Measurement device, measurement method, and program

Abstract

To identify a distribution of an internal state of a measurement object.SOLUTION: A measurement device includes: a data acquisition section 241 for acquiring position time-series data indicating a position of a contact section 11, which is arranged in a measurement unit 1 to have contact with a measurement object W, in a measurement period when the contact section 11 is pushed into the measurement object W, and pressure time-series data indicating pressure to be applied to the contact section 11 during the measurement period; and a state identification section 242 for analyzing the pressure time-series data and the position time-series data so as to identify an internal state parameter of the measurement object W.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a measuring device, a measuring method, and a program for measuring the internal state of a measurement object. [Background technology]

[0002] Conventionally, there is known a method for measuring the hardness of an object by measuring the reaction force generated by pressing a contact into the object. In the conventional measurement method, the hardness of the object is evaluated by comparing the reaction force per measured contact area with a reference value (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-250633 A Summary of the Invention [Problem to be solved by the invention]

[0004] There are cases where it is necessary to grasp the internal state of an object that is not homogeneous. Conventional measurement methods can measure the surface hardness of an object, but when the object is not homogeneous inside, such as food, it is not possible to measure the distribution of the internal state of the object.

[0005] The present invention has been made in consideration of these points, and has an object to make it possible to specify the distribution of the internal state of a measurement object. [Means for solving the problem]

[0006] A measurement device of a first aspect of the present invention is a measurement device that measures internal state parameters of a measurement object, and includes a contact portion of a measurement unit that contacts the measurement object, a memory unit that stores reference data indicating a relationship between reference position time series data indicating the position of the contact portion while the contact portion is pressed into a reference object, reference pressure time series data indicating the pressure applied to the contact portion while the contact portion is pressed into the reference object, and the internal state parameters of the reference object, a data acquisition unit that acquires position time series data indicating the position of the contact portion during a measurement period when the contact portion is pressed into the measurement object and pressure time series data indicating the pressure applied to the contact portion during the measurement period, and a state identification unit that identifies the internal state parameters of the measurement object by analyzing the position time series data and the pressure time series data using the reference data.

[0007] The state specifying unit may output, as the internal state parameter, information indicating a distribution of hardness or viscosity inside the measurement object, or a thickness of each of a plurality of layers inside the measurement object.

[0008] The object to be measured may have multiple layers each having different characteristics, the data acquisition unit acquires the position time series data and the pressure time series data during a measurement period when the contact portion is pressed in a direction not parallel to the multiple layers, and the state identification unit may identify an internal state parameter of the object to be measured in association with the position at which the contact portion is pressed into the object to be measured.

[0009] The memory unit may store as the reference data a machine learning model that outputs an internal state parameter of the object to be measured when the position time series data and the pressure time series data are input, and the state identification unit may input the position time series data and the pressure time series data to the machine learning model and identify the internal state parameter output from the machine learning model as the internal state parameter of the object to be measured.

[0010] The object to be measured may have multiple layers each having different characteristics, and the machine learning model may be created by deep learning using multiple teacher data indicating the relationship between the pressure time series data and the position time series data for multiple reference objects each of which is a combination of multiple components corresponding to the multiple layers and each of which has different physical properties.

[0011] The memory unit may store a plurality of reference data corresponding to a plurality of reference objects each having a different internal state parameter, and the state identification unit may identify, among the plurality of reference data, an internal state parameter corresponding to reference data that is closest to a relationship between the position time series data and the pressure time series data as the internal state parameter of the object to be measured.

[0012] The measurement apparatus may further include a state evaluation unit that identifies information regarding an internal state of the measurement object based on the internal state parameter.

[0013] The object to be measured may be a food product, and the information regarding the internal condition may be information regarding one or more of the chewiness, state of decay, degree of ripeness, and freshness of the food product.

[0014] The measurement unit may have a plurality of contact portions arranged in a direction perpendicular to a direction in which the contact portions are pressed into the object to be measured, and which simultaneously contact different portions of the object to be measured, the data acquisition unit acquires a plurality of position time series data indicating positions of the plurality of contact portions during a measurement period when the plurality of contact portions are pressed into the object to be measured, and a plurality of pressure time series data indicating pressures applied to each of the plurality of contact portions during the measurement period, and the state identification unit may analyze the plurality of position time series data and the plurality of pressure time series data to identify internal state parameters of the object to be measured.

[0015] The measurement unit is arranged on a surface of a rotating drum and has a plurality of contact portions that sequentially come into contact with different portions of the object to be measured as the rotating drum rotates, and the data acquisition unit acquires a plurality of position time series data indicating positions of the plurality of contact portions during a measurement period when the plurality of contact portions are sequentially pressed into the object to be measured as the rotating drum rotates, and a plurality of pressure time series data indicating pressures applied to each of the plurality of contact portions during the measurement period, and the state identification unit may analyze the plurality of position time series data and the plurality of pressure time series data to identify internal state parameters of the object to be measured.

