X). The pair of lower side bearings 712 are
attached to
respective end portions of the lower side clamping plate rotary shaft 708. The
lower
side bearings 712 are attached to the front surface 106A. Further, the lower
side
clamping plate rotary shaft 708 is disposed such that the rotary axis thereof
is aligned
with the width direction (the direction of the arrow X) and so as to be
parallel to the
upper side clamping plate rotary shaft 706. Moreover, a plurality of
rectilinear slits
730 are formed in the lower side clamping plate 704 so as to extend from the
side of
the long side to which the lower side clamping plate rotary shaft 708 is
attached to the
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edge of the other long side. The slits 730 are formed to have a slightly
larger width
than support members 808 of the transportation device 800 so that the support
members 808 can be inserted into the slits 730, as will be described below.
[0130] The clamping plate rotation motor 714 is capable of rotating normally
and in
reverse, and generates driving force for rotating the upper side clamping
plate 702
and the lower side clamping plate 704. The clamping plate rotation motor 714
is
attached to the inner side of the front surface 106A, similarly to the
bearings 710, 712.
[0131] The driving force transmitting means 716 includes a drive side pulley
718, a
driven side pulley 720, a belt 722, and interlocking means 724.
[0132] The drive side pulley 718 is attached to an output shaft end of the
clamping
plate rotation motor 714. The driven side pulley 720 is attached to the end of
the
lower side clamping plate rotary shaft 708 that is closer to the clamping
plate rotation
motor 714. The belt 722 is wound around the drive side pulley 718 and the
driven
side pulley 720.
[0133] The interlocking means 724 is constituted by a first gear 726 attached
to the
upper side clamping plate rotary shaft 706 and a second gear 728 attached to
the
lower side clamping plate rotary shaft 708.
[0134] As a result, the driving force from the clamping plate rotation motor
714 is
transmitted to the lower side clamping plate rotary shaft 708 via the drive
side pulley
718, the belt 722, and the driven side pulley 720. The lower side clamping
plate
rotary shaft 708 to which the driving force is transmitted rotates in a
predetermined
direction. Further, the driving force transmitted to the lower side clamping
plate
rotary shaft 708 is transmitted also to the upper side clamping plate rotary
shaft 706
via the interlocking means 724. Since the gears 726, 728 are used as the
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interlocking means 724, the upper side clamping plate rotary shaft 706 rotates
in an
opposite rotation direction to the lower side clamping plate rotary shaft 708.
For
example, when the upper side clamping plate rotary shaft 706 rotates
clockwise, the
lower side clamping plate rotary shaft 708 rotates counterclockwise. The upper
side
clamping plate 702 and the lower side clamping plate 704 can thus be caused to
approach and move away from each other, whereby the clamping device 700 can
perform clamping and releasing operations.
[0135] [Transportation device 800]
The transportation device 800 receives the processed processing subject T
from the clamping device 700, and transports the received processing subject
T.
The transportation device 800 is disposed on a downstream side of a processing
subject processing device constituted by at least one of the devices from the
reception
transportation device 200 to the clamping device 700, and together with the
processing subject processing device constitutes a processing subject
processing
system. As shown in Fig. 9(a), the transportation device 800 mainly includes a
support 802, a support rotation mechanism (a rotation mechanism) 804, and a
support up-down moving mechanism 806. Note that for convenience, Fig. 9 shows
a
condition in which the lower side clamping plate 704 of the clamping device
700 has
been removed.
[0136] The support 802 supports the processing subject T received from the
clamping device 700. The support 802 includes the plurality of (in this
embodiment,
four) support members 808, and a support shaft 810. One end of each support
member 808 is attached to a lateral periphery of the support shaft 810 so that
the
respective support members 808 are arranged in a row with gaps therebetween.
Further, the support members 808 are attached in an orthogonal orientation
relative to
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a lengthwise direction of the support shaft 810. As a result, the support 802
is
formed in a comb tooth shape.
[0137] As shown in Fig. 9(b), each support member 808 is constituted by a
reception
portion 832 and a curved portion 834. The reception portion 832 is a
rectilinear
portion attached at one end to the support shaft 810. Further, the curved
portion 834
is an arc-shaped portion that extends upward at an incline from the other end
of the
reception portion 832 (the curved portion 834 is not limited to an arc shape,
and may
take any shape that extends upward at an incline).
[0138] The support rotation mechanism 804 includes a frame 812 and a rotation
motor 814. The frame 812 is attached to the inner side of the front surface
106A (the
wall surface in the direction of an arrow Y2) of the processing apparatus 1,
on which
the door main body 210 is provided, below the lower side clamping plate rotary
shaft
708 of the clamping device 700. Further, the frame 812 is an elongated member
that
extends in the width direction (the direction of the arrow X) and supports the
support
shaft 810 rotatably.
[0139] The rotation motor 814 is capable of rotating normally and in reverse,
and
generates driving force for rotating the support shaft 810. The rotation motor
814 is
fixed to a right side end (in the direction of the arrow X1) of the frame 812.
An output
shaft of the rotation motor 814 is connected to a right side end (in the
direction of the
arrow X1) of the support shaft 810. As a result, the support shaft 810 can be
rotated
by the driving force of the rotation motor 814. Using the support shaft 810,
positions
in which the support members 808 hang down, positions in which the support
members 808 are substantially horizontal, and so on can be set as desired.
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[0140] The support up-down moving mechanism 806 moves the support rotation
mechanism 804 and the support 802 up and down. The support up-down moving
mechanism 806 mainly includes a pair of ball screws 816, a pair of nuts 817,
an
up-down moving motor 818, and driving force transmitting means 820.
[0141] The pair of ball screws 816 are attached to the inner side of the front
surface
106A. Further, the ball screws 816 are disposed in the up-down direction (the
direction of the arrow Z) via a gap that is slightly narrower than a
horizontal direction
length of the frame 812. The nuts 817 are screwed respectively to the ball
screws
816. The nuts 817 are attached to respective end portions of the frame 812.
[0142] The up-down moving motor 818 is capable of rotating normally and in
reverse,
and generates driving force for moving the support rotation mechanism 804 and
the
support 802 up and down. The up-down moving motor 818 is attached to the inner
side of the front surface 106A. Further, an attachment height of the up-down
moving
motor 818 is set in the vicinity of a lowermost end to which the support 802
can be
moved.
[0143] The driving force transmitting means 820 transmit the driving force of
the
up-down moving motor 818 to the pair of ball screws 816. The driving force
transmitting means 820 includes a drive side pulley 822, a driven side pulley
824, a
pair of interlocking pulleys 826, a drive belt 828, and an interlocking belt
830.
[0144] The drive side pulley 822 is attached to an output shaft end of the up-
down
moving motor 818. The driven side pulley 824 is attached to a lower end of the
ball
screw 816 that is closest to the up-down moving motor 818. The pair of
interlocking
pulleys 826 are attached to respective upper ends of the pair of ball screws
816. The
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drive belt 828 is wound around the drive side pulley 822 and the driven side
pulley
824. The interlocking belt 830 is wound around the pair of interlocking
pulleys 826.
[0145] Hence, the driving force of the up-down moving motor 818 is transmitted
to
the ball screw 816 that is closest to the up-down moving motor 818 via the
drive side
pulley 822 and the drive belt 828. The ball screw 816 to which the driving
force is
transmitted rotates in a predetermined direction. Resulting rotational force
is
transmitted to the other ball screw 816 via the pair of interlocking pulleys
826 and the
interlocking belt 830. As a result, the pair of ball screws 816 receive the
driving force
of the up-down moving motor 818 so as to rotate in identical directions and at
identical
speeds. Accordingly, the pair of nuts 817 move up and down at identical
speeds,
whereby the frame 812 moves up and down while remaining horizontal. When the
frame 812 moves up and down, the support 802 and the support rotation
mechanism
804 also move up and down.
[0146] [Control device 900]
The control device 900 controls the respective parts of the processing
apparatus 1. The control device 900 is mainly constituted by a ROM, a CPU, a
RAM,
and an input/output interface. The ROM stores an operating system, control
programs for controlling the respective parts of the processing apparatus 1,
and data
required to execute the control program. Further, the CPU is provided to load
the
control programs stored in the ROM to the RAM or execute the control programs
directly from the ROM. In other words, the CPU can control the processing
apparatus 1 by executing the control programs. Data processed by the CPU are
transmitted to respective parts (the reception transportation device 200, the
retaining
devices 300A, 300B, and so on) of the processing apparatus 1 via the
input/output
interface, while data required by the CPU to execute the processing are
received from
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respective parts (the imaging device 500 and so on) of the processing
apparatus 1 via
the input/output interface.
[0147] As shown in the function block diagram of Fig. 10, the control device
900
mainly includes a reception transportation device control unit 902, a
retaining device
control unit 904, a carrying device control unit 906, an imaging device
control unit 908,
a clamping device control unit 910, a transportation device control unit 912,
a type
recognition unit 914, a length detection unit 915, a hanging length detection
unit 916,
a first point detection unit 920, a first end point detection unit 922, a
second end point
detection unit 924, a third end point detection unit 926, a fourth end point
detection
unit 928, a fifth end point detection unit 930, a sixth end point detection
unit 932, a
seventh end point detection unit 934, and an eighth end point detection unit
936.
[0148] [Reception transportation device control unit 902]
The reception transportation device control unit 902 controls operations of
the
reception transportation device 200. In other words, the reception
transportation
device control unit 902 controls operations of the door 202 and the
transportation
conveyor 204.
[0149] When the reception transportation device control unit 902 controls the
operation of the door 202, the door main body 210 opens and closes. As a
result,
the user can insert the processing subject T into the processing apparatus 1
or
remove the processed processing subject T from the processing apparatus 1.
Further, by having the reception transportation device control unit 902
control the
operation of the transportation conveyor 204, the transportation conveyor 204
can be
rotated in either the forward direction or the reverse direction.
[0150] [Retaining device control unit 904]
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The retaining device control unit 904 controls operations of the retaining
mechanisms 310A, 310B and moving mechanisms 320A, 320B of the retaining
devices 300A, 300B.
[0151] When the retaining device control unit 904 controls the operations of
the linear
actuators 324A, 324B of the retaining mechanisms 310A, 310B, the respective
pairs
of finger members 322A, 322B approach or move away from each other, whereby
the
processing subject T is gripped or released by the gripping members 328A, 328B
attached to the respective finger members 322A, 322B.
[0152] Further, when the retaining device control unit 904 controls the
operations of
the rotary actuators 326A, 326B of the retaining mechanisms 310A, 310B, the
linear
actuators 324A, 324B rotate about the respective rotary axes of the rotary
actuators
326A, 326B via the connecting plates 330A, 330B.
[0153] Furthermore, when the retaining device control unit 904 controls the
operations of the width direction moving mechanisms 332A, 332B of the moving
mechanisms 320A, 320B, the retaining mechanisms 310A, 310B move in the width
direction (the direction of the arrow X).
[0154] Moreover, when the retaining device control unit 904 controls the
operations
of the up-down direction moving mechanisms 334A, 334B of the moving mechanisms
320A, 320B, the retaining mechanisms 310A, 310B move in the up-down direction
(the direction of the arrow Z).
[0155] Furthermore, when the retaining device control unit 904 controls the
operations of the front-rear direction moving mechanisms 336A, 336B of the
moving
mechanisms 320A, 320B, the retaining mechanisms 310A, 310B move in the
front-rear direction (the direction of the arrow Y).
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[0156] [Carrying device control unit 906]
The carrying device control unit 906 controls operations of the rotation
mechanism 406 and the front-rear direction moving mechanism 408 of the
carrying
device 400.
[0157] When the carrying device control unit 906 controls the operation of the
rotation mechanism 406, the carrying plate 402 rotates while maintaining a
predetermined angle.
[0158] When the carrying device control unit 906 controls the operation of the
front-rear direction moving mechanism 408, the carrying plate 402 moves in the
front-rear direction (the direction of the arrow Y).
[0159] [Imaging device control unit 908]
The imaging device control unit 908 controls operations of the first imaging
unit 502 and the second imaging unit 504 of the imaging device 500. By
controlling
the first imaging unit 502 and the second imaging unit 504, digital images can
be
obtained at desired timings.
[0160] [Clamping device control unit 910]
The clamping device control unit 910 controls an operation of the clamping
plate rotation motor 714 of the clamping device 700. When the clamping device
control unit 910 causes the clamping plate rotation motor 714 to rotate
normally, the
upper side clamping plate 702 and the lower side clamping plate 704 rotate in
an
approaching direction (in other words, a closing direction of the clamping
device 700).
When the clamping plate rotation motor 714 is rotated in reverse, on the other
hand,
the upper side clamping plate 702 and the lower side clamping plate 704 rotate
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separating direction (in other words, an opening direction of the clamping
device 700).
As a result, the open/closed condition of the clamping device 700 can be
controlled.
[0161] [Transportation device control unit 912]
The transportation device control unit 912 controls operations of the support
rotation mechanism 804 and the support up-down moving mechanism 806 of the
transportation device 800.
[0162] When the transportation device control unit 912 controls the support
rotation
mechanism 804 of the transportation device 800, a rotation angle of the
support 802 is
varied or maintained at a predetermined angle.
[0163] When the transportation device control unit 912 controls the support up-
down
moving mechanism 806 of the transportation device 800, the support 802 moves
in
the up-down direction (the direction of the arrow Z).
[0164] [Type recognition unit 914]
The type recognition unit 914 recognizes the type of the processing subject T
on the basis of image data obtained by the first imaging unit 502 and the
second
imaging unit 504 of the imaging device 500. To describe this type recognition
operation, the type recognition unit 914 performs learning in advance using a
randomized forest recognition device on the basis of feature amounts extracted
from
image data (learning image data) relating to many different types of
processing
subjects T, such as a T-shirt, a running shirt, a skirt, a towel, a
handkerchief, a film, a
piece of paper, or a sheet. A randomized forest is a machine learning
algorithm used
to perform recognition and the like by constructing a forest from a plurality
of decision
trees. Further, the term "feature amount" as used herein is not limited to the
outer
shape of the processing subject T (for example, the presence or absence of a
"collar
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portion"), and includes all elements of the outer appearance of the processing
subject
T. For example, when the processing subject T is a T-shirt, a character
design
printed on the T-shirt also serves as an element used to calculate the
"feature
amount". Note that the learning image data may be added by the user via a
tablet
PC having a camera function, a digital camera having a data transmission
function, or
the like.
[0165] A method employing a "pixel value", a method employing an "HOG
(Histogram Oriented Gradients) feature amount", or a method employing an
existing
technique used to recognize a human face, such as a "Haar-like feature
amount", may
be used as a method of calculating the feature amount from the learning image
data.
[0166] Using the method described above, the type recognition unit 914
calculates
the feature amounts of the processing subject T currently being processed,
which
appears on the image data obtained by the first imaging unit 502 and the
second
imaging unit 504. The type recognition unit 914 then uses a randomized forest
recognition device to calculate probabilities by which the processing subject
T
corresponds to each of certain types (a T-shirt, a running shirt, a skirt, a
towel, and so
on, for example) as percentages for each calculated feature amount, and then
recognizes the highest probability (i.e. the highest percentage) as the type
of the
processing subject T.
[0167] Further, a folding method is determined in the type recognition unit
914 in
advance for each type of processing subject T, and the folding method for each
type is
stored as "folding information". The "folding information" includes
information
indicating positions in which to make folds when folding a processing subject
T of a
certain type. For example, when the processing subject T is a T-shirt and the
T-shirt
is to be folded in two in a length direction and in three in a width
direction, the "folding
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information" for the T-shirt includes "position information indicating a
lateral fold line
B1" required to fold the T-shirt in two in the length direction, and "position
information
indicating a first fold line B2" and "position information indicating a second
fold line B3",
required to fold the T-shirt in three in the width direction, as shown in Fig.
11. Note
that the "lateral fold line B1" does not have to be specific "position
information", and
may be determined as a proportion of the overall length of the T-shirt, for
example "a
halfway position of the overall length". Furthermore, an end side of the T-
shirt further
toward the end than the first fold line B2 will be referred to as a first end
part D1, an
end side of the T-shirt further toward the opposite end than the second fold
line B3 will
be referred to as a second end part D3, and a central portion sandwiched
between the
first end part D1 and the second end part D3 will be referred to as a central
part D2.
[0168] [Length detection unit 915]
The length detection unit 915 obtains a vertical direction length and a
horizontal direction length of the processing subject T (when the processing
subject T
is a T-shirt, the vertical direction length and the horizontal direction
length correspond
respectively to a length dimension and a width dimension of the T-shirt) on
the basis
of the image data obtained by the first imaging unit 502 and the second
imaging unit
504 of the imaging device 500.
[0169] [Hanging length detection unit 9161
The hanging length detection unit 916 detects a lower end of the processing
subject T hanging from an edge line (a first edge line) of the carrying plate
402 on the
basis of the image data obtained by the first imaging unit 502 and the second
imaging
unit 504 of the imaging device 500, thereby obtaining a hanging length from
the first
edge line to the lower end.
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[0170] [First point detection unit 920]
The first point detection unit 920 detects the first point P, which denotes
the
highest position of the processing subject T carried on the upper surface of
the
transportation conveyor 204 of the reception transportation device 200. More
specifically, on the basis of the image data from the first imaging unit 502
and the
second imaging unit 504, the first point detection unit 920 detects a part of
the
processing subject T located at least a predetermined height from the upper
surface
of the transportation conveyor 204 either directly above or in the vicinity of
the barrier
member 222 of the reception transportation device 200 (when a plurality of
parts are
located at least the predetermined height from the upper surface of the
transportation
conveyor 204, the highest part, for example, is detected) as the first point P
(see Fig.
17(f)).
[0171] [First end point detection unit 922]
The first end point detection unit 922 detects a first end point P1 located
furthest away from the first point P when the retaining mechanism 310A retains
the
processing subject T by the first point P. More specifically, on the basis of
the image
data from the first imaging unit 502 and the second imaging unit 504, the
first end
point detection unit 922 detects a lowermost point (the point in the lowest
position) of
the processing subject T when the retaining mechanism 310A retains and lifts
up the
processing subject T by the first point P, and sets this lowermost point as
the first end
point P1 (see Fig. 18(h)).
[0172] [Second end point detection unit 924]
The second end point detection unit 924 detects a second end point P2
located furthest away from a straight line L1 linking the first point P to the
first end
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point P1. More specifically, on the basis of the image data from the first
imaging unit
502 and the second imaging unit 504, the second end point detection unit 924
detects
the lowermost point of the processing subject T when the retaining mechanisms
310A,
310B retain the processing subject T at equal heights by the first point P and
the first
end point P1, respectively, and sets this lowermost point as the second end
point P2
(see Fig. 18(i)).
[0173] [Third end point detection unit 926]
The third end point detection unit 926 detects a corner portion of the
processing subject T as a third end point P3. More specifically, on the basis
of the
image data from the first imaging unit 502 and the second imaging unit 504,
the third
end point detection unit 926 detects a lower corner portion of the processing
subject T
hanging down from the carrying plate 402, and sets this corner portion as the
third end
point P3 (see Fig. 19(1)).
[0174] [Fourth end point detection unit 928]
The fourth end point detection unit 928 detects an opposite corner portion of
the processing subject T to the third end point P3 as a fourth end point P4.
More
specifically, on the basis of the image data from the first imaging unit 502
and the
second imaging unit 504, the fourth end point detection unit 928 detects the
corner
portion opposite the corner portion of the processing subject T set as the
third end
point P3, and sets this corner portion as the fourth end point P4 (see Fig.
19(1)).
[0175] [Fifth end point detection unit 930]
The fifth end point detection unit 930 detects one end of the lateral fold
line B1
used when the processing subject T is folded in two in an orthogonal direction
to the
lengthwise direction thereof (i.e. in a lateral direction) as a fifth end
point P5. More
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specifically, on the basis of the image data from the first imaging unit 502
and the
second imaging unit 504, the fifth end point detection unit 930 detects an
upper corner
portion of the processing subject T in a condition where the carrying plate
402 is set at
a predetermined angle from a horizontal condition and the processing subject T
hangs
down over the carrying plate 402 such that the lateral fold line B1 of the
processing
subject T extends along an upper side edge line (a first edge line Cl) of the
carrying
plate 402, and sets this corner portion as the fifth end point P5 (see Fig.
21(p)).
[0176] [Sixth end point detection unit 932]
The sixth end point detection unit 932 detects the other end of the lateral
fold
line B1 used when the processing subject T is folded in two in an orthogonal
direction
to the lengthwise direction thereof (i.e. in the lateral direction) as a sixth
end point P6.
More specifically, when the fifth end point P5 is detected by the fifth end
point
detection unit 930, the sixth end point detection unit 932 detects a corner
portion
opposite the corner portion of the processing subject T set as the fifth end
point P5 on
the basis of the image data from the first imaging unit 502 and the second
imaging
unit 504, and sets this corner portion as the sixth end point P6 (see Fig.
21(p)).
[0177] [Seventh end point detection unit 934]
The seventh end point detection unit 934 detects one end of the first fold
line
B2 used when the processing subject T is folded in the lengthwise direction
(the
vertical direction) thereof as a seventh end point P7. More specifically, on
the basis
of the image data from the first imaging unit 502 and the second imaging unit
504, the
seventh end point detection unit 934 detects an upper corner portion of the
processing
subject T in a condition where the carrying plate 402 is set at a
predetermined angle
from a horizontal condition and the processing subject T hangs down over the
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carrying plate 402 such that the first fold line B2 of the processing subject
T extends
along the upper side edge line (the first edge line Cl) of the carrying plate
402, and
sets this corner portion as the seventh end point P7 (see Fig. 22(s)).
[0178] [Eighth end point detection unit 936]
The eighth end point detection unit 936 detects the other end of the first
fold
line B2 used when the processing subject T is folded in the lengthwise
direction (the
vertical direction) thereof as an eighth end point P8. More specifically, when
the
seventh end point P7 is detected by the seventh end point detection unit 934,
the
eighth end point detection unit 936 detects a corner portion opposite the
corner
portion of the processing subject T set as the seventh end point P7 on the
basis of the
image data from the first imaging unit 502 and the second imaging unit 504,
and sets
this corner portion as the eighth end point P8 (see Fig. 22(s)).
[0179] [Control executed by reception transportation device control unit 902]
The reception transportation device control unit 902 controls the operations
of
the door 202 and the transportation conveyor 204 to perform first control to
fifth
control, described below, in order to receive the processing subject T in the
processing apparatus 1 in a crumpled condition and arrange the processing
subject T
so that the retaining device 300A can lift up the processing subject T more
easily.
[0180] The reception transportation device control unit 902 controls the door
opening/closing motor 216 to open the door main body 210 (first control).
[0181] Further, following the first control, the reception transportation
device control
unit 902 controls the conveyor drive motor 244 to rotate the transportation
conveyor
204 in the forward direction (second control).
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[0182] After the user inserts the crumpled processing subject T into the
processing
apparatus 1, the reception transportation device control unit 902 controls the
door
opening/closing motor 216 to close the door main body 210 (third control).
Note that
the front-rear direction moving mechanism 408 of the carrying device 400 is
positioned in advance so that the processing subject sensor 409 is positioned
in the
position of the barrier member 222 when the door main body 210 is closed.
[0183] Further, following the third control, the reception transportation
device control
unit 902 controls the conveyor drive motor 244 to rotate the transportation
conveyor
204 in the reverse direction (fourth control).
[0184] Further, when the reception transportation device control unit 902
determines
that the processing subject T has been lifted onto the barrier member 222
following
the fourth control, or in other words when the control device 900 receives the
obstruction detection signal from the processing subject sensor 409, the
reception
transportation device control unit 902 controls the conveyor drive motor 244
to stop
the transportation conveyor 204 (fifth control).
[0185] [Control executed cooperatively by retaining device control unit 904
and
carrying device control unit 906]
The retaining device control unit 904 and the carrying device control unit 906
execute sixth control to twenty-first control, described below, in order to
lift up the
processing subject T from the transportation conveyor 204, recognize the
processing
subject T, and then fold the processing subject T.
[0186] After the retaining mechanism 310A retains the processing subject T on
the
transportation conveyor 204 by the first point P, the retaining device control
unit 904
controls the retaining device 300A to lift up the processing subject T (sixth
control).
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[0187] Following the sixth control, the retaining device control unit 904
controls the
retaining device 300B such that the retaining mechanism 310B retains the first
end
point of the processing subject T (seventh control).
[0188] Following the seventh control, the retaining device control unit 904
controls
the retaining device 300B such that the retaining mechanism 310A moves
horizontally
in a rightward direction (the direction of the arrow X1) while retaining the
first point P,
and the retaining mechanism 310B lifts up the first end point P1 to the same
height as
the first point P (eighth control).
[0189] Following the eighth control, the retaining device control unit 904
controls the
retaining device 300B such that the retaining mechanism 310B releases the
first end
point P1 and then retains the second end point P2 (ninth control).
[0190] Following the ninth control, the retaining device control unit 904 and
the
carrying device control unit 906 control the retaining device 300B and the
carrying
device 400 such that the retaining mechanism 310B lifts up the second end
point P2
to the same height as the first point P, and the carrying plate 402 rotates in
the
forward direction (tenth control).
[0191] Following the tenth control, the retaining device control unit 904
controls the
retaining devices 300A, 300B to cause the retaining mechanism 310A and the
retaining mechanism 310B to hang the processing subject T over the carrying
plate
402 such that the lateral fold line B1 of the processing subject T is aligned
with the
upper side edge line (the first edge line Cl) of the carrying plate 402,
whereupon the
retaining mechanism 310A releases the first point P and the retaining
mechanism
3106 releases the second end point P2 (eleventh control).
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[0192] Following the eleventh control, the retaining device control unit 904
controls
the retaining device 300A such that the retaining mechanism 310A retains the
third
end point P3 (twelfth control).
[0193] Following the twelfth control, the retaining device control unit 904
controls the
retaining device 300A such that the retaining mechanism 310A moves the third
end
point P3 directly above the fourth end point P4 (thirteenth control).
[0194] Following the thirteenth control, the retaining device control unit 904
controls
the retaining device 300B such that the retaining mechanism 310B retains the
fourth
end point P4 (fourteenth control).
[0195] Following the fourteenth control, the retaining device control unit 904
and the
carrying device control unit 906 control the retaining device 300B and the
carrying
device 400 such that the retaining mechanism 310B lifts up the fourth end
point P4 to
an equal height to the third end point P3 on the right side (the direction of
the arrow
X1) of the third end point, whereupon the carrying plate 402 rotates in the
forward
direction (the rotary shaft 412 rotates counterclockwise when seen from the
left side
surface 102D) such that the front and back of the processing subject T are
reversed,
and then the processing subject T is hung over the carrying plate 402 with the
lateral
fold line B1 of the processing subject T in alignment with the upper side edge
line (the
first edge line Cl) of the carrying plate 402 (fifteenth control).
[0196] Following the fifteenth control, the retaining device control unit 904
and the
carrying device control unit 906 control the retaining devices 300A, 300B and
the
carrying device 400 such that the carrying plate 402 is held in a vertical
condition, the
retaining mechanism 310A retains the fifth end point, and the retaining
mechanism
310B retains the sixth end point (sixteenth control).
