Inspection device and inspection method

Abstract

The inspection system includes: a pedestal portion on which an object to be inspected is placed; a driving device which rotates the pedestal part on which the object to be inspected is placed; and an imaging device for imaging the object to be inspected.

Description

Technical Field

[0001] The present invention relates to an inspection device and an inspection method. Background Art

[0002] In recent years, against the backdrop of a shortage of labor in agriculture, the automation of inspections and sorting operations for fruits and vegetables has been promoted. In current sorting items, in addition to items that can be easily measured and quantified (weight, length), there are also items for evaluating internal quality that are difficult to measure (sugar content, acidity), external quality items with complex evaluation indices (rotting, damage), and so on.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Laid-Open No. 11-059877

[0006] Patent Document 2: Japanese Patent Laid-Open No. 2011-240257

[0007] Patent Document 3: Japanese Patent Laid-Open No. 2005-046794

[0008] Patent Document 4: Japanese Patent Laid-Open No. 2019-211456

[0009] Patent Document 5: Japanese Patent Laid-Open No. 2002-139433

[0010] Patent Document 6: Japanese Patent Laid-Open No. 07-128321

[0011] Patent Document 7: Japanese Patent Laid-Open No. 08-262006

[0012] Patent Document 8: Japanese Patent Laid-Open No. 09-079965

[0013] Patent Document 9: Japanese Patent Laid-Open No. 2021-135275 Summary of the Invention

[0014] Problems to be Solved by the Invention

[0015] Generally speaking, if an automated device is installed in place of manual inspection and sorting operations, the processing capacity is increased. On the other hand, the system becomes more complex, a large amount of equipment costs are incurred, and a large installation space is required, making the processing of the system difficult.

[0016] The present invention has been completed in view of the above circumstances, and its object is to provide an inspection device and an inspection method that can easily inspect inspection objects such as fruits and vegetables with a simple configuration.

[0017] Means for Solving the Problems

[0018] One type of inspection device includes: a pedestal portion for placing an object to be inspected; a driving device for rotating the pedestal portion on which the object to be inspected is placed; and an imaging device for photographing the object to be inspected.

[0019] Advantages of the Invention

[0020] According to the present invention, it is possible to easily inspect an object to be inspected such as fruits and vegetables with a simple configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a diagram showing an example of the configuration of the inspection system according to the embodiment.

[0022] Figure 2 It is a diagram showing the appearance of the inspection device included in the inspection system.

[0023] Figure 3 It is a diagram showing a modified example of the rotating table 11.

[0024] Figure 4 It is a diagram showing an example of the elements constituting the inspection device 1.

[0025] Figure 5 It is a diagram showing an example of the hardware configuration of the information processing device 2.

[0026] Figure 6 It is a diagram showing an example of the functional configuration of the inspection program executed by the processor 21.

[0027] Figure 7 It is a flowchart showing an outline of the operation of the inspection system.

[0028] Figure 8 It is a diagram for explaining a basic method for determining the "volume" of an object to be inspected.

[0029] Figure 9 It is a diagram for explaining a basic method for determining the "abnormality" of an object to be inspected.

[0030] Figure 10 It is a diagram for explaining the "size" of an object to be inspected.

[0031] Figure 11 It is a diagram for explaining the "abnormality" of an object to be inspected.

[0032] Figure 12 It is a diagram for explaining the "volume" of an object to be inspected.

[0033] Figure 13 It is a diagram for explaining the "volume" of an object to be inspected.

[0034] Figure 14 This is a diagram for explaining the "volume" of the object to be inspected.

[0035] Figure 15 This is a diagram showing an example of the result of an actual verification regarding "abnormal shape".

[0036] Figure 16 This is a diagram showing the correlation between "specific gravity" and "brix".

[0037] Figure 17 This is a diagram showing an example of the configuration when multiple inspection devices 1 are used.

[0038] Figure 18 This is a diagram showing the appearance of the inspection device in the first example of Modification 1.

[0039] Figure 19 This is a diagram showing the appearance of the inspection device in the second example of Modification 1.

[0040] Figure 20 This is a block diagram showing the configuration of the inspection device in Modification 1.

[0041] Figure 21 This is a diagram showing the internal configuration of the housing 10 in Modification 2.

[0042] Figure 22 This is a block diagram showing the configuration of the inspection device in Modification 2. Detailed implementation mode

[0043] Hereinafter, the implementation mode will be described with reference to the accompanying drawings.

[0044] [1. Configuration]

[0045] Hereinafter, the configuration of the inspection system of the implementation mode will be described.

[0046] [1-1. Overall system]

[0047] Figure 1 This is a diagram showing an example of the configuration of the inspection system of the implementation mode. Additionally, Figure 2 This is a diagram showing the appearance of the inspection device included in the inspection system.

[0048] Figure 1 The inspection system shown is composed of an inspection device 1 and an information processing device 2. The inspection device 1 is a dedicated device for inspecting (or sorting) fruits and vegetables, etc. The information processing device 2 is equivalent to a computer (such as a tablet-type information terminal, etc.).

[0049] As Figure 1 And Figure 2As shown, the inspection device 1 includes a housing 10 for internally accommodating components, a rotatable pedestal portion 11 (hereinafter referred to as "rotary table 11") for placing inspection objects such as fruits and vegetables, a color reference plate 11a for color matching during shooting, an imaging device 12 for photographing the inspection objects placed on the rotary table 11, a support portion 12a for supporting the imaging device 12, and a cable C with a connector, etc.

[0050] In addition, when it is difficult to place the inspection object in the desired posture on the rotary table 11, the desired posture can also be maintained by using an appropriate fixture. Also, in Figure 1 the case where the inspection object is a tomato is exemplified, but the inspection object is not limited to tomatoes. For example, it can also be various fruits and vegetables such as onions, apples, and oranges. In addition, the inspection object can also be an object other than fruits and vegetables.

[0051] The color reference plate 11a is arranged on the surface of the rotary table 11 at the upper part for loading inspection objects, and is used for calibration of the imaging device 12. The color reference plate 11a can be used as a reference for color matching and equidistant shooting.

[0052] The materials of the outside of the housing 10, the rotary table 11, etc. of the inspection device 1 can be metal or resin. In the case of resin, it can be easily and inexpensively manufactured using a 3D printer, etc. By using resin, the whole inspection device 1 becomes lighter. When there is a concern that the stability is reduced due to the light weight of the inspection device 1, by placing a heavy object at the bottom of the housing 10, tipping can be prevented and the stability can be improved.