[0016] A measurement method of a second aspect of the present invention includes a step of acquiring, executed by a computer, position time series data indicating the position of a contact portion of a measurement unit that contacts a measurement object during a measurement period when the contact portion is pressed into the measurement object, and pressure time series data indicating the pressure applied to the contact portion during the measurement period; and a step of identifying internal state parameters of the measurement object by analyzing the pressure time series data and the position time series data using reference data indicating the relationship between reference position time series data indicating the position of the contact portion while the contact portion is pressed into a reference object, reference pressure time series data indicating the pressure applied to the contact portion while the contact portion is pressed into the reference object, and internal state parameters of the reference object.

[0017] A program of a third aspect of the present invention is a program for causing a computer to execute the steps of acquiring position time series data indicating the position of a contact portion of a measurement unit that contacts a measurement object during a measurement period when the contact portion is pressed into the measurement object, and pressure time series data indicating the pressure applied to the contact portion during the measurement period, and identifying internal state parameters of the measurement object by analyzing the pressure time series data and the position time series data using reference data indicating the relationship between reference position time series data indicating the position of the contact portion while the contact portion is pressed into a reference object, reference pressure time series data indicating the pressure applied to the contact portion while the contact portion is pressed into the reference object, and internal state parameters of the reference object.

[0018] A measurement device of a fourth aspect of the present invention is a measurement device that measures an internal state parameter of a measurement object, and includes: a contact portion of a measurement unit that contacts the measurement object; a memory unit that stores an arithmetic formula indicating the relationship between position time series data indicating the position of the contact portion while the contact portion is pressed into the object, pressure time series data indicating the pressure applied to the contact portion while the contact portion is pressed into the object, and the internal state parameter of the object; a data acquisition unit that acquires position time series data indicating the position of the contact portion during a measurement period when the contact portion is pressed into the measurement object and pressure time series data indicating the pressure applied to the contact portion during the measurement period; and a state identification unit that identifies the internal state parameter of the measurement object by inputting the position time series data and the pressure time series data into the arithmetic formula.

[0019] A measurement method of a fifth aspect of the present invention includes the steps of acquiring, executed by a computer, position time series data indicating the position of a contact portion of a measurement unit that contacts an object to be measured during a measurement period when the contact portion is pressed into the object to be measured, and pressure time series data indicating the pressure applied to the contact portion during the measurement period, and identifying an internal state parameter of the object to be measured by inputting the pressure time series data and the position time series data into an arithmetic expression indicating the relationship between the position time series data indicating the position of the contact portion while the contact portion is pressed into the object, the pressure time series data indicating the pressure applied to the contact portion while the contact portion is pressed into the object, and an internal state parameter of the object.

[0020] A sixth aspect of the present invention is a program for causing a computer to execute the steps of acquiring position time series data indicating the position of a contact portion of a measurement unit that contacts an object to be measured during a measurement period when the contact portion is pressed into the object to be measured, and pressure time series data indicating the pressure applied to the contact portion during the measurement period, and identifying an internal state parameter of the object to be measured by inputting the pressure time series data and the position time series data into an arithmetic equation indicating the relationship between the position time series data indicating the position of the contact portion while the contact portion is pressed into the object, the pressure time series data indicating the pressure applied to the contact portion while the contact portion is pressed into the object, and an internal state parameter of the object. Effect of the Invention

[0021] According to the present invention, it is possible to specify the distribution of the internal state of a measurement object. [Brief description of the drawings]

[0022] [Figure 1] FIG. 2 is a diagram for explaining an overview of a measuring device S. [Diagram 2] 13 is a diagram showing a change in pressure when the contact portion 11 moves toward the object W to be measured and then moves away from the object W to be measured. FIG. [Diagram 3] FIG. 2 is a diagram showing a configuration of an analysis unit 2. [Figure 4] 13 is an example of data showing a relationship between position and pressure. [Diagram 5] 13 is a flowchart showing a process flow in an analysis unit 2. [Figure 6] FIG. 13 is a diagram showing a configuration of a measurement unit 1A according to a first modified example. [Figure 7] FIG. 13 is a diagram showing a configuration of a measurement unit 1B according to a second modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] [Outline of measuring device S] 1 is a diagram for explaining an example of the outline of a measuring device S. The measuring device S is a device for measuring internal state parameters of a measurement object W placed on a floor F. The internal state parameters are data indicating the distribution of physical properties of a material constituting the measurement object W, such as the distribution of hardness or viscosity inside the measurement object W. When the inside of the measurement object W is composed of multiple layers, the internal state parameters are data indicating the thickness of each of the multiple layers.

[0024] The measurement object W may be any object, but an object whose interior is not homogeneous and whose hardness or viscosity varies depending on the position is suitable as the measurement object W. The measurement object W may be, for example, food products such as bread, fruits, and vegetables (thick fried tofu, tofu, fried tofu, etc.), clothing, food packaging, or industrial products.

[0025] The measurement device S includes a measurement unit 1 and an analysis unit 2. The measurement unit 1 moves based on control data transmitted from the analysis unit 2 and presses the measurement object W while measuring the pressure received by the measurement unit 1, thereby generating position time series data indicating the position of the measurement unit 1 and pressure time series data indicating the pressure received by the measurement unit 1. In the position time series data, time is associated with the position of the measurement unit 1. In the pressure time series data, time is associated with the pressure received by the measurement unit 1. The measurement unit 1 transmits the generated position time series data and pressure time series data indicating pressure to the analysis unit 2.