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[0197] Following the sixteenth control, the retaining device control unit 904
and the
carrying device control unit 906 control the retaining devices 300A, 300B and
the
carrying device 400 such that the processing subject T is lifted above the
carrying
plate 402 while the respective retaining mechanisms 310A, 310B retain the
fifth end
point P5 and the sixth end point P6, whereupon the carrying plate 402 is held
in a
horizontal condition. The retaining mechanism 310A and the retaining mechanism
310B then line up the fifth end point P5 and the sixth end point P6 in the
front-rear
direction on the outer sides of the carrying plate 402, whereupon the
retaining
mechanism 310A and the retaining mechanism 310B place the lower end portion of
the processing subject T on the upper surface of the carrying plate 402
(seventeenth
control).
[0198] Following the seventeenth control, the retaining device control unit
904
[controls the retaining devices 300A, 300B such that] the retaining mechanism
310A
and the retaining mechanism 310B respectively release the fifth end point P5
and the
sixth end point P6 (eighteenth control).
[0199] Following the eighteenth control, the carrying device control unit 906
controls
the carrying device 400 such that the carrying plate 402 rotates in the
reverse
direction (the rotary shaft 412 rotates clockwise when seen from the left side
surface
102D) to a vertical orientation (nineteenth control).
[0200] Following the nineteenth control, the retaining device control unit 904
and the
carrying device control unit 906 control the retaining devices 300A, 300B and
the
carrying device 400 such that the retaining mechanism 310A and the retaining
mechanism 310B retain and lift up the processing subject T by the seventh end
point
P7 and the eighth end point P8, respectively, whereupon the carrying plate 402
is set
in the horizontal condition (twentieth control).
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[0201] Following the twentieth control, the retaining device control unit 904
controls
the retaining devices 300A, 300B such that the respective retaining mechanisms
310A, 310B place the processing subject T on the horizontal carrying plate 402
while
retaining the seventh end point P7 and the eighth end point P8 (twenty-first
control).
[0202] [Control executed cooperatively by carrying device control unit 906 and
clamping device control unit 910]
The carrying device control unit 906 and the clamping device control unit 910
execute twenty-second to twenty-third control, described below, in order to
fold the
processing subject T and retain the folded processing subject T in a folded
condition.
[0203] Following the twenty-first control, the carrying device control unit
906 and the
clamping device control unit 910 control the carrying device 400 and the
clamping
device 700 such that the carrying plate 402 carrying the processing subject T
approaches the clamping device 700 and the approaching processing subject T is
clamped between the upper side clamping plate 702 and the lower side clamping
plate 704 together with the carrying plate 402 (twenty-second control).
[0204] Following the twenty-second control, the carrying device control unit
906
controls the carrying device 400 such that the carrying plate 402 moves away
from the
clamping device 700 (twenty-third control).
[0205] [Control executed cooperatively by clamping device control unit 910 and
transportation device control unit 912]
The clamping device control unit 910 and the transportation device control
unit 912 execute twenty-fourth to twenty-sixth control, described below, in
order to
store the folded processing subject T in the processing subject reception
member 220
while preventing the processing subject T from losing its shape.
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[0206] Following the twenty-third control, the clamping device control unit
910 and
the transportation device control unit 912 control the transportation device
800 and
the clamping device 700 to rotate the support shaft 810 until the support 802
is
elevated to an upper limit and the support members 808 are horizontal, and
then to
release the processing subject T (twenty-fourth control).
[0207] Following the twenty-fourth control, the transportation device control
unit 912
controls the transportation device 800 to lower the support 802 while keeping
the
support members 808 horizontal (twenty-fifth control).
[0208] Following the twenty-fifth control, the clamping device control unit
910 and the
transportation device control unit 912 control the transportation device 800
to stop
lowering the support 802 and then to rotate the support members 808 to a
vertically
downward orientation (twenty-sixth control).
[0209] [T-shirt processing operation performed by processing apparatus 1]
Next, referring to flowcharts shown in Figs. 12 to 15 and also to Figs. 16 to
24,
a processing operation performed by the processing apparatus 1 on a T-shirt T
serving as an example of the processing subject T will be described.
[0210] [Reception transportation process (Fig. 12)]
First, as shown in Fig. 16(a), when the processing operation performed on the
T-shirt T by the processing apparatus 1 starts, the door main body 210 is
opened (the
first control, step Si). Next, as shown in Fig. 16(b), the transportation
conveyor 204
is rotated in the forward direction (a direction in which the T-shirt T moves
away from
the door main body 210) (the second control, step S2). In this condition, the
crumpled T-shirt T, which has been washed and dried, is inserted into the
processing
apparatus 1. Note that when the door main body 210 is open, as shown in Fig.
25,
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the door main body 210 rotates about the door shaft 212. Further, the
processing
subject reception member 220 and barrier member 222 attached to the door main
body 210 likewise rotate about the door shaft 212. In other words, the
processing
subject reception member 220 and the barrier member 222 are separated from the
upper surface of the transportation conveyor 204.
[0211] Next, the inserted T-shirt T is transported by the transportation
conveyor 204
rotating in the forward direction (the direction in which the T-shirt T moves
away from
the door main body 210), and once the T-shirt T has been transported to the
far side
(the side to which the T-shirt T moves away from the door main body 210) of
the
position in which the barrier member 222 is disposed when the door main body
210 is
closed, as shown in Fig. 16(c), the door main body 210 is closed (the third
control,
step S3). Note that the processing subject sensor 409 attached to the moving
plate
416R of the front-rear direction moving mechanism 408 provided in the
transportation
device 400 is used to confirm that the T-shirt T has been transported to the
far side of
the position of the barrier member 222. Further, the processing subject sensor
409
is attached to the moving plate 416R so as to be capable of moving in the
front-rear
direction, and therefore, by adjusting a front-rear position of the processing
subject
sensor 409, the processing subject sensor 409 can estimate a volume of the
processing subject T. Alternatively, it may be determined that the T-shirt has
been
transported to the far side when the transportation conveyor 204 has been
rotated in
the forward direction continuously for a predetermined time (timer control).
When
the door main body 210 is closed, the barrier member 222 is disposed directly
above
(in the vicinity of the surface of) the transportation conveyor 204.
[0212] Next, as shown in Fig. 17(d), the transportation conveyor 204 is
rotated in the
reverse direction (a direction in which the T-shirt T approaches the door main
body
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210) (the fourth control, step S4). Accordingly, the T-shirt T moves toward
the
concave surface of the barrier member 222. As a result, the T-shirt T moved by
the
transportation conveyor 204 is lifted onto the barrier member 222 (for
example, the
processing subject sensor 409 or the imaging device 500, which are oriented
toward
the upper side of the barrier member 222, can be used to determine that the T-
shirt T
has been lifted onto the barrier member 222). When the T-shirt T is lifted
onto the
barrier member 222, the first point detection unit 920 detects the part of the
T-shirt T
directly above the barrier member 222 as the first point P (first point
detection process,
step S5). When the first point P is detected, as shown in Fig. 17(e), the
transportation conveyor 204 is stopped (the fifth control, step S6). Note that
the
transportation conveyor 204 may be stopped as soon as the T-shirt T is
determined to
have crossed a top portion of the barrier member 222. In so doing, the T-shirt
T can
be set in a condition extending upward at an incline from the top portion of
the barrier
member 222 more easily, and as a result, the first point P can be retained by
the
retaining mechanisms 310A, 310B more easily than after the T-shirt T has
passed
over the barrier member entirely.
[0213] Next, as shown in Fig. 17(f), the retaining mechanism 310A retains the
detected first point P. More specifically, the pair of finger members 322A
approach
each other in response to an operation of the linear actuator 324 provided in
the
retaining mechanism 310A (at this time, the rotary actuator 326A holds the
finger
members 322A in a substantially horizontal orientation). When the pair of
finger
members 322A approach each other, the gripping members 328A attached to the
respective tip end portions of the two finger members 322A approach each other
so
as to retain (grip) the first point P of the T-shirt T. After retaining the
first point P, the
retaining mechanism 310A lifts up the T-shirt T until the first point P
reaches a higher
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position than the carrying plate 402, which is slightly tilted from the
horizontal
condition, whereby a condition shown in Fig. 18(g) is obtained (the sixth
control, step
S7). The reason why the carrying plate 402 is slightly tilted from the
horizontal
condition is to prevent the T-shirt T from sliding off. The incline of the
carrying plate
402 is preferably set between 0 and 80 degrees relative to the vertical
direction, for
example, and more preferably between 30 and 80 degrees relative to the
vertical
direction so that the retaining mechanisms (310A, 310B) and the carrying plate
402 do
not interfere with each other when the lowermost point of the T-shirt T is
retained. At
a point during the process for lifting up the T-shirt T, the rotary actuator
326A orients
the finger members 322A vertically downward. Note that when a plurality of
processing subjects T are inserted into the processing apparatus 1
simultaneously,
one of the processing subjects T is lifted up, whereupon the transportation
conveyor
204 is rotated in the forward direction again in order to transport the
remaining
processing subject T in the forward direction. When folding of the lifted
processing
subject T is complete, the routine returns to step S4 in order to lift up the
next
processing subject T to be folded, whereby the transportation conveyor 204 is
rotated
in the reverse direction and the processing subject T is moved toward the
concave
surface of the barrier member 222.
[0214] [Recognition process (Fig. 13)]
Next, the recognition process will be described. At this stage, the control
device 900 has not yet recognized the processing subject as a T-shirt. In a
type
recognition process (Fig. 13, step S14-2) to be described below, the type
recognition
unit 914 recognizes the type of the processing subject on the basis of the
feature
amounts that can be determined from the outer appearance of the T-shirt T
(whereby
the T-shirt T is recognized as a "T-shirt", and not as "slacks", a "towel", or
a "skirt", for
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example). To enable the imaging device 500 to photograph distinguishing sites
of
the T-shirt T during the type recognition process, and also to facilitate the
subsequent
folding process, it is necessary to unfurl (deploy) the lifted T-shirt T (Fig.
19(g)). In
this embodiment, the processing subject is recognized as the T-shirt T only
when the
processing subject is unfurled while the ends of respective sleeve openings of
the
T-shirt T are retained by the retaining mechanisms 310A, 310B, as shown in
Fig. 19(j).
This unfurling operation will now be described using Figs. 18(h) to 19(j).
[0215] First, as shown in Fig. 18(h), the imaging device 500 obtains image
data
showing the T-shirt T lifted up by the first point P, and transmits the image
data to the
control device 900. The first end point detection unit 922 detects the first
end point
P1 on the basis of the image data transmitted to the control device 900 (first
end point
detection process, step S8). More specifically, the first end point detection
unit 922
detects the lowermost point (the point in the lowest position) of the T-shirt
T lifted up
by the first point P, and sets the lowermost point as the first end point P1.
Here,
when the T-shirt T is long, the position of the lowermost point may be so low
that the
lowermost point is not included in the image data. Therefore, when the first
end point
detection unit 922 determines that the lowermost point does not appear in the
image
data, the retaining device control unit 904 moves the retaining mechanism 310A
retaining the first point P horizontally in the direction approaching the door
202 (the
direction of the arrow Y2). When the retaining mechanism 310A is moved in this
manner, the length by which the T-shirt T hangs from the carrying plate 402 is
reduced. As a result, the lowermost point of the T-shirt T can be included in
the
image data even when the T-shirt T is long.
[0216] Next, the retaining mechanism 310B retains the detected first end point
P1
(the seventh control, step S9). At this time, the rotary actuator B holds the
finger
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members 322B of the retaining mechanism 310B vertically upward. Next, the
retaining mechanism 310A moves horizontally in the rightward direction (the
direction
of the arrow X1) while retaining the first point P, and the retaining
mechanism 310B
lowers the first end point P1 to the same height as the first point P (the
eighth control,
step S10). At a point during the process by which the retaining mechanism 310B
lifts
up the first end point P1, the rotary actuator 326B orients the finger members
322B
vertically downward.
[0217] Next, as shown in Fig. 18(i), the imaging device 500 obtains image data
showing the T-shirt T with the first end point P1 and the first point P lifted
up to the
same height, and transmits the image data to the control device 900. The
second
end point detection unit 924 detects the second end point P2 on the basis of
the
image data transmitted to the control device 900 (second end point detection
process,
step S11). More specifically, the second end point detection unit 924 sets the
lowermost point of the processing subject T in a condition where the first
point P and
the first end point P1 are retained at equal heights by the respective
retaining
mechanisms 310A, 310B as the second end point P2. In other words, the point
furthest away from the straight line L1 linking the first point P to the first
end point P1
is detected as the second end point P2. Here, when the T-shirt T is wide, the
position of the lowermost point may be so low that the lowermost point is not
included
in the image data. Therefore, when the second end point detection unit 924
determines that the lowermost point does not appear in the image data, the
retaining
device control unit 904 moves the retaining mechanism 310A retaining the first
point P
and the retaining mechanism 310B retaining the first end point P1 horizontally
in the
direction approaching the door 202 (the direction of the arrow Y2). When the
two
retaining mechanisms 310A, 310B are moved in this manner, the length by which
the
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T-shirt T hangs from the carrying plate 402 is reduced. As a result, the
lowermost
point of the T-shirt T can be included in the image data even when the T-shirt
T is
wide. Once the second end point P2 has been detected by the second end point
detection unit 924, the retaining mechanism 310B retaining the first end point
P1
releases the first end point P1 and then retains the second end point P2 (the
ninth
control, step S12). Note that at this time, the rotary actuator B holds the
finger
members 322B of the retaining mechanism 310B vertically upward.
[0218] Next, as shown in Fig. 19(j), the retaining mechanism 310B retaining
the
second end point P2 lifts up the second end point P2 to the same height as the
first
point P. At a point during the process by which the retaining mechanism 310B
lifts
up the first end point P1, the rotary actuator 326B orients the finger members
322B
vertically downward. Further, the carrying plate 402 is rotated in the forward
direction (the tenth control, step S13). As a result, the T-shirt T hangs down
on the
far side of the carrying plate 402 (in the direction of the arrow Y1, the
imaging device
500 side) so that the length of the T-shirt T extends in the vertical
direction. In other
words, the retaining mechanism 310A and the retaining mechanism 310B
respectively
retain the sleeves of the T-shirt T. From the viewpoint of the imaging device
500, the
T-shirt T moves in front of the carrying plate 402, and therefore the carrying
plate 402
does not impede detection of the length of the T-shirt T using the image data
from the
imaging device 500 and so on. Note that during the tenth control (step S13),
the
carrying plate 402 may move in a direction approaching the door 202 (i.e. the
direction
of the arrow Y2) while pushing out the T-shirt T to the imaging device 500
side.
[0219] Next, in this condition, the length detection unit 915 measures a
longitudinal
direction length (the length) and a lateral direction length (the width) of
the T-shirt T on
the basis of the image data obtained from the imaging device 500, and stores
the
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measurement results temporarily in the RAM or the like of the control device
900
(length measuring process, step S14-1).
[0220] Next, the type recognition unit 914 recognizes the type of the T-shirt
T on the
basis of the image data obtained from the imaging device 500 (type recognition
process, step S14-2). More specifically, the feature amounts of the T-shirt T
are
calculated from the image data. The feature amounts include all elements that
can
be grasped from the outer appearance of the T-shirt T, such as the shape and
overall
length of the T-shirt T, and patterns, colors, and the like on the surface
thereof. After
calculating the feature amounts of the T-shirt T, the type recognition unit
914
recognizes the type of the processing subject T using a randomized forest
recognition
device created in advance for each feature amount. When the type recognition
process is complete, the type recognition unit 914 obtains the "folding
information"
corresponding to the type (in this embodiment, a T-shirt). The "folding
information"
for the T-shirt T includes the "position information indicating the horizontal
fold line B1",
which is required to fold the T-shirt T in two in the length direction, and
the "position
information indicating the first fold line B2" and the "position information
indicating the
second fold line B3", which are required to fold the T-shirt T in three in the
width
direction.
[0221] Note that in the case described in this embodiment, the first point P
is located
on the sleeve portion of the T-shirt T, and therefore the T-shirt T is
unfurled to a
condition in which the retaining mechanisms 310A, 310B retain the respective
ends of
the sleeve openings of the T-shirt T in a minimum amount of time. However, the
first
point P may be any part of the T-shirt T. Depending on the initial position of
the first
point P and the condition in which the T-shirt T is carried, the respective
ends of the
sleeve openings of the T-shirt T may not be retained by the retaining
mechanisms
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310A, 310B at the stage where the second end point is retained. According to
this
embodiment, the type recognition unit 914 cannot recognize the T-shirt T as a
"T-shirt"
in such a case (a case where the respective ends of the sleeve openings of the
T-shirt
T are not retained by the retaining mechanisms 310A, 310B). Therefore, the
processing apparatus 1 switches the lowermost point of the T-shirt T using the
retaining mechanisms 310A, 310B several more times until the respective ends
of the
sleeve openings of the T-shirt Tare retained by the retaining mechanisms 310A,
310B
(until the type recognition unit 914 recognizes the T-shirt T as a "T-shirt").
The
number of switches required before the type can be recognized may vary
depending
on the type of the processing subject T and the initial position of the first
point P on the
processing subject T. For example, when the processing subject T consists of
long
slacks or a long-sleeved top having long sleeves or low edges, the processing
subject
T can usually be recognized after two switches, while in the case of a T-shirt
or a
towel, the processing subject T can usually be recognized after three
switches.
[0222] [Folding process (Fig. 14)]
Next, as shown in Fig. 19(k), the retaining mechanism 310A retaining the first
point P and the retaining mechanism 310B retaining the second end point P2 are
moved horizontally in the door direction (the direction of the arrow Y2). The
retaining
mechanism 310A then releases the first point P. Further, the retaining
mechanism
310B releases the second end point P2 (the eleventh control, hanging length
detection process, step S15). More specifically, the previously obtained
information
relating to the T-shirt T includes the position of the lateral fold line B1 of
the T-shirt T.
In the case of the T-shirt T, the lateral fold line B1 is set in a position
exactly halfway
along the length direction. In the eleventh control, the two retaining
mechanisms
310A, 310B are moved horizontally in the door direction (the direction of the
arrow Y2)
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until the lateral fold line B1 is aligned with the upper side edge line (the
first edge line
Cl) of the carrying plate 402, which is set at an angle from the horizontal
condition.
As a result, the T-shirt T moves so as to brush against the first edge line Cl
(the
T-shirt T moves so as to be pressed against the carrying plate 402), and
therefore
creases in a contact location between the T-shit T and the first edge line Cl
can be
removed. Further, as a result, a lower edge side (a lower portion) of the T-
shirt T is
oriented toward the side of the first imaging unit 502 attached to the inner
surface of
the back surface 106B of the processing apparatus 1. The hanging length
detection
unit 916 of the control device 900 determines whether or not the lateral fold
line B1 is
aligned with the first edge line Cl. More specifically, having received the
image data
captured continuously by the first imaging unit 502 of the imaging device 500,
the
hanging length detection unit 916 successively checks the hanging length from
the
first edge line Cl of the carrying plate 402 to the lower end (the lower edge)
of the
T-shirt T. As described above, the lateral fold line B1 of the T-shirt T is
set in a
position exactly halfway along the length of the T-shirt T, and therefore the
retaining
device control unit 904 stops the horizontal movement of the retaining
mechanisms
310A, 310B upon reception of a signal from the hanging length detection unit
916
indicating that the hanging length has reached a length corresponding to half
the
length of the T-shirt T.
[0223] Next, as shown in Fig. 19(1), the imaging device 500 obtains image data
showing the T-shirt T hanging down from the carrying plate 402, and transmits
the
image data to the control device 900. The third end point detection unit 926
then
detects the third end point P3 on the basis of the image data transmitted to
the control
device 900 (third end point detection process, step S16). Further, the fourth
end
point detection unit 928 detects the fourth end point P4 on the basis of the
same
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image data transmitted to the control device 900 (fourth end point detection
process,
step S17). Note that the fourth end point detection process may be implemented
during the thirteenth control performed in step S19, to be described below. To
describe the third end point detection process more specifically, the third
end point
detection unit 926 detects the lower corner portion on the right side (the
direction of
the arrow X1) of the lower edge side of the T-shirt T while the T-shirt T
hangs down
from the carrying plate 402, and sets this corner portion as the third end
point P3.
Further, to describe the fourth end point detection process more specifically,
the
fourth end point detection unit 928 detects the lower corner portion on the
left side (the
direction of the arrow X2) of the lower edge side of the T-shirt T while the T-
shirt T
hangs down from the carrying plate 402 on the basis of the image data, and
sets this
corner portion as the fourth end point P4. Once at least the third end point
P3 has
been detected, the retaining mechanism 310A retains the third end point P3
(the
twelfth control, step S18). Note that at this time, the rotary actuator 326A
holds the
finger members 322A of the retaining mechanism 310A vertically upward.
[0224] Next, as shown in Fig. 20(m), the retaining mechanism 310A retaining
the
third end point P3 moves the third end point P3 directly above the fourth end
point P4
(the thirteenth control, step S19). More specifically, the retaining mechanism
310A
moves upward and to the left (in the direction of the arrow X2) while
retaining the third
end point P3. As a result, the third end point P3 is moved directly above the
fourth
end point P4. Note that at a point during the process by which the retaining
mechanism 310A lifts up the third end point P3, the rotary actuator 326A
orients the
finger members 322A vertically downward.
[0225] Next, as shown in Fig. 20(n), the retaining mechanism 310B retains the
fourth
end point P4 (the fourteenth control, step S20). More specifically, the rotary
actuator
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3266 of the retaining mechanism 310B orients the finger members 3226 upward.
With the finger members 322B oriented upward, the retaining mechanism 310B
retains the fourth end point P4 from the lower edge of the T-shirt T.
[0226] Next, as shown in Fig. 20(o), the retaining mechanism 3106 lifts up the
fourth
end point P4 to the same height as the third end point on the right side (the
direction
of the arrow X1) of the third end point P3. At this time, the rotary actuator
326 of the
retaining mechanism 310B is operated to orient the finger members 322
downward.
Next, the carrying plate 402 is rotated in the forward direction (the rotary
shaft 412
rotates counterclockwise when seen from the left side surface 102D). As a
result,
the front and back of the T-shirt T are reversed. More specifically, upon
completion
of step S20, the back surface of the T-shirt T opposes the first imaging unit
502,
whereas in the preceding operations, the front surface of the T-shirt T
opposed the
first imaging unit 502. After reversing the front and back of the T-shirt T,
the retaining
mechanism 310A retaining the third end point P3 and the retaining mechanism
3106
retaining the fourth end point P4 are moved horizontally in the door direction
(the
direction of the arrow Y2). Next, the retaining mechanism 310A releases the
third
end point P3. Further, the retaining mechanism 310B releases the fourth end
point
P4 (the fifteenth control, the hanging length detection process, step S21).
More
specifically, similarly to step S15, the two retaining mechanisms 310A, 310B
are
moved horizontally in the door direction (the direction of the arrow Y2) until
the lateral
fold line B1 is aligned with the upper side edge line (the first edge line Cl)
of the
carrying plate 402, which is set at an angle from the horizontal condition. As
a result,
a collar side (an upper portion) of the T-shirt T is oriented toward the side
of the first
imaging unit 502 attached to the inner surface of the back surface 106B of the
processing apparatus 1. The hanging length detection unit 916 of the control
device
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900 determines whether or not the lateral fold line B1 is aligned with the
first edge line
Cl. More specifically, having received the image data captured continuously by
the
first imaging unit 502 of the imaging device 500, the hanging length detection
unit 916
successively checks the hanging length from the first edge line of the
carrying plate
402 to the lower end (the collar) of the T-shirt T. As described above, the
lateral fold
line B1 of the T-shirt T is set in a position exactly halfway along the length
of the
T-shirt T, and therefore the hanging length detection unit 916 stops the
horizontal
movement of the two retaining mechanisms 310A, 310B after detecting that the
hanging length has reached a length corresponding to half the length of the T-
shirt T.
[0227] Next, as shown in Fig. 21(p), the imaging device 500 obtains image data
showing the T-shirt T hanging down from the carrying plate 402, and transmits
the
image data to the control device 900. The fifth end point detection unit 930
then
detects the fifth end point P5 on the basis of the image data transmitted to
the control
device 900 (fifth end point detection process, step S22). Further, the sixth
end point
detection unit 932 detects the sixth end point P6 on the basis of the same
image data
transmitted to the control device 900 (sixth end point detection process, step
S23).
More specifically, on the basis of the image data from the first imaging unit
502 and
the second imaging unit 504, the fifth end point detection unit 930 detects
the upper
corner portion on the right side (the direction of the arrow X1) of the T-
shirt T in a
condition where the carrying plate 402 is set at a predetermined angle from
the
horizontal condition and the T-shirt T hangs down over the carrying plate 402
such
that the lateral fold line B1 is aligned with the upper side edge line (the
first edge line
Cl) of the carrying plate 402, and sets the right side upper corner portion as
the fifth
end point P5. Further, the sixth end point detection unit 932 detects the
upper corner
portion on the left side (the direction of the arrow X2) of the T-shirt T on
the basis of
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the image data from the first imaging unit 502 and the second imaging unit
504, and
sets the left side upper corner portion as the sixth end point P6.
[0228] Furthermore, the carrying plate 402 is rotated to the vertical
condition,
whereupon the retaining mechanism 310A retains the fifth end point P5.
Further, the
retaining mechanism 310B retains the sixth end point P6 (the sixteenth
control, step
S24). More specifically, the rotary actuator 326A of the retaining mechanism
310A is
operated to cause the finger members 322A to retain the fifth end point P5
while
oriented downward. Further, the rotary actuator 326B of the retaining
mechanism
310B is operated to cause the finger members 322B to retain the sixth end
point P6
while oriented downward.
[0229] Next, as shown in Fig. 21(q), the respective retaining mechanisms 310A,
310B lift all or a part of the T-shirt T high above the carrying plate 402
while retaining
the fifth end point P5 and the sixth end point P6. The carrying plate 402 is
then
rotated so as to be held horizontally. Next, the respective retaining
mechanisms
310A, 310B move the fifth end point P5 and the sixth end point P6 rightward
(in the
direction of the arrow X1) from the width direction center (the center in the
direction of
the arrow X) of the carrying plate 402, while the retaining mechanism 310B
moves
around a circumference centering on the retaining mechanism 310A until a line
linking
the retaining mechanism 310A and the retaining mechanism 310B is perpendicular
to
the width direction of the carrying plate 402 (the direction of the arrow X).
In other
words, the respective retaining mechanisms 310A, 310B move so that the fifth
end
point P5 and the sixth end point P6 are arranged side by side in the front-
rear
direction (the direction of the arrow Y) on the right of width direction (X
direction)
center the carrying plate 402. Here, the edge line on the far side (the
direction of the
arrow Y1) of the horizontal carrying plate 402 will be referred to as the
first edge line
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Cl, while the edge line on the door side (the direction of the arrow Y2) of
the carrying
plate 402 will be referred to as a second edge line C2. Note that during this
movement (i.e. the movement for arranging the fifth end point P5 and the sixth
end
point P6 side by side in the front-rear direction (the direction of the arrow
Y) while
lifting up the T-shirt T), a part of the T-shirt T is preferably moved so as
to slide against
the first edge line Cl of the carrying plate 402 in order to prevent the T-
shirt T from
creasing.
