Bubble detection device, system and method using stereo imaging

Abstract

The bioreactor system includes a housing configured to receive and support a vessel, and a stereo camera having a first imaging device and a second imaging device fixed to the housing, the stereo camera configured to image a surface of liquid and bubbles exposed to a headspace of the vessel, and a controller operably connected to the stereo camera, the stereo camera and the controller configured to create an image of the exposed surface and identify bubbles on the surface based on the image.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION Embodiments of the present invention relate generally to bioprocessing devices, systems and methods, and more particularly to using stereo imaging to observe and analyze fluids in a bioreactor to detect bubbles. [Background technology]

[0002] Bioreactors are often used to carry out biochemical and / or biological processes and / or manipulate the liquids and other products of such processes. Such bioreactors often include a flexible or collapsible disposable bag supported by an outer rigid structure, such as a stainless steel shell or frame. The bag is made from a thin, flexible sheet of plastic film, positioned within the rigid shell, and filled with the desired fluids for the process.

[0003] Growing biological materials such as mammalian cells, bacteria, or yeast in a bioreactor often produces an unwanted foam layer floating on top of the fluid in the bioreactor, such as the headspace of the bioreactor bag. This foam layer is the result of several factors, including the addition of pressurized air to maintain the aerobic microorganisms, nutrients, and growth factors present in the liquid growth medium, as well as waste products produced by the microorganisms. Over time, this foam layer can become unacceptably thick, and if left untreated, it can foul the bioreactor's exhaust port and filter, prevent CO2 leakage, and adversely affect the structural integrity of the bag. Foam also forms a barrier to liquids injected from above the fluid in the bioreactor, making it a problem even at low fluid volume levels.

[0004] Chemical solutions, such as antifoam compounds, are commonly used to reduce the foam layer to a reasonable thickness. For such compounds, several applications may be required during a single production run to ensure effectiveness. Conversely, too much antifoam compound can be harmful to the biological material in the reactor. Mechanical solutions, such as heat probes and bubble breakers, are also available, but they are more effective at reducing substantial amounts of existing foam rather than inhibiting foam formation.

[0005] In light of the above, accurate detection and monitoring of foam within a bioreactor bag is critical for determining when intervention is necessary. While foam detection solutions exist, they only detect foam levels in a small area, or sometimes at a single point within the bioreactor bag, rather than assessing the entire exposed fluid surface within the bag. Furthermore, many such systems have proven generally effective only in detecting extreme foam events, where the structure of the biological material or the bag itself may already be compromised. Known solutions are also relatively large and expensive, do not function to ensure, for example, that the required amount of antifoam compound is applied according to the actual foam level within the bag, and do not have the ability to quantify the amount of foam present.

[0006] In view of the above, there is a need for an apparatus and system for monitoring fluid within a bioreactor bag that improves the detection, monitoring, and mitigation of bubbles within the bag. Summary of the Invention

[0007] Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the claimed subject matter; rather, these embodiments are intended merely to provide a brief summary of possible embodiments. Indeed, this disclosure may encompass a variety of forms that may be similar to or different from the embodiments set forth below.

[0008] In one embodiment, a bubble identification system includes a stereo camera having first and second image capture devices configured to image a surface of a liquid and a bubble in a container exposed to a headspace of the container, the system further including a controller operatively connected to the stereo camera, the stereo camera and the controller configured to create an image of the exposed surface and identify bubbles on the surface based on the image.

[0009] In another embodiment, a bioreactor system includes a housing configured to receive and support a vessel, and a stereo camera having a first imaging device and a second imaging device secured to the housing, the stereo camera configured to image a surface of liquid and bubbles exposed to a headspace of the vessel, the system further including a controller operably connected to the stereo camera, the stereo camera and the controller configured to create an image of the exposed surface and identify bubbles on the surface based on the image.

[0010] In yet another embodiment, a method for identifying bubbles on a surface of a liquid in a container includes generating an image of a surface of the liquid exposed to a headspace of the container via a stereo imaging camera having a first imaging device and a second imaging device, and identifying bubbles on the exposed surface based on the image.