[0053] A small camera module (not shown) is embedded inside the imaging device 12. The support portion 12a for supporting the imaging device 12 is configured to be able to draw out the required length from the housing 10. The support portion 12a can also be marked with scales so as to grasp the length when the support portion 12a is drawn out from the housing 10.

[0054] Although not shown in Figure 1 and Figure 2 various component devices such as a drive device including a motor and gears for rotating the rotary table 11 and a weighing sensor (weight measuring device) for measuring the weight of the inspection object placed on the rotary table 11 are provided in the inspection device 1. Details of them will be described later.

[0055] As Figure 1As shown, the information processing device 2 is connected to the inspection device 1 via a cable C. A connector having an interface function such as USB 2.0 is provided at the end of the cable C. Through this interface function, the information processing device 2 can supply power to the inspection device 1, and give instructions for measuring the weight of the inspection object placed on the turntable 11, instructions for controlling the rotation of the turntable 11, control of the shooting of the imaging device 12, instructions for controlling the display described later, or acquire a plurality of images generated by the imaging device 12, or acquire the weight data of the inspection object.

[0056] The information processing device 2 can use the plurality of images obtained from the inspection device 1 and the weight data of the inspection object to perform inspections on various inspection items for the inspection object (including the process of sorting fruits), and cause the display unit 24 to display the inspection results of each inspection item and the final screening result.

[0057] In addition, here, an example is shown in which the information processing device 2 with the display unit 24 is connected to the inspection device 1 via the cable C, but it is not limited to this example. For example, a device that miniaturizes an information processing device having the same function as the information processing device 2 may be mounted in the inspection device 1, and a display device equivalent to the display unit 24 may be connected to the inspection device 1 instead of connecting the information processing device 2. Additionally, for example, if a single-board computer is assembled into the inspection device 1 itself, there is no need to connect to the information processing device 2 via the cable C, and it can also be used as an edge device.

[0058] The information processing device 2 is connected to the inspection device 1 via the cable C, and controls the above-mentioned driving device via the I / F circuit unit 13 to rotate the turntable 11 on which the inspection object is placed at a constant speed. During the constant-speed rotation of the inspection object, the information processing device 2 controls the imaging device 12 to take pictures of the inspection object at constant time intervals. The information processing device 2 has the following functions: acquiring a plurality of images of the inspection object from the imaging device 12, performing various information processing on the inspection object based on the acquired plurality of images of the inspection object, thereby implementing various inspections, and displaying the inspection results on the display unit 24.

[0059] During the inspection, the information processing device 2 uses the plurality of images of the inspection object obtained by shooting and the weight data of the inspection object to perform inspections on various inspection items. The various inspection items are set here as "size", "abnormality", "volume", "density", "sugar content", "ripeness".

[0060] For example, the information processing device 2 has a function of calculating the size of the inspection object based on specified information obtained from multiple images respectively. In addition, the information processing device 2 has a function of calculating the degree of abnormality of the inspection object based on specified information obtained from multiple images respectively. In addition, the information processing device 2 has a function of calculating the volume of the inspection object based on the sum of specified information obtained from multiple images respectively. In addition, the information processing device 2 has a function of calculating the density of the inspection object based on the volume and weight of the inspection object. In addition, the information processing device 2 has a function of calculating the sugar content of the inspection object based on the density of the inspection object. In addition, the information processing device 2 has a function of calculating the maturity of the inspection object based on specified information obtained from multiple images respectively. In addition, the specific information processing and calculation methods for these functions will be described later.

[0061] In addition, Figure 1 and Figure 2 The example shown is just one example and is not limited to this example. For example, if not needed, the color reference piece 11a may not be provided. In addition, for example, a light-emitting part of the display may be provided at the position of the color reference piece 11a. In addition, for example, the shapes of the imaging device 12, the support part 12a, etc. may also be appropriately changed. Figure 3 An example of the turntable 11 deformed from this perspective is shown.

[0062] Figure 3 It is a diagram showing a modified example of the turntable 11.

[0063] In Figure 3 In the example, the above-mentioned color reference piece 11a is not provided on the turntable 11, and a light-emitting part 11b is provided instead. The light-emitting part 11b is the part that emits the light of the display 16 described later. In addition, a fixing member 10b is installed on the turntable 11. The fixing member 10b is a member that rotatably fixes the turntable 11 to the housing side.

[0064] [1-2. Configuration of the inspection device]

[0065] Figure 4 It is a diagram showing an example of the elements constituting the inspection device 1.

[0066] (1) Constituent elements

[0067] As the main constituent elements of the inspection device 1, in addition to the above-mentioned housing 10, turntable 11, imaging device 12, support part 12a, and cable C, it further includes an interface circuit part 13, a load cell (weight measuring device) 14, an A / D circuit 14a, a power supply part (including a battery) P, a motor 15, a gear 15a, a display 16, etc.

[0068] In the above-mentioned housing 10, there are provided an interface circuit section (integrated interface substrate) 13 having an A / D circuit 14a, a load cell 14, and a power supply section P. Above the housing 10, there is a tray (not shown), and a drive device including a motor 15 and a gear 15a for rotating the turntable 11 is provided on the tray. In addition, a display 16 is provided on the back side of the side surface of the turntable 11. The display 16 includes LEDs (Light Emitting Diodes) of various colors that operate inside the inspection device 1, and the color of the LEDs is changed according to the inspection processing status.

[0069] The imaging device 12 and the information processing device 2 are electrically connected through a support portion 12a, the interface circuit section 13, and a cable C. The result measured by the load cell 14 is transmitted to the interface circuit section 13 through the A / D circuit 14a. The power supply section P includes a battery as an auxiliary power supply to prepare for the case where the power is insufficient only by the power supply from the information processing device 2. The battery can be, for example, a dry battery or a secondary battery.

[0070] In the inspection device 1, for example, the following processing is performed.

[0071] · By the power from the power supply section P, the motor 15 rotates, and the gear 15a located on the back side of the turntable 11 moves, whereby the turntable 11 rotates at a constant speed. In addition, by the power from the power supply section P, the display 16 is lit.

[0072] · The information processing device 2 controls the shooting timing of the imaging device 12 in accordance with the rotation of the turntable 11, whereby the inspection object is photographed at a constant time interval. The plurality of captured images are transmitted to the information processing device 2.

[0073] · When fruits and vegetables or the like are placed on the turntable 11, the load cell 14 is subjected to pressure, and the electrical signal generated from the load cell 14 due to the pressure is subjected to A / D conversion (analog / digital conversion) by the A / D circuit 14a and digitized, whereby the mass of the inspection object is measured. The information on the measured mass of the inspection object is transmitted to the information processing device 2.