[0230] When the fifth end point P5 and the sixth end point P6 are arranged
side by
side in the front-rear direction (the direction of the arrow Y), the retaining
mechanisms
310A, 310B set the positions of the fifth end point P5 and the sixth end point
P6 such
that an imaginary vertical plane including the first edge line Cl of the
carrying plate
402 includes the first fold line B2 of the T-shirt T. Note that during the
movements
performed up to this point, the retaining mechanisms 310A, 310B move such that
a
distance between the fifth end point P5 and the sixth end point P6 remains
constant at
all times.
[0231] Next, the respective retaining mechanisms 310A, 310B move downward
while
moving in a leftward direction (the direction of the arrow X2). As a result,
the T-shirt
T slides over the carrying plate 402 in the leftward direction (the direction
of the arrow
X2) such that the lower end portion (the collar side) of the T-shirt T is
placed on the
upper surface of the horizontal carrying plate 402 (the seventeenth control,
step S25).
Note that at this time, the finger members 322A, 322B of the respective
retaining
mechanisms 310A, 310B are held in a horizontal lateral orientation by the
rotary
actuators 326A, 326B. As described above, the length and width of the T-shirt
T are
measured by the length detection unit 915, and therefore the T-shirt T can be
positioned such that the first fold line B2 of the T-shirt T is included in
the vertical
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plane including the first edge line Cl of the carrying plate 402. Hence, when
the
T-shirt T is placed on the upper surface of the carrying plate 402, the first
fold line B2
of the T-shirt T is aligned with the first edge line Cl of the carrying plate
402.
Furthermore, at this time, the T-shirt T slides over the carrying plate 402
(moves while
brushing against the carrying plate 402), and therefore creases in the T-shirt
T can be
smoothed out.
[0232] Next, the retaining mechanism 310A releases the fifth end point P5.
Further,
the retaining mechanism 310B releases the sixth end point P6 (the eighteenth
control,
step S26).
[0233] Next, as shown in Fig. 21(r), the carrying plate 402 is rotated in the
reverse
direction (the rotary shaft 412 is rotated clockwise when seen from the left
side
surface 102D) until oriented vertically (the nineteenth control, step S27). As
a result,
the T-shirt T is hung over the carrying plate 402 such that the first fold
line B2 is
aligned with the first edge line Cl of the carrying plate 402. In this
condition, the first
end part D1 of the T-shirt T hangs down on the far side (the direction of the
arrow Y1)
of the carrying plate 402. Further, the central part D2 and the second end
part D3 of
the T-shirt T hang down on the door side (the direction of the arrow Y2) of
the carrying
plate 402.
[0234] Next, as shown in Fig. 22(s), the imaging device 500 obtains image data
showing the T-shirt T hung over the carrying plate 402, and transmits the
image data
to the control device 900. The seventh end point detection unit 934 then
detects the
seventh end point P7 on the basis of the image data transmitted to the control
device
900 (seventh end point detection process, step S28). Further, the eighth end
point
detection unit 936 detects the eighth end point P8 on the basis of the same
image
data transmitted to the control device 900 (eighth end point detection
process, step
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S29). More specifically, on the basis of the image data from the first imaging
unit
502 and the second imaging unit 504, the seventh end point detection unit 934
detects the upper corner portion on the right side (the direction of the arrow
X1) of the
T-shirt T in a condition where the T-shirt T is hung over the vertical
carrying plate 402
such that the first fold line B2 of the processing subject T is aligned with
the upper side
edge line (the first edge line Cl) of the carrying plate 402, and sets this
corner portion
as the seventh end point P7. Further, the eighth end point detection unit 936
detects
the upper corner portion on the left side (the direction of the arrow X2) of
the T-shirt T
on the basis of the image data from the first imaging unit 502 and the second
imaging
unit 504, and sets this corner portion as the eighth end point P8.
[0235] Next, the retaining mechanism 310A retains the seventh end point P7.
Further, the retaining mechanism 310B retains the eighth end point P8. More
specifically, the rotary actuator 326A of the retaining mechanism 310A is
operated to
cause the finger members 322A to retain the seventh end point P7 while
oriented
downward. Further, the rotary actuator 326B of the retaining mechanism 310B is
operated to cause the finger members 322B to retain the eighth end point P8
while
oriented downward.
[0236] Next, the respective retaining mechanisms 310A, 310B lift the T-shirt T
away
from the carrying plate 402 while retaining the seventh end point P7 and the
eighth
end point P8. The carrying plate 402 is then rotated in the forward direction
until
horizontal (the twentieth control, step S30).
[0237] Next, as shown in Fig. 22(t), the respective retaining mechanisms 310A,
310B
place the T-shirt T on the horizontal carrying plate 402 (the twenty-first
control, step
S31). More specifically, the retaining mechanisms 310A, 310B move horizontally
in
the door direction (the direction of the arrow Y2) so as to position the T-
shirt T on the
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door side of the carrying plate 402. Next, the retaining mechanisms 310A, 310B
move in the far side direction (the direction of the arrow Y1) while lowering
the T-shirt
T. As a result, the T-shirt T is placed on the carrying plate 402 such that
the central
part D2 thereof overlaps the first end part Dl. A fold between the first end
part D1
and the central part D2 matches the first fold line B2 of the T-shirt T.
Further, as
described above, the length and width of the T-shirt T are measured by the
length
detection unit 915, and therefore the retaining mechanisms 310A, 310B can
place the
T-shirt T such that the second fold line B3 of the T-shirt T is aligned with
the second
edge line C2 serving as the edge line of the carrying plate 402 in the door
direction
(the direction of the arrow Y2) on the basis of positional relationships
thereof relative
to the carrying plate 402. At this time, the second edge line C2 hangs down
from the
carrying plate 402.
[0238] Next, as shown in Fig. 22(u), the carrying plate 402 is moved
horizontally to
the vicinity of the clamping device 700 while carrying the T-shirt T such that
the
second edge line C2 of the carrying plate 402 is aligned with the second fold
line B3.
When the carrying plate 402 carrying the T-shirt T approaches, the upper side
clamping plate 702 and the lower side clamping plate 704 are rotated in a
mutually
approaching direction. More specifically, the upper side clamping plate 702
rotates
from a vertically upward orientation to a horizontal orientation, while the
lower side
clamping plate 704 rotates from a vertically downward orientation to a
horizontal
orientation. Eventually, the T-shirt T and the carrying plate 402 are clamped
between the rotated upper and lower side clamping plates 702, 704 (the
twenty-second control, step S32). The second end part D3 of the T-shirt T,
which
hangs down from the carrying plate 402, is lifted up by the lower side
clamping plate
704. As a result, the second end part D3 is folded along the second fold line
B3. In
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this condition, the carrying plate 402 is interposed between the central part
D2 (the
first end part D1) and the second end part D3 of the T-shirt T.
[0239] Next, as shown in Fig. 23(v), the carrying plate 402 is moved away from
the
clamping device 700 (the twenty-third control, step S33). As a result, only
the T-shirt
T is clamped by the clamping device 700. Further, the clamped T-shirt T is
folded in
two in the length direction along the lateral fold line B1, and folded in
three in the width
direction along the first fold line B2 and the second fold line B3.
[0240] [Transportation process (Fig. 15)]
Next, as shown in Fig. 23(w), the support 802 is elevated to its upper limit.
Further, the support shaft 810 is rotated such that the support members 808
shift from
a vertically downward orientation to a horizontal orientation. As the support
shaft
810 rotates, the upper side clamping plate 702 and lower side clamping plate
704 of
the clamping device 700 rotate so as to release the T-shirt T. In other words,
the
upper side clamping plate 702 rotates to a vertically upward orientation,
while the
lower side clamping plate 704 rotates to a vertically downward orientation
(the
twenty-fourth control, step S34). As a result, the released T-shirt T is
placed on the
support members 808 below the clamping device 700. Note that the support
members 808 are inserted into the slits 730 provided in the lower side
clamping plate
704, and therefore the support members 808 and the lower side clamping plate
704
do not interfere with each other even when the transportation device 800 is
provided
directly below the clamping device 700. Hence, the T-shirt T can be placed on
the
support members 808 after being released from the clamping device 700 without
losing its shape.
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[0241] Next, as shown in Fig. 23(x), the support 802 is lowered while
maintaining the
support members 808 in a horizontal condition (the twenty-fifth control, step
S35).
Once the support 802 has been lowered to the vicinity of the processing
subject
reception box R provided on the door 202, lowering of the support 802 is
stopped and
the support members 808 are rotated to a vertically downward orientation (the
twenty-sixth control, step S36). As a result, the T-shirt T slides down from
the
support member 808 and is stored in the processing subject reception box R
without
losing its shape (see Fig. 24(y)).
[0242] By repeating steps Si to S36, folded T-shirts T can be stacked in the
processing subject reception box R.
[0243] [Features of processing apparatus 1]
(1) In the processing apparatus 1 according to this embodiment, the retaining
devices 300A, 300B for retaining the processing subject T and the carrying
plate 402
provided to be capable of rotating and carrying the processing subject T are
controlled
in combination with each other (the tenth control and the fifteenth control,
for example).
Therefore, when the processing subject T is moved from a first side (the door
side, for
example) to a second side (the far side, for example) of the carrying plate
402, there is
no need to lift the entire processing subject T above the carrying plate 402
or move
the entire processing subject T by a large amount in the front-rear direction
(the
direction of the arrow Y). In other words, when the upper portion of the
processing
subject T has been moved to the first side of the carrying plate 402 but the
lower
portion of the processing subject T is still on the second side of the
carrying plate 402,
the lower portion of the processing subject T remaining on the second side can
be
hoisted up and moved to the first side by rotating the carrying plate 402
toward the
first side. As a result, the processing apparatus 1 can be made more compact
in
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terms of both a height direction dimension and a front-rear direction
dimension even
when the processing subject T is long.
[0244] (2) In the processing apparatus 1 according to this embodiment, when
the
lowermost point of the processing subject T is not included in the image data
during
the processing for detecting the first end point P1 and the second end point
P2 (the
seventh control and the ninth control), the processing subject T is pulled
horizontally
over the carrying plate 402 to the opposite side rather than lifting up the
processing
subject T even further. In so doing, the position of the lowermost point of
the
processing subject T can be elevated. Moreover, in so doing, space for lifting
up the
processing subject T even further is not required, and therefore the height
dimension
of the processing apparatus 1 can be made more compact.
[0245] (3) In the processing apparatus 1 according to this embodiment, the
processing subject T is folded using the two edge lines (the first edge line
C1 and the
second edge line C2) of the carrying plate 402, and therefore the processing
subject T
can be folded neatly in two or in three. Note that the method of folding the
processing subject T is not limited to that described above, and the
processing subject
T may be folded in four, or folds may be formed in specific positions in
accordance
with the shape of the processing subject T.
[0246] (4) In the processing apparatus 1 according to this embodiment, by
providing
the carrying plate 402, operations can be performed with the processing
subject T
hung over the carrying plate 402. Therefore, when the retaining mechanism 310B
retains the second end point P2 after retaining the first end point P1 (the
ninth control),
for example, the retaining mechanism 310B can be moved in order to retain the
second end point P2 after releasing the first end point P1. The reason for
this is that
while the retaining mechanism 310B moves, the retaining mechanism 310A retains
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the first point P and the carrying plate 402 supports the processing subject
T. Hence,
there is no need to retain three points, namely the first point P, the first
end point P1,
and the second end point P2, simultaneously, and only two points (either the
first point
P and the first end point P1 or the first point P and the second end point P2)
need be
retained simultaneously. Accordingly, an increase in the number of retaining
mechanisms 310 can be prevented, and as a result, the configuration of the
retaining
devices 300A, 300B can be simplified.
[0247] Moreover, by performing the operations with the processing subject T
hung
over the carrying plate 402, swinging and other movement of the processing
subject T
can be reduced. As shown in Fig. 18(g), for example, after retaining the first
point P,
the retaining mechanism 310A lifts up the T-shirt T until the first point P
reaches a
higher position than the carrying plate 402, which is slightly tilted from the
horizontal
condition, but instead, the carrying plate 402 may be moved in the horizontal
direction
or rotated such that the T-shirt T comes into contact with the carrying plate
402 at the
stage where the retaining mechanism 310A has moved above the carrying plate
402.
In this case, swinging of the T-shirt T when the T-shirt T is lifted up by one
point (the
first point P) can be reduced. As a result, the following image data
acquisition
operation (Fig. 18(h)) can be performed by the imaging device 500 more
accurately
and more quickly.
[0248] (5) In the processing apparatus 1 according to this embodiment, the
carrying
plate 402 is capable of moving in the front-rear direction, and therefore no
floor space
is required to recognize and fold the processing subject T. As a result, a
floor area
required to dispose the processing apparatus 1 can be made more compact.
[0249] (6) In the processing apparatus 1 according to this embodiment, the
clamping
device 700 is constituted by "plates", namely the upper side clamping plate
702 and
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the lower side clamping plate 704, and these "plates" clamp the entire folded
processing subject T. Therefore, the likelihood of the folded processing
subject T
losing its shape can be greatly reduced in comparison with a case where the
folded
processing subject T is transported while gripping the corner portions thereof
or the
like.
[0250] (7) In the processing apparatus 1 according to this embodiment, the
support
802 of the transportation device 800 includes the plurality of support members
808,
and the respective support members 808 are disposed with gaps therebetween so
as
to form a comb tooth-shaped surface for receiving the folded processing
subject T.
Hence, by forming the slits 730 in the lower side clamping plate 704 of the
clamping
device 700 at equal intervals to the gaps between the support members 808,
interference between the lower side clamping plate 704 and the support 802 can
be
avoided. Further, by forming slits S (see Fig. 4) in a side face of the
processing
subject reception box R at equal intervals to the gaps between the support
members
808, interference between the processing subject reception box R and the
support
802 can be avoided, and therefore the processing subject T can be stored
gently in
the processing subject reception box R from a lower position. As a result, the
processing subject T is less likely to lose its shape. Furthermore, by
increasing the
number of support members 808, the number of contact points between the
support
members 808 and the folded processing subject T can be increased, and as a
result,
the processing subject T is even less likely to lose its shape.
[0251] (8) In the processing apparatus 1 according to this embodiment, the
support
802 of the transportation device 800 is capable of moving in the up-down
direction.
Therefore, even when a difference exists between the height of the clamping
device
700 and the height of the processing subject reception box R, the folded
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subject T can be lowered to a predetermined position corresponding to the
height of
the processing subject reception box R and stored gently in the processing
subject
reception box R. As a result, the processing subject T is even less likely to
lose its
shape (the shape of the processing subject T is even less likely to be
spoiled).
Conversely, the processing subject reception box R may be elevated to the
height of
the support 802 instead of moving the support 802. In other words, the support
802
and the processing subject reception box R are configured to be capable of
moving
relative to each other.
[0252] Further, the processing subject reception box R may be provided in a
plurality,
and in this case, the processing subject reception boxes R and the support 802
may
be moved relative to each other such that the processing subject reception box
R
corresponding to the type of the processing subject T is disposed under the
support
802. For example, T-shirts may be stored in a first processing subject
reception box
R1, slacks may be stored in a second processing subject reception box R2,
towels
may be stored in a third processing subject reception box R3, and so on. In so
doing,
the processing subject T is less likely to lose its shape and so on than in a
case where
processing subjects T of different types are stacked in the same reception box
R, and
the processing subjects T do not have to be sorted after being removed from
the
processing apparatus 1.
[0253] Note that in the processing apparatus 1 according to this embodiment,
the
type of the processing subject T is recognized in the type recognition process
(Fig. 13,
S14-2), but at this time, an additional property (an owner/user, for example)
of the
processing subject T may also be recognized. More specifically, the features
(the
color, size, and so on, for example) and the additional property (the
owner/user, for
example) of the processing subject T may be associated with each other and
input
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into the type recognition unit in advance, and during the type recognition
process, the
additional property (the owner/user, for example) of the processing subject T
may also
be recognized. In this case, the plurality of processing subject reception
boxes R
and the support 802 may be moved relative to each other such that the
processing
subject reception box R corresponding to the additional property (the
owner/user, for
example) of the processing subject T is disposed under the support 802. For
example, the processing subjects T belonging to a father may be stored in the
first
processing subject reception box R1, the processing subjects T belonging to a
mother
may be stored in the second processing subject reception box R2, the
processing
subjects T belonging to a child may be stored in the third processing subject
reception
box R3, and so on. In so doing, the processing subjects T do not have to be
sorted
after being removed from the processing apparatus 1.
[0254] (9) In the processing apparatus 1 according to this embodiment, the
support
802 of the transportation device 800 can be rotated to a vertically downward
orientation. Hence, when the folded processing subject T carried on the
support 802
is to be stored in the processing subject reception box R, the processing
subject T can
slide over the support member 808 so as to be stored in the processing subject
reception box R gently. As a result, the processing subject T is less likely
to lose its
shape.
[0255] (10) In the processing apparatus 1 according to this embodiment, the
transportation device 800 is disposed on the downstream side of the clamping
device
700. Hence, the operation performed by the transportation device 800 to
transport
the folded processing subject T and the operation to fold the processing
subject T,
which is implemented before reaching the clamping device 700, can be
undertaken
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simultaneously. As a result, the operating efficiency of the processing
apparatus 1
can be improved.
[0256] (11) In the processing apparatus 1 according to this embodiment, the
barrier
member 222 is disposed on the upper surface of the transportation conveyor 204
so
that the processing subject T transported by the transportation conveyor 204
is lifted
onto the barrier member 222. As a result, even when a thin processing subject
T (a
handkerchief, for example) is carried on the transportation conveyor 204 in a
flat,
unfurled condition, the processing subject T can be retained by the finger
members
322 of the retaining mechanisms 310A, 310B easily. Here, as shown in Fig. 4,
the
barrier member 222 is formed from an elongated member that extends in the
width
direction (the direction of the arrow X), and therefore the processing subject
T can be
lifted thereon in all positions in the width direction (the direction of the
arrow X). As a
result, the likelihood of gripping the end point of the processing subject T
initially as
the first point P can be increased (the barrier member 222 may be provided
only in a
specific position in the width direction (for example, only in the center or
in a plurality
of discrete locations), but in this case, the end point of the processing
subject T
cannot be gripped initially as the first point P unless the end point of the
processing
subject T is in this specific location).
[0257] (12) In the processing apparatus 1 according to this embodiment, the
processing subject T inserted onto the upper surface of the transportation
conveyor
204 is moved temporarily to the far side of the processing apparatus 1,
whereupon the
barrier member 222 is disposed on the upper surface of the transportation
conveyor
204 and the transportation conveyor 204 is rotated in reverse so as to return
the
processing subject T to the door side. In so doing, the amount of floor space
required to lift the processing subject T onto the barrier member 222 and form
a first
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point P that can be retained by the retaining mechanism 310A easily can be
reduced.
As a result, the floor area required to dispose the processing apparatus 1 can
be
made more compact.
[0258] (13) In the processing apparatus 1 according to this embodiment, the
transportation conveyor 204 is disposed beneath the retaining devices 300A,
300B
and the carrying device 400. Therefore, even when the processing subject T
falls
onto the upper surface of the transportation conveyor 204 while being
recognized and
folded by the retaining devices 300A, 300B and the carrying device 400, the
reception
transportation process can be performed again from the beginning using the
reception
transportation device 200.
[0259] (14) In the processing apparatus 1 according to this embodiment, the
gripping
members 328 are attached to the tip end portions of the pair of finger members
322
provided on each retaining mechanism 310. The gripping members 328 are
attached so as to be free to rotate relative to the finger members 322.
Therefore,
when a part of the processing subject T is retained by the finger members 322
while
the finger members 322 are oriented upward and then the finger members 322 are
oriented downward by rotating the rotary actuator 326 while continuing to
retain the
part of the processing subject T, for example, the positions of the gripping
members
328 relative to the processing subject T do not vary as the finger members 322
rotate,
but the angles of the gripping members 328 relative to the finger members 322
vary.
In other words, when the finger members 322 are oriented downward, the
gripping
members 328 are rotated by the weight of the processing subject T so that the
processing subject T hangs down from the finger members 322. As a result, the
processing subject T is less likely to become entangled on the tip end
portions of the
finger members 322. When the gripping members 328 are not provided, the
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processing subject T can only be disentangled by executing control to place
the
processing subject T back on the carrying plate 402 or the like temporarily,
or by
providing a more complicated mechanism than the finger members 322.
[0260] (15) In the processing apparatus 1 according to this embodiment, the
respective imaging directions of the two imaging units 502, 504 of the imaging
device
500 are set to be substantially orthogonal to each other. In so doing, the
position of
the end point to be detected can be detected in three dimensions.
[0261] The processing apparatus 1 was described above on the basis of the
figures,
but the specific configurations thereof are not limited to those described
above, and
respective modified examples to be described below and combinations thereof
may
also be employed. Moreover, the processing apparatus 1B, modified examples of
the processing apparatus 1B, and combinations thereof, and the processing
apparatus 1C, modified examples of the processing apparatus 1C, and
combinations
thereof may also be employed. Note that the following description of modified
examples focuses on configurations and illustrations required for descriptive
purposes,
and description of other configurations has been omitted.
[0262] [Modified examples]
(A) In the processing apparatus 1 according to the above embodiment, an
example in which digital still cameras are used as the imaging units 502, 504
of the
imaging device 500 was described, but the present invention is not limited to
this
configuration, and for example, the processing subject T and/or the contours
(edges)
thereof may be detected using a light source that emits invisible light
(infrared or
ultraviolet light) onto the processing subject, an invisible light filter (an
infrared filter or
an ultraviolet filter), and so on instead of, or in addition to, the digital
still cameras, or
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using, as the imaging device 500, an optical sensor, a laser, a distance
sensor,
position sensors disposed in a matrix, and so on instead of, or in addition
to, the digital
still cameras.
[0263] Further, when detecting the processing subject T and/or the contours
(edges)
thereof, a shadow of the processing subject T may be detected in addition to,
or
instead of, the processing subject T itself. For example, by providing a
plurality of
light sources and detecting position variation occurring when the light
sources are
individually switched ON and OFF, the processing subject T can be detected in
three
dimensions. By detecting the shadow, the processing subject T can be detected
without affecting the color thereof.
[0264] When an attempt is made by the type recognition unit 914 of the control
device 900 to recognize a processing subject T having black parts on the
surface
thereof (a striped sweatshirt having black stripes), for example, in a case
where only
digital still cameras are used, the black parts may merge with the background
such
that the processing subject T is recognized erroneously as being divided into
separate
pieces by the black parts, despite being an integral processing subject T.
When the
digital still cameras are used in combination with an infrared filter,
however, image
data on which the entire processing subject T, including the black parts on
the surface
thereof, appears whitish can be obtained. Note that the background remains
black.
As a result, the black parts of the processing subject T do not merge with the
background, and therefore a processing subject T having black parts on the
surface
thereof can be recognized correctly. Note that in order to obtain similar
effects, a
dedicated infrared camera that is sensitive to infrared light may also be used
as the
imaging device 500.
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[0265] Further, depending on the shape of the housing of the processing
apparatus 1
and the location in which the processing apparatus 1 is disposed, external
light may
not reach the interior of the housing of the processing apparatus 1. Hence,
the
processing apparatus 1 may include a lighting device (an LED, for example, an
LED
capable of wide-angle irradiation being particularly preferable) for assisting
the
imaging device 500 in image recognition. Lighting of the lighting device is
controlled
in accordance with instructions from the control device 900 so that the
lighting device
is lit in order to illuminate the imaging range of the imaging device 500
immediately
before the imaging device 500 performs an imaging operation, when the image
captured by the imaging device 500 is recognized as being insufficiently
bright, and so
on, for example.
[0266] Here, from the viewpoint of assisting the imaging device 500 during
image
recognition, the inner surfaces of the housing of the processing apparatus 1
may be
colored black (for example, formed from a black material or painted black).
The
processing subject T is closer to the lighting device than the background (the
inner
surfaces of the housing), and is therefore brighter than the background when
irradiated with light. Hence, even when the processing subject T is black, the
processing subject T is brighter than the black background (the inner surfaces
of the
housing), and therefore the imaging device 500 can recognize the processing
subject
T as being distinct from the background.
[0267] When the inner surfaces of the housing of the processing apparatus 1
are not
black (when the inner surfaces are blue, for example) and a processing subject
T
having a darker color than the inner surfaces of the housing (dark blue, for
example) is
disposed in the processing apparatus 1, the brightness of the processing
subject T
may be increased by the emitted light such that the apparent color of the
processing
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subject T (dark blue appears close to blue) and the apparent color of the
background
(blue) become substantially identical, causing the processing subject T to
blend into
the background (the inner surfaces of the housing). For this reason, black,
with
which such a situation cannot occur, is preferably used as the color of the
inner
surfaces of the housing of the processing apparatus 1. Note that the ability
of the
imaging device 500 to recognize the processing subject T may be improved by
making the inner surfaces of the housing of the processing apparatus 1 matte
so as to
increase the proportion of the light from the lighting device that is
diffusely reflected.
[0268] Further, the color of a specific location on the inner walls of the
housing may
be used as a reference point of a white balance of the imaging device 500. In
so
doing, the effect on the processing apparatus 1 of external light can be
suppressed.
Furthermore, external light may be blocked by eliminating gaps in the housing
of the
processing apparatus 1, and the lighting device in the interior of the housing
of the
processing apparatus 1 may be used alone as the light source. In so doing, the
effect of external light can be even further suppressed.
[0269] Note that the imaging device 500 may be disposed so as to be free to
move
within the interior of the processing apparatus 1. For example, the imaging
device
500 may be carried directly on the retaining device 300 so as to photograph
the
processing subject T in real time simultaneously with the movement of the
retaining
device 300.
[0270] Further, the imaging device 500 may be used during processes other than
the
processes for recognizing and folding the processing subject T, as described
above.
For example, the imaging device 500 may be used to monitor the number or
amount
of processing subjects T inserted into the interior of the processing
apparatus 1,
calculate and display a predicted time required to complete the folding
process, and
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recognize and display information indicating that none of the processing
subjects T
are unprocessed (i.e. that folding is complete).
[0271] (B) In the processing apparatus 1 according to the above embodiment, an
example in which the respective moving mechanisms are realized by ball screw
mechanisms and linear motor mechanisms was described, but the present
invention
is not limited to this configuration, and the moving mechanisms may also be
realized
by mechanisms such as air cylinder mechanisms, motor cylinder mechanisms, belt
slider mechanisms, electric slider mechanisms, rack and pinion mechanisms, and
capstan mechanisms.
[0272] Note that driving parts inside the processing apparatus 1, including
the
moving mechanisms, may be coated with fluorine or the like, for example, so as
to be
greaseless. In so doing, dirt can be prevented from adhering the processing
subject
T, and a reduction in slidability caused by dust accumulating on the driving
parts can
be suppressed.
[0273] Further, the control device 900 may determine whether or not the
processing
subject T is exerting an excessive load on a driving mechanism (the carrying
plate
402, for example) (i.e. whether the processing subject T is entangled, too
heavy, and
so on, for example) by detecting drive currents of the respective driving
mechanisms
and monitoring the drive currents to detect an excessive load.
[0274] (C) Further, in the processing apparatus 1 according to the above
embodiment, an example in which the end points and so on are detected and the
processing subject T is recognized by the two imaging units 502, 504 was
described,
but the present invention is not limited to this configuration, and one
imaging unit or
three or more imaging units may be provided instead. For example, an
additional
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imaging unit 500 may be mounted on the moving plate 416R (Fig. 8) such that
the
lens thereof is oriented toward the moving plate 416L, and used as the
obstruction
detecting means in place of the processing subject sensor 409. In a further
example,
additional imaging units 500 may be provided on the retaining mechanisms 310A,
310B in order to photograph the condition in which the processing subject T is
retained.