[0026] The analysis unit 2 has, for example, a processor, and identifies internal state parameters of the measurement object W by analyzing the position time series data and pressure time series data received from the measurement unit 1. The analysis unit 2 outputs information indicating the distribution of hardness or viscosity inside the measurement object W as the identified internal state parameters. The analysis unit 2 may identify a layer structure inside the measurement object W based on the distribution of hardness or viscosity inside the measurement object W, and output information indicating the positions of the identified layers and the thicknesses of each of the identified layers.

[0027] The measurement unit 1 has a contact section 11, an image capturing section 12, and a control section 13. The contact section 11 is a section that comes into contact with the measurement target W, and has one or more contact bodies 111. The contact body 111 may be in any form as long as it can detect the pressure it is receiving, but the contact body 111 in this embodiment is an object that deforms when it receives pressure.

[0028] The photographing unit 12 generates photographed image data by photographing the contact object 111, and inputs the generated photographed image data to the control unit 13. The control unit 13 has, for example, a processor, and identifies the pressure that the contact object 111 is receiving based on the shape or size of the image of the contact object 111 included in the photographed image data. The control unit 13 identifies the pressure based on the shape or size of the image of the contact object 111 by referring to data that associates the shape or size of the contact object 111 with the pressure stored in, for example, a memory. The control unit 13 generates pressure time series data that associates the time output from the timing unit with the pressure. The control unit 13 transmits the pressure time series data to the analysis unit 2.

[0029] 1 , when the contact unit 11 has a plurality of contact bodies 111, the control unit 13 identifies the pressure applied to each of the plurality of contact bodies 111. In this case, the control unit 13 may transmit pressure time series data associated with each of the plurality of contact bodies 111 to the analysis unit 2.

[0030] The control unit 13 further specifies the position of the measurement unit 1. For example, the measurement unit 1 is coupled to a fixed member (for example, a linear actuator) in a movable state, and the control unit 13 specifies the position of the measurement unit 1 in the moving direction based on data output from a linear encoder of the fixed member. The moving direction of the measurement unit 1 is, for example, a direction toward the center position of the measurement target W (for example, the vertical direction in FIG. 1), but may be another direction. The control unit 13 generates position time series data in which the time output from the timing unit is associated with the position. The control unit 13 transmits the position time series data to the analysis unit 2. When the contact unit 11 has a plurality of contact bodies 111, the control unit 13 may transmit the position time series data associated with each of the plurality of contact bodies 111 to the analysis unit 2.

[0031] Fig. 1(a) shows a state in which the contact part 11 is not in contact with the measurement object W, and Fig. 1(b) shows a state in which the measurement unit 1 moves from the state of Fig. 1(a) toward the measurement object W and presses the measurement object W. The control unit 13 transmits, for example, pressure time series data and position time series data generated after the contact part 11 comes into contact with the measurement object W to the analysis unit 2.

[0032] In the example shown in FIG. 1, the measurement object W has a packaging material W1 and a contained object W2 contained in the packaging material W1. A gas (e.g., air) is enclosed between the packaging material W1 and the contained object W2. When the measurement unit 1 presses such a measurement object W, the pressure received by the contact part 11 differs between a state in which the contact part 11 is not in contact with the contained object W2 via the packaging material W1 and a state in which the contact part 11 is in contact with the contained object W2 via the packaging material W1. Furthermore, if the inside of the contained object W2 is not homogeneous, the pressure received by the contact part 11 also differs depending on the amount by which the contact part 11 presses the contained object W2.

[0033] Fig. 2 is a diagram showing a change in pressure when the contact part 11 moves toward the measurement object W and then moves away from the measurement object W. The solid line indicates the pressure received by the contact part 11, and the dashed line indicates the position in the movement direction of the measurement unit 1. Fig. 2(a) shows a case where the packaging material W1 is sealed, and Fig. 2(b) shows a case where there is a hole in the packaging material W1 and air escapes when the packaging material W1 is pressed.

[0034] 2 shows the pressure that the contact part 11 receives from the point when the contact part 11 is not in contact with the measurement object W as shown in Fig. 1(a), so the pressure is zero from when the measurement unit 1 starts moving until time T1. As shown in Fig. 2(a), after the contact part 11 comes into contact with the packaging material W1 at time T1, the pressure starts to rise, and the pace of the pressure rise becomes faster from time T2 when the contact part 11 comes into contact with the contained object W2 through the packaging material W1.

[0035] In the example shown in Fig. 2(b), the contact part 11 presses the packaging material W1, causing the air to escape, and therefore the pressure is smaller than that in the example shown in Fig. 2(a). Then, after time T3 when the contact part 11 is no longer in contact with the contained item W2 via the packaging material W1 due to the air escaping, the pressure received by the contact part 11 is smaller than that in the example shown in Fig. 2(a).

[0036] In this way, the manner in which the pressure changes over time differs depending on the internal state of the measurement object W. Therefore, the analysis unit 2 can identify the internal state of the measurement object W by analyzing the pressure time series data.