[0074] (2) Rotation mechanism

[0075] Inside the inspection device 1, a small motor 15 and a gear 15a are arranged in a meshed state. The gear 15a also exists on the back side of the turntable 11, and through the meshing of the respective gears, a rotation mechanism centered on the rotation axis is constituted.

[0076] Since it is predicted that the power supply from the cable C alone is not sufficient for the driving motor 15, it can also be supplied by a battery such as a dry cell. In addition, the power of the driving motor 15 can also be supplied by combining a battery with a power generation function such as a solar cell and a secondary battery, etc.

[0077] The speed of the turntable 11 can be controlled by adjusting the output of the motor 15 and the shape of the gear 15a. In addition, the on / off control of the rotation operation of the turntable 11 can be performed according to the comparison result between the pressure (weight) sensed by the weighing sensor 14 described later and a predetermined threshold value, or can also be performed according to an instruction from the information processing device 2 side.

[0078] (3) Imaging mechanism

[0079] The inspection object is imaged at equal intervals by a small camera module embedded in the imaging device 12 under the control of the information processing device 2.

[0080] The imaging is performed while the inspection object is placed at the center of the turntable 11 and rotated at a constant speed. During the period from the start of imaging to one full rotation of the inspection object, multiple images are taken at equal intervals. In addition, instead, a method of taking a moving image and then cutting out an image can also be adopted. In addition, during imaging, by adjusting the rotation speed of the turntable 11 and the shutter timing of the imaging device 12, any number of images can be obtained.

[0081] In order to ensure a sufficient imaging field of view, the lens can also be a wide-angle lens. In addition, the support portion 12a that supports the imaging device 12 is configured to be able to be pulled out from the housing 10. Therefore, by pulling out the required amount corresponding to the inspection object, the distance between the imaging device 12 and the inspection object can be adjusted, and the field of view range of the imaging device 12 can be adjusted.

[0082] However, in order to avoid a decrease in inspection accuracy, it is preferable that imaging conditions such as the distance between the imaging device 12 and the inspection object do not change arbitrarily, and the distance to be pulled out from the housing 10 can also be predetermined. The distance that should be pulled out from the housing 10 can also be prompted to the user from the information processing device 2 through the display unit 24.

[0083] (4) Weight measurement mechanism

[0084] Weight measurement is performed using the weighing sensor 14. The weighing sensor 14 is a sensor that detects force. The weighing sensor 14 as a sensor converts physical force into an electrical signal and outputs an electronic signal. The electronic signal can be converted into a weight value using a computer or the like.

[0085] In addition, here, as long as a mechanism for measuring weight can be introduced into the turntable 11, it is not necessarily required to measure weight using the load cell 14. As other measurement methods, a spring scale, an electromagnetic scale, a tuning fork vibration scale, etc. can be considered. In the present embodiment, in order to adapt to the miniaturization of the weight measurement mechanism incorporated in the inspection device 1, the load cell 14 is adopted.

[0086] The mechanism of weight measurement by the load cell 14 utilizes the fact that the electrical quantity output corresponding to the amount of deflection of the strain body changes. For example, one side of a strain body made of aluminum is fixed, and a specimen is placed on the other side. Then, due to the weight of the specimen, the strain body deflects, and the amount of deflection causes the strain gauge attached to the strain body to expand and contract, thereby changing the output electrical quantity (specifically, the resistance value). Then, the mass is obtained based on this electrical quantity.

[0087] [1-3. Control mechanism of inspection device]

[0088] Next, the relevant relationships of the control mechanism included in the inspection device 1 will be described.

[0089] The power supply unit P supplies power to the motor 15 and the display 16. Specifically, the power supply unit P is a power supply equipped with a battery such as a dry battery, and when the power supplied only from the cable C is insufficient, it supplies the power of the battery to the display 16, the motor 15, etc.

[0090] The load cell 14 transmits the resistance value of the strain gauge to the A / D circuit 14a according to the weight of the inspection object placed thereon.

[0091] The A / D circuit 14a outputs the resistance value after A / D conversion of the resistance value of the strain gauge (equivalent to the load value). Specifically, the A / D circuit 14a converts the resistance value of the strain gauge (analog data) obtained from the load cell 14 into a load (digital data), and transmits it as weight data to the interface circuit unit 13.

[0092] The interface circuit unit 13 mainly integrates various sensor information, etc., and exchanges information with the information processing device 2. For example, the interface circuit unit 13 operates by receiving power supply from the information processing device 2. In addition, the interface circuit unit 13 controls the A / D circuit 14a, the motor 15, and the display 16.

[0093] In addition to having the above A / D circuit 14a as a comprehensive interface substrate, the interface circuit section 13 also has a motor drive control section and a display drive control section (not shown). The motor drive control section controls the motor 15 based on information related to the control of the motor 15 from the information processing device 2. The interlocking of the gears driven by the operation of the motor 15 becomes the power to rotate the turntable 11. The display drive control section controls the display 16 based on information related to the control of the display 16 from the information processing device 2.

[0094] The motor 15 transmits power to the turntable 11 through the gear 15a and performs the operation / stop of the rotation of the turntable 11 according to the on / off control from the interface circuit section 13.

[0095] The information processing device 2 supplies power to the interface circuit section 13, obtains information on the weight of the object to be inspected based on the A / D converted resistance value (equivalent to the load value) supplied from the interface circuit section 13, and performs shutter control of the imaging device 12, obtains a captured image from the imaging device 12, and performs various inspections.

[0096] [1-4. Configuration of Information Processing Device]

[0097] Figure 5 This is a diagram showing an example of the hardware configuration of the information processing device 2.

[0098] The information processing device 2 includes a processor 21, a transceiver section 22, an input section 23, a display section 24, a storage section 25 (main storage section 251, auxiliary storage section 252), and a storage section 26.

[0099] The processor 21 is responsible for the overall control of the device. For example, it executes the inspection program stored in the main storage section 251 and performs various processes using the auxiliary storage section 252 as a work area.

[0100] The transceiver section 22 is equivalent to a communication device for information transmission and reception with the inspection device 1.

[0101] The input section 23 is equivalent to an input device such as an indicating device that accepts information input by the user, and is implemented using a tablet, for example.

[0102] The display section 24 is equivalent to a display device that displays the inspection results and the final screening results.

[0103] The storage section 25 (main storage section 251, auxiliary storage section 252) is equivalent to memories such as ROM (Read Only Memory) and RAM (Random Access Memory) that store various information.

[0104] The storage unit 26 is equivalent to a storage device composed of a magnetic material or a semiconductor, and stores a plurality of images obtained from the inspection device 1 and the weight data of the inspection object.

[0105] Figure 6 It is a diagram showing an example of the functional configuration of the inspection program executed by the processor 21.