[0275] (D) Furthermore, when the first end point P1 of the processing subject
T is to
be retained by the retaining mechanism 310B (the seventh control, step S9),
for
example, the retaining device control unit 904 performs control such that the
retaining
mechanism 310B retains the detected first end point P1, but since an error or
the like
may exist in the detected position of the first end point P1, it is impossible
to
determine whether or not the retaining mechanism 310B has actually retained
the
processing subject T. If the retaining mechanism 310B has not been able to
retain
the processing subject T, the subsequent control processes/steps cannot be
performed. Hence, a retaining determination process described below may be
applied when the processing subject T is retained by the retaining mechanisms
310A,
310B.
[0276] [Retaining determination process]
In this modified example, the control device 900 includes a retaining
determination unit 918. When the processing subject T is retained by the
retaining
mechanisms 310A, 310B, the imaging device 500 obtains image data showing a
peripheral area including the retained positions (the first end point P1 and
the second
end point P2, for example) continuously from the start of the retaining
control
executed by the retaining device control unit 904 to a point at which the
retaining
mechanisms 310A, 310B are moved by a small amount after retaining the
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subject T. The retaining determination unit 918 receives the image data from
the
imaging device 500, and obtains a difference in the outer shape of the
processing
subject T between the start of the retaining control executed by the retaining
device
control unit 904 to the point at which the retaining mechanisms 310A, 310B are
move
by a small amount after retaining the processing subject T.
[0277] When the difference is zero, or in other words when the processing
subject T
is unchanged, the retaining determination unit 918 determines that the
retaining
mechanisms 310A, 310B have not been able to retain the processing subject T,
and
therefore prompts the control device 900 to re-implement the immediately
preceding
control process/step. At this time, the shape and position of the processing
subject T
may be slightly altered to make the processing subject T easier to grab. For
example,
the shape and position of the processing subject T are altered by moving the
transportation conveyor 204 slightly in the front-rear direction when the
processing
subject T cannot be lifted up in the reception transportation process (Fig.
12), and
moving the retaining mechanism 310A or the carrying plate 402 when the first
end
point P1 of the processing subject T cannot be retained by the retaining
mechanism
310B.
[0278] When a significant difference exists in the outer shape of the
processing
subject T, on the other hand, or in other words when the processing subject T
has
changed, the retaining determination unit 918 determines that the retaining
mechanisms 310A, 310B have been able to retain the processing subject T, and
therefore prompts the control device 900 to advance to the next control
process/step.
[0279] Note that the retaining determination unit 918 performs the retaining
determination after receiving the image data from the imaging device 500, but
depending on the position of the processing subject T (i.e. whether the
processing
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subject T is on the transportation conveyor 204 or the like, for example), the
frames of
the retaining mechanisms 310A, 310B or the moving mechanisms 320A, 320B may
obstruct the imaging device 500 so that the imaging device 500 cannot
photograph
the processing subject T clearly. To deal with a case such as this, a method
such as
(1) obtaining the difference in the outer shape of the processing subject T
after
moving the retaining mechanisms 310A, 310B to a location where the frames
thereof
do not cause an obstruction (for example, elevating the retaining mechanisms
310A,
310B to the vicinity of the carrying plate 402), (2) forming the frames of the
retaining
mechanisms 310A, 310B and the moving mechanisms 320A, 320B from a transparent
material, or (3) providing small digital still cameras additionally on the
retaining
mechanisms 310A, 310B as the imaging device 500 and obtaining the image data
using these additional cameras, for example, may be employed.
[0280] Furthermore, in another example of the retaining determination process,
weight sensors may be provided on the retaining mechanisms 310A, 310B, for
example, and the retaining determination unit 918 may determine whether or not
the
processing subject T has been retained from a difference in weight following
the start
of the retaining control performed by the retaining device control unit 904.
[0281] By providing the retaining determination unit 918 and performing the
retaining
determination process when the processing subject T is retained by the
retaining
mechanisms 310A, 310B, the control processes/steps executed by the processing
apparatus 1 can be advanced reliably.
[0282] Note that when the processing apparatus 1 vibrates or the like, the
imaging
position of the imaging device 500 may shift. When, in this case, image
processing
is performed on the basis of the position of the imaging device 500 prior to
the shift, a
positional deviation may occur such that the retaining mechanisms 310A, 310B
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repeatedly fail to retain the processing subject T. In this case (for example,
when
retaining fails a predetermine number of times or more even though the
processing
subject T has been photographed by the imaging device 500), the retaining
determination unit 900 may determine that the position of the imaging device
500 has
shifted and perform calibration between the imaging device 500 and the
retaining
mechanisms 310A, 310B. The retaining mechanisms 310A, 310B each have a set
physical movable limit (coordinate position), and therefore calibration is
performed by
moving the retaining mechanisms 310A, 310B to their movable limits, and then
comparing coordinate positions obtained from the image data generated by the
imaging device 500 at that time with the coordinate positions of the movable
limits.
[0283] (E) In the processing apparatus 1 according to the above embodiment,
the
barrier member 222 of the reception transportation device 200 is supported by
the
door main body 210 so as to rotate in conjunction with the rotation of the
door main
body 210. The present invention is not limited to this configuration, however,
and a
barrier member up-down direction moving mechanism (not shown) that allows the
barrier member 222 to approach and move away from the upper surface of the
transportation conveyor 204, for example, may also be provided. By providing
this
barrier member up-down direction moving mechanism, the control for disposing
the
barrier member 222 on the upper surface of the transportation conveyor 204 can
be
executed independently of the control for opening and closing the door main
body 210.
As a result, the door main body 210 can be closed as soon as the processing
subject
T is inserted into the processing apparatus 1, for example, instead of waiting
for the
transportation conveyor 204 to move the processing subject T to the far side
of the
processing apparatus 1.
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[0284] (F) When detecting the lowermost point of the processing subject T
(during
the first end point detection process, for example), the position of the
lowermost point
detected on the basis of the image data from the first imaging unit 502 may
not match
the position of the lowermost point detected on the basis of the image data
from the
second imaging unit 504. When detecting the lowermost point of the processing
subject T, therefore, a locus of the position of the lowermost point detected
on the
basis of the image data from the first imaging unit 502 may be projected onto
the
image data obtained by the second imaging unit 504.
[0285] (G) Further, the smallest unit of the image data obtained from the
imaging
device 500 is a pixel, but by calculating a position within the pixel using
the gradation
of the image data, an improvement in detection precision can be achieved.
[0286] (H) Furthermore, respective origin positions of the retaining
mechanisms
310A, 310B may be set in the retaining device control unit 904. In so doing,
the
retaining mechanisms 310A, 310B can be returned to their respective origins as
required from any control process/step. The retaining device control unit 904
may
also set a maximum distance between the finger members 322A of the retaining
mechanism 310A and the finger members 322B of the retaining mechanism 310B
during a specific step, and control the movement of the retaining mechanisms
310A,
310B so that the distance between the finger members 322A and the finger
members
322B does not exceed this distance. For example, when the retaining mechanism
310A retains the first point P and the retaining mechanism 310B retains the
first end
point P1 during the recognition process (Fig. 18(h)), the distance between the
first
point P and the first end point P1 is calculated and set in the retaining
device control
unit 904 as the maximum distance. Then, during the following operations up to
the
point at which the second end point P is retained (i.e. during the operations
for moving
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the retaining mechanisms 310A, 310B while the retaining mechanism 310A retains
the first point P and the retaining mechanism 310b [retains the first end
point P1]),
control is implemented to ensure that the retaining mechanisms 310A, 310B are
not
moved beyond the maximum distance. Accordingly, a situation in which the
finger
members 322A and the finger members 322B pull the processing subject T apart
by a
distance exceeding the length thereof (the length by which the processing
subject T
extends under its own weight) can be prevented from occurring, and as a
result,
damage to and stretching of the processing subject T can be suppressed.
[0287] Note that in order to prevent the retaining mechanisms 310A, 310B from
stretching and damaging the processing subject T, a damping member such as a
spring may be provided on a part of the retaining mechanism 310A and/or the
retaining mechanism 310B (between the linear actuator 324 and the connecting
member 330 or the like, for example). Thus, when the retaining mechanisms 310A
and 310B move away from each other while retaining the processing subject T,
tensile
force exerted on the processing subject T can be reduced by the damping member
provided on the retaining mechanisms 310A, 310B, and as a result, damage to
and
stretching of the processing subject T can be suppressed. In another example,
a
tension sensor may be provided on the retaining mechanism 310A and/or the
retaining mechanism 310B in order to monitor the force exerted on the
retaining
mechanisms 310A, 310B, and the distance between the retaining mechanisms 310A
and 310B may be controlled such that excessive force is not exerted on the
processing subject T.
[0288] Moreover, the finger members 322A of the retaining mechanism 310A and
the
finger members 322B of the retaining mechanism 310B may be provided with an
anti-skid function in addition to, or instead of, the gripping members 328
provided on
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the finger members 322A and the finger members 322B. The anti-skid function
may
be realized by employing members having high frictional resistance, such as
rubber
members, as the finger members 322A and the finger members 322B, increasing a
surface roughness of respective contact surfaces by which the finger members
322A
and the finger members 322B contact the processing subject T, providing a
recessed
portion or a tapered projecting portion (a burr) on the finger members 322A
and the
finger members 322B, or combining these techniques as appropriate.
[0289] Furthermore, instead of the finger members 322A and 322B provided on
the
retaining devices 300A and 300B, a fixing hook may be used as one or both of
the
retaining devices 300A and 300B. At this time, a damping member such as a
spring
may be provided on a part of the retaining mechanism 310A and/or 3106 (between
the linear actuator 324 and the connecting member 330 or the like, for
example) to
prevent the processing subject T from being stretched or damaged by the fixing
hook.
[0290] Further, for example, the retaining device 300A and/or 300B may include
a
needle-shaped end portion and have a function for retaining the processing
subject T
by piercing the processing subject T with the needle-shaped end portion, or
may
include a suction portion resembling a vacuum cleaner and have a function for
retaining the processing subject T by suctioning the processing subject T.
Alternatively, the retaining device 300A and/or 300B may include a bonding
portion or
an adhesion portion formed from Velcro or the like and have a function for
retaining
the processing subject T by adhesion or the like, or may include a pair of
tires (rollers)
on the end portion thereof and have a function for retaining the processing
subject T
by winding the processing subject T up between the tires, and so on.
[0291] Furthermore, for example, the retaining device 300A and/or 300B may be
provided with a humidity sensor and a temperature sensor in order to detect a
drying
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condition of the gripped processing subject T and determine whether or not the
processing subject T is dry enough to be folded. The retaining device 300A
and/or
300B may be provided with a weight sensor instead of, or in addition to, the
humidity
sensor and the temperature sensor in order to detect the weight of the
processing
subject T and determine whether or not the processing subject is dry according
to the
amount of moisture contained therein.
[0292] Further, for example, a retaining force (a gripping force) of the
retaining
device 300A and/or 300B may be adjusted appropriately in accordance with the
thickness, material, and so on of the processing subject T. The thickness and
material of the processing subject T may be detected on the basis of the image
data
obtained in relation to the processing subject T from the imaging device 500,
or from a
load current exerted on the drive motor of the linear actuator of the
retaining device
300A and/or the retaining device 300B, or by providing a pressure sensor on
the
retaining device 300A and/or the retaining device 300B.
[0293] Note that the retaining device 300A and/or the retaining device 300B
may be
used for operations other than retaining the processing subject T. For
example, the
retaining device 300A and/or the retaining device 300B may be used during a
self-repair operation when an error occurs in the processing apparatus 1 (to
remove
dust or fogging from the camera of the imaging device 500, repair of the belt
of the
driving mechanism, and so on).
[0294] (I) In the processing apparatus 1 according to the above embodiment, a
case
in which the two retaining devices 300A, 300B are used, each retaining device
being
capable of moving in the front-rear, up-down, and left-right directions, and
each
retaining device including the finger members 322 that are capable of gripping
the
processing subject T, was described. The present invention is not limited to
this
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configuration, however, and one retaining device 300A may be configured to be
capable of moving only in the left-right direction, for example. In so doing,
the
configuration of the processing apparatus 1 can be simplified. An example in
which
the retaining device 300A is capable of moving only in the left-right
direction will be
described below.
[0295] In the processing apparatus 1 in which the retaining device 300A is
capable of
moving only in the left-right direction, as shown in Fig. 26, the retaining
device 300A is
provided in an upper portion of the processing apparatus 1 close to the front
surface
106A. The moving mechanism 320A of the retaining device 300A includes only the
width direction moving mechanism 332A described in the above embodiment, and
the
up-down direction moving mechanism and front-rear direction moving mechanism
are
omitted.
[0296] Next, operations performed to recognize and fold the processing subject
T in
a case where the retaining device 300A is capable of moving only in the left-
right
direction will be described briefly. In the recognition and folding operations
performed using the processing apparatus 1 according to the above embodiment,
the
operations of the retaining devices 300A, 300B can be broadly divided into (1)
a case
in which the retaining mechanism 310A of the retaining device 300A retains the
processing subject T alone (for example, the sixth control/step S7, in which
the
retaining mechanism 310A retains the first point P) and (2) a case in which
the
retaining mechanism 310A of the retaining device 300A and the retaining
mechanism
310B of the retaining device 300B retain the processing subject T
simultaneously (for
example, the eighth control/step S10, in which the retaining mechanism 310A
retains
the first point P and the retaining mechanism 310B retains the first end point
P1).
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[0297] In an embodiment where the retaining device 300A is capable of moving
only
in the left-right direction, in case (1), first, the retaining mechanism 310B
of the
retaining device 300B that is capable of moving in the front-rear, up-down,
and
left-right directions retains a predetermined position of the processing
subject T,
whereupon the retaining mechanism 310B moves to the vicinity of the retaining
mechanism 310A and causes the retaining mechanism 310A to retain the
predetermined position. Further, in case (2), the retaining mechanism 310B
initially
retains the position to be retained by the retaining mechanism 310A, whereupon
the
retaining mechanism 310A is caused to retain the predetermined position,
similarly to
case (1). The retaining mechanism 310B then retains the position to be held by
the
retaining mechanism 310B.
[0298] As regards the operations of the respective retaining devices 300A,
300B in
an embodiment where the retaining device 300A is capable of moving only in the
left-right direction, several control processes/steps may be cited as
examples. First,
the twelfth to fifteenth control/steps S18 to S21 will be described. As shown
in Fig.
27(aa), the third end point P3 detected in step S16 is retained by the
retaining
mechanism 310B. Next, the retaining mechanism 310B moves to the vicinity of
the
retaining mechanism 310A, which is waiting directly above the fourth end point
P4,
and causes the retaining mechanism 310A to retain the third end point P3.
Next, as
shown in Fig. 27(bb), the retaining mechanism 310B retains the fourth end
point P4
(the fourteenth control, step S20) and lifts up the fourth end point P4 to the
same
height as the third end point P3 on the right side (the direction of the arrow
X1) of the
third end point (the fifteenth control, step S21).
[0299] Next, the sixteenth and seventeenth control/steps S24 and S25 will be
described. As shown in Fig. 27(cc), first, the retaining mechanism 310B
retains the
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fifth end point P5. Next, the retaining mechanism 310B moves to the vicinity
of the
retaining mechanism 310A and causes the retaining mechanism 310A to retain the
fifth end point P5. The retaining mechanism 310B then retains the sixth end
point P6
(the sixteenth control, step S24). Next, the respective retaining mechanisms
310A,
310B move the fifth end point P5 and the sixth end point P6 to the right (the
direction
of the arrow X1) of the carrying plate 402. Further, the retaining mechanisms
310A,
310B move such that the fifth end point P5 and the sixth end point P6 are
arranged
side by side in the front-rear direction (the direction of the arrow Y) on the
right of the
carrying plate 402. Next, the retaining mechanism 310A moves in the leftward
direction (the direction of the arrow X2) while the retaining mechanism 310B
descends while moving in the leftward direction (the direction of the arrow
X2).
Further, as the two retaining mechanisms 310A, 310B move, the carrying plate
402 is
rotated in the forward direction from the horizontal condition (the rotary
shaft 412
rotates counterclockwise when seen from the left side surface 102D). Hence,
the
door side (the arrow Y2 side) edge portion of the carrying plate 402
approaches the
retaining mechanism 310A as the retaining mechanism 310A moves, whereby the
T-shirt T can be placed on the upper surface of the carrying plate 402 in a
similar
manner to a case such as that of the above embodiment, in which the retaining
mechanism 310A is lowered so as to approach the carrying plate 402 waiting in
the
horizontal condition (the seventeenth control, step S25). Note that the far
side (the
arrow Y1 side) edge portion of the carrying plate 402, to which the retaining
mechanism 310B corresponds, moves downward, and therefore the retaining
mechanism 310B must be lowered by a greater distance than in the above
embodiment.
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[0300] Next, the twentieth and twenty-first control/steps S30 and S31 will be
described. As shown in Fig. 28(dd), first, the retaining mechanism 310B
retains the
seventh end point P7. Next, the retaining mechanism 310B moves to the vicinity
of
the retaining mechanism 310A and causes the retaining mechanism 310A to retain
the seventh end point P7. The retaining mechanism 310B then retains the eighth
end point P8 and lifts up the eighth end point P8 (the twentieth control, step
S30).
[0301] Next, as shown in Fig. 28(ee), the respective retaining mechanisms
310A,
310B place the T-shirt T on the carrying plate 402 (the twenty-first control,
step S31).
More specifically, in a condition where the respective retaining mechanisms
310A,
310B lift up the T-shirt T by the seventh end point P7 and the eighth end
point P8 (Fig.
29(a)), the carrying plate 402 is rotated slightly in the forward direction
(Fig. 29(b))
from the vertical orientation (the rotary shaft 412 rotates counterclockwise
when seen
from the left side surface 102D). Next, the retaining mechanism 310A releases
the
seventh end point P7 and the retaining mechanism 310B is lowered while
retaining
the eighth end point P8 (Fig. 29(c)). Further, as the retaining mechanism 310B
is
lowered, the carrying plate 402 is rotated further in the forward direction.
As a result,
the T-shirt T can be placed on the carrying plate 402 while maintaining the
folded
shape of the T-shirt T (Fig. 29(d)).
[0302] (J) Furthermore, the moving mechanisms 320A may all be omitted from the
retaining device 300A, and the retaining device 300A may be constituted by
only a
fixed hook that does not perform opening/closing operations instead of the
finger
members 322A that perform opening/closing operations. In so doing, the
configuration of the processing apparatus 1 can be simplified even further.
Note that
in this case, many of the movements of the retaining mechanism 310A are
restricted,
and therefore the folded shape of the processing subject T placed on the
carrying
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plate 402 may be slightly disheveled. However, by correcting this dishevelment
using the freely moving retaining mechanism 310B, the processing subject T can
be
recognized and folded.
[0303] (K) In the processing apparatus 1 according to the above embodiment,
the
retaining mechanisms 310A, 310B rotate in the direction of the arrow R1, as
shown in
Fig. 6, and the finger members 322A, 322B open and close so as to approach and
move away from each other in a widthwise direction while remaining parallel to
each
other. The present invention is not limited to this configuration, however,
and instead,
for example, additional rotary actuators may be provided between the
connecting
member 330 and the respective linear actuators 324A, 324B shown in Fig. 6 so
that
the finger members 322A, 322B also rotate about the lengthwise direction.
Hence,
when the end portions of the processing subject T retained by the finger
members
322A, 322B become twisted, for example, the end portions can be untwisted by
rotating the finger members 322A, 322B in either the forward direction or the
reverse
direction about the lengthwise direction (when the end portions are not
untwisted, an
opposite rotation direction is required, and therefore the finger members
322A, 322B
are rotated in reverse). Note that twisting/untwisting of the processing
subject T
retained by the finger members 322A, 322B can be recognized by having the
imaging
device 500 photograph the processing subject T in the vicinity of the finger
members
322A, 322B and performing edge detection.
[0304] (L) Rotating the finger members 322A, 322B in the manner described in
(K) is
effective when the end portion of the processing subject T retained by the
finger
members 322A or 322B becomes twisted, but the processing subject T may also
become entangled or overlapped between the finger members 322A and 322B. To
disentangle the processing subject T or prevent the processing subject T from
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becoming entangled and so on, the retaining device control unit 904 may
perform a
following disentangling operation by controlling the movement of the retaining
mechanisms 310A, 310B during the recognition process (as the processing
subject T
is unfurled).
[0305] Here, a case in which the disentangling operation is performed during
the
recognition process between the point at which the first end point P1 is
retained (Fig.
18(h)) and the point at which the second end point P2 is retained (Fig. 18(i))
will be
described as an example.
[0306] First, as shown in Fig. 30(a), the processing subject T is spread out
in the
width direction (the direction of the arrow X) by moving the retaining
mechanism 310A
horizontally in the leftward direction (the direction of the arrow X2) and
moving the
retaining mechanism 310B horizontally in the rightward direction (the
direction of the
arrow X1) while the retaining mechanism 310A retains the first point P and the
retaining mechanism 310B retains the first end point P1. When a part of the
processing subject T is entangled or overlapped between the retaining
mechanisms
310A, 310B, the entanglement or overlap can be eliminated or ameliorated by
this
operation. Next, the retaining mechanism 310B lifts up the first end point P1
to the
same height as the first point P (Figs. 30(b) and 31(c)). At a point during
the process
by which the retaining mechanism 310B lifts up the first end point P1, the
rotary
actuator 326B orients the finger members 322B vertically downward.
[0307] Next, as shown in Fig. 31(c), respective width direction (arrow X1/X2
direction) positions of the retaining mechanisms 310A, 310B are interchanged
by
moving the retaining mechanism 310A horizontally in the rightward direction
(the
direction of the arrow X1) and moving the retaining mechanism 310B
horizontally in
the leftward direction (the direction of the arrow X2) while the retaining
mechanism
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310A retains the first point P and the retaining mechanism 310B retains the
first end
point P1. As a result, the processing subject T is reversed in the width
direction (the
direction of the arrow X), and therefore the entanglement or overlap of the
processing
subject T can be eliminated. Subsequent operations are identical to those of
the
above embodiment. More specifically, the second end point detection unit 924
detects the second end point P2 furthest from the straight line L1 linking the
first point
P to the first end point P1, and when the second end point P2 is detected, the
retaining mechanism 310B retaining the first end point P1 releases the first
end point
P1 and retains the second end point P2 (Fig. 31(d)).
[0308] By widening the gap between the retaining mechanisms 310A, 310B in the
width direction and interchanging the width direction positions thereof in
this manner
before beginning the operation to retain the next lowermost point from a
condition in
which the processing subject T is retained by the retaining mechanisms 310A,
310B,
entanglement and overlap of the processing subject T can be eliminated or
ameliorated.
[0309] (M) In the processing apparatus 1 according to the above embodiment,
the
processing subject sensor 409 used to determine that the processing subject T
has
been lifted onto the barrier member 222 is attached to the moving plate 416 of
the
front-rear direction moving mechanism 408 provided in the carrying device 400.
The
present invention is not limited to this configuration, however, and the
processing
subject sensor 409 may be fixed in the position of the barrier member 222 when
the
door main body 210 is closed.
[0310] (N) In the processing apparatus 1 according to the above embodiment,
the
barrier member 222 is an elongated member that extends in the width direction
(the
direction of the arrow X), as shown in Fig. 4, but the present invention is
not limited to
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this configuration, and instead, for example, the barrier member 222 may be
provided
in only a specific position in the width direction (for example, only in the
center or in a
plurality of discrete locations). Further, in the processing apparatus 1
according to
the above embodiment, the barrier member 222 is connected to the side surface
plate
230 of the processing subject reception member 220, but the barrier member 222
may
be provided independently of the processing subject reception member 220.
[0311] (0) Furthermore, to ensure that the processing subject T can be
retained by
the finger members 322 of the retaining mechanisms 310A, 310B easily even when
a
thin processing subject T (a handkerchief, for example) is carried on the
transportation conveyor 204 in a flat, unfurled condition, the following
configuration,
for example, may be employed in place of the barrier member 222.
[0312] For example, one or a plurality of thread-like members (threads, wires,
or the
like, for example) may be suspended over the upper surface of the
transportation
conveyor 204 so as to extend over the entire width direction (the direction of
the arrow
X) and configured to be capable of moving up and down (in the direction of the
arrow
Z), and this thread-like member may be used as a barrier member instead of the
barrier member 222 shown in Fig. 4. When the transportation conveyor 204
rotates
in the forward direction (such that the processing subject T moves away from
the door
main body 210), the thread-like member is moved to substantially identical
height
positions to the transportation conveyor 204. Therefore, the movement of the
processing subject T on the transportation conveyor 204 is not impeded by the
thread-like member. When the transportation conveyor 204 starts to rotate in
the
reverse direction (such that the processing subject T approaches the door main
body
210), on the other hand, the thread-like member is moved in the upward
direction so
as to move away from the transportation conveyor 204 (when a plurality of
thread-like
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members are provided, the respective height positions thereof may be set to
increase
gradually in a direction approaching the door main body 210 (the direction of
the
arrow Y2)). The processing subject T transported to the thread-like member is
lifted
onto the thread-like member, and therefore the thread-like member functions as
a
barrier member. Note that the thread-like member may be moved in the upward
direction after the processing subject T has been lifted thereon. When the
thread-like member is then moved in the upward direction, the processing
subject T is
lifted up by the thread-like member, and therefore the thread-like member
function as
a barrier member likewise in this case.
[0313] In another example, the conveyor 204 (see Fig. 4) forms a horizontal
plane
(an XY plane) in the processing apparatus 1 according to the above embodiment,
but
instead, a fixed or movable structure may be provided on a lower surface of
the
conveyor 204 such that a part of the surface of the conveyor 204 projects in
the
vertical direction (the Z direction) either permanently or temporarily, and
this part may
be used as the barrier member.
[0314] In a further example, as shown in Fig. 32(a), a first conveyor 204A and
a
second conveyor 204B divided in two in an advancement direction of the
processing
subject T may be used, and by tilting the first conveyor 204A as shown in Fig.
32(b),
after determining that the processing subject T has been lifted onto the
conveyor
204A, the processing subject T can essentially be lifted higher than the
initial carrying
surface (the horizontal surface of the second conveyor 204B). As a result, the
processing subject T is lifted up by the first conveyor 204A, and therefore
the
processing subject T can be retained by the finger members 322 of the
retaining
mechanisms 310A, 310B easily even when a thin processing subject T (a
handkerchief, for example) is carried on the second conveyor 204B in a flat
condition.