[0037] [Configuration of Analysis Unit 2] 3 is a diagram showing an example of the configuration of the analysis unit 2. The analysis unit 2 has a first communication unit 21, a second communication unit 22, a storage unit 23, and a control unit 24. The control unit 24 has a data acquisition unit 241, a state identification unit 242, and a state evaluation unit 243.

[0038] The first communication unit 21 has a communication interface for transmitting and receiving data to and from the measurement unit 1. The first communication unit 21 may transmit and receive data to and from the measurement unit 1 via wireless communication, or may transmit and receive data to and from the measurement unit 1 via wired communication. The first communication unit 21 transmits control data input from the data acquisition unit 241 to the measurement unit 1. The first communication unit 21 inputs the position time series data and pressure time series data received from the measurement unit 1 to the data acquisition unit 241.

[0039] The second communication unit 22 has a communication interface for transmitting the data input from the state specifying unit 242 to an external device such as a computer or a printer. The second communication unit 22 transmits, for example, to the external device, information indicating the internal state parameters of the measurement object W specified by the state specifying unit 242 and the distribution of physical properties inside the measurement object W specified based on the internal state parameters.

[0040] The storage unit 23 has storage media such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an SSD (Solid State Drive). The storage unit 23 stores a program executed by the control unit 24. The storage unit 23 also stores the position time series data and the pressure time series data transmitted from the measurement unit 1 via the first communication unit 21.

[0041] Furthermore, the storage unit 23 stores reference data indicating a relationship between reference position time series data indicating the position of the contact portion 11 while the contact portion 11 is pressed into the reference object, reference pressure time series data indicating the pressure applied to the contact portion 11 while the contact portion 11 is pressed into the reference object, and the internal state parameters of the reference object. That is, the storage unit 23 stores reference data indicating a relationship between the position of the contact portion 11 and the pressure applied to the contact portion 11 while the contact portion 11 is pressed into a reference object whose internal state parameters are known. The position of the contact portion 11 is, for example, a position in the direction in which the contact portion 11 is pressed into the measurement target W. The storage unit 23 stores, for example, a plurality of reference data corresponding to a plurality of reference objects each having different internal state parameters.

[0042] The reference object is, for example, an object formed by combining multiple materials with known physical properties, and the reference data is time series data indicating the relationship between the position, pressure, and time measured while the contact portion 11 is pressed into the object. The reference position time series data is time series data of the position measured while the contact portion 11 is pressed into the reference object, and the reference pressure time series data is time series data of the pressure measured while the contact portion 11 is pressed into the reference object. The reference object is, for example, an object with a multi-layer structure formed by overlapping multiple members each having different hardness, viscosity, and thickness.

[0043] The reference object does not have to be an actual object, and may be a virtual three-dimensional model. In this case, the reference data may be time-series data showing the relationship between position, pressure, and time, calculated by simulating the movement of the contact portion 11 being pressed into the three-dimensional model of the object.

[0044] The storage unit 23 may store an arithmetic expression showing the relationship between the position time series data, the pressure time series data, and the internal state parameters of the object measured while the contact unit 11 is pressed into the object. The object for which the arithmetic expression shows the relationship is preferably the same type of object as the object to be measured. In addition, the arithmetic expression may be a publicly known method or formula. For example, when calculating hardness as the internal state parameter, the elastic modulus can be calculated from the position time series data and the pressure time series data, and the elastic modulus can be converted to hardness by a publicly known conversion method.

[0045] The storage unit 23 may store, as reference data, a machine learning model that outputs internal state parameters of the measurement target W when position time series data and pressure time series data are input. That is, the reference data may be a machine learning model created by learning using, as teacher data, position time series data and pressure time series data indicating the relationship between position, pressure, and time measured while the contact unit 11 is pressed into a large number of objects each having different internal state parameters, and the internal state parameters. The machine learning model may be a machine learning model created by learning using, as teacher data, position time series data and pressure time series data calculated by simulating the movement of the contact unit 11 being pressed into a three-dimensional model, and the internal state parameters.

[0046] When the measurement target W has multiple layers with different properties, the machine learning model may be created by deep learning using multiple teacher data indicating the relationship between the position time series data and the pressure time series data of multiple reference objects each of which is a combination of multiple members corresponding to the multiple layers and each of which has different physical properties. By changing the combination of members corresponding to the multiple layers, multiple reference objects each of which has different internal state parameters can be easily created, and by using such reference objects, it becomes possible to efficiently learn using multiple teacher data.

[0047] When the contact unit 11 has a plurality of contact bodies 111 as shown in FIG. 1, the storage unit 23 may store a plurality of reference data in association with the plurality of contact bodies 111.

[0048] The control unit 24 includes, for example, a CPU (Central Processing Unit). The control unit 24 executes the programs stored in the storage unit 23 to function as a data acquisition unit 241, a state identification unit 242, and a state evaluation unit 243.