[0106] The inspection program 3 executed by the processor 21 has a motor drive control unit 31, a shooting control unit 32, an inspection processing unit 33, and a display drive control unit 34 as various functions.

[0107] · Motor drive control unit 31

[0108] The motor drive control unit 31 controls the output of the motor 15 that is the power source of the gear 15a that drives the turntable 11. Usually, the turntable 11 is driven at a constant speed, so the motor drive control unit 31 only performs on / off control. However, depending on the processing speed of each part (such as the imaging speed) and the operation efficiency, the motor drive control unit 31 can change the rotation speed of the turntable 11 by controlling the output of the motor 15.

[0109] · Shooting control unit 32

[0110] The shooting control unit 32 controls the shutter timing of the imaging device 12. The shooting control unit 32 sends a shutter instruction signal to the inspection device according to the movement of the turntable 11 and the timing of weight measurement, causing the shutter of the imaging device 12 to act. Usually, the turntable 11 is driven at a constant speed, so the shooting control unit 32 controls the shutter timing to be constant. However, the shooting control unit 32 can change the shutter timing according to the processing speed of each part (such as the imaging speed) and the operation efficiency.

[0111] · Inspection processing unit 33

[0112] The inspection processing unit 33 performs inspections on various inspection items using a plurality of images of the inspection object obtained by shooting and the weight data of the inspection object. The inspection processing unit 33 uses image processing or artificial intelligence, etc. to obtain the final inspection result (such as a grade) and displays it on the display unit 24.

[0113] · Display drive control unit 34

[0114] The display drive control unit 34 controls the display 16 on the inspection device 1 side, for example, changing the color of the display 16 according to the processing status of the inspection item.

[0115] [2. Operation of the inspection system]

[0116] Figure 7 It is a flowchart showing the outline of the operation of the inspection system.

[0117] First, prepare for the inspection (step S1). In this preparation, the inspection device 1 and the information processing device 2 are connected by a cable C, and each is in a state where the power is turned on.

[0118] Place the object to be inspected on the turntable 11 of the inspection device 1.

[0119] Next, measure the weight of the object to be inspected (step S2). The weight measurement of the object to be inspected does not necessarily have to be performed at this stage. For example, the weight measurement of the object to be inspected can also be performed after the object to be inspected has been photographed. In the weight measurement of the object to be inspected, the resistance value (analog data) of the strain gauge obtained from the load cell 14 is converted into a load (digital data) by the A / D circuit 14a, and this is transmitted as weight data to the interface circuit section 13, and then transmitted to the information processing device 2 through the cable C.

[0120] Next, under the control of the information processing device 2, the interface circuit section 13 performs a process of rotating the turntable 11 at a constant speed by a driving device including a motor 15 and a gear 15a (step S3).

[0121] Next, under the control of the information processing device 2, the imaging device 12 performs a process of taking a plurality of images of the object to be inspected at a constant time interval (step S4). The plurality of images generated by the imaging device 12 are transmitted to the information processing device 2 through the cable C.

[0122] Finally, the information processing device 2 performs inspections on various inspection items based on the plurality of images of the object to be inspected and the weight data of the object to be inspected, and displays the inspection results on the display section 24 (step S5).

[0123] [3. Details of the processing for each inspection item]

[0124] The information processing device 2 performs inspections on various inspection items using the plurality of images of the object to be inspected obtained by taking the object to be inspected at a constant time interval and the data of the "weight" of the object to be inspected. The inspection items are as described above, including "size", "abnormality", "volume", "density", "sugar content", and "ripeness".

[0125] Among these inspection items, particularly regarding "volume", once the "volume" is obtained from the plurality of images taken, the "density" is obtained based on the "volume", and then the "sugar content" is obtained based on the "density". Therefore, the technique for obtaining the "volume" is very significant. Therefore, first, the basic method for obtaining the "volume" will be described.

[0126] Figure 8This is a diagram for explaining a basic method for determining the “volume” of an inspection object.

[0127] The number of points of a portion in which the inspection object is captured in an image obtained by imaging the inspection object from one direction is correlated with the “cross-sectional area” (hereinafter referred to as “area”) of the inspection object. Figure 8 (A) shows this relationship.

[0128] If we focus on this point, we can infer that, for example, the total number of points of the part of the inspection object captured in each of the multiple images (all-round images) obtained by not only photographing the inspection object from one direction, but also photographing the inspection object at equal intervals while gradually shifting the angle, is correlated with the "volume" of the inspection object. Figure 8 (B) shows this relationship.

[0129] Thus, it can be seen that the "volume" of the inspection object can be determined based on multiple images of the inspection object obtained by photographing the inspection object at constant time intervals. In addition, based on such multiple images, the degree of "abnormality" of the inspection object can also be determined as follows. Abnormality refers to a shape with concave parts and protruding parts relative to the general shape of each fruit and vegetable. Abnormality is also called shape defect.

[0130] Figure 9 This is a diagram for explaining a basic method for determining whether an inspection object has an "abnormal shape".

[0131] As described above, the number of points of the portion of the inspection object captured in each of the multiple images (omnidirectional images) obtained by not only capturing the inspection object from one direction but also capturing the inspection object at equal intervals while gradually shifting the angle will vary in degree in almost every image. Therefore, by analyzing the difference in the number of points of the portion of the inspection object captured in each image, the degree of the abnormality of the inspection object can be determined.

[0132] exist Figure 9 An example of the result of actual verification regarding the irregular shape performed on a plurality of inspection objects is shown in FIG.

[0133] Here, an attempt was made to obtain 11 images of one inspection object as omnidirectional images, and to calculate the point ratio between the image with the most points and the image with the least points in each image, thereby quantifying the degree of abnormality.

[0134] exist Figure 9 In the example of FIG. 5 , the degree of abnormality is numerically expressed for each of five inspection objects having different shapes and sizes.

[0135] Among the "standard" inspection objects, the number of dots in the first image, "91457", is the smallest, and the number of dots in the third image, "94363", is the largest. Based on this dot ratio, the abnormal shape rate (normal shape rate) is determined to be 96.9%.

[0136] Among the "small standard" inspection objects, the number of dots in the ninth image, "69656", is the smallest, and the number of dots in the third image, "74435", is the largest. Based on this dot ratio, the abnormal shape rate (normal shape rate) is determined to be 93.6%.

[0137] Among the "tilted standard" inspection objects, the number of dots in the eleventh image, "90720", is the smallest, and the number of dots in the third image, "97826", is the largest. Based on this dot ratio, the abnormal shape rate (normal shape rate) is determined to be 92.7%. It can be seen that the value is slightly smaller and the shape is slightly deviated compared with the above two types of inspection objects.