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[0315] (P) In the processing apparatus 1 according to the above embodiment,
the
processing subject T inserted into the processing apparatus 1 in the reception
transportation process (Fig. 12) is carried on the transportation conveyor
204, but
instead, as shown in Fig. 33, for example, an auxiliary reception member 260
may be
provided on the far side (the direction of the arrow Y1) of the transportation
conveyor
204 at a slight remove from the transportation conveyor 204 so that when the
processing subject T is transported to the far side by rotating the
transportation
conveyor 204 in the forward direction, a part of the processing subject T is
lifted onto
the auxiliary reception member 260. The auxiliary reception member 260 is an
elongated plate having a substantially identical width to the width direction
(the
direction of the arrow X in Fig. 3) of the transportation conveyor 204, and as
shown in
Fig. 33, has an arc-shaped cross-section with an incline that increases
gradually
upward (in the direction of the arrow Z). The processing subject T, having
been lifted
onto the auxiliary member 206 in response to the forward direction rotation of
the
transportation conveyor 204, receives a rotation action and so on, and is then
moved
toward the barrier member 222 by rotating the transportation conveyor 204 in
the
reverse direction. In other words, the condition/shape in which the processing
subject T is carried on the transportation conveyor 204 can be varied every
time the
transportation conveyor 204 is moved (in the direction of the arrows Y1 and
Y2). For
example, when a plurality of processing subjects T are inserted into the
processing
apparatus 1 at the same time, the processing subjects T can be disentangled
from
each other and relative positions of the plurality of processing subjects T in
the Y
direction can be modified.
[0316] (Q) In the processing apparatus 1 according to the above embodiment, a
component constituted by the carrying plate main body 410, which is formed
from a
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substantially rectangular plate, and the rotary shaft 412 is used as the
carrying plate
402, but the present invention is not limited to this configuration.
[0317] Instead, for example, the carrying plate 402 may be formed from a
plurality of
plates that are connected to each other to be capable of sliding so that
respective
magnitudes of a long side and a short side thereof can be modified. The width
of the
carrying plate 402 can then be halved or reduced to approximately 1/3, for
example,
during the recognition process (Fig. 13), and then returned to its original
size during
the folding process (Fig. 14), for example. In another example, when the
processing
subject T is recognized as being small, the folding process may be performed
after
reducing the magnitude of the long side or the short side of the carrying
plate 402 to
one half or approximately 1/3, for example (see Fig. 63(a)). In a further
example,
when the processing subject T is recognized as being large, the folding
process may
be performed after making the magnitude of the long side or the short side of
the
carrying plate 402 approximately 1.5 to 3 times larger, for example (see Fig.
63(b)).
[0318] Metal may be cited as an example of the material of the carrying plate
402.
Metal is durable, and by using metal, the carrying plate 402 can be reduced in
thickness. Moreover, metal has a low dielectric constant, and therefore static
electricity can be suppressed when the processing subject T is a garment or
the like.
As a result, threads or the like from the processing subject T can be
prevented from
adhering to the carrying plate 402 and so on.
[0319] Alternatively, resin, for example, may be used as the carrying plate
402. By
using resin, rust can be prevented from forming on the carrying plate 402 even
when
moisture adheres to the carrying plate 402 in a case where the processing
subject T is
wet, the humidity in the interior of the processing apparatus 1 is high, or
the like.
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[0320] Further, for example, a part of the carrying plate 402 may be formed
from a
material (metal, for example) having a lower dielectric constant than resin,
and
another part may be formed from resin.
[0321] Note that to prevent the carrying plate 402 from being charged, an ion
ejection
device may be provided in the processing apparatus 1, and air containing ions
may be
emitted onto the carrying plate 402 from the ion ejection device as
appropriate (for
example, when folding of the processing subject T is complete and before the
recognition operation is started on the next processing subject T or the
like).
[0322] As shown in Fig. 8, the carrying plate main body 410 is formed to be
horizontally long in the direction of the rotary shaft 412 (the direction of
the arrow X).
[0323] The thickness of the carrying plate 402 may be set as appropriate, and
the
edge portion of the carrying plate 402 in particular is preferably set at no
more than 3
mm, and more preferably no more than 2 mm, so that the processing subject T
can be
gripped by the retaining mechanisms 310A, 310B while caught on the edge
portion.
Further, the edge portion of the carrying plate 402 may be tapered so as to
decrease
in thickness toward the tip end thereof. Thus, when the carrying plate 402 is
extracted from a condition in which the retaining mechanisms 310A, 310B grip
the
processing subject T while the processing subject T is caught on the end
portion of
the carrying plate 402, the carrying plate 402 can be extracted easily while
the
retaining mechanisms 310A, 310B continue to grip the processing subject T.
[0324] The carrying plate 402 is preferably sufficiently rigid not to be
deformed when
gripped by the retaining mechanisms 310A, 310B, or in other words is
preferably
formed from a material that does not vary in thickness when gripped by the
retaining
mechanisms 310A, 310B. To put it another way, an amount of variation in the
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thickness of the processing subject T when the processing subject T is gripped
by the
retaining mechanisms 310A, 310B is preferably greater than an amount of
variation in
the carrying plate 402.
[0325] Further, for example, rounding processing may be implemented on the
edge
portions, and in particular the corner portions, of the carrying plate 402 to
prevent
damage to the processing subject T. The reason why this rounding processing is
important is that the processing subject T easily becomes caught on the corner
portions of the carrying plate 402 during the initial stage of the recognition
process,
when the processing subject T is not yet sufficiently unfurled, or in cases
where the
processing subject T is large and so on. On the other hand, to ensure that the
processing subject T catches more easily on the carrying plate 402, the edge
portions
and corner portions thereof may be left unrounded.
Alternatively, rounding
processing may be implemented only on the corner portions of the edge portions
of
the carrying plate 402, on which the processing subject T easily becomes
caught, and
the parts other than the corner portions may be left unrounded.
[0326] Further, for example, plate-shaped members formed from different
materials
may be used on the front surface, the rear surface, and the side faces of the
carrying
plate 402. For example, by forming the front surface and one of the side faces
of the
carrying plate 402 from a material having a large frictional coefficient or
coating these
surfaces with such a material, and forming the rear surface and the other side
face
from a material having a small frictional coefficient or coating these
surfaces with such
a material, the "slidability" of the carrying plate 402 when carrying the
processing
subject T can be modified freely by selecting a contact surface (the front
surface, the
side faces, or the rear surface) of the carrying plate 402. Hence, during an
operation
in which it is necessary to retain the processing subject T securely, for
example (when
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the processing subject T is caught on the carrying plate 402 while being
retained by
the two retaining mechanisms 310A, 310B, and is then released by the retaining
mechanisms 310A, 310B, or the like, for example), the surface of the carrying
plate
402 having a large frictional coefficient preferably contacts the processing
subject T.
Further, in a case where the carrying plate 402 alone is moved away while the
carrying plate 402 and the processing subject T are clamped between the upper
and
lower clamping plates 702 and 704 (Figs. 22(u) and 23(v)) or the like, for
example, the
surface of the carrying plate 402 having a small frictional coefficient may be
set to
contact the processing subject T so that the folded processing subject T does
not
become creased.
[0327] Furthermore, for example, one or a plurality of through holes may be
provided
in the carrying plate 402 so as to penetrate the carrying plate 402 from the
front
surface to the rear surface. Thus, when the processing subject T is spread out
while
carried on the front surface of the carrying plate 402 during the process for
folding the
processing subject T, for example, excess air between the front surface and
the
processing subject T can be discharged from the rear surface of the carrying
plate
402 through the through holes, and as a result, the processing subject T can
be
prevented from creasing.
[0328] Further, for example, means for adsorbing and releasing the processing
subject T may be provided on the carrying plate 402. More specifically, one or
a
plurality of air supply holes and air discharge holes are provided in the
carrying plate
402 so as to communicate respectively with an air supply pipe and an air
discharge
pipe provided inside the carrying device 400, and the air supply pipe and air
discharge
pipe are connected to a supply/discharge pump provided in the processing
apparatus
1. By driving the supply/discharge pump, air is ejected or suctioned through
the air
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supply holes and air discharge holes in the carrying plate 402. Hence, when
the
processing subject T carried on the carrying plate 402 is to be extracted, for
example,
air can be ejected through the air supply holes so that the processing subject
T can be
extracted easily from the carrying plate 402. Furthermore, for example, when
the
processing subject T carried on the carrying plate 402 is to be retained on
the carrying
plate 402, the processing subject T can be suctioned onto the carrying plate
402 by
suctioning air through the air discharge holes.
[0329] (R) As described in (1) of the [Features of the processing apparatus 1]
according to the above embodiment, the processing apparatus 1 is configured
such
that when the upper portion of the processing subject T has been moved to the
first
side of the carrying plate 402 but the lower portion of the processing subject
T is still
on the second side of the carrying plate 402, the lower portion of the
processing
subject T remaining on the second side can be hoisted up and moved to the
first side
of the carrying plate 402 by rotating the carrying plate 402 toward the first
side. In
addition, the processing apparatus 1 may perform the following operation to
shift the
position in which the processing subject T hangs down onto the carrying plate
402 to
the lower side of the processing subject T by controlling the retaining device
control
unit 904 and the carrying device control unit 906.
[0330] As shown in Fig. 34(a), the processing subject T is lifted up over the
carrying
plate 402 to a prescribed position by the retaining mechanism 310A or 310B
(not
shown). In this condition, image data showing the processing subject T are
obtained
by the imaging device 500, and the length of the processing subject T (for
example, a
distance from the position in which the processing subject T is retained by
the
retaining mechanism 310A or 310B to the lowermost point of the processing
subject
T) is calculated. Next, the carrying plate 402 is caused to move toward the
far side
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(the direction of the arrow Y1) of the processing apparatus 1 while
catching/hoisting
the processing subject T by rotating the carrying plate 402 alternately in the
forward
direction and the reverse direction while keeping the position of the
retaining
mechanism 310A or 310B fixed (Figs. 34(a) and 34(b)). Once the carrying plate
402
has moved by a predetermined distance prescribed in accordance with the length
of
the processing subject T, movement thereof in the far side direction is
stopped, and
the carrying plate 402 is rotated to the vertical condition (Fig. 35(c)).
Next, the
carrying plate 402 is moved in the door direction (the direction of the arrow
Y2) of the
processing apparatus 1 while remaining vertical (Fig. 35(d)). At this time,
the
carrying plate 402 is held in the vertical condition, and therefore the
processing
subject T is retained securely on the upper edge of the carrying plate 402 and
thereby
prevented from sliding off as the carrying plate 402 moves. When the carrying
plate
402 returns to a predetermined position, the carrying plate 402 is rotated to
a
predetermined angle (Fig. 36(e)). During the operation up to this point, the
position
of the retaining mechanism 310A or 310B remains fixed. In other words, by
performing this operation, the position in which the processing subject T
hangs down
onto the carrying plate 402 can be shifted to the lower side of the processing
subject T
without moving the retaining mechanism 310A or 310B. This operation is
particularly
effective when unfurling a long processing subject T in a situation where the
movable
range of the retaining mechanism 310A or 310B is limited.
[0331] (S) In the above embodiment, a processing operation in which the T-
shirt T is
used as the processing subject T was described, but needless to mention, the
type of
processing subject T processed by the processing apparatus 1 is not limited to
a
T-shirt. A recognition process and a folding process performed when slacks T
are
used as the processing subject T will be described below. The reception
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transportation process and the transportation process are identical to those
of a case
in which the processing subject T is the T-shirt T, and therefore description
thereof
has been omitted.
[0332] By switching the lowermost point of the slacks T repeatedly as shown in
Fig.
37(a) after the first point P of the processing subject T has been retained
and lifted up
by the retaining mechanism 310A at the end of the reception transportation
process,
the retaining mechanisms 310A and 310B end up retaining the respective lower
edges of the slacks T as shown in Fig. 37(b). The image data showing the
processing subject T are input into the type recognition unit 914 from the
imaging
device 500 every time the lowermost point of the processing subject T is
switched,
and when image data showing this condition are input, the type recognition
unit 914
recognizes the slacks T as "slacks" and obtains the folding information
corresponding
to "slacks". Further, at this time, the length detection unit 915 measures
dimensions
of respective parts of the slacks T, such as the width of a waist part of the
slacks T
and the length from the waist to the lower edges, on the basis of the image
data
obtained from the imaging device 500, and stores the measurement results
temporarily in the RAM or the like of the control device 900.
[0333] Next, the folding process is started. First, as shown in Fig. 38(c),
the slacks
T are caught on and lowered onto the carrying plate 402 in a substantially
central
position in a lengthwise direction thereof. In this condition, the retaining
mechanism
310A retains and lifts up an end portion of the slacks T lying on the carrying
plate 402,
and the retaining mechanism 310 B retains and lifts up an end portion of the
waist of
the slacks T hanging down from the carrying plate 402. Next, the retaining
mechanisms 310A and 310B are moved on the basis of the width of the waist part
of
the slacks T so that a straight line linking a central portion of the waist
part and a
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crotch part of the slacks T is disposed on the edge line of the carrying plate
402 (Figs.
38(d) and 39(e)). When it is determined at this time on the basis of the image
data of
the processing subject T obtained from the imaging device 500 that a part of
an
inseam of the slacks T remains on the carrying plate 402, the retaining
mechanism
310A retains the remaining inseam part and removes the remaining part from the
carrying plate 402 (Fig. 39(e)).
[0334] Next, the crotch part and the central portion of the waist part of the
slacks T
are retained and lifted up from the carrying plate 402 by the respective
retaining
mechanisms 310A and 310B so as to be removed from the carrying plate 402 (Fig.
39(f)), whereupon the retaining mechanism 310B is rotated about the retaining
mechanism 310A (Fig. 40(g)) such that the slacks T hang down vertically from
the
waist part toward the lower edges (Fig. 40(h)). From this condition, the
retaining
mechanism 310B is moved to the opposite side of the carrying plate 402 (in the
direction of the arrow Y2) so that the slacks T are temporarily caught on the
carrying
plate 402 (Fig. 41(i)). Next, the respective end portions of the slacks T
temporarily
placed on the carrying plate 402 are retained by the retaining mechanisms 310A
and
310B, whereupon the retaining mechanisms 310A and 310B are moved to the
opposite side of the carrying plate 402 (in the direction of the arrow Y2) so
that the
lengthwise direction center of the slacks T (half the length thereof from the
waist to the
lower edges) is caught on the carrying plate 402 (Fig. 41(j)). Next, the
carrying
device control unit 906 rotates the carrying plate 402 in the horizontal
direction so as
to move the carrying plate 402 in the horizontal direction to the vicinity of
the clamping
device 700 (Fig. 42(k)). When the carrying plate 402 approaches, the upper
side
clamping plate 702 and the lower side clamping plate 704 of the clamping
device 700
are rotated in the mutually approaching direction (Fig. 42(k)). As a result,
the waist
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portion of the slacks T hanging down from the carrying plate 402 is lifted up
by the
lower side clamping plate 704, whereby folding is completed.
[0335] Note that although in the example described above, the carrying plate
402 is
used (Figs. 38(c) to 39(f)) to fold the slacks T in half along the straight
line linking the
central portion of the waist part and the crotch part of the slacks T (so that
the lower
edges of the slacks T overlap), the present invention is not limited thereto.
Instead,
for example, as shown in Fig. 75, in a condition where the retaining
mechanisms 310A
and 310B retain the respective lower edges of the slacks T (Fig. 75(a)), the
two lower
edges of the slacks T may be aligned by turning one of the retaining
mechanisms
310A and 310B toward the other so that the retaining mechanisms 310A and 310B
approach each other (such that the width direction (X direction) and height
direction (Z
direction) positions of the two mechanisms are aligned with each other with a
slight
gap therebetween in the front-rear direction (the Y direction)) (Fig. 75(b)).
In so
doing, the folding process can be greatly simplified.
[0336] (T) In the processing apparatus 1 according to the above embodiment,
once
the folding process is started (Fig. 14), a folding operation corresponding to
the type
of the processing subject T recognized in the recognition process (Fig. 13) is
continued on the assumption that the type of the processing subject T has been
recognized correctly. However, the processing subject T may be recognized
erroneously in the recognition process (Fig. 13), and the folding operation
may be
performed on the basis of the erroneous recognition (for example, the
processing
subject T may be recognized mistakenly as a T-shirt even though in actuality
the
processing subject T is a pair of slacks, and a T-shirt folding method may be
applied
to the slacks). Hence, image data showing the processing subject T may be
obtained by the imaging device 500 during or after the folding process, and a
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determination may be made on the basis of the image data as to whether or not
the
processing subject T deviates from a prescribed folded shape corresponding to
the
type thereof. When it is determined that the processing subject T deviates
from the
prescribed folded shape, the type of the processing subject T may be
determined to
have been recognized erroneously, and the folding operation may be
interrupted,
whereupon the retaining mechanisms 310A, 310B retain the processing subject T
again and the recognition process is restarted. Alternatively, the processing
subject
T may be determined to be "unfoldable", and the folding process may be
interrupted,
whereupon the retaining mechanisms 310A, 310B store the processing subject T
in a
predetermined location within the processing apparatus 1, for example a
dedicated
storage box (for an example of this storage box, see the "unprocessed item
storage
portion H2" to be described in detail below in "(Y)").
[0337] Further, for example, even when the type of the processing subject T is
recognized correctly during the recognition process (Fig. 13), in cases where
the
processing subject T is large in size, irregular in shape, or the like, the
processing
subject T may be folded insufficiently during the folding process (Fig. 14).
Moreover,
a part of the processing subject T may slide off the carrying plate 402 while
folding is
underway. In response to this problem, image data may be obtained by the
imaging
device 500 in relation to the processing subject T during or after the folding
process,
and the control device 900 may determine on the basis of the image data
whether or
not the processing subject T has been folded into the prescribed folded shape.
For
example, the control device 900 determines whether or not folding is complete
by
comparing a desired contour shape (a rectangle, for example) to be taken by
the
processing subject T upon completion of the folding process with the actual
contour
shape of the processing subject T (which includes a part (a sleeve portion,
for
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example) projecting from the rectangular shape, for example). When it is
determined
that folding is not complete, an additional folding operation may be performed
(to hook
the projecting sleeve portion on the edge portion of the carrying plate 402,
for
example), or the folding process may be started again from the beginning.
[0338] (U) In the processing apparatus 1 according to the above embodiment,
the
type recognition unit 914 recognizes the type of the processing subject T as a
"T-shirt"
in a condition where the respective ends of the sleeve openings of the T-shirt
T are
retained by the retaining mechanisms 310A, 310B (Fig. 19(j)). In other words,
when
the type of the processing subject T is a "T-shirt", the end point switching
operation is
repeated until the retaining mechanisms 310A, 310B retain the respective ends
of the
sleeve openings of the T-shirt T. Depending on the retaining condition,
however,
either the retaining mechanisms 310A, 310B may not be able to retain the
respective
ends of the sleeve openings of the T-shirt T regardless of how many times the
switching operation is repeated, or an extremely large number of repetitions
may be
required to retain the respective ends of the sleeve openings. When the
retaining
condition of the processing subject T is found to be in this deadlocked
condition (when
the image data generated by the imaging device 500 indicates a predetermined
shape,
when the number of times the lowermost point of the processing subject T is
switched
reaches or exceeds a predetermined number, or the like, for example), the
retaining
device control unit 904 may release the processing subject T from both of the
retaining mechanisms 310A, 310B so that the processing subject T drops onto
the
transportation conveyor 204 or is placed on the carrying plate 402, and then
restart
the operation for grabbing the lowermost point using the retaining mechanism
310A
(310B). Alternatively, it may be determined that the processing subject T
"cannot be
unfurled", and the recognition process may be interrupted, whereupon the
retaining
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mechanisms 310A, 310B store the processing subject T in a predetermined
location
within the processing apparatus 1, for example a dedicated storage box (for an
example of this storage box, see the "unprocessed item storage portion H2" to
be
described in detail below in "(Y)").
[0339] An example of a method of resolving a deadlocked condition by
recognizing
that the T-shirt T serving as the processing subject T is retained in a
horizontal
orientation will now be described using Figs. 43 and 44.
[0340] When the lowermost point (the end point furthest removed from the
straight
line linking the parts of the processing subject T retained by the retaining
mechanisms
310A, 310B) is switched repeatedly (Fig. 43(b)) from a condition in which the
first
point P and the first end point P1 are retained (Fig. 43(a)), the T-shirt T
may be
retained in a lateral orientation (Fig. 44(c)). The retaining device control
unit 904
determines that a deadlocked condition is established (i.e. that the
respective ends of
the sleeve openings of the T-shirt T will not be retained by the retaining
mechanisms
310A, 310B even if the switching operation is continued normally) after
recognizing,
on the basis of the image data showing the T-shirt T, which are input therein
from the
imaging device 500, that the T-shirt T has been retained in the lateral
orientation. In
this case, the retaining device control unit 904 moves the retaining
mechanisms 310A,
310B in the horizontal direction (the Y2 direction) toward the carrying plate
402, and
releases the T-shirt T so that the T-shirt hangs down over the carrying plate
402 (Fig.
44(d)). In this condition, the retaining device control unit 904 detects an
end portion
(in this example, one of the sleeve openings of the T-shirt T) serving as a Z
direction
lowermost point of the T-shirt T on the basis of the image data input from the
imaging
device 500, and causes the retaining mechanism 310A to grip this end portion.
Then,
by repeating the lowermost point gripping operation normally (in this example,
one of
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the sleeve openings of the T-shirt T has been gripped, and therefore two
further
operations are required) or, since in this example the type of the processing
subject T
has already been recognized as a "T-shirt", by directly gripping the other
sleeve
opening of the T-shirt T (in this case, one further operation is required),
the respective
ends of the sleeve openings of the T-shirt T are retained by the retaining
mechanisms
310A, 300B. In so doing, the deadlocked condition can be resolved, and as a
result,
the processing prior to the folding process can be completed more quickly.
[0341] (V) In the processing apparatus 1 according to the above embodiment,
the
T-shirt folding process (Figs. 14 and 19(k)) is started as soon as the type
recognition
unit 914 recognizes the type of the processing subject T as a "T-shirt" after
the
respective ends of the sleeve openings of the T-shirt T are retained by the
retaining
mechanism 310A, 310B (Fig. 19(j)). However, the timing at which to recognize
the
type of the processing subject T and the shape of the processing subject T
required
for recognition are not limited thereto. For example, the type recognition
unit 914
may recognize the type of the processing subject T before the processing
subject T is
unfurled (during the reception transportation process, for example) or while
the
processing subject T is being unfurled (before the processing subject T
achieves the
shape required to start the folding process), whereupon the unfurling
operation may
be performed in accordance with the recognized type of the processing subject
T so
that the processing subject T achieves the shape required to start the folding
operation (in the example of the T-shirt T, the condition shown in Fig. 19(j),
in which
the respective ends of the sleeve openings of the T-shirt T are retained by
the
retaining mechanisms 310A, 310B). As a method of recognizing the processing
subject T early before the processing subject T is unfurled or while the
processing
subject T is being unfurled, data associating a certain specific feature of
the outer
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appearance of the processing subject T (a specific color ("yellow", for
example), a
specific character string ("ABC" or the like, for example), a specific pattern
or mark
("stripes", for example), and so on) with the type of the processing subject T
may be
retained in advance in the type recognition unit 914, for example, and the
type
recognition unit 914 may recognize the type of the processing subject after
detecting
this feature of the outer appearance. By determining the type of the
processing
subject T before the processing subject T is unfurled or while the processing
subject T
is being unfurled and then performing an optimum unfurling operation
corresponding
to the type of the processing subject T, the processing prior to the folding
process can
be completed more quickly. Alternatively, instead of specifying a single type,
when a
feature of the outer appearance of the processing subject T (long sleeves,
long lower
edges, or the like, for example) is detected before the processing subject T
is unfurled
or while the processing subject T is being unfurled, the type recognition unit
914 may
narrow down the type of the processing subject to types having the detected
feature.
[0342] An example of a method of recognizing that the processing subject T is
a
"towel" while the processing subject is being unfurled and then unfurling and
folding
the processing subject T will now be described using Figs. 45 to 47.
[0343] When the type of the processing subject T is a "towel" and the
lowermost
point (the end point furthest removed from the straight line linking the parts
of the
processing subject T retained by the retaining mechanisms 310A, 310B) is
switched
repeatedly, as shown in Fig. 45(a), the processing subject T takes on a
specific shape
in which a central part thereof hangs down in a downward direction (the Z
direction)
from respective width direction (X direction) end portions. At this stage, the
type
recognition unit 914 recognizes that the processing subject T is a "towel" on
the basis
of the image data obtained from the imaging device 500. The retaining device
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control unit 904 then performs a following unfurling operation determined in
advance
for use with a "towel" in order to set the processing subject T in an optimum
shape for
starting the folding operation (in this example, a condition shown in Fig.
46(d)).
[0344] First, the retaining mechanism 310B is moved in the horizontal
direction (the
Y2 direction) toward the carrying plate 402 and then caused to release the
processing
subject T so that one lengthwise direction end portion of the towel serving as
this
processing subject T hangs down over the carrying plate 402 (Fig. 45(b)).
Next, the
retaining mechanism 310A is moved in a width direction center direction (the
X2
direction) of the carrying plate 402 while continuing to grip the processing
subject T
(Fig. 45(b)), whereby the other lengthwise direction end portion of the towel
serving as
the processing subject T becomes the lowermost point (Fig. 46(c)). The
retaining
mechanism 310B then grips the other lengthwise direction end portion, with the
result
that the processing subject T achieves the shape required to start the folding
operation (Fig. 46(d)). By determining the type of the processing subject T
(in this
case, a towel) and performing an optimum unfurling operation corresponding to
the
type in this manner, the processing prior to the folding process can be
completed
more quickly.
[0345] Note that when the processing subject T is a "towel", the folding
process is
performed as follows. In the condition shown in Fig. 46(d), the control device
900
calculates the length (the lengthwise direction size) of the towel serving as
the
processing subject T on the basis of the image data obtained from the imaging
device
500, and then calculates the number of required folds (in this example, two
folds are
required, for example). Next, the carrying device control unit 906 rotates the
carrying
plate 402 to the vertical orientation. In this condition, the retaining device
control unit
904 moves the retaining mechanisms 310A, 310B toward the carrying plate so
that
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the lengthwise direction center of the processing subject T, i.e. the part
thereof that is
hanging down, is placed over the upper edge portion of the carrying plate 402,
then
causes the retaining mechanisms 310A, 310B to release the processing subject T
temporarily, and then causes the retaining mechanisms 310A, 310B to grip the
respective end portions of the processing subject T positioned on the carrying
plate
402 again (Fig. 46(e)). In this condition, the processing subject T is not
sufficiently
folded, and therefore folding is performed once more. More specifically, the
retaining
device control unit 904 moves the retaining mechanisms 310A, 310B toward the
carrying plate so that the lengthwise direction center of the processing
subject T, i.e.
the part thereof that is hanging down, is placed over the upper edge portion
of the
carrying plate 402, and then causes the retaining mechanisms 310A, 310B to
release
the processing subject T (Fig. 47(f)). At this time, the towel serving as the
processing subject T is folded in four in the lengthwise direction. Next, the
carrying
device control unit 906 rotates the carrying plate 402 in the horizontal
direction (Fig.
47(g)), and then moves the carrying plate 402 in the horizontal direction to
the vicinity
of the clamping device 700 (Fig. 47(g)). When the carrying plate 402
approaches,
the clamping device control unit 910 rotates the upper side clamping plate 702
and
the lower side clamping plate 704 of the clamping device 700 in the mutually
approaching direction (Fig. 47(g)). As a result, the end portions of the
processing
subject T hanging down from the carrying plate 402 are lifted up by the lower
side
clamping plate 704, whereby folding is completed.