[0011] The invention will be better understood from reading the following description of non-limiting embodiments, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a front view of a bioreactor system suitable for use with a bubble identification system, according to one embodiment of the present invention. [Figure 2] FIG. 1 is a diagram of a bubble identification system according to one embodiment of the present invention. [Figure 3] 1 is a perspective view of a stereo imaging camera according to an embodiment of the present invention; [Figure 4]1 is a simplified diagram illustrating the operation of a stereo imaging camera according to an embodiment of the present invention. [Figure 5] FIG. 10 is an exemplary depth image of a bubble (reproduced without colorization) generated in accordance with an embodiment of the present invention. [Figure 6] FIG. 10 is an exemplary RGB image of bubbles (reproduced without colorization) generated in accordance with an embodiment of the present invention. [Figure 7] 1 is a side cross-sectional view of a portion of a wall of a container configured for use with an embodiment of the present invention. [Figure 8] FIG. 1 is a side cross-sectional view of a viewport of a container configured for use with an embodiment of the present invention. [Figure 9] FIG. 1 is an isometric view of an air curtain configured for use with an embodiment of the present invention. [Figure 10] FIG. 1 is a diagram of a bubble identification system incorporating an air curtain according to one embodiment of the present invention. [Figure 11] FIG. 10 is a side view of a bubble identification system according to an alternative embodiment of the present invention. [Figure 12] FIG. 10 is a top view of a bubble identification system according to an alternative embodiment of the present invention. [Figure 13] FIG. 11 is a side view of the bubble identification system of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] Reference will now be made in detail to the exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0014] As used herein, the terms "flexible" or "foldable" refer to a structure or material that is pliable or can bend without breaking, and may refer to compressible or expandable materials. An example of a flexible structure is a bag made of polyethylene film. The terms "rigid" and "semi-rigid" are used interchangeably herein to describe "non-collapsible" structures, i.e., structures that do not bend, fold, or otherwise deform under normal forces to substantially reduce their elongated dimensions. Depending on the context, "semi-rigid" can also refer to a structure that is more flexible than a "rigid" element, e.g., a bendable tube or conduit, but still does not collapse longitudinally under normal conditions and forces.

[0015] As used herein, "vessel" refers to a flexible bag, flexible vessel, semi-rigid vessel, or rigid vessel, as the case may be. The term "vessel" as used herein is intended to encompass bioreactor vessels having a wall or a portion of a wall that is a flexible or semi-rigid disposable flexible bag, as well as other vessels or conduits commonly used in biological or biochemical processes, including, for example, cell culture / purification systems, fermentation systems, mixing systems, media / buffer preparation systems, and filtration / purification systems.

[0016] As used herein, the term "bag" refers to a flexible or semi-rigid container or vessel used, for example, as a bioreactor or mixer for the contents therein. While embodiments of the present invention are described for use with bioprocess bags, including, but not limited to, bioreactor bags and mixer bags, embodiments may also be configured for use with other bags or vessels. Similarly, embodiments may be used to image, assess, and mitigate / treat other characteristics or conditions in addition to foam accumulation in a bioreactor.

[0017] Additionally, while embodiments are described in connection with disposable stirred-tank bioreactors and bioreactor systems, they are not limited thereto and may be used with a variety of vessels and associated equipment used in biological or biochemical processes. Additionally, embodiments may be suitable for use in identifying foam in other non-biological / biochemical contexts. Certain embodiments may be useful for detecting other non-foam-related conditions or events on surfaces that may be identified by stereo imaging as described herein.

[0018] Referring to FIG. 1, a bioreactor system 10 suitable for use in embodiments of the present invention is shown. The bioreactor system 10 includes a generally rigid bioreactor housing 12 mounted on a frame 14. The rigid housing 12 may be formed, for example, from stainless steel, a polymer, a composite material, glass, or other metal, and may be cylindrical in shape, although other shapes may be utilized without departing from the broader aspects of the present invention. As will be appreciated, the housing is configured to receive and support a vessel, for example, a bioreactor bag 15. In certain embodiments, the housing 12 may be a generally rectangular mixer housing.

[0019] As shown, a disposable flexible bioreactor bag 15 is placed within the housing 12. As mentioned above, the housing 12 can be any size (or shape) so long as it is capable of supporting a container such as the disposable flexible bioprocess bag 15. For example, according to one embodiment, the housing 12 is capable of receiving and supporting a 10-2000 L flexible or collapsible bioprocess bag.

[0020] The bioreactor system 10 further includes a support structure 18 to which various equipment utilized in the biochemical and