[0049] The data acquiring unit 241 acquires, via the first communication unit 21, position time series data indicating the position of the contact portion 11 during a measurement period when the contact portion 11 of the measurement unit 1 is pressed into the measurement object W, and pressure time series data indicating the pressure applied to the contact portion 11 during the measurement period. The measurement period is, for example, a period from when the contact portion 11 comes into contact with the measurement object W until when it is released. When the contact portion 11 has a plurality of contact bodies 111 as shown in FIG. 1, the data acquiring unit 241 acquires a plurality of position time series data and a plurality of position time series data associated with each of the plurality of contact bodies 111.

[0050] The position time series data and the pressure time series data may include position data and pressure data during a period when the contact portion 11 is not in contact with the measurement object W. The position time series data and the pressure time series data may include, for example, position data and pressure data during a period when the measurement unit 1 moves from the initial position of the measurement unit 1 toward the measurement object W, reaches a predetermined position, and then returns to the initial position.

[0051] When the measurement object W has multiple layers each having different characteristics, the data acquisition unit 241 acquires position time series data and pressure time series data while the contact unit 11 is pressed in a direction not parallel to the multiple layers.

[0052] The state specifying unit 242 specifies the internal state parameters of the measurement object W corresponding to the relationship between the position time series data and the pressure time series data by using the reference data stored in the memory unit 23. The state specifying unit 242 specifies the internal state parameters of the measurement object W in association with the position where the measurement object W is pressed.

[0053] The state specifying unit 242 creates data indicating a relationship between the position of the contact unit 11 and the pressure received by the contact unit 11, for example, by associating the position and pressure at the same time in the position time series data and pressure time series data acquired by the data acquiring unit 241, and identifies the internal state parameters of the measurement object W based on the created data. When the contact unit 11 has multiple contact bodies 111, the state specifying unit 242 may use reference data corresponding to the multiple contact bodies 111 to identify the internal state parameters of the measurement object W based on the multiple position time series data and the multiple pressure time series data corresponding to the multiple contact bodies 111.

[0054] FIG. 4 is an example of data showing the relationship between position and pressure. FIG. 4 corresponds to the position time series data and pressure time series data shown in FIG. 2. The solid line corresponds to the position time series data and pressure time series data shown in FIG. 2(a), and the dashed line corresponds to the position time series data and pressure time series data shown in FIG. 2(b). As can be seen by comparing the solid line and the dashed line, the relationship between position and pressure varies depending on the internal state of the measurement object W. The state identification unit 242 may, for example, analyze a graph of the measured position and pressure to identify the internal state parameter, or may use reference data stored in the storage unit 23 to identify the internal state parameter of the measurement object W corresponding to the relationship between the position time series data and the pressure time series data.

[0055] The state identifying unit 242 identifies, among the multiple reference data, the internal state parameter corresponding to the reference data that most closely resembles the relationship between the position time-series data and the pressure time-series data as the internal state parameter of the measurement object W. For example, the state identifying unit 242 calculates a correlation value between the reference data and data indicating the relationship between the position and pressure based on the measurement results, and determines that the internal state parameter associated with the reference data having the largest correlation value is the internal state parameter of the measurement object W.

[0056] The state identifying unit 242 may input the position time series data and the pressure time series data to a machine learning model, and identify the internal state parameters output from the machine learning model as the internal state parameters of the object W to be measured.

[0057] The state specifying unit 242 may output information indicating the distribution of hardness or viscosity inside the measurement object W, or the thickness of each of multiple layers inside the measurement object W, which are specified as the internal state parameters of the measurement object W. The state specifying unit 242 outputs image data or text data indicating the distribution of hardness levels and viscosity levels inside the measurement object W, for example, by referring to data indicating the relationship between the internal state parameters and the hardness levels or viscosity levels. The state specifying unit 242 creates data indicating the distribution of hardness levels and viscosity levels inside the measurement object W, by specifying to which hardness or viscosity level the internal state parameters of hardness or viscosity corresponding to each of the multiple positions of the measurement object W belong.

[0058] The state specifying unit 242 may output the result of specifying the thickness of each of the plurality of layers, assuming that the position where the change amount of the hardness or viscosity indicated by the internal state parameter is equal to or greater than a threshold value is the boundary position between the plurality of layers. The state specifying unit 242 may output data indicating the material of each of the plurality of layers by referring to data indicating the relationship between the internal state parameter and the type of material. By outputting such data by the state specifying unit 242, the user of the measurement device S can easily grasp the internal structure of the measurement target W.

[0059] The state identifying unit 242 may identify the internal state parameters of the measurement object by inputting the position time series data and pressure time series data acquired by the data acquiring unit 241 into an arithmetic expression stored in the memory unit 23.

[0060] The state evaluation unit 243 identifies information related to the internal state of the measurement object W based on the internal state parameters. The state evaluation unit 243 outputs the identified information via the second communication unit 22. For example, when the measurement object W is a food product, the state evaluation unit 243 can identify information related to the internal state of the food product from the internal state parameters (hardness, viscosity, etc.).