[0346] (W) In the above embodiment, the processing apparatus 1 recognizes the
type of the processing subject T inserted therein after unfurling the
processing subject
T, and then folds the processing subject T in accordance with the recognized
type
thereof. Depending on the processing subject T, however, the type may be
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unrecognizable, and as a result, folding may be impossible. In this case, the
control
device 900 may determine that the processing subject T is "unrecognizable" and
"unfoldable", interrupt the recognition process and the folding process, and
separate
this processing subject T from the other processing subjects T by causing the
retaining mechanisms 310A, 310B to store the processing subject T in a
predetermined location within the processing apparatus 1, for example a
dedicated
storage box (for an example of this storage box, see the "unprocessed item
storage
portion H2" to be described in detail below in "(Y)").
[0347] For example, when the control device 900 cannot recognize the
processing
subject T during the recognition process even after the lowermost point of the
processing subject T has been switched more times than a predetermined
threshold,
the processing subject T may be determined to be "unrecognizable". When
patterns
corresponding only to a "T-shirt", "slacks", a "towel", and a "skirt" are
stored in the
control device 900 as the types of the processing subject T, for example, and
a "sock"
is inserted as the processing subject T, the features of the sock do not match
the
pre-stored features of a "T-shirt", "slacks", a "towel", and a "skirt" during
the
recognition process even after the lowermost point unfurling operation has
been
repeated a plurality of times, and therefore recognition of the processing
subject T
fails even after the lowermost point of the processing subject T has been
switched
more times than the predetermined threshold. In this case, the processing
subject T
(the sock) is stored in the dedicated storage box as an "unrecognizable" item.
[0348] Moreover, when it is clear that the processing subject T cannot be
folded in
the processing apparatus 1, regardless of whether or not the type of the
processing
subject T can be recognized (for example, when the processing subject T is
recognized as exceeding a predetermined foldable range (defined by the length,
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weight, shape, material, and so on) of the processing subject T or the like,
or more
specifically, in cases such as when a large sheet or a laundry net is
inserted), the
processing subject T is determined to be "unrecognizable" and stored in the
dedicated
storage box before advancing to the next folding process.
[0349] Further, for example, the control device 900 may determine that the
processing subject T is "unfoldable" and store the processing subject T in the
dedicated storage box when the end points of the processing subject T required
to
fold the processing subject T cannot be recognized during the folding process
or it is
determined that the processing subject T cannot be retained on the carrying
plate 402
with stability (for example, when the size of the processing subject T exceeds
a
predetermined allowable folding size corresponding to the type or the like).
[0350] (X) In the above embodiment, the carrying device 400 including the
carrying
plate 402 was described, but the carrying device may include a carrying body
that
provides a plurality of points, one or a plurality of straight lines or
curves, a planar
surface, a curved surface, an uneven surface, or the like for carrying the
processing
subject T. Examples of such carrying bodies include one or a plurality of
thread-like
members (strings, wires, or the like, for example), one or a plurality of rod-
shaped
members or tubular members (in Fig. 8, for example, the carrying plate 402 may
be
removed and the rotary shaft 412 may be used in place of the carrying plate
402 or
the like), a comb-shaped member (the plurality of teeth of the comb constitute
a
plurality of carrying points), a spherical or hemispherical body (wherein the
spherical
surface is used as the carrying surface such that an effect of smoothing out
creases in
the processing subject T is obtained) and so on, for example. Note that the
configurations (the material and frictional resistance, the rounding
processing, the
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opening portions, and so on) of the carrying plate 402 described above in (Q)
may be
applied as appropriate in a similar manner to the carrying body.
[0351] Specific examples of this type of carrying body will now be described.
As
shown in Figs. 48 and 49, for example, a carrying body 402A constituted by a
single
string may be used as the carrying body. As shown in these drawings, the
carrying
body 402A is suspended in the width direction (the direction of the arrow X)
of the
processing apparatus 1 by the carrying device (not shown), and retained
thereby so
as to be capable of moving in the up-down direction (the direction of the
arrow Z) and
the front-rear direction (the direction of the arrow Y). The carrying body
402A can be
used to perform the recognition processing, the folding processing, and so on
in place
of the carrying plate 402.
[0352] Figs. 48(a) and 48(b) are views showing a part of the recognition
process
performed using the carrying body 402A. As shown in these drawings, by
bringing
the processing subject T and the carrying body 402A into contact with each
other
along a straight line, the recognition processing can be performed by means of
a
substantially identical operation to the process using the carrying plate 402,
shown in
Figs. 18(h) and 18(i) (in which the processing subject T and the side edge of
the
carrying plate 402 likewise come into contact with each other along a straight
line).
With the carrying body 402A, different advantages to those obtained by using
the
carrying plate 402 can be obtained. Specifically, the carrying body 402A is a
single
string retained at respective ends thereof by the carrying device so as to be
suspended, and therefore the string can be relaxed by loosening the hold
exerted
thereon by the carrying device. Accordingly, for example, the position of the
entire
processing subject T carried thereon can be lowered, and as a result, the
lowermost
point of the processing subject T can be shifted.
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[0353] Figs. 49(a) to 49(c) are views showing a part of the folding process
performed
using the carrying body 402A. In the carrying body 402A constituted by a
single
string, a "plane" such as that of the carrying plate 402 does not exist, and
therefore
the processing subject T must be folded in a different manner to the folding
process
(the process illustrated in Fig. 22(t), for example) using the "plane" of the
carrying
plate 402, as described in the above embodiment. For example, the processing
subject T may be folded as follows.
[0354] Fig. 49(a) shows a process performed after the T-shirt T has been
folded in
two along the first fold line B1 (this process is similar to the process shown
in Fig.
21(p)). The retaining mechanisms 310A, 310B retain the processing subject T on
the carrying body 402A so that a third fold line B4 of the processing subject
T is
positioned on the carrying body 402A. Here, the third fold line B4 is
positioned
further toward the center of the T-shirt T than the first fold line B2 and the
second fold
line B3 (see Fig. 21(q)) described in the above embodiment. As shown in Fig.
49(a),
the third fold line B4 is positioned such that when the processing subject T
hangs
down over the carrying body 402A, an end edge B5 of one sleeve of the T-shirt
T and
a second end edge B7 of a midriff portion of the T-shirt T are substantially
aligned.
[0355] Next, as shown in Fig. 49(b), the retaining mechanisms 310A, 310B lift
up the
processing subject T such that a first end edge of the midriff portion of the
T-shirt T
and the carrying body 402A are at substantially equal heights while continuing
to
retain the processing subject T by the third fold line B4. Simultaneously at
this time,
the retaining mechanisms 310A, 310B and/or the carrying body 402A are moved in
the front-rear direction (the direction of the arrow Y) until the carrying
body 402A is
positioned on the front side (the direction of the arrow Y1) of the processing
subject T.
At this stage, the retaining mechanisms 310A, 310B are moved downward in the
front
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side direction of the carrying body 402A. As a result, one of the sleeves is
caught on
the carrying body 402A such that a fourth fold line B8 is formed in the
processing
subject T (Fig. 49(c)). Hence, the processing subject T can be folded likewise
with
the carrying body 402A constituted by a single string.
[0356] The processing following the folding process described above may be
executed in a similar manner to the above embodiment. More specifically, the
carrying body 402A is moved away from the clamping device 700 while the
processing subject T remains clamped by the clamping device 700, whereupon the
transportation processing is performed. Note that since the carrying body 402A
is a
string, a following method may be used to move the carrying body 402A away
instead
of moving the carrying body 402A and the clamping device 700 relative to each
other.
Specifically, by attaching a first end of the carrying body 402A, which is
constituted by
a single string, detachably to the carrying device, and once folding is
complete, pulling
a second end of the carrying body 402A after detaching the first end from the
carrying
device, the carrying body 402A can be "withdrawn" from the clamping device 700
(whereupon the first end of the withdrawn carrying body 402A is attached to
the
carrying device again). Note that in the processing following the folding
process
described above, the clamping device 700 does not have to be used. More
specifically, the carrying body 402A may be "withdrawn" from the processing
subject T
in the manner described above while the respective ends of the processing
subject T
are retained by the retaining mechanisms 310A, 310B, and then the processing
subject T may be transported directly to the processing subject reception box
R by the
retaining mechanisms 310A, 3106.
[0357] Further, for example, as shown in Fig. 64, a carrying body 4026 formed
from
two strings may be used as the carrying body. As shown in the figure, the
carrying
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body 402B is suspended by the carrying device (not shown) in the width
direction of
the processing apparatus 1 (the direction of the arrow X), and held thereby so
as to be
capable of moving up and down (in the direction of the arrow Z) and to the
front and
rear (in the direction of the arrow Y). The carrying body 402B can be used
instead of
the carrying plate 402 during the recognition processing, the folding
processing, and
so on.
[0358] The two strings constituting the carrying body 402B are capable of
moving
relative to each other while remaining parallel to each other. For example, by
causing one of the strings to execute a rotary motion relative to the other
string using
the other string as an axis, a carrying surface of the carrying body 402B (a
plane
including the two strings, i.e. a plane formed between one string and the
other string)
can be varied vertically (Fig. 64(a)), diagonally (Fig. 64(b)), and
horizontally (Fig.
64(c)). In other words, the carrying body 402B can provide a substantially
identical
carrying surface to the carrying plate 402. Further, for example, a surface
area of the
carrying surface of the carrying body 402B can be modified by varying an
interval
between one string and the other string.
[0359] Furthermore, for example, as shown in Figs. 65(a) and 65(b), carrying
bodies
402C, 402D having curved surface-shaped edge portions may be used as the
carrying body. The carrying bodies 402C, 402D are identical to the carrying
plate
402 except that one edge portion of each thereof is gently curved (more
specifically,
the carrying body 402C curves so as to form an outward projection, while the
carrying
body 402D curves so as to form an inward recess). By making the respective
edge
portions of the carrying bodies 402C, 402D gently curved, the processing
subject T
catches easily thereon. During folding, the other, rectilinear, edge portion
may be
used, but the curved edge portion may also be used. The reason for this is
that even
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if the processing subject T is slightly curved before being lifted up, as
shown in the
figures, a straight fold line can be formed on the processing subject T as
long as the
retaining mechanisms 310A, 310B are raised to identical heights (Z direction
positions) while retaining the respective width direction ends of the
processing subject
T.
[0360] Note that the carrying device 400 may include a plurality of the
carrying
bodies described above. At this time, the plurality of carrying bodies may
have
identical or different shapes, sizes, materials, and so on. The carrying
device 400
may be configured such that the plurality of carrying bodies are selected for
use as
appropriate by being respectively moved, deformed, stored, and so on in
accordance
with processing conditions during folding and so on, or in accordance with the
form of
the processing subject T.
[0361] (Y) There are also no particular limitations on the arrangements,
movable
ranges and so on of the respective members of the processing apparatus 1, and
various arrangements and structures may be employed within a scope that does
not
depart from the spirit of the present invention.
[0362] For example, a processing apparatus 1A shown schematically in Figs.
50(a)
and 50(b) includes an insertion portion H1, an unprocessed item storage
portion H2,
and a processed item storage portion H3, and is configured such that the user
can
insert and extract the processing subject T in different positions.
[0363] The insertion portion H1 is a sliding door-type box-shaped member
disposed
in a lowermost portion of the processing apparatus 1A, and as shown by an
arrow A in
Fig. 50(b), is configured to slide frontward from the processing apparatus 1A
so that a
processing subject can be inserted therein. As a result, the user can insert a
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processing subject into the insertion portion H1 by performing a simple
operation to
drop the processing subject therein from above.
[0364] The unprocessed item storage portion H2 is disposed alongside the
insertion
portion H1. The unprocessed item storage portion H2 is a dedicated sliding
door-type box-shaped member for storing the processing subjects T determined
by
the control device 900 to be "unrecognizable", "unfoldable", and so on, and is
configured to slide frontward. As a result, the user can collect the
processing
subjects T that have not been folded separately from the folded processing
subjects T,
which is more convenient for the user.
[0365] The processed item storage portion H3 is a box-shaped member disposed
above the insertion portion H1, in which the folded processing subject T are
stored.
As shown by an arrow B in Fig. 50(b), the processed item storage portion H3 is
removed to the uppermost portion of the processing apparatus 1A during the
processes for recognizing and folding the processing subject T so as to avoid
a
movable area J of a folding unit (the retaining devices 300A, 300B, the
carrying device
400, the clamping device 700, and so on) of the processing apparatus 1A.
During
the transportation process following the process for folding the processing
subject T,
the processed item storage portion H3 is lowered to the vicinity of the center
of the
processing apparatus 1A, and the folded processing subject T is stored
therein.
Hence, the user can access the processed item storage portion H3 by opening an
extraction door I provided in front of the processed item storage portion H3.
At this
time, the processed item storage portion H3 is positioned near the center of
the
processing apparatus 1A, and therefore the user can extract the folded
processing
subject T easily without bending down or the like. Note that the processed
item
storage portion H3 may be constituted by a plurality of box-shaped members, or
may
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be divided into a plurality of partitioned spaces by providing a plurality of
partitions or
the like therein. In this case, the processing subjects T can be stored
separately in
accordance with the types and properties thereof. In so doing, the processing
subjects T are less likely to lose their shape and so on than in a case where
processing subjects T of different types are stacked in a single space, and
the
processing subjects T do not have to be sorted after being removed from the
processing apparatus 1A. As a result, convenience of the user can be improved
even further.
[0366] Further, for example, in the above embodiment, the carrying device 400
includes the rotation mechanism 406 and the front-rear direction moving
mechanism
408 so as to be capable of rotating the carrying plate 402 and moving the
carrying
plate 402 in the front-rear direction (the Y direction in Fig. 8). The present
invention
is not limited thereto, however, and the carrying device 400 may further
include a
width direction moving mechanism and an up-down direction moving mechanism,
for
example, so as to be capable of moving the carrying plate 402 in the width
direction
(the X direction in Fig. 8) and the up-down direction (the Z direction in Fig.
8).
Furthermore, the carrying plate 402 may be rotated about another rotary axis
as well
as by the rotation mechanism 406. For example, by rotating the carrying plate
402
relative to the front-rear direction (the Y direction in Fig. 8), the carrying
plate 402 is
tilted about the front-rear direction (the Y direction in Fig. 8), and as a
result, when the
processing subject T is carried on the carrying plate 402, the processing
subject T can
be moved more easily in the direction of the tilt. Accordingly, the operation
for sliding
the processing subject T (the operation for aligning the processing subject T
in the
leftward direction (the direction of the arrow X2 in Fig. 21(q)) on the
carrying plate
402), described using Fig. 21(q), for example, can be executed more easily.
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Moreover, for example, the rotation mechanism and moving mechanisms described
above may be omitted, and instead, the carrying plate 402 may be fixed inside
the
processing apparatus 1.
[0367] (Z) The folding method employed by the processing apparatus 1 to fold
the
processing subject T is not limited to the method of the folding process
described
above.
[0368] For example, in the above embodiment, when shifting from the condition
shown in Fig. 21(p) to the condition shown in Fig. 21(q), the retaining
mechanism
310B moves around a circumference centering on the retaining mechanism 310A
until
the line segment linking the retaining mechanism 310A and the retaining
mechanism
310B is perpendicular to the width direction of the carrying plate 402 (the
direction of
the arrow X), whereupon the two retaining mechanisms 310A, 310B are moved
downward while being moved in the leftward direction (the direction of the
arrow X2).
These movements may be modified as shown in Fig. 76, for example.
[0369] First, as shown in Fig. 76(a), the carrying plate 402 is rotated to a
horizontal
position, and either the two retaining mechanisms 310A, 310B retaining the
processing subject T are moved or the carrying plate 402 is moved such that
the
retaining mechanisms 310A, 310B are positioned on the far side (the arrow Y1
side)
of the carrying plate 402. In this condition, the retaining mechanism 310B is
moved
around a circumference centering on the retaining mechanism 310A so that the
line
segment linking the retaining mechanism 310A and the retaining mechanism 310B
is
set at approximately 45 degrees relative to the width direction of the
carrying plate
402 (the direction of the arrow X) (Fig. 76(b)).
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[0370] Next, the two retaining mechanisms 310A, 310B and the carrying plate
402
are moved relative to each other so that the collar side of the processing
subject T is
carried on the upper surface of the horizontal carrying plate 402. At this
time, by
moving the processing subject T such that a part thereof slides against the
first edge
line Cl of the carrying plate 402, creases are suppressed.
[0371] At a stage where a collar side end portion D6 of the first fold line B2
of the
processing subject T comes into contact with the first edge line Cl of the
carrying
plate 402 (Fig. 76(c)), the next movement is started. More specifically, the
retaining
mechanism 310A and the retaining mechanism 310B are moved downward toward
the carrying plate 302 while being rotated about the collar side end portion
D6 so that
the first fold line B2 of the processing subject T overlaps the first edge
line Cl of the
carrying plate 402. As a result, the condition shown in Fig. 21(q) can be
obtained.
[0372] According to this method, the processing subject T is carried on the
carrying
plate 402 while being rotated about the collar side end portion D6 of the
first fold line
B2 of the processing subject T in a condition where the collar side end
portion D6
contacts the carrying plate 402, and therefore the processing subject T can be
prevented from deviating while being moved, with the result that the first
fold line B2 of
the processing subject T can be aligned with the first edge line Cl of the
carrying plate
402 more appropriately.
[0373] In the above embodiment, an example in which the control device 900,
having
recognized the processing subject as a T-shirt during the recognition process,
applies
a single folding method corresponding to the recognized type (a T-shirt)
during the
folding process was described, but the present invention is not limited
thereto. For
example, the control device 900 may store a plurality of folding methods with
respect
to a single type of processing subject T (a T-shirt, for example), and vary
the folding
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method in accordance with user preferences specified in advance or at the
start of
each operation, even in relation to a processing subject T of an identical
type. As
shown in Fig. 66, for example, during the folding process, the control device
900 may,
on the basis of a user selection, fold the processing subject T (a T-shirt) in
three in the
width direction, similarly to the above embodiment (see Fig. 66(c)), or fold
the
processing subject T in two in the width direction about the collar (see Figs.
66(d) and
(e)).
[0374] A following folding method, for example, may also be employed. Fig.
67(a)
shows a process following a process for folding the T-shirt T in two about the
first fold
line B1 (this process being identical to that shown in Fig. 21(p)). The
retaining
mechanisms 310A, 310B retain the processing subject T (here, a top having the
sleeves of a T-shirt T or the like. Note that the sleeves may be long) on the
carrying
plate 402 so that a fifth fold line B9 of the processing subject T is
positioned on the
first edge line Cl of the carrying plate 402.
[0375] Next, the retaining mechanisms 310A, 310B lift up the processing
subject T
while gripping the processing subject T along the fifth fold line B9.
Simultaneously,
the carrying plate 402 is rotated in a forward direction to the horizontal
condition (Fig.
67(b)). In this condition, the retaining mechanisms 310A, 310B carry the
processing
subject T onto the carrying plate 402 such that a sixth fold line B10 of the
processing
subject T is in alignment with the second edge line C2 of the carrying plate
402 (Fig.
68(c)).
[0376] Here, the fifth fold line B9 and the sixth fold line B10 are set to
satisfy the
following two conditions. Firstly, as indicated by a dotted line in Fig.
67(b), the sixth
fold line B10 is set such that when the processing subject T is folded along
the fifth
fold line B9, a sleeve portion D4 that is close to the fifth fold line B9 is
divided by the
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sixth fold line B10. Secondly, as shown in Fig. 68(c), the fifth fold line 69
and the
sixth fold line B10 are set to be positioned equidistant from the width
direction center
of the processing subject T.
[0377] By setting the fifth fold line B9 and the sixth fold line B10 in this
manner, when
the processing subject T is carried on the carrying plate 402, as shown in
Fig. 68(c),
the two sleeve portions D4 and D5 of the processing subject T both hang down
from
the second edge line C2 of the carrying plate 402. Accordingly, when the
carrying
plate 402 is rotated in the forward direction to the vertical condition in the
following
step (Fig. 68(d)), the sleeve portions D4 and D5 of the processing subject T
can be
hooked on the second edge line C2. In other words, the sleeve portion D4 of
the
processing subject T, which is disposed on the lower side in the vertical
direction, can
be retained by the second edge line C2 of the carrying plate 402, and as a
result, the
fifth fold line B9 formed in the previous step (Fig. 67(a)) can be maintained
without
collapsing.
[0378] Next, the retaining mechanisms 310A, 310B lift up the processing
subject T
while gripping the processing subject T by the sixth fold line B10.
Simultaneously,
the carrying plate 402 is rotated in the reverse direction to the horizontal
condition.
The retaining mechanisms 310A, 310B then carry the processing subject T onto
the
horizontal carrying plate 402 while retaining the processing subject T by the
sixth fold
line B10 (Fig. 68(e)), whereby the folding process is complete.
[0379] According to this folding method, the sleeve D4 does not drop when the
second edge line C2 is used (Fig. 68(d)), and therefore two fold lines (the
fifth fold line
B9 and the sixth fold line B10) can be formed using the first edge line Cl and
the
second edge line C2 of the carrying plate 402, regardless of the length of the
sleeves
of the processing subject T. In other words, a processing subject T having
sleeves
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can be folded in three in the width direction simply by moving the carrying
plate 402
and the retaining mechanisms 310A, 310B.
[0380] Furthermore, in the above embodiment, the final operation of the
process for
folding the processing subject T in three is performed by the clamping device
700
(Figs. 22(u) and 23), but according to this folding method, the processing
subject T
can be folded without using the clamping device 700. Hence, by transporting
the
processing subject T directly to the processing subject reception box R from
the
carrying plate 402, the clamping device 700 itself can be omitted from the
processing
apparatus. A specific example of this processing apparatus will be described
in
detail below in "Ill. Third processing apparatus".
[0381] Further, for example, in the folding process, a folding method
corresponding
to the type (a T-shirt, for example) of the processing subject T is applied to
the
processing subject T, but instead, a determination may be made at the start of
the
folding process as to whether or not the processing subject T is retained by
the
retaining mechanisms 310A, 310B or carried on the carrying plate 402 in a
suitable
condition for the corresponding folding method.
[0382] More specifically, to implement the folding process, the retaining
mechanisms
310A, 310B are preferably configured to grip respective sides of the
processing
subject T on either side of a center line (a center line in a widthwise
direction or a
center line in a lengthwise direction) of the processing subject T, and more
preferably
configured to grip the processing subject T in left-right symmetry about the
center line
of the processing subject T. Therefore, at the start of the folding process,
for
example, the imaging device 500 photographs the processing subject T, and
determines from an incline of the lower end or the side end of the garment
whether or
not the processing subject T is being retained by the retaining mechanisms
310A,
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310B in left-right symmetrical positions, i.e. without tilting in the
horizontal direction.
When it is found that the processing subject T is not retained in left-right
symmetry, or
in other words is tilting in the horizontal direction, the processing subject
T is corrected
to an appropriate retention condition by moving one or the other of the
retaining
mechanisms 310A, 310B or gripping the processing subject T anew. In so doing,
a
situation in which the processing subject T is folded at a slant or the like
can be
prevented from occurring, and as a result, the precision of the folding
operation can
be improved. A determination as to whether or not the processing subject T is
being
retained back to front or the like may be made in a similar manner, and a
correction
may be performed at the start of the folding process.
[0383] Furthermore, for example, the speed of the folding process may be
modified
appropriately in accordance with the processing subject T (the type and
material of
the processing subject T or a user specification), the time of day of the
operation (at
night, when noise is preferably avoided, during the day, when noise is
permitted, and
so on), or a desired finish (a quick program, a standard program, a thorough
program,
and so on) by making drive speeds of the retaining mechanisms 310A, 310B and
so
on modifiable.
[0384] Further, for example, to ensure that the fold line of the processing
subject T
carried on the upper side edge line of the carrying plate 402 does not deviate
during
the folding process, the retaining mechanisms 310A, 310B may be configured to
release the processing subject T while positioned as far downward as possible
(for
example, below the upper side edge line Cl of the carrying plate 402). For
example,
in the above embodiment, when the retaining mechanisms 310A, 310B release the
first point P and the second end point P2 (when shifting from the condition
shown in
Fig. 19(k) to the condition shown in Fig. 19(1)), the two retaining mechanisms
only
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move horizontally in the door direction (the direction of the arrow Y2), but
at this time,
the retaining mechanisms 310A, 310B may also be moved downward (in the Z
direction) so as to release the first point P and the second end point P2
below the
upper side edge line Cl of the carrying plate 402. In so doing, a distance by
which
the processing subject T (the lower edge side of the T-shirt T) drops is
shortened, and
as a result, deviation of the fold line (the lateral fold line B1) due to
momentum
generated when the processing subject T is released can be suppressed.
[0385] II. Second processing apparatus
Next, an apparatus for extracting a processing subject T subjected to drying
and so on in a dryer or the like, and then folding the extracted processing
subject T
and so on, will be described using the processing apparatus 1B and modified
examples thereof.
[0386] The processing apparatus 1 described above performs folding and the
like on
a processing subject inserted into an apparatus (the reception transportation
device
200) by a user. The processing apparatus 1B differs therefrom in that a dryer
or the
like is provided integrally in the housing, and the retaining device extracts
the
processing subject T from the dryer or the like and then folds the processing
subject T
and so on. The following description will focus on these differences. Note
that
unless specified otherwise, the processing apparatus 1B is similar to the
processing
apparatus 1 and/or the modified examples thereof in terms of the functions and
configurations thereof relating to folding and the like.
Accordingly, identical
reference numerals have been allocated to these functions and configurations,
and
description thereof has been omitted.
[0387] [Overall configuration of processing apparatus 113]
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As shown in Fig. 51, the processing apparatus 1B mainly includes retaining
devices 300A, 300B, 300C, a carrying device 400, imaging devices 500, 500B, a
washer/dryer 600, a storage portion K, a clamping device 700, a transportation
device
800 (not shown), a control device 900B (not shown), and so on, all of which
are
housed in a housing 110.
[0388] Respective configurations will be described below. Note that the
retaining
devices 300A, 300B, the imaging device 500, the clamping device 700, and the
transportation device 800 may be configured identically or similarly to those
of the
processing apparatus 1 and/or the modified examples thereof, and therefore
description thereof has been omitted. Note that in Fig. 51, a perpendicular
direction
to the paper surface (the X direction), the Y direction, and the Z direction
will be
referred to respectively as the width direction, the depth direction, and the
height
direction.
[0389] [Housing 110]
The housing 110 is formed in a substantially rectangular parallelepiped shape
from stainless steel, which has a thermal insulation property, CFRP, which
blocks
electromagnetic field noise, or the like, for example. The housing 110
includes an
insertion door 112, an extraction door 113, an air supply fan 114, an air
discharge fan
116, and so on.
[0390] The insertion door 112 is a door for inserting the processing subject T
into the
washer/dryer 600, and is provided on a lower side of the processing apparatus
1B.
The extraction door 113 is a door for extracting the processing subject T from
the
storage portion K. The extraction door 113 is provided in the housing 110
above the
insertion door 112 near the height direction (Z direction) center of the
processing
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apparatus 1B (so that the lower body of the user is positioned in front of the
insertion
door 112 and the upper body is positioned in front of the extraction door
113). Thus,
the user has to bend down to insert the processing subject T into the
washer/dryer
600, but does not have to bend down to extract the processing subject T. As a
result,
a processing subject T that has been folded and so on and must therefore be
handled
more carefully than during insertion can be extracted easily through the
extraction
door 113.