[0138] Among the "abnormal" inspection objects, the number of dots in the eleventh image, "83987", is the smallest, and the number of dots in the third image, "110585", is the largest. Based on this dot ratio, the abnormal shape rate (normal shape rate) is determined to be 75.9%. Compared with the above three types of inspection objects, the value has decreased significantly, indicating a greater tendency for abnormality.

[0139] Among the "large standard" inspection objects, the number of dots in the first image, "9113739", is the smallest, and the number of dots in the third image, "117204", is the largest. Based on this dot ratio, the abnormal shape rate (normal shape rate) is determined to be 97.0%. Compared with the above four types of inspection objects, the value is the largest, indicating a normal shape.

[0140] Hereinafter, the specific methods for determining "size", "abnormality", "volume", "density", "sugar content", and "ripeness" for each inspection item will be described separately.

[0141] · Size

[0142] The determination of size is based on one or more captured images.

[0143] First, calculate the size of the inspection object in the image as the number of pixels. To calculate the number of pixels, edge detection, binarization, contrast adjustment, etc. are required as preprocessing, but the description is omitted here. The number of pixels can be calculated by any method.

[0144] Then, convert the calculated number of pixels into the actual size. For example, as Figure 10As shown, when the number of pixels in the height direction of the inspection object captured in the image is 1000 [pixel], it is converted to 5 [cm]. At this time, if the field of view angle is constant, the size can be calculated by multiplying by a predefined constant. However, in the case where it is difficult to fix the field of view angle, the ratio matching the field of view angle can also be obtained at any time to calculate the adjusted size.

[0145] The inspection result of the size can also be, for example, the result of averaging the respective sizes calculated from multiple images. In addition, the size can also be represented by a rank.

[0146] ·Abnormal shape

[0147] The basic method for determining the "abnormal shape" of the inspection object is as described above.

[0148] The determination of the abnormal shape is performed based on multiple captured images. Here, while rotating the inspection object, multiple images are taken at equal intervals.

[0149] For example, compared with a normal shape as shown on the left side of Figure 11 , in the case where there is a protruding part as shown on the right side of Figure 11 , the area of the inspection object obtained from one captured image is larger than the area of the normal object. On the contrary, in the case where there is a concave part, the value becomes smaller. Therefore, by comparing the values of the areas of the inspection objects captured in multiple images and observing the ratio of (1) the maximum value to the minimum value of the areas of the inspection objects captured in each image, or (2) the deviation value from the average value, the abnormal shape can be detected.

[0150] The inspection result of the abnormal shape can also be, for example, the result of quantifying the degree of the abnormal shape (abnormal shape rate or normal shape rate) based on the ratio of the number of points in the image with the largest number of points to the number of points in the image with the smallest number of points in each image as described above, or based on the magnitude of the deviation value from the average value of the number of points in each image. In addition, the abnormal shape can also be represented by a rank.

[0151] ·Volume

[0152] The basic method for determining the "volume" of the inspection object is as described above.

[0153] The determination of the volume is performed based on multiple captured images. Here, while rotating the inspection object, multiple images are taken at equal intervals.

[0154] Here, a relational expression is calculated based on the correlation between the total value of the "area" of the inspection object captured in each image and the "volume", and the volume is determined based on this relational expression.

[0155] The following shows steps (A), (B), and (C) for volume determination.

[0156] (A) Determination of the number of shots (number of images)

[0157] Determine how many times to shoot the object to be inspected. By increasing the number of shots per rotation, the number of images increases, and the accuracy of volume determination improves.

[0158] (B) Creation of a relational expression representing the correlation

[0159] To create a relational expression (hereinafter referred to as "volume calculation equation") representing the correlation between the total value of the "area" and the "volume" of the object to be inspected, first, prepare "reference models" of various sizes that are similar in shape to the object to be inspected whose volume is ultimately to be measured.

[0160] In addition, the reference models prepared here do not need to be the objects to be inspected ultimately for volume determination. For example, when ultimately wanting to measure the volume of a tomato, it is okay if the images prepared here are of a spherical shape similar to the tomato. Here, an example of preparing spheres with radii of 50 - 100 mm in units of 10 mm is shown. In this case, prepare 6 kinds of spheres with radii r = 50, 60, 70, 80, 90, 100 [mm]. To further improve the accuracy of volume determination, it is preferably in a shape and size similar to the object to be inspected ultimately for volume determination. Also, the more sizes are prepared, the more accurate the approximate curve can be obtained.

[0161] Shoot each size of the reference model according to the number of shots determined in step (A) above. An example of an image actually obtained by shooting one reference model is shown on the left in Figure 12 . This reference model can also be reproduced as a digital twin in the digital space as shown on the right in Figure 12 .

[0162] Next, calculate the area of the reference model. As a method for calculating the area, after removing the background through image processing, count the number of pixels (number of points) representing the area of the remaining object to be inspected. Perform this operation on all the captured images and calculate the total value of the number of pixels (total sum of the number of points).

[0163] In addition, when the reference model is defined as a sphere with a radius of r instead of an amorphous object, by calculating "the area of a perfect circle (= πr 2 ) × the number of shots", the total value of each area can be obtained.

[0164] In addition, the actual volume of the reference model is obtained. In the case of an amorphous object, it is measured by any method, but in the case of using a sphere as the reference model, the volume can be obtained by a calculation formula (= 4 / 3πr 3 ).

[0165] Through such processing, as shown on the left side of Figure 13 , the total value of the number of pixels (total number of points) of a plurality of images taken while rotating the reference model with each dimension (radius r = 50, 60, 70, 80, 90, 100 [mm]) one week is obtained, as well as its volume.

[0166] Next, as shown on the right side of Figure 13 , a volume calculation equation representing the correlation between the total value of the number of pixels that has been calculated and the actual volume is obtained. For example, the total value of the number of pixels for each dimension is plotted against the volume. Then, based on all the plotted points, approximation is performed by the least squares method to derive an approximate equation. At this time, the approximate function of the least squares method can use not only a linear function but also an appropriate nth-degree function.

[0167] If x is set to the total number of points of the area of the reference model captured in each image, the volume calculation equation is represented by, for example, y = 8E-07x 2 + 1.042x - 30980 (where 8E-07: 0.0000008). However, this example is just one case and is not limited thereto.

[0168] (C) Judgment of volume

[0169] Figure 14 A specific method for determining the "volume" of the object to be inspected is shown.

[0170] First, as shown in step (1) of Figure 14 , the object to be inspected is placed on the turntable 11, and any number of images are taken at equal intervals while rotating 360 degrees. Among them, the number of images taken is the number determined in the above step (A), and the size of the object to be inspected is close to the size of the reference model prepared in the above step (B).