[0061] When the food is a fruit, the state evaluation unit 243 specifies information indicating, for example, one or more of chewiness, decay state, ripeness, and freshness, etc., using evaluation indices 1 to 5, as information on the internal state. When the food is a deep-fried tofu, the state evaluation unit 243 may specify information indicating, for example, chewiness, decay state, etc., using evaluation indices 1 to 5, as information on the internal state. When the food is a deep-fried tofu (deep-fried tofu for inari sushi), the state evaluation unit 243 may specify information indicating resistance to tearing, etc., using evaluation indices 1 to 5, as information on the internal state. When the state evaluation unit 243 outputs information on the internal state (chewiness, decay state, ripeness, freshness, resistance to tearing) as evaluation indices 1 to 5, the state evaluation unit 243 may use a rule-based algorithm or a trained machine learning model.

[0062] [Processing flow in analysis unit 2] Fig. 5 is a flowchart showing an example of the flow of processing in the analysis unit 2. The flowchart shown in Fig. 5 starts from the point in time when measurement of the internal state parameters of one measurement target W is started.

[0063] The data acquiring unit 241 transmits control data for moving the contact portion 11 to the measurement unit 1, and starts moving the contact portion 11 toward the measurement target W (S11). After that, the data acquiring unit 241 acquires the position time series data and pressure time series data generated by the measurement unit 1 (S12, S13). After the measurement by the measurement unit 1 is completed, the data acquiring unit 241 may acquire the position time series data and pressure time series data corresponding to the measurement period, or may acquire the position data and pressure data multiple times at regular time intervals.

[0064] When the data acquisition unit 241 acquires the position time series data and the pressure time series data, the state identification unit 242 analyzes the position time series data and the pressure time series data. The data acquisition unit 241, for example, inputs the position time series data and the pressure time series data to a machine learning model (S14), and identifies internal state parameters of the measurement object W from data output from the machine learning model (S15). Next, the state identification unit 242 outputs information indicating the distribution of hardness and viscosity inside the measurement object W or the layer structure inside the measurement object W as the identified internal state parameters (S16).

[0065] 5, following the output of the information on the internal state parameters (S16), the state evaluation unit 243 may output information on the internal state of the measurement object W based on the internal state parameters. As specific examples of the information on the internal state of the measurement object W and methods for generating or outputting this information, the above-mentioned methods can be used.

[0066] [First Modification] 6 is a diagram showing the configuration of a measurement unit 1A according to a first modified example. The measurement unit 1A differs from the measurement unit 1 shown in FIG. 1 in that it has multiple contact parts 11 (contact part 11A, contact part 11B, contact part 11C), but is the same in other respects. The multiple contact parts 11 are arranged, for example, in a direction perpendicular to the pressing direction of the measurement unit 1, and simultaneously contact different parts of the measurement object W. The multiple contact parts 11 may be arranged on a curve having the same shape as the contour line of the measurement object W.

[0067] Here, when the storage unit 23 is used, the storage unit 23 stores reference data indicating the relationship between the positions of the multiple contact parts 11 while the multiple contact parts 11 are pressed into a reference object whose internal state parameters are known, and the pressure applied to each of the multiple contact parts 11. The data acquisition unit 241 acquires multiple pieces of position time series data indicating the positions of the multiple contact parts 11 in the pressing direction of the measurement unit 1 during a measurement period when the multiple contact parts 11 are pressed into the measurement target W, and multiple pieces of pressure time series data indicating the pressure applied to each of the multiple contact parts 11 during the measurement period.

[0068] The state identification unit 242 analyzes the multiple position time series data and the multiple pressure time series data acquired by the data acquisition unit 241 to identify internal state parameters of the measurement object W. Furthermore, when the storage unit 23 is used, the state identification unit 242 identifies internal state parameters of the measurement object W corresponding to the relationship between the multiple position time series data and the multiple pressure time series data by using reference data stored in the storage unit 23. The state identification unit 242 may identify the internal state parameters by using multiple data indicating the relationship between the position and pressure included in the reference data, or may identify the internal state parameters by inputting the multiple position time series data and the multiple pressure time series data into the reference data, which is a machine learning model.

[0069] 6, when the measurement unit 1 has multiple contact parts 11, the measurement object W, which has been deformed due to another contact part 11 pushing the measurement object W, presses the contact part 11, and pressure is applied to the contact part 11 in a direction other than the pushing direction. Each of the multiple contact parts 11 has multiple contact bodies 111, and the photographing unit 12 photographs the shapes of the multiple contact bodies 111 provided on the multiple contact parts 11, so that multiple pressures applied to the contact part 11 from multiple directions at multiple positions on the measurement object W can be measured.

[0070] In this case, the control unit 13 transmits time series data indicating the relationship between the position and pressure corresponding to each of the multiple contact bodies 111 to the analysis unit 2, and the data acquisition unit 241 acquires multiple position time series data and multiple pressure time series data associated with the multiple contact bodies 111 of each of the multiple contact units 11. The state identification unit 242 identifies internal state parameters of the measurement object W based on the reference data corresponding to the multiple contact bodies 111, the multiple position time series data, and the multiple pressure time series data. Since the measurement unit 1 and the analysis unit 2 have such a configuration, the state identification unit 242 can identify internal state parameters based on pressure time series data at multiple positions of the measurement object W, and therefore it is possible to identify internal state parameters over a wide range of the measurement object W.