[0391] Note that for safety, both the insertion door 112 and the extraction
door 113
are preferably formed in shapes and sizes that make it difficult for a child
or the like to
climb through (for example, such that an opening part is narrowest, similarly
to a
bottle, or the like).
[0392] The air supply fan 114 is provided above the washer/dryer 600 near the
height
direction (Z direction) center of the housing 110. The air supply fan 114
includes an
air vent that can be opened and closed freely, a fan, and a heater, and is
used to take
outside air into the housing (while warming the air if necessary).
[0393] The air discharge fan 116 is provided above the air supply fan 114 near
an
uppermost portion of the housing 110. The air discharge fan 116 includes an
air vent
that can be opened and closed freely, and a fan, and is used to discharge air
to the
outside of the housing 110.
[0394] By driving the air supply fan 114 and the air discharge fan 116 (by
opening
and closing the air vents, rotating the fans, driving the heater, and so on),
a flow of air
traveling in an upward direction through the housing can be created. Driving
of the
air supply fan 114 and the air discharge fan 116 is controlled by the control
device
900B. For example, the control device 900B may be configured to refrain from
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supplying air and performing ventilation during processes for drying the
processing
subject T and the like or folding the processing subject T and the like so
that heat is
retained in the housing, thereby ensuring that the internal temperature of the
housing
is kept high (at 60 degrees, for example). Further, for example, the control
device
900B may be configured to remove creases from the processing subject T during
the
folding process by driving the air supply fan 114 and the air discharge fan
116 to
create an air flow through the housing 110.
[0395] Furthermore, by driving the air supply fan 114 and the air discharge
fan 116,
an internal pressure of the housing 110 can be kept higher than that of the
peripheral
environment. In so doing, dust, dirt, and so on in the housing 110 can be
discharged,
and dust, dirt, and so on can be prevented from flowing in from the outside.
As a
result, dust, dirt, and so on can be prevented from adhering to the processing
subject
T.
[0396] [Retaining device 300C]
The retaining device 300C extracts the processing subject T from a washing
tub 602 of the washer/dryer 600. Further, the retaining device 300C transports
the
extracted processing subject T to the retaining devices 300A, 300B or the
carrying
plate 402 for folding and so on. The retaining device 300C includes a
retaining
mechanism 310C and a moving mechanism 320C.
[0397] The retaining mechanism 310C may be configured identically to the
retaining
mechanisms 310A and 310B so as to retain a part of the processing subject T.
[0398] The moving mechanism 320C has similar movement functions (height
direction, width direction, and depth direction movement) to the moving
mechanisms
320A, 320B. Further, the moving mechanism 320C is configured to be free to
extend
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and contract in a direction for causing the retaining device 300C to project
(the
direction of an arrow Al in Fig. 51), and configured such that one end of the
retaining
mechanism 310C is free to rotate relative to the other end (in the direction
of an arrow
R1 in Fig. 51). Thus, the retaining mechanism 310C can be moved to at least a
lowermost portion 602A of the washing tub 602.
[0399] Similarly to the retaining devices 300A, 300B, the retaining device
300C is
connected to the control device 900B communicably either by wire or
wirelessly.
The control device 900B thus controls operations of the retaining mechanism
310C
and the moving mechanism 320C.
[0400] [Imaging device 50013]
The imaging device 500B (a detection unit) is a device for detecting an end
point and so on of the processing subject T in order to extract the processing
subject
T from the washing tub 602. The imaging device 500B is attached in the
vicinity of
the insertion door 112 of the housing 110, and an imaging range Ll thereof
includes
at least the lowermost portion 602A of the washing tub 602. Note that by
attaching
the imaging device 500B to the housing 110 to be capable of rotating in the
height or
width direction, the imaging range Ll can be modified freely so as to include
so as to
include either an upper portion rear 602B or a below-door portion 602C of the
washing
tub 602.
[0401] Similarly to the imaging device 500, a digital still camera is used as
the
imaging device 500B. A wide angle lens may be used as the lens of the digital
still
camera. In this case, a visual field of the imaging device 500B can be widened
such
that the imaging range Ll includes the upper portion rear 602B or the below-
door
portion 602C of the washing tub 602, and as a result, the presence of a
processing
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subject T remaining in the washing tub 602 can be detected more accurately. A
monochrome or color CCD, for example, can be used as an image sensor of the
digital still camera. The imaging device 500B may include a lighting device
for
lighting the imaging range.
[0402] Similarly to the imaging device 500, the imaging device 500B is
connected to
the control device 900B communicably either by wire or wirelessly. The control
device 900B thus controls an operation of the imaging device 500B.
[0403] [Washer/dryer 6001
The washer/dryer 600 includes the washing tub 602, a sliding door 604, and
so on. The washer/dryer 600 is a drum-type washing and drying device having
functions for washing, spinning, and drying one or a plurality of processing
subjects T.
[0404] The washer/dryer 600 is disposed in the housing 110 on the lower side
of the
devices (referred to hereafter as "the folding device") for folding the
processing
subject and so on, such as the retaining devices 300A, 300B, the imaging
device 500,
the clamping device 700, and the transportation device 800.
[0405] Heat obtained by operating the washer/dryer 600 (for example, air
warmed in
the washing tub 602 by a drying operation) is used in other operations
performed in
the housing 110. When the sliding door 604 of the washing tub 602 is opened
following processing for drying the processing subject T, warm air in the
interior flows
upward through the housing 110 such that the temperature in the upper portion
of the
housing 110, where the folding device is disposed, increases. Hence,
the
temperature in the housing 110 can be kept high even during folding and so on
so that
the processing subject T can continue to be dried. Accordingly, creases in the
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processing subject T can be reduced, and as a result, the processing subject
.T can be
folded neatly.
[0406] The washing tub 602 is disposed such that an axial center thereof has a
predetermined angle (between 30 and 60 degrees, for example) relative to the
vertical
direction, and by rotating the washing tub 602 about the axial center, the
processing
subjects T can be rotated while falling from top to bottom, and thereby dried
and so on.
As a result, the processing subjects T in the washing tub 602 following drying
contain
a large amount of air, and therefore feel fluffy (i.e. the garments do not
shrink) and
have few creases. Moreover, gaps are more likely to be formed between the
respective processing subjects T, making it easier for the retaining device
300C to
extract the processing subjects T from the washing tub 602.
Furthermore,
subsequent processing for folding the processing subjects T and so on can be
performed more easily.
[0407] The sliding door 604 is a door for tightly sealing the washing tub 602.
The
sliding door 604 is provided in a side face of the washer/dryer 600, and can
therefore
be provided on the same surface as the insertion door 112 provided in the side
face of
the housing 110. As a result, the user can insert the processing subject T
into the
washing tub 602 from the side face of the housing 110.
[0408] Further, in contrast to a conventional drum-type washer/dryer, the
sliding door
604 includes a sliding opening/closing mechanism. When opened, the sliding
door
604 is moved by the opening/closing mechanism so as to project slightly (by a
slightly
larger amount than a thickness of the sliding door 604) in the direction of
the axial
center of the washing tub 602 (the direction of an arrow B1 in Fig. 51). Next,
the
opening/closing mechanism causes the sliding door 604 to slide downward (in
the
direction of an arrow B2 in Fig. 51) over a width direction side face of a
main body of
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the washer/dryer 600. The sliding door 604 is closed by performing a reverse
operation. The sliding door 604, when open, is disposed flat against the main
body
of the washer/dryer 600, and therefore a depth direction size of the
washer/dryer 600
while the sliding door 604 is open is much smaller than that of a conventional
washer/dryer 600. In other words, a distance between the washer/dryer 600 and
the
housing 110 can be reduced, enabling a reduction in the depth of the housing
110,
and as a result, the entire processing apparatus 1B can be made more compact.
Simultaneously, a distance between the insertion door 112 and the sliding door
604
can also be reduced, and as a result, the user can insert the processing
subject T
easily into the washing tub 602.
[0409] The washer/dryer 600 is connected to the control device 900B
communicably
either by wire or wirelessly. The control device 900B thus controls the
respective
operations of the washer/dryer 600.
[0410] [Storage portion K]
The storage portion K is a storage member for storing the processing subject
T, and includes a processed item storage portion K1 and an unprocessed item
storage portion K2.
[0411] The processed item storage portion K1 is a box-shaped member in which
the
processing subjects T are stored after being folded and so on. The processed
item
storage portion K1 includes a plurality of box-shaped members or a plurality
of internal
partitions such that a plurality of mutually partitioned spaces are formed
therein.
Accordingly, the processing subjects T can be sorted according to type and
property
when placed in the processed item storage portion K1. As a result, the
processing
subjects T are less likely to collapse and so on than when processing subjects
T of
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different types are stacked in a single space, and moreover, the processing
subjects T
do not have to be sorted after being extracted from the processing apparatus
1B.
[0412] The unprocessed item storage portion K2 is disposed alongside the
processed item storage portion K1 in the width direction. The unprocessed item
storage portion K2 stores processing subjects T determined by the control
device
900B to be "non-dry", "non-dryable" (see modified example (DD), to be
described
below), "unrecognizable", "unfoldable" (see modified example (W), described
above),
and so on. Hence, the user can recover the processing subjects T that have not
been folded and so on separately from the processing subjects T that have been
folded and so on.
[0413] The storage portion K (the processed item storage portion K1 and the
unprocessed item storage portion K2) includes a moving mechanism, and is
configured to be capable of moving in the height direction of the housing 110.
For
example, during the processes for recognizing and folding the processing
subject T,
the storage portion K moves upward (in the direction of an arrow Cl in Fig.
51) so as
to retreat to the uppermost portion of the housing 110 and thereby avoid the
movable
area of the folding device of the processing apparatus 1B. Then, during the
transportation process performed after the processing subject T is folded, the
storage
portion K descends to the position of the extraction door 113 of the housing
110,
whereupon the folded processing subject T is placed therein. Hence, the user
can
access the storage portion K by opening the extraction door 113. Note that the
storage portion K1 and the storage portion K2 may be configured to move
independently of each other. The storage portion K is connected to the control
device 900B communicably either by wire or wirelessly such that the control
device
900B controls movement thereof.
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[0414] [Control device 900B]
The control device 900B controls the respective parts of the processing
apparatus 1B. The control device 900B is mainly constituted by a ROM, a CPU, a
RAM, and an input/output interface. The ROM stores an operating system,
control
programs for controlling the respective parts of the processing apparatus 1B,
and data
required to execute the control programs. Further, the CPU is provided to load
the
control programs stored in the ROM to the RAM or execute the control programs
directly from the ROM. In other words, the CPU can control the processing
apparatus 1B by executing the control programs. Data processed by the CPU are
transmitted to respective parts (the washer/dryer 600, the retaining devices
300A,
300B, the retaining device 300C and so on, and the carrying device 400) of the
processing apparatus 1B via the input/output interface, while data required by
the
CPU to execute the processing are received from respective parts (the imaging
device 500 and so on) of the processing apparatus 1B via the input/output
interface.
[0415] As shown in Fig. 52, the control device 900B, similarly to the control
device
900, includes a retaining device control unit 904, a carrying device control
unit 906, an
imaging device control unit 908, a clamping device control unit 910, a
transportation
device control unit 912, a type recognition unit 914, a length detection unit
915, a
hanging length detection unit 916, a first point detection unit 920, a first
end point
detection unit 922, a second end point detection unit 924, a third end point
detection
unit 926, a fourth end point detection unit 928, a fifth end point detection
unit 930, a
sixth end point detection unit 932, a seventh end point detection unit 934,
and an
eighth end point detection unit 936 (but does not include a reception
transportation
device control unit 902).
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[0416] The control device 900B further includes a housing control unit 940, an
extraction control unit 950, a washer/dryer control unit 960, a storage
portion control
unit 970, and so on.
[0417] The housing control unit 940 controls the operations of the respective
parts of
the housing 110. More
specifically, the housing control unit 940 controls
opening/closing, safety locking, and so on of the insertion door 112 and the
extraction
door 113, and driving of the air supply fan 114 and the air discharge fan 116
(opening
and closing of the air vents, rotation of the fans, driving of the heater, and
so on).
[0418] The extraction control unit 950 controls the operations of the
retaining
mechanism 310C and the moving mechanism 320C of the retaining device 300C.
Further, the extraction control unit 950 controls operations of the imaging
device 5006
in order to obtain a digital image at a desired timing, within a desired
imaging range,
and so on.
[0419] The washer/dryer control unit 960 controls various operations performed
in
the washer/dryer 600, such as operations for washing, spinning, and drying the
processing subject T, and controls rotation of the washing tub 602, opening
and
closing of the sliding door 604, and so on during the process for extracting
the
processing subject T.
[0420] The storage portion control unit 970 controls the height direction
movement of
the storage portion K1 and the storage portion K2.
[0421] [Processing subject T extraction process]
Next, a process for extracting the processing subject T from the washing tub
602 of the washer/dryer 600 after the processing subject T has been inserted
into the
washing tub 602, washed, spun, and dried will be described using Fig. 53.
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[0422] The washer/dryer control unit 960, after detecting that drying
processing on
the processing subject T is complete, opens the sliding door 604 (step 51). As
a
result, the imaging device 500B can photograph the interior of the washing tub
602.
At this time, air warmed inside the washing tub 602 flows upward through the
housing
110 so as to warm the upper portion of the housing 110.
[0423] Next, the washer/dryer control unit 960 rotates the washing tub 602
(step S2).
The washing tub 602 may be rotated in a forward direction, a reverse
direction, or
both directions alternately, and the number of rotations may be set as
desired. As a
result of this rotation, the positions and shapes of the processing subjects T
and
positional relationships between the respective processing subjects T change.
For
example, processing subjects T stuck to the upper portion rear 602B, the below-
door
portion 602C, and so on of the washing tub 602 or the like move toward the
lowermost
portion of the washing tub 602. Note that step S2 may be omitted, and instead,
the
processing may advance from step 51 to step S3.
[0424] Next, the imaging device 500B obtains image data relating to the
interior of
the washing tub 602, and transmits the image data to the extraction control
unit 950.
On the basis of the image data, the extraction control unit 950 detects an end
point of
a processing subject T (step S3). Note that when a plurality of processing
subjects T
are stacked, the extraction control unit 950 detects an end point of the
processing
subject T closest to the opening of the washing tub 602, for example.
[0425] When an end point of a processing subject T is not detected (step S4:
No) but
the number of detection failures is still smaller than a predetermined number
N1 (three,
for example) (step S5: Yes), it is possible that a processing subject T still
exists in the
washing tub 602 but cannot be detected due to its position within the washing
tub 602,
and therefore the processing returns to step S2. In this case, the
washer/dryer
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control unit 960 rotates the washing tub 602 again, and once the positions and
shapes
of the processing subjects T and the positional relationships between the
respective
processing subjects T have changed as a result, the image data are obtained
again
(step S3). Note that when the washing tub 602 is rotated again, the number of
rotations may be increased, the rotation direction may be reversed, and the
rotation
speed may be varied from the previous operation.
[0426] Meanwhile, when an end point of a processing subject T is not detected
(step
S4: No) and the number of detection failures is not smaller than the
predetermined
number Ni (three, for example) (step S5: No), or in other words when a
processing
subject T still cannot be detected after rotating the washing tub 602 a
plurality of times,
it is determined that there are no more processing subjects T in the washing
tub 602,
and the extraction process is terminated. Note that when the washer/dryer 600
is
provided with a weight sensor, this determination may be verified or
implemented by
measuring the weight inside the washing tub 602 using the weight sensor.
[0427] When an end point of a processing subject T is detected (step S4: Yes),
the
extraction control unit 950 moves the retaining device 300C to the
corresponding
processing subject T inside the washing tub 602, whereupon the corresponding
end
point is retained by the retaining mechanism 310C (step S6).
[0428] Next, the extraction control unit 950 determines whether or not the
retaining
mechanism 310C has retained the end point of the processing subject T (step
S7).
This retention determination is similar to the determination made by the
retaining
determination unit 918, described in modified example (D) of the processing
apparatus 1. For example, the extraction control unit 950 may receive the
image
data from the imaging device 500B, and determine whether or not the processing
subject T has been retained by obtaining a difference in the outer shape of
the
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processing subject T from the start of the retention control to a point at
which the
retaining device 300C has moved by a small amount. Further, for example, a
weight
sensor may be provided on the retaining device 300C, and the extraction
control unit
950 may determine whether or not the processing subject T has been retained in
accordance with a difference in weight following the start of the retention
control.
[0429] When the retaining mechanism 310C has retained the end point of the
processing subject T (step S7: Yes), the retaining device 300C is extracted
from the
washing tub 602 in order to transport the processing subject T toward the
folding
device. Note that at the timing where the processing subject T is extracted
from the
washing tub 602, the washer/dryer control unit 960 may blow warm air onto the
processing subject T using a drying/air blowing mechanism provided in the
washing
tub 602. In so doing, creases in the processing subject T can be reduced. The
processing subject T transported by the retaining device 300C is carried onto
the
carrying device 400. Note that instead, the retaining device 300C may hand
over the
processing subject T to the retaining devices 300A, 3006 or store the
processing
subject T temporarily in the storage portion K.
[0430] When, on the other hand, the retaining mechanism 310C has not retained
the
end point of the processing subject T (step S7: No), the processing returns to
step S6,
where the retaining mechanism 310C retains an end point of a processing
subject T
again. At this time, the image data may be received from the imaging device
500B
again, and a different end point of the processing subject T may be retained,
or an
end point of another processing subject T may be retained. Note that the
processing
may return to step S2, and the washing tub 602 may be rotated again so that an
end
point of a processing subject T that is easier to grip appears. When rotating
the
washing tub 602 again, the number of rotations may be increased, the rotation
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direction may be reversed, and the rotation speed may be varied from the
previous
operation.
[0431] Once the processing subject T is extracted from the washing tub 602,
the
washer/dryer control unit 960 closes the sliding door 604 (step S9), whereupon
the
extraction process is terminated. As a result, a situation in which another
processing
subject T remaining in the washing tub 602 decreases in temperature so as to
shrink
or the like while the extracted processing subject T is being folded and so on
can be
suppressed. In the meantime, the washer/dryer control unit 960 may drive the
washing tub 602 to execute a drying operation either continuously or
intermittently.
[0432] Note that the processing subjects T may be extracted from the washing
tub
602 continuously, for example, and stored in the storage portion K, for
example. In
this case, the processing may return to step S2 in order to extract the next
processing
subject T without closing the sliding door 604 (without performing step S9).
Once all
of the processing subjects T have been extracted from the washing tub 602,
other
processing subjects T may be dried and so on by the washer/dryer 600 while the
extracted processing subjects T are folded and so on in the upper portion of
the
housing 110.
[0433] [Modified Examples]
The processing apparatus 1B was described above on the basis of the figures,
but the specific configurations thereof are not limited to those described
above, and
the processing apparatus 1B may be combined with the processing apparatus 1
and
the modified examples thereof, or configured in accordance with modified
examples
cited below and combinations thereof. Note that the following description of
the
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modified examples focuses on configurations and illustrations required for
descriptive
purposes, and description of other configurations has been omitted.
[0434] (AA) Steaming, ironing, and drying functions
The folding device may be provided with a steaming function, an ironing
function, and a drying function, for example. These functions may be used
individually or in appropriate combinations.
[0435] For example, the carrying device 400 may be provided with a steaming
function. In this case, as shown in Fig. 54(a), for example, a flow passage
connecting the interior of the frame body 404 to the interior of the carrying
plate 402
may be provided, water (water from a faucet or the like connected to the
washer/dryer
600, for example) may be supplied to the carrying plate 402, and the water may
be
heated by a heater provided in the carrying plate 402 and discharged as steam
through a plurality of openings 450 provided in the carrying plate 402. As
shown in
Fig. 54(b), by applying steam to the carried processing subject T, creases in
the
processing subject T can be eliminated or reduced.
[0436] A similar steaming function may be provided in the clamping device 700
instead of, or in addition to, the steaming function described above. As shown
in Fig.
55, for example, steam may be discharged from the clamping device 700 (Fig.
55(a))
while the clamping device 700 clamps the processing subject T carried on the
carrying
device 400 (Fig. 55(b)). Hence, steam can be applied to the processing subject
T
while pressing the clamping device 700, and as a result, creases in the
processing
subject T can be eliminated or reduced more reliably.
[0437] A similar steaming function may be provided in the retaining device 300
(300A,
300B, and/or 300C) instead of, or in addition to, the steaming function
described
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above. As shown in Fig. 56, for example, steam may be discharged from a part
of
the retaining device 300 (here, a side face of the retaining mechanism 310,
for
example) and applied to a part of the processing subject T carried on the
carrying
device 400. By moving the retaining device 300, the steam can be applied to
the
processing subject T in pinpoint fashion, i.e. in a specified location. As a
result, the
steam can be applied only to a part of the processing subject T having a lot
of creases,
for example, in order to remove or reduce the creases.
[0438] Further, for example, the carrying device 400 may be provided with an
ironing
function. In this case, as shown in Fig. 57(a), for example, a heating wire
460 is
provided in the interior of the carrying plate 402 in a spiral shape, and by
controlling
electrification of the heating wire, the front surface of the carrying plate
402 can be
heated. As shown in Fig. 57(b), by carrying the processing subject T on the
heated
carrying plate 402, creases in the processing subject T can be removed or
reduced.
Note that instead of the heating wire 460, a spiral flow passage may be
provided in
the interior of the carrying plate 402, for example, and a fluid adjusted to a
high
temperature may be passed through the flow passage. A similar ironing function
may be provided in the clamping device 700 or the retaining device 300.
[0439] Further, for example, the processing subject T may be dried in the
housing
110 after being extracted from the washing tub 602. As shown in Fig. 58(a),
for
example, an air supply fan 114A and an air discharge fan 116A are provided in
the
housing 110 (the air supply fan 114A and the air discharge fan 116A are
configured
identically to the air supply fan 114 and the air discharge fan 116, apart
from having
an inverted positional relationship). The air supply fan 114A and the air
discharge
fan 116A are driven in a condition where the processing subject T is suspended
from
the retaining devices 300A, 300B. As a result, an air flow traveling downward
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through the housing 110 is created, and the air is blown onto the processing
subject T
such that the processing subject T is dried. At this time, the air may be
warmed by
driving the heater of the air supply fan 114A.
[0440] As shown in Fig. 58(a), the processing subject T can be dried while
suspended, and therefore creases can be removed more effectively using the
weight
of the processing subject T itself. As shown in Fig. 58(b), for example,
creases at the
end points of the processing subject T can also be removed, and therefore the
end
points can be retained by the retaining devices 300A, 300B more accurately,
with the
result that the processing subject T can be unfurled, recognized, and folded
more
accurately.
[0441] The control device 900B may execute control such that steaming,
ironing, and
drying are performed at all times on each processing subject T, for example,
or may
execute control such that steaming, ironing, and drying are performed only
when
creases are detected, for example. Creases can be detected using the imaging
device 500, for example. For example, by emitting light onto the processing
subject
T at different angles, different brightnesses, or the like and comparing the
image data
obtained in relation to the processing subject T in the respective cases, it
is possible
to determine whether something that resembles a crease is actually a crease,
or the
inherent shape of the processing subject T.
[0442] (BB) Washer/dryer
There are no particular limitations on the type and structure of the
washer/dryer as long as the washer/dryer includes all or a part of washing,
spinning,
and drying functions.
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[0443] For example, instead of the diagonal drum-type washer/dryer 600, an
open
top drum-type washer/dryer 600A such as that shown in Fig. 59 may be used. The
washer/dryer 600A has a drum-type washing tub and therefore has the advantages
of
a drum-type washer/dryer, such as a drying function, but an upward-opening
door 605
is provided on a main body upper portion thereof, and therefore, as shown in
Figs.
59(a) and (b), by moving the retaining device 300C downward through the
housing
110, the interior of the washing tub can be accessed easily. As a result,
either the
configuration of the retaining device 300C can be simplified, or the
processing subject
T can be extracted by the retaining devices 300A, 300B instead of the
retaining device
300C. When the retaining device 300C is not used, the number of retaining
devices
can be reduced, and therefore the configuration of the processing apparatus
can be
further simplified and the housing made more compact.
[0444] Further, for example, an upright washer/dryer (a type in which water is
agitated by rotating vanes in the bottom of the washing tub) may be used
instead of
the drum-type washer/dryer 600. Alternatively, a twin-tub type washer/dryer
having
separate washing and spinning tubs, for example, may be used. In this case,
the
retaining device 300C may be used to move the processing subject T from the
washing tub to the spinning tub and so on during washing. Hence, the operation
for
extracting the processing subject T using the retaining device 300C does not
necessarily have to be performed with the aim of folding the processing
subject T or
the like.
[0445] (CC) Detection unit
A projector, an ultrasonic sensor, or an infrared camera or infrared sensor,
for
example, may be used in addition to, or instead of, the imaging device 5006 as
the
detection unit for detecting the processing subject T in the washing tub 602.
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[0446] For example, when a projector is used, a shape is derived by analyzing
a
distortion in a lattice pattern from a projected image of the interior of the
washing tub
602, projected by the projector (see Fig. 60), and as a result, the color of
the
processing subject T is not affected, the processing can be performed quickly,
and so
on. When an
ultrasonic sensor is used, the entire interior of the washing tub 602 can
be detected at once, and the color of the processing subject T is not
affected. The
advantages of using an infrared camera or an infrared sensor are as described
in
modified example (A) of the processing apparatus 1.
[0447] Further, there are no particular limitations on the position of the
detection unit.
For example, the imaging device 500B may be provided in the vicinity of the
sliding
door 604 (see Fig. 61). Alternatively, for example, the imaging device 500B
may be
carried directly on the retaining device 300C so as to photograph the
processing
subject T in real time simultaneously with the movement of the retaining
device 300C
(see Fig. 62).
[0448] (DD) Extraction timing
The processing subject T does not have to be extracted from the washing tub
602 using the retaining device 300C after the processing subject T has been
completely dried by the washer/dryer 600.
[0449] For example, when the folding device has steaming, ironing, and drying
functions, as described above in modified example (AA), the processing subject
T
may be extracted from the washing tub 602 at the stage where the washer/dryer
600
has finished washing and spinning the processing subject T, and the processing
subject T may be dried by the folding device. In this case, the processing
subjects T
can be dried and so on one at a time while suspended, and therefore this
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configuration is particularly effective when drying garments and so on that
are difficult
to dry using the washer/dryer 600.
[0450] Further, for example, depending on the processing subject T, it may be
unnecessary or impossible to dry the processing subject T (for example, in a
case
where the processing subject T is a laundry net housing a delicate garment, or
the
like). In such cases, the processing subject T (a laundry net or the like) may
be
extracted from the washing tub 602 at the stage where the washer/dryer 600 has
finished washing and spinning the processing subject T, and the processing
subject T
may then be stored in the unprocessed item storage portion K2, for example, as
a
"non-dryable" or "non-dry" item.
[0451] Note that in order to recognize that the processing subject T in the
washing
tub 602 is a laundry net, for example, an image of a net (lattice) shape of
the laundry
net or the shape of a zip of the laundry net may be recognized, or the zip of
the
laundry net may be recognized by a metal sensor, for example. Moreover, a
weight
sensor may be provided in the retaining device 300C in order to verify this
determination (for example, an item that includes a zip shape and has at least
a fixed
weight is recognized as a laundry net, or the like).