[0171] Next, as shown in step (2) of Figure 14 , the number of points of the area of the object to be inspected captured in each of the taken images is counted respectively.

[0172] Next, as shown in step (3) of Figure 14 , the total value of the number of points counted from each image is set as x, and substituted into the volume calculation equation obtained in the above (2) (for example, the above y = 8E-07x 2For x in (+1.042x - 30980), the volume is obtained therefrom. The volume can be represented by a rank.

[0173] Figure 15 An example of the result of actual verification of irregularity for a plurality of objects to be inspected is shown.

[0174] Figure 15 The example shows the results obtained by obtaining the volumes of five types of tomatoes, namely, "standard", "standard small", "standard large", "standard tilted and rotated" (rotated in a state where a standard tomato is placed tilted), and "irregular".

[0175] For cases other than "irregular", the error from the actual volume is 2.3% or less, and it can be seen that good-precision inspection results are obtained. For "irregular" as well, the error is 3.6%, and it can be seen that relatively good-precision inspection results are obtained.

[0176] · Density

[0177] The density (g / cm 3 ) of the object to be inspected is obtained by calculating "weight / volume" using the "weight" and "volume" of the object to be inspected that have already been obtained. The density can also be represented by a rank.

[0178] · Brix

[0179] Brix has a correlation with specific gravity and density. Therefore, if the specific gravity or density of the object to be inspected is known, the Brix can be obtained.

[0180] Generally, the method for obtaining density is complex. Therefore, in the present embodiment, the density obtained using the already obtained volume is used, and a correlation formula representing the correlation between density and Brix prepared in advance is used, and the density is substituted into the formula to obtain the Brix.

[0181] The inspection result of Brix can be, for example, the result of averaging the Brix values calculated from a plurality of images. In addition, the Brix can also be represented by a rank.

[0182] In addition, the correlation formula is prepared by pre-measuring the Brix of the object to be inspected. The correlation formula can also represent the correlation between specific gravity and Brix. The specific gravity is obtained from the density. Figure 16 The correlation between specific gravity and Brix is shown. Figure 16 The three notations in [] respectively represent data of different objects to be inspected. The correlation formula is prepared based on these data.

[0183] · Maturity

[0184] Maturity indicates the degree of ripeness of fruits, etc., generally between ripe and unripe fruits. In most cases, there are differences in surface color, etc. Examples include tomatoes, apples, etc. It is known that the surface color of these fruits changes from green to red as they ripen.

[0185] In this embodiment, since the outer peripheral surface of the inspection object is photographed, the change in surface color can be quantified based on a plurality of photographed images. Specifically, the maturity is calculated by "(the number of pixels of the color presented at maturity (red for tomatoes or apples, etc.))" / "(the total number of points on the measured outer periphery)". The maturity can also be represented by a rank.

[0186] [4. Expansion Example]

[0187] The inspection system can be expanded in various ways as follows.

[0188] (1) Application of Multiple Inspection Devices 1

[0189] Figure 17 It is a diagram showing an example of preparing multiple devices identical to the above-mentioned inspection device 1 and centrally performing inspections in a state where they are arranged on the inspection table 4.

[0190] As Figure 17 shown, multiple inspection devices 1 are arranged on the inspection table 4, and an information processing device 2 having a display unit is arranged. The multiple inspection devices 1 are connected to the information processing device 2 via the above-mentioned cable C or wireless communication. The multiple inspection devices 1 are controlled by the information processing device 2, and each inspection result is displayed on the information processing device 2.

[0191] By increasing the turntable 11 in this way, the processing capacity per unit time can be increased. In addition, by setting the photographing direction to the same direction as the direction in which the inspection objects are arranged, the partition can be used as a background. Thus, background processing based on image processing, etc., can be stably performed.

[0192] (2) Expansion to AI Appearance Inspection Using Photographed Images

[0193] It is also possible to perform appearance inspection of the inspection object using AI (Artificial Intelligence). To perform appearance inspection using AI, it is necessary to pre-make a learning model, and for this purpose, generally a large number of images are required. Therefore, by storing the images obtained by photographing the inspection object using the inspection device 1, these images can be used for learning in AI, and the accuracy of appearance inspection can be improved by AI. In this case, the inspection device 1 also functions as a photographing device for obtaining the images required for AI learning.

[0194] As described in detail above, according to the embodiment, it is possible to easily inspect an object to be inspected such as fruits and vegetables with a simple configuration.

[0195] Here, in the embodiment, the rotation speed of the turntable 11 is constant, but the rotation speed of the turntable 11 does not necessarily have to be constant. In addition, the shooting time interval of the imaging device 12 is not necessarily constant. However, it is necessary to make the shooting position of the imaging device 12 consistent when shooting the object to be inspected and when shooting the reference model. Therefore, the rotation speed of the turntable 11 and the shooting time interval of the imaging device 12 are preferably consistent when shooting the object to be inspected and when shooting the reference model. In addition, even if the shooting position of the imaging device 12 is not consistent when shooting the object to be inspected and when shooting the reference model, as long as the object to be inspected is an object close to a perfect sphere such as a tomato or a cantaloupe, the volume and the like can be correctly calculated using the above volume calculation equation.

[0196] [3. Variants of the inspection device]

[0197] Hereinafter, several variants of the inspection device 1 will be described.

[0198] [3-1. Variant 1]

[0199] In the above embodiment, there is one imaging device 12. In Variant 1, there may be two or more imaging devices 12. In this case, two or more support portions 12a are provided along the outer periphery of the housing 10, and each imaging device 12 is supported by each support portion 12a. The intervals between the two or more support portions 12a may be equal intervals or unequal intervals. By having two or more imaging devices 12, two or more images of the object to be inspected are obtained by one shooting of each imaging device 12. Thereby, the number of shootings for obtaining the images of the object to be inspected required for calculating the volume can be reduced.

[0200] In addition, by increasing the number of imaging devices 12, the rotation amount of the turntable 11 for obtaining the images of the object to be inspected required for calculating the volume also becomes smaller. That is, if shooting is performed by a sufficient number of imaging devices 12, it is not necessarily required to shoot while rotating the turntable 11.