[0071] [Second modified example] 7 is a diagram showing the configuration of a measurement unit 1B according to a second modified example. The measurement unit 1B has a rotating drum 14 and a plurality of contact parts 11 that sequentially come into contact with different parts of the measurement object W as the rotating drum 14 rotates about a rotation axis C. The photographing part 12 does not rotate with the rotation of the rotating drum 14, and is fixed to the contact parts 11 that come into contact with the measurement object W. The contact body 111 is photographed in the measuring period. As an example, during the measuring period, the rotary drum 14 rotates and the floor F moves.

[0072] The data acquiring unit 241 acquires a plurality of position time series data indicating the positions of the plurality of contact parts 11 during a measurement period when the plurality of contact parts 11 are sequentially pressed into the measurement object W while the rotating drum 14 rotates, and a plurality of pressure time series data indicating the pressure applied to each of the plurality of contact parts 11 during the measurement period. As in the first modified example, the state identifying unit 242 analyzes the plurality of position time series data and the plurality of pressure time series data to identify the internal state parameters of the measurement object W. As in the first modified example, the state identifying unit 242 can also use reference data to identify the internal state parameters of the measurement object W corresponding to the relationship between the plurality of position time series data and the plurality of pressure time series data.

[0073] The data acquiring unit 241 may acquire a plurality of position time series data and a plurality of pressure time series data associated with a plurality of contact bodies 111 of each of the plurality of contact units 11. In this case, the state identifying unit 242 may identify internal state parameters of the measurement object W based on reference data corresponding to the plurality of contact bodies 111, the plurality of position time series data, and the plurality of pressure time series data.

[0074] By configuring the measurement unit 1 and the analysis unit 2 in this manner, the state identification unit 242 can identify the internal state parameters using the position time series data and pressure time series data obtained when each of the multiple contact parts 11 comes into contact with a different position of the measurement object W at a different time. Therefore, even if the width of the measurement unit 1 is smaller than that of the measurement unit 1, the internal state parameters can be efficiently identified over a wide range of the measurement object W.

[0075] [Effects of measuring device S] As described above, the measurement unit 1 has a data acquisition unit 241 that acquires position time series data indicating the position of the contact part 11 during a measurement period when the contact part 11 of the measurement unit 1 that contacts the measurement object W is pressed into the measurement object W, and pressure time series data indicating the pressure applied to the contact part 11 during the measurement period. The state identification unit 242 then identifies an internal state parameter of the measurement object W corresponding to the relationship between the pressure time series data and the position time series data by using the reference data stored in the storage unit 23. This allows the measurement device S to identify the internal state of the measurement object W, such as the distribution of physical properties inside the measurement object W, or the presence or absence of holes or tears in the measurement object W, with high accuracy.

[0076] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist. For example, in the above description, the measurement object W has a packaging material W1 and a contained item W2, but the measurement object W does not have to have the packaging material W1.

[0077] All or part of the device may be configured in any unit, functionally or physically, distributed or integrated. New embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination has the effect of the original embodiment as well. [Explanation of symbols]

[0078] 1 Measurement unit 2 Analysis Unit 11 Contact part 12. Photography Department 13 Control section 14 Rotating Drum 21 First Communications Department 22 Second Communications Department 23 Memory section 24 Control Unit 111 Contact body 241 Data Acquisition Department 242 Status Identification Unit 243 Condition Assessment Department

Claims

1. A measurement device for measuring an internal state parameter of a measurement object, comprising: A contact portion of a measurement unit that contacts the measurement object; a storage unit configured to store reference data indicating a relationship between reference position time series data indicating a position of the contact portion while the contact portion is pressed into the reference object, reference pressure time series data indicating a pressure applied to the contact portion while the contact portion is pressed into the reference object, and an internal state parameter of the reference object; a data acquiring unit that acquires position time series data indicating a position of the contact portion during a measurement period when the contact portion is pressed into the measurement object, and pressure time series data indicating a pressure applied to the contact portion during the measurement period; a state specifying unit that specifies an internal state parameter of the measurement object by analyzing the position time series data and the pressure time series data using the reference data; A measuring device having

2. The state specifying unit outputs, as the internal state parameter, information indicating a distribution of hardness or viscosity inside the measurement object, or a thickness of each of a plurality of layers inside the measurement object.

2. The measuring device of claim 1.

3. The object to be measured has a plurality of layers each having different characteristics, the data acquisition unit acquires the position time series data and the pressure time series data during a measurement period when the contact portion is pressed in a direction not parallel to the plurality of layers, the state specifying unit specifies an internal state parameter of the object to be measured in association with a position at which the contact unit is pressed into the object to be measured.

2. The measuring device of claim 1.

4. the storage unit stores, as the reference data, a machine learning model that outputs an internal state parameter of the measurement object when the position time series data and the pressure time series data are input; the state identification unit inputs the position time series data and the pressure time series data into the machine learning model, and identifies an internal state parameter output from the machine learning model as an internal state parameter of the measurement object; 2. The measuring device of claim 1.

5. The object to be measured has a plurality of layers each having different characteristics, The machine learning model is created by deep learning using a plurality of teacher data indicating a relationship between the pressure time series data and the position time series data in a plurality of reference objects each of which corresponds to the plurality of layers and is a combination of a plurality of members having different physical properties.