[0452] Furthermore, for example, when the processing subject T becomes
entangled
or the like during washing, spinning, and drying in the washer/dryer 600, an
error may
be generated. After detecting this type of error, the control device 900B may
extract
the processing subject T from the washing tub 602 using the retaining device
300C.
Further, thereafter, the processing subject T may be unfurled and disentangled
or the
like using the folding device. Hence, the operation for extracting the
processing
subject T using the retaining device 300C does not necessarily have to be
performed
with the aim of folding the processing subject T or the like.
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[0453] (EE) Retaining device
The retaining device 300C may be used for folding and so on. The folding
device includes the three retaining devices (300A, 300B, and 300C), and
therefore,
while two of the retaining devices retain the processing subject T, the
remaining
retaining device may retain a single point (for example, a feature point or a
lowermost
point of the processing subject T, which is obtained by image recognition) on
the
contours of the processing subject T. This point will be described in further
detail
below when describing the processing apparatus 1C.
[0454] Note that when the retaining device 300C is used for folding and so on,
the
carrying device 400 may be excluded from the folding device.
[0455] Furthermore, similarly to modified example (H) of "1. Processing
apparatus 1",
the retaining device 300C may be provided with a humidity sensor, a
temperature
sensor, and/or a weight sensor and so on in order to determine whether or not
the
processing subject T is sufficiently dry while retaining the processing
subject T.
Having determined that the processing subject T is insufficiently dry, the
retaining
device 300C may then return the processing subject T to the washing tub 602 to
be
dried again, or dry the processing subject T by blowing warm air against the
processing subject T in the housing 110 before performing the folding process.
[0456] (FE) Communication function
The processing apparatus 1B may have a communication function. For
example, the processing apparatus 1B may be configured to exchange information
with another device (an information terminal such as a smartphone, a personal
computer, or the like, for example) having a communication function by wire
and/or
wirelessly (by LAN, Bluetooth, WiFi, infrared, NFC, DLC, or the like, for
example). A
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processing status of the processing apparatus 1B with respect to drying and so
on
and folding and so on may be transmitted to the other device, and commands
relating
to the processing may be received from the other device. For example, the
other
device may be notified of an error generated during drying or the like.
Further, for
example, when the type of the processing subject T cannot be recognized by the
control device 900B during the recognition process, the user may issue an
enquiry as
to the type of the processing subject T or the like by transmitting an image
of the
processing subject T to the other device.
[0457] III. Third processing apparatus
Next, the processing apparatus IC will be described. The processing
apparatus 1C performs folding and so on using three retaining devices.
[0458] As shown in Fig. 69, the processing apparatus IC mainly includes
retaining
devices 300A, 300B, 300C, a carrying device 400, imaging devices 500 (not
shown)
and 500C (not shown; similar to the imaging device 500B, except that the
imaging
device 500C is capable of photographing a floor surface 118), a storage
portion K, a
control device 900C (not shown; similar to the control device 900B, except
that the
control device 900C does not include a washer/dryer control unit 960), and so
on, all
of which are housed in a housing 110. In other words, the processing apparatus
1C
is obtained by omitting the washer/dryer 600, the clamping device 700, and the
transportation device 800 from the processing apparatus 1B. Accordingly, the
following description focuses on the parts of the processing apparatus IC that
differ
from the processing apparatus 1B, and description of configurations that are
identical
or similar to the processing apparatus 1B has been omitted.
[0459] (1) The processing apparatus 1C is a single-purpose folding machine
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The processing apparatus 1C differs from the processing apparatus 1B in not
having a washer/dryer 600. In other words, the processing apparatus 1C is a
single-purpose folding machine having a specialized folding function
(similarly to the
processing apparatus 1).
[0460] Specifically, the user inserts dry processing subjects T through an
insertion
door 112 (not shown). As a result, the processing subjects T fall in
succession onto
the floor surface 118.
[0461] The retaining device 300C grips a processing subject T detected by the
imaging device 500C (not shown), which is attached near the insertion door
112, by
an end point thereof (the highest point in the height direction (the Z
direction), for
example), and then hands over the processing subject T to the retaining
devices 300A
and 300B.
[0462] Note that when a plurality of processing subjects T are on the floor
surface
118, an operation performed by the retaining device 300C to sort through the
pile of
processing subjects T may be inserted. In so doing, the processing subjects T
can
be disentangled from each other and relative positions of the processing
subjects T
can be shifted so that the processing subjects T can be gripped by the
retaining
device 300C more easily.
[0463] Here, the retaining device 300A, the retaining device 300B, and the
retaining
device 300C, similarly to the retaining devices of the processing apparatus 1,
each
include a retaining mechanism and a moving mechanism, the retaining mechanism
constituting a gripping mechanism that rotates about the width direction (the
direction
of the arrow X) and grips using finger members, and the moving mechanism
constituting a width direction (X arrow direction) moving mechanism, an up-
down
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direction (Z arrow direction) moving mechanism, and a front-rear direction (Y
arrow
direction) moving mechanism.
[0464] As shown in Fig. 70, an entire upper half area (a first area) of the
housing 110,
excluding corner portions thereof, is set as a movable area of the retaining
device
300A and the retaining device 300B. Here, as shown in Fig. 70, the retaining
mechanism 310A of the retaining device 300A is attached to the moving
mechanism
320A in a frontward direction (a Y1 direction), while the retaining mechanism
310B of
the retaining device 300B is attached to the moving mechanism 320B in a
rearward
direction (a Y2 direction). In other words, the retaining mechanism 310A of
the
retaining device 300A and the retaining mechanism 310B of the retaining device
300B
are attached to the respective moving mechanisms 320A and 320B so as to oppose
each other in the front-rear direction (the direction of the arrow Y). As a
result, the
movable ranges of the two retaining devices 300A and 300B can be made
identical
while employing identically configured moving mechanisms therein.
[0465] An entire lower half area (a second area) of the housing 110, excluding
the
corner portions thereof, is set as a movable area of the retaining device 300C
such
that the movable area of the retaining device 300C overlaps the movable area
of the
retaining device 300A and the retaining device 300B in an up-down direction
central
portion of the housing 110. As a result, the processing subject T can be
handed over
between the retaining device 300C and the retaining devices 300A and 300B.
Note
that to perform the handover operation more reliably, the following measures,
for
example, may be taken.
[0466] As shown in Fig. 71, the retaining mechanism 310C of the retaining
device
300C moves upward after picking up the processing subject T from the floor
surface
118. At this time, the retaining mechanism 310C rotates counterclockwise (in a
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direction heading toward the arrow Y1 from a downward orientation) relative to
the
width direction (a perpendicular direction to the paper surface) so as to be
oriented
upward. As a result, the processing subject T is hooked and raised by a
rotation
direction side (a Y1 arrow direction side) finger of a pair of finger members
322C.
When handing over the processing subject T, the processing subject T can be
gripped
with greater stability by gripping this raised part, and therefore the
retaining device
300A (300B) grips the processing subject T from the rotation direction side
(the Y1
arrow direction).
[0467] After handing over the processing subject T, the retaining device 300C
and
the retaining device 300A (300B) execute movements including at least a
component
for separating from each other in the front-rear direction (the Y direction).
For
example, following handover, the retaining device 300C executes a movement
relative to the retaining device 300A (300B) that includes at least a
horizontal
component in the direction of the arrow Y2 in Fig. 71. Accordingly, the
retaining
device 300C separates from the processing subject T, and as a result, the
processing
subject T gripped by the retaining device 300A (300B) so as to hang down can
be
prevented from catching on the retaining device 300C. As will be described
below,
the retaining device 300C waits in a height position in the vicinity of the
carrying plate
402 to retain the next end point (the first end point).
[0468] When, contrary to the case described above, the retaining mechanism
310C
rotates clockwise (in a direction heading toward the arrow Y2 from a downward
orientation) during handover so as to be oriented upward, the retaining device
300A
(300B) grips the processing subject T from this rotation direction side (the
Y2 arrow
direction). Following handover, the retaining device 300C executes a movement
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relative to the retaining device 300A (300B) that includes at least a
horizontal
component in the separating direction (the direction of the arrow Y1).
[0469] Further, for example, the retaining mechanism 310C of the retaining
device
300C may be differentiated from the retaining devices 300A and 300B by being
configured as follows. As shown in Fig. 72(a), for example, the retaining
mechanism
310C may be provided with two pairs of finger members 322C1 (a third gripping
portion) and 322C2 (a fourth gripping portion). The finger members 321C1 and
322C2 are respectively formed at equal distances from a central axis of the
retaining
mechanism 3100 (i.e. disposed in axial symmetry to the central axis of the
retaining
mechanism 310C).
[0470] Hence, in a condition where the retaining mechanism 310A (or 310B,
likewise
hereafter throughout this paragraph) and the retaining mechanism 310C oppose
each
other such that the respective central axes thereof are aligned during
handover of the
processing subject T, as shown in Fig. 72(b), the pair of finger members 322A
(3226)
of the retaining mechanism 310A (310B) are located in different positions to
the two
pairs of finger members 322C1, 322C2 of the retaining mechanism 310C.
Accordingly, handover can be performed with the respective central axes of the
retaining mechanism 310A (310B) and the retaining mechanism 310C in alignment,
and as a result, drive control can be executed on the retaining mechanisms
more
easily. Further, during handover, the processing subject T can be gripped at
two
points by the two pairs of finger members 322C1, 322C2, and a point in the
center of
these two gripped locations can be gripped by the finger members 322A (322B).
As
a result, movement of a center of gravity of the processing subject T during
handover
can be suppressed.
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[0471] Note that two pairs of finger members may be provided on the retaining
mechanism 310A (310B) and only one pair on the retaining mechanism 310C.
Further, the retaining mechanism 310A (310B) may be provided with two pairs of
finger members that separate from each other by a first distance from the
central axis
of the retaining mechanism 310A (310B), and the retaining mechanism 310C may
be
provided with two pairs of finger members that separate from each other by a
second
distance, which is different to the first distance, from the central axis of
the retaining
mechanism 310C.
[0472] (2) The retaining device 300C is used in the recognition process
Similarly to modified example (EE) of the processing apparatus 1B, the
retaining device 300C is used for folding and so on. Fig. 73 is a view
illustrating the
recognition process in a case where the retaining device 300C is used in
addition to
the retaining devices 300A and 300B.
[0473] Fig. 73 shows respective gripping positions of the retaining devices
300A,
300B, and 300C over time, from step S1 to step S22, together with operations
performed on the processing subject T in each step. Here, a case in which the
type
of the processing subject T is recognized at a stage of switching to a third
end point is
shown as an example. In Fig. 73, empty blocks in respective columns of the
retaining devices 300A to 300C indicate that nothing is gripped by the
corresponding
retaining device (for example, in step S12, nothing is gripped by the
retaining device
300A, while the retaining device 300B grips a first end point and the
retaining device
300C grips a second end point).
[0474] As shown in Fig. 73, during the recognition process of the processing
apparatus 1C, the first point and the detected end point (the first end point,
the second
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end point, or the third end point) of the processing subject T are first
gripped by the
retaining device 300C (steps Si, S6, S12, and S17), whereupon the processing
subject T is handed over to the retaining device 300A or the retaining device
300B
below the carrying plate 402 (steps S2, S8, S13, and S19; regarding the
handover
operation, see Fig. 71).
[0475] Here, as shown in Fig. 77, the retaining device 300B (300A) preferably
executes an operation to "slacken" the processing subject T before a lowermost
point
(the first end point, the second end point, or the third end point) of the
processing
subject T is gripped by the retaining device 300C (steps S6, S12, and S17).
[0476] More specifically, as shown in Fig. 77(a), while the retaining device
300B
(300A) retains the processing subject T above the carrying plate 402, the
retaining
device 300B (300A) and/or the carrying plate 402 perform a relative movement
so as
to approach each other in the up-down direction (the Z direction). For
example, the
retaining device 300B (300A) is moved downward toward the carrying plate 402.
[0477] As a result, as shown in Fig. 77(b), "slack" is formed in the
processing subject
T between the location carried on the carrying plate 402 and the location
gripped by
the retaining device 300B (300A). By slackening the processing subject T, the
following advantage is obtained. When the retaining device 300C grips the
lowermost point (the first end point, the second end point, or the third end
point) of the
processing subject T, the processing subject T may be pulled downward, for
example,
but since the "slack" exists, the slack exhibits a so-called buffering action
so that
excessive tension is not exerted on the processing subject T. As a result, a
situation
in which the processing subject T is stretched or damaged can be prevented.
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[0478] Note that the operation performed to "slacken" the processing subject T
when
gripping the end point is not limited to the gripping operation of the
retaining device
300C, and may be applied in a similar manner to the first and second
processing
apparatuses described above and so on in a situation where one of the
retaining
devices (300B) grips the lowermost point while the processing subject T is
gripped by
the other retaining device (300A).
[0479] The retaining device 300C is configured to wait in a position not far
below the
carrying plate 402 during the recognition process so that the time required to
retain
the end point following detection thereof can be shortened (in comparison with
a case
where the retaining device 300A or the retaining device 300B positioned above
the
carrying plate 402 grips the end point after being moved thereto or the like).
[0480] Further, by adding one more retaining device for retaining the
processing
subject T, a new end point can be gripped by the retaining device 300C in a
condition
where the processing subject T is gripped by the retaining devices 300A and
300B, as
in step S17, for example.
[0481] At this time, the retaining device 300B (300A) may be moved in the up-
down
direction (the Z direction), for example, so that the retaining device 300C
grips the
third end point in a desired position. This point will now be described with
reference
to Fig. 78, using a case in which the processing subject T is a towel as an
example.
[0482] As described in modified example (V) of the first processing apparatus
using
Figs. 45 and 46, when the processing subject T is a towel, a shape in which
the
processing subject T sags downward from the respective width direction (X
direction)
end portions toward the central part thereof appears at the stage where the
retaining
device 300B retains a corner portion TR1 (the first end point) of one
lengthwise
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direction end portion of the towel and the retaining device 300A retains a
corner
portion TL1 (the second end point) of the other lengthwise direction end
portion of the
towel (Fig. 78(a)), and as a result, the processing subject T can be
recognized as a
towel before the third end point is retained.
[0483] Here, in order to obtain an optimum shape (Fig. 78(c)) for starting the
folding
operation on the processing subject T, the retaining device 300A must retain a
corner
portion TR2 (on the side retained by the retaining device 300B). Therefore,
during
recognition of the next end point, the corner portion TR2 is preferably
recognized as
the lowermost point (the third end point) (in other words, other locations
such as a
corner portion TL2 must not be recognized as the lowermost point).
[0484] Accordingly, the retaining device 300B is moved downward relative to
the
retaining device 300A such that the corner portion TR2 becomes the lowermost
point
(Fig. 78(b)). As a result, the corner portion TR2 (the third end point) can be
retained
by the retaining device 300C.
[0485] Next, the corner portion TR2 is handed over to the retaining device
300A (step
S19 in Fig. 73) and moved upward (steps S20 and S21 in Fig. 73) such that the
processing subject T is suspended above the carrying plate 402 (step S22 in
Fig. 73,
Fig. 78(c)). In so doing, the operation performed before the folding process
can be
shortened.
[0486] Note that the retaining device 300C hands over the first end point of
the
processing subject T to the retaining device 300B, but hands over all
subsequent end
points (in this example, the second end point and the third end point) to the
retaining
device 300A. The reason for this is that when end points are handed over
between
both retaining devices 300A and 300B repeatedly, either the end point (in this
case,
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the first end point) required for recognition, which has already been gripped,
is
released upon every handover such that the unfurling operation cannot be
completed,
or the end points must be handed over between the retaining devices 300A and
300B
every time, making the unfurling operation more complicated.
[0487] Further, during the initial stage of the recognition process of the
processing
apparatus 1C, an operation is performed to "drop" the processing subject T
below the
carrying plate 402 (step S7). More specifically, when the retaining device
300C grips
the processing subject T by the first end point below the carrying plate 402
while the
processing subject T is suspended from the retaining device 300B by the first
point so
as to hang above the carrying plate 402 (step S6), the retaining device 300B
releases
its grip such that only the first end point is gripped by the retaining device
300C below
the carrying plate 402 (step S7). Accordingly, the processing subject T drops
below
the carrying plate 402. At this time, the "dropping" operation may be assisted
by
disposing the carrying plate 402 below the processing subject T and rotating
the
carrying plate 402. By dropping the processing subject T in this manner, the
processing subject T can be disentangled and so on when entangled. Moreover,
by
performing this operation at the initial stage of the recognition process,
when the
processing subject T is particularly likely to be entangled or the like,
problems such as
erroneous recognition and inability to grip the end points due to entanglement
or the
like can be prevented from occurring subsequently during the recognition
process.
[0488] Furthermore, during the recognition process of the processing apparatus
1C,
a "sliding" operation (steps S4, S10, S15, and S21) for bringing the
processing subject
T into contact with the edge portion and the main surface of the carrying
plate 402 is
performed as the retaining device 300A or 300B lifts the first point or the
end point
(the first end point, the second end point, or the third end point) of the
processing
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subject T above the carrying plate 402 after the first point or the end point
is handed
over to the retaining device 300A or 300B from the retaining device 300C below
the
carrying plate 402. As a result, creases and kinks in the processing subject T
can be
smoothed out.
[0489] (3) The clamping device 700 and the transportation device 800 are not
required
The processing apparatus 1C employs the folding method described in
modified example (Z) of the processing apparatus 1 using Figs. 67 and 68, and
therefore the processing subject T can be folded without using the clamping
device
700. Further, when the folding process is complete, the processing apparatus
1C
transports the folded processing subject T from the carrying plate 402
directly to the
storage portion K using the retaining devices 300A and 300B. Therefore, the
processing apparatus 1C does not require the clamping device 700 and the
transportation device 800, and as a result, the housing 110 can be made more
compact.
[0490] Note that the carrying plate 402 may be used in addition to the
retaining
devices 300A and 300B to place the folded processing subject T in the storage
portion
K. More
specifically, as shown in Fig. 74, in conjunction with an operation for
placing
the processing subject T on a bottom plate of the storage portion K using the
retaining
devices 300A and 300B (in this case, the retaining devices 300A and 300B are
moved
in the direction of an arrow M), the carrying plate 402 may be caused to slide
in the
same direction (the direction of the arrow M) as the retaining devices 300A
and 300B
so as to lightly contact the processing subject T. As a result, the processing
subject
T can be placed in the storage portion K without losing its folded shape.
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[0491] Further, the final folding process may be performed at the same time as
the
processing subject T is placed in the storage portion K. This will now be
described
with reference to Figs. 79 and 80, using a case in which the processing
subject T is a
T-shirt as an example.
[0492] In this method, the carrying plate 402 and the retaining device 300C
are used
to place the processing subject T (here, a T-shirt) on the bottom plate of the
storage
portion K (in this example, on top of two processing subjects housed on the
bottom
plate) while forming the final fold line (the second fold line B3) in the
processing
subject T.
[0493] First, as shown in Fig. 79(a), the processing subject T carried on the
carrying
plate 402 is held along the fold line B2 by the retaining devices 300A and
300B such
that the other end thereof hangs down from the carrying plate 402. In this
condition,
the carrying plate 402 and the retaining device 300A (300B) are moved
synchronously
toward the retaining device 300C and the storage portion K (in the Y2
direction).
[0494] More specifically, the retaining device 300C is a frame mechanism for
moving
the gripping mechanism of the retaining device 300C in the width direction,
and takes
an elongated rectangular shape extending in a perpendicular direction to the
paper
surface (the X direction) (in this example, this mechanism will be referred to
hereafter
simply as the retaining device 300C).
[0495] Here, an upper end of the retaining device 300C is positioned relative
to the
storage portion K so as to be in a slightly higher position than a storage
position of the
storage portion K (here, two processing subjects T are already stored, and
therefore
the storage position corresponds to the position of an upper surface of the
second
processing subject).
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[0496] Therefore, as shown in Fig. 79(b), the processing subject T is pressed
onto
the bottom plate of the storage portion K (on top of the second stored
processing
subject) while the part thereof hanging down from the carrying plate 402 is
folded
along the upper end of the retaining device 3000. Then, at a stage where the
carrying plate 402 has been pushed to the vicinity of a side wall of the
storage portion
K such that a Y direction position of the processing subject T is aligned with
the
position of the stored processing subject and a fold line B3 is formed
therein, the Y
direction movement of the carrying plate 402 and the retaining device 300A
(300B) is
stopped (Fig. 79(c)).
[0497] Next, an operation for extracting the carrying plate 402 is performed.
More
specifically, the processing subject T is lifted up by tilting the carrying
plate 402
(rotating the carrying plate 402 in the reverse direction (clockwise)) while
moving the
retaining devices 300A and 300B upward with the retaining devices 300A and
300B
continuing to retain the processing subject T by the fold line B2 (Fig.
80(d)).
[0498] The carrying plate 402 is then moved away from the storage portion K
(in the
Y1 direction) while remaining tilted. At this time, the retaining device 300A
(300B) is
moved downward while being moved away from the storage portion K (in the Y1
direction) in alignment with the movement of the carrying plate 402 so that
the sleeve
portion of the processing subject T on the fold line B2 side does not separate
from the
carrying plate 402 (Fig. 80(e)).
[0499] Finally, the carrying plate 402 is extracted from the processing
subject T by
moving the carrying plate in the Y1 direction while slightly tilting the
carrying plate 402
(rotating the carrying plate 402 in the reverse direction (clockwise)).
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[0500] According to this method, the final folding process can be performed
simultaneously with storage in the storage portion K. Further, the upper end
of the
retaining device 300C is positioned relative to the storage portion K so as to
always be
in a slightly higher position than the storage position of the storage portion
K (here,
two processing subjects T are already stored, and therefore the storage
position
corresponds to the position of the upper surface of the second processing
subject),
and therefore the processing subjects T can be stacked in succession without
causing
the folded shapes of the stored processing subjects to collapse. Furthermore,
when
extracting the carrying plate 402, the retaining device 300A (300B) is moved
downward in alignment with the movement of the tilted carrying plate 402, and
therefore the folded shape of the processing subject T does not collapse. Note
that
the frame mechanism of the retaining device 300C may be replaced by a separate
plate-shaped member or the like capable of moving in the Z direction.
Reference Signs List
[0501] 1, 1A Processing apparatus
100 Frame
102 Frame piece
104 Frame base
105 Lateral frame piece
106A Front surface
106B Back surface
106C Right side surface
106D Left side surface
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200 Reception transportation device
202 Door
204 Transportation conveyor
204A First conveyor
204B Second conveyor
206 Barrier member
210 Door main body
212 Door shaft
214 Door shaft retaining member
216 Door opening/closing motor
218 Door opening/closing motor power transmitting means
220 Processing subject reception member
222 Barrier member
224 Drive side pulley
226 Driven side pulley
228 Belt
230 Side surface plate
232 Bottom surface plate
234 Back surface plate
236 Support member
238 Support frame
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240 Roller
242 Conveyor belt
244 Conveyor drive motor
246 Conveyor drive motor power transmitting means
248 Drive side pulley
250 Driven side pulley
252 Belt
260 Auxiliary reception member
300 Retaining device
310 Retaining mechanism
320 Moving mechanism
322 Finger member
324 Linear actuator
326 Rotary actuator
328 Gripping member
330 Connecting plate
332 Width direction moving mechanism
334 Up-down direction moving mechanism
336 Front-rear direction moving mechanism
338 Width direction moving motor
340 Linear guide
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344 Up-down moving plate
346 Elevating unit
348 Frame body
350 Up-down direction drive motor
352 Ball screw
354 Nut
356 Slide guide
358 Front-rear direction drive motor
360 Linear guide
362 LM guide
364 Slider
400 Carrying device
402 Carrying plate
402A, 402B, 402C, 402D Carrying body
404 Frame body
406 Rotation mechanism
408 Front-rear direction moving mechanism
409 Processing subject sensor
410 Carrying plate main body
412 Rotary shaft
414 Upper side pulley
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416 Moving plate
418 Hollow member
419 Strut
420 Bracket
422 Rotation motor
424 Lower side pulley
426 Upper side pulley
428 Belt
430 Turntable
432 Lower side pulley retaining member
434 Connecting member
436 Front-rear direction drive motor
438 Linear guide
440 Bracket
500 Imaging device
502 First imaging unit
504 Second imaging unit
700 Clamping device
702 Upper side clamping plate
704 Lower side clamping plate
706 Upper side clamping plate rotary shaft
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708 Lower side clamping plate rotary shaft
710 Upper side bearing
712 Lower side bearing
714 Clamping plate rotation motor
716 Driving force transmitting means
718 Drive side pulley
720 Driven side pulley
722 Belt
724 Interlocking means
726 First gear .
728 Second gear
730 Slit
800 Transportation device
802 Support
804 Support rotation mechanism (rotation mechanism)
806 Support up-down moving mechanism
808 Support member
810 Support shaft
812 Frame
814 Rotation motor
816 Ball screw
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817 Nut
818 Up-down moving motor
820 Driving force transmitting means
822 Drive side pulley
824 Driven side pulley
826 Interlocking pulley
828 Drive belt
830 Interlocking belt
832 Reception portion
834 Curved portion
900 Control device
902 Reception transportation device control unit
904 Retaining device control unit
906 Carrying device control unit
908 Imaging device control unit
910 Clamping device control unit
912 Transportation device control unit
914 Type recognition unit
915 Length detection unit
916 Hanging length detection unit
920 First point detection unit
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922 First end point detection unit
924 Second end point detection unit
926 Third end point detection unit
928 Fourth end point detection unit
930 Fifth end point detection unit
932 Sixth end point detection unit
934 Seventh end point detection unit
936 Eighth end point detection unit
Processing subject
0 Opening portion
R, R1, R2, R3 Processing subject reception box
Slit
B1 Lateral fold line
B2 First fold line
B3 Second fold line
B4 Third fold line
B5 First sleeve end edge
B6 First midriff portion end edge
B7 Second midriff portion end edge
B8 Fourth fold line
B9 Fifth fold line
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B10 Sixth fold line
Cl First edge line (of carrying plate)
C2 Second edge line (of carrying plate)
D1 First end part (of processing subject)
D2 Central part (of processing subject)
D3 Second end part (of processing subject)
D4 One sleeve portion (of processing subject)
D5 Other sleeve portion (of processing subject)
D6 Collar side end portion on first fold line B2 (of processing subject)
H1 Insertion portion
H2 Unprocessed item storage portion
H3 Processed item storage portion
Extraction door
Folding unit movable area
1B, 1C Processing apparatus
110 Housing
112 Insertion door
113 Extraction door
114, 114A Air supply fan
116, 116A Air discharge fan
118 Floor surface
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300C Retaining device
310C Retaining mechanism
320C Moving mechanism
322C1, 322C2 Gripping member
450 Opening
460 Heating wire
500B Imaging device (detection unit)
600, 600A Washer/dryer
602 Washing tub
602A Lowermost portion
602B Upper portion rear
602C Below-door portion
604 Sliding door
605 Upward-opening door
900B Control device
940 Housing control unit
950 Extraction control unit
960 Washer/dryer control unit
970 Storage portion control unit
K Storage portion
K1 Processed item storage portion
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K2 Unprocessed item storage portion
L1 Imaging range
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