[0201] Figure 18This is a diagram showing the appearance of the inspection device according to the first example of Modification 1. In the first example, a plurality of support portions 11c are formed around the non-rotating pedestal portion 11. The support portions 11c are formed to bend obliquely upward from the outer peripheral portion of the pedestal portion 11, and the front end portions are at a constant height with respect to the pedestal portion 11. The front end portions of the support portions 11c support an annular support portion 11d having a diameter larger than that of the pedestal portion 11. For example, when the size of the object to be inspected is 5 cm to 10 cm, the diameter of the pedestal portion 11 is about 10 cm, and the diameter of the support portion 11d is about 20 cm. The imaging device 12 is fixed to the support portion 11d. The orientation of the imaging device 12 is adjusted so that the object to be inspected enters the field of view angle of the camera module. In addition, depending on the orientation of the imaging device 12, the images of other imaging devices 12 may also be captured in the image of the object to be inspected. Such images of other imaging devices 12 are removed in the image processing during the inspection. The removal of the image of the imaging device 12 can be performed by any method such as a method based on pattern matching or a method based on machine learning.

[0202] Here, in Figure 18 the imaging device 12 is fixed to the intersection position of the support portion 11c and the support portion 11d. However, the imaging device 12 does not necessarily have to be fixed to the intersection position of the support portion 11c and the support portion 11d. In addition, the number of the support portions 11c and the number of the imaging devices 12 do not need to be the same. And in Figure 18 the support portions 11c are formed at equal intervals along the outer periphery of the pedestal portion 11. However, the support portions 11c may also be formed at unequal intervals along the outer periphery of the pedestal portion 11. In addition, the fixing positions of the imaging devices 12 may also be at unequal intervals.

[0203] In addition, the height of the front end portion with respect to the pedestal portion 11 is, for example, the position where the optical axis of the camera module of the imaging device 12 coincides with the center of the object to be inspected when the object to be inspected is placed on the pedestal portion 11. In practice, since the sizes of fruits and vegetables as the objects to be inspected are not uniform, the height of the front end portion with respect to the pedestal portion 11 can be specified by the aforementioned reference model. In addition, in Figure 18 the imaging device 12 is fixed to the support portion 11d. However, the imaging device 12 may also be fixed to the support portion 11c, and in this case, the configuration may not include the support portion 11d. The heights of the respective imaging devices 12 supported by the pedestal portion 11 may also be different.

[0204] Figure 19This is a diagram showing the appearance of the inspection device of the second example of Modification 1. The structure of the first example is a skeleton structure composed of a support portion 11c and a support portion 11d. In contrast, the structure of the second example is a continuous structure formed obliquely upward from the pedestal portion 11. In the second example, for example, the pedestal portion 11 is formed as a box body having a movable hinge 11e. The object to be inspected is placed on the bottom of the pedestal portion 11 of the box body. In addition, a camera device 12 is provided on a step formed by bending the movable hinge 11e. The orientation of the camera device 12 is adjusted so that the object to be inspected enters the field of view angle of the camera module. In the second example, by changing the bending position of the movable hinge 11e, that is, the formation position of the step, the installation height of the camera device 12 can be changed.

[0205] Here, in Figure 19 the circumferential setting interval of the camera device 12 on the pedestal portion 11 does not need to be equal intervals, and can also be unequal intervals. In addition, if a plurality of steps with different heights are formed by bending the movable hinge 11e multiple times, the camera device 12 can be set at different heights relative to the bottom of the pedestal portion 11.

[0206] Figure 20 This is a block diagram showing the configuration of the inspection device in Modification 1. Figure 20 The configuration can be applied to any one of the first example and the second example. In Modification 1, the inspection device 1 includes an interface circuit section 13, a load cell (weight measuring device) 14, an A / D circuit 14a, a power supply section (including a battery) P, a display 16, etc. That is, in Modification 1, since it is not necessary to rotate the pedestal portion 11, a motor 15 and a gear 15a are not required. In addition, in Modification 1, Figure 2 the housing 10 and the pedestal portion 11 shown in

[0207] can be a single pedestal portion 11. In this case, the interface circuit section 13, the load cell 14, the A / D circuit 14a, the power supply section P, and the display 16 can all be mounted on the pedestal portion 11. Figure 4 The configurations of the interface circuit section 13, the load cell 14, the A / D circuit 14a, the power supply section P, and the display 16 are the same as the Figure 5 configurations described in

[0208] Therefore, the description is omitted. In addition, the configuration of the information processing device 2 is also basically the same as the Figures 7 to 14 configuration described in Figure 7The operation of step S3 in [the above]. In addition, in Modification 1, the number of times of shooting for volume calculation is the number of imaging devices 12 provided on the pedestal portion 11.

[0209] As described above, in Modification 1, a mechanism for rotating the object to be inspected is not required. Therefore, it is possible to easily inspect an object to be inspected such as fruits and vegetables with a simple configuration.

[0210] [3-2. Modification 2]

[0211] In the above-described embodiment, the rotary table 11 rotates, and the imaging device 12 captures an object to be inspected that rotates as the rotary table 11 rotates, thereby obtaining an omnidirectional captured image of the object to be inspected. On the contrary, by fixing the object to be inspected and using the imaging device 12 that rotates around it to capture the object to be inspected, an omnidirectional captured image of the object to be inspected can also be obtained.

[0212] Figure 21 FIG. [is] a diagram showing the internal configuration of the housing 10 in Modification 2. In Modification 2, a drive device including gears is provided inside the housing 10. The drive device includes a planetary gear mechanism. The planetary gear mechanism has a shaft 100a, a sun gear 100b, planetary gears 100c, an internal gear 100d, and a planet carrier 100e.

[0213] The shaft 100a is a fixed shaft into which the sun gear 100b is inserted. The shaft 100a is also a shaft that is installed on the pedestal portion 11 and supports the pedestal portion 11.

[0214] The sun gear 100b meshes with four planetary gears 100c arranged around it and is fixed to the shaft 100a.

[0215] Each planetary gear 100c meshes with the sun gear 100b and also meshes with the internal gear 100d. Moreover, each planetary gear 100c is connected by a planet carrier 100e. The planet carrier 100e can be rotated by a motor 15.

[0216] The internal gear 100d forms at least a part of the outer peripheral portion of the housing 10. And, a support portion 12a is installed on the outer peripheral portion of the housing 10. The imaging device 12 is supported by the support portion 12a.

[0217] In Figure 21In the configuration shown, the carrier 100e is rotated by the motor 15, whereby the four planet gears 100c connected by the carrier 100e rotate while revolving around the sun gear 100b. Due to the revolution of the four planet gears 100c, the internal gear 100d rotates in, for example, the R direction shown in the figure, and the housing 10 also rotates accordingly. Since the support portion 12a is installed on the outer peripheral portion of the housing 10, the support portion 12a also rotates, for example, in the R direction as the housing 10 rotates.