5. The measuring device according to claim 4.

6. the storage unit stores a plurality of the reference data corresponding to a plurality of the reference objects each having a different internal state parameter; the state identification unit identifies, among the plurality of reference data, an internal state parameter corresponding to reference data that is closest to a relationship between the position time series data and the pressure time series data as the internal state parameter of the measurement object.

2. The measuring device of claim 1.

7. Further comprising a state evaluation unit that identifies information regarding an internal state of the measurement object based on the internal state parameter.

2. The measuring device of claim 1.

8. The object to be measured is a food, and the information regarding the internal state is information regarding one or more of the chewiness, the state of decay, the degree of ripeness, and the freshness of the food.

8. The measuring device according to claim 7.

9. the measurement unit is disposed in a direction perpendicular to a direction in which the contact portion is pressed into the measurement object, and has a plurality of the contact portions that simultaneously contact different portions of the measurement object; the data acquisition unit acquires a plurality of position time series data indicating positions of the plurality of contact parts during a measurement period when the plurality of contact parts are pressed into the measurement object, and a plurality of pressure time series data indicating pressures applied to the plurality of contact parts during the measurement period; the state identification unit analyzes the plurality of position time series data and the plurality of pressure time series data to identify internal state parameters of the measurement object.

2. The measuring device of claim 1.

10. the measurement unit is disposed on a surface of a rotating drum and has a plurality of contact portions that sequentially come into contact with different portions of the measurement object as the rotating drum rotates; the data acquisition unit acquires a plurality of position time series data indicating positions of the plurality of contact parts during a measurement period when the plurality of contact parts are sequentially pressed into the measurement object while the rotating drum is rotating, and a plurality of pressure time series data indicating pressures applied to the plurality of contact parts during the measurement period; the state identification unit analyzes the plurality of position time series data and the plurality of pressure time series data to identify internal state parameters of the measurement object.

2. The measuring device of claim 1.

11. The computer executes acquiring position time series data indicating a position of a contact portion of a measurement unit that contacts an object to be measured during a measurement period when the contact portion is pressed into the object to be measured, and pressure time series data indicating a pressure applied to the contact portion during the measurement period; identifying an internal state parameter of the measurement object by analyzing the pressure time series data and the position time series data using reference data indicating a relationship between reference position time series data indicating a position of the contact portion while the contact portion is pressed into the reference object, reference pressure time series data indicating a pressure applied to the contact portion while the contact portion is pressed into the reference object, and an internal state parameter of the reference object; A measurement method having the following characteristics.

12. On the computer, acquiring position time series data indicating a position of a contact portion of a measurement unit that contacts an object to be measured during a measurement period when the contact portion is pressed into the object to be measured, and pressure time series data indicating a pressure applied to the contact portion during the measurement period; identifying an internal state parameter of the measurement object by analyzing the pressure time series data and the position time series data using reference data indicating a relationship between reference position time series data indicating a position of the contact portion while the contact portion is pressed into the reference object, reference pressure time series data indicating a pressure applied to the contact portion while the contact portion is pressed into the reference object, and an internal state parameter of the reference object; A program for executing the above.

13. A measurement device for measuring an internal state parameter of a measurement object, comprising: A contact portion of a measurement unit that contacts the measurement object; a storage unit configured to store an arithmetic expression indicating a relationship between position time series data indicating a position of the contact portion while the contact portion is being pressed into the object, pressure time series data indicating a pressure applied to the contact portion while the contact portion is being pressed into the object, and an internal state parameter of the object; a data acquiring unit that acquires position time series data indicating a position of the contact portion during a measurement period when the contact portion is pressed into the measurement object, and pressure time series data indicating a pressure applied to the contact portion during the measurement period; a state specifying unit that specifies an internal state parameter of the object to be measured by inputting the position time series data and the pressure time series data into the arithmetic formula; A measuring device having

14. The computer executes acquiring position time series data indicating a position of a contact portion of a measurement unit that contacts an object to be measured during a measurement period when the contact portion is pressed into the object to be measured, and pressure time series data indicating a pressure applied to the contact portion during the measurement period; identifying an internal state parameter of the object by inputting the pressure time series data and the position time series data into an arithmetic expression that indicates a relationship between position time series data indicating a position of the contact portion while the contact portion is being pressed into the object, pressure time series data indicating a pressure applied to the contact portion while the contact portion is being pressed into the object, and an internal state parameter of the object; A measurement method having the following characteristics.

15. On the computer, acquiring position time series data indicating a position of a contact portion of a measurement unit that contacts an object to be measured during a measurement period when the contact portion is pressed into the object to be measured, and pressure time series data indicating a pressure applied to the contact portion during the measurement period; identifying an internal state parameter of the object by inputting the pressure time series data and the position time series data into an arithmetic expression that indicates a relationship between position time series data indicating a position of the contact portion while the contact portion is being pressed into the object, pressure time series data indicating a pressure applied to the contact portion while the contact portion is being pressed into the object, and an internal state parameter of the object; A program for executing the above.

Images