[0218] Accordingly, the imaging device 12 supported by the support portion 12a also rotates, for example, in the R direction. On the other hand, since the shaft 100a does not rotate, the pedestal portion 11 supported by the shaft 100a also does not rotate. Therefore, the imaging device 12 can rotate relative to the inspection object placed on the pedestal portion 11. The inspection object is imaged by the imaging device 12 in this state, whereby an omnidirectional captured image of the inspection object identical to that described in the embodiment is obtained. Here, in the second modification, the rotation speed of the internal gear 100d is not necessarily constant. In addition, the imaging interval of the imaging device 12 may not necessarily be a constant time interval.

[0219] In addition, a cable C is provided in the housing 10. In the second modification, since the support portion 12a rotates as the housing 10 rotates, the rotating support portion 12a may come into contact with the cable C. In order to avoid contact between the support portion 12a and the cable C when the support portion 12a rotates, the installation height of the support portion 12a in the housing 10 is preferably determined to be a height that takes into account the flexure of the cable C and the like. In addition, the housing 10 may be divided into a portion that rotates with the internal gear 10d installed therein and a non-rotating portion. In this case, the cable C and the like may also be provided in the non-rotating portion of the housing 10.

[0220] Figure 22 is a block diagram showing the configuration of the inspection device in the second modification. In the second modification, the inspection device 1 includes an interface circuit unit 13, a load cell (weight measuring device) 14, an A / D circuit 14a, a power supply unit (including a battery) P, a display 16, a motor 15, and the like. Different from Figure 4 In Figure 22 , the motor 15 is configured to rotate the housing 10, more specifically, the carrier 10e. The other configuration is the same as Figure 4 .

[0221] In addition, the inspection performed by the inspection processing unit 33 is also basically the same as the inspection described with reference to Figures 7 to 14 . However, in the second modification, in Figure 7 , in step S3, it is not the turntable 11 that rotates, but the housing 10.

[0222] As described above, in the second modification, it is possible to easily inspect an inspection object such as fruits and vegetables with a simple configuration. Further, in the second modification, the pedestal on which the inspection object is placed does not rotate. Therefore, the position of the inspection object is easily stabilized.

[0223] The present invention is not limited to the above-described embodiments, and constituent elements can be modified and embodied within the scope of the gist thereof at the implementation stage. Further, by appropriately combining a plurality of constituent elements disclosed in the above-described embodiments, various inventions can be formed. For example, several constituent elements can be deleted from all the constituent elements shown in the embodiments. Further, the constituent elements of different embodiments can be appropriately combined.

[0224] Description of Reference Numerals

[0225] 1... inspection device, 2... information processing device, 3... program, 4... inspection table, 10... housing, 10b... fixing member, 11... rotating table (pedestal portion), 11a... color reference piece, 11b... light emitting portion, 12... imaging device, 12a... support portion, 13... interface circuit portion, 14... load cell (weight measuring device), 14a... A / D circuit, 15... motor, 15a... gear, 16... display, C... cable, P... power supply unit, 21... processor, 22... transceiver unit, 23... input unit, 24... display unit, 25... storage unit, 251... main storage unit, 252... auxiliary storage unit, 26... storage unit, 31... motor drive control unit, 32... shooting control unit, 33... inspection processing unit, 34... display drive control unit.

Claims

1. An inspection device, comprising: A pedestal portion for placing an object to be inspected; A driving device for rotating the pedestal portion on which the object to be inspected is placed; and An imaging device for photographing the object to be inspected.

2. The inspection device according to claim 1, wherein, It further comprises: An information processing device that controls the imaging device to photograph the object to be inspected during the rotation of the object to be inspected, obtains a plurality of images of the object to be inspected from the imaging device, and performs various inspections on the object to be inspected based on the plurality of obtained images of the object to be inspected.

3. The inspection device according to claim 2, wherein, The information processing device calculates the volume of the object to be inspected based on the sum of specified information respectively obtained from the plurality of images.

4. The inspection device according to claim 2, wherein, The information processing device calculates the degree of abnormality of the object to be inspected based on the specified information respectively obtained from the plurality of images.

5. The inspection device according to claim 2, wherein, The information processing device calculates the size of the object to be inspected based on the specified information respectively obtained from the plurality of images.

6. The inspection device according to claim 3, wherein, It further comprises a weight measuring device for measuring the weight of the object to be inspected, The information processing device calculates the density of the object to be inspected based on the volume and weight of the object to be inspected.

7. The inspection device according to claim 6, wherein, The information processing device calculates the sugar content of the object to be inspected based on the density of the object to be inspected.

8. The inspection device according to claim 2, wherein, The information processing device calculates the maturity of the object to be inspected based on the specified information respectively obtained from the plurality of images.

9. The inspection device according to claim 2, wherein, The pedestal portion, the driving device, and the imaging device are arranged in one inspection device, The inspection device is connected to the information processing device.

10. The inspection device according to claim 9, wherein, A plurality of the inspection devices are provided, The plurality of inspection devices are connected to the information processing device.

11. The inspection device according to claim 1, wherein, It further comprises: A housing for rotatably holding the pedestal portion; and A support portion mounted on the housing for supporting the imaging device.

12. An inspection device, comprising: A pedestal portion for placing an object to be inspected; A structure formed obliquely above the pedestal portion; and A plurality of imaging devices supported by the structure for photographing the object to be inspected from different directions.

13. The inspection device according to claim 12, wherein, The structure is a framework-like structure having: A plurality of first support portions formed to bend obliquely above the pedestal portion; and A ring-shaped second support portion supported at the front ends of the plurality of first support portions.

14. The inspection device according to claim 12, wherein, The structure is a continuous structure having a movable hinge portion, and the movable hinge portion is formed to bend obliquely upward toward the pedestal portion.

15. An inspection device, comprising: A pedestal portion for placing an object to be inspected; A housing that supports the pedestal portion so as not to rotate; A drive device disposed inside the housing to rotate the housing; And A support portion mounted on the housing to support an imaging device that images the object to be inspected.

16. The inspection device according to claim 15, Wherein, The drive device has: A sun gear that is fixed; A plurality of planet gears that mesh with the sun gear and revolve around the sun gear; A planet carrier that connects the plurality of planet gears and is mounted on a motor; And An internal gear that meshes with the plurality of planet gears and rotates as the plurality of planet gears revolve, causing at least a portion of the housing on which the support portion is mounted to rotate.

17. An inspection method, Including: A step of rotating a pedestal portion on which an object to be inspected is placed by a drive device; And During the rotation of the object to be inspected, an information processing device controls an imaging device to image the object to be inspected, obtains a plurality of images of the object to be inspected from the imaging device, and performs various inspections on the object to be inspected based on the plurality of obtained images of the object to be inspected.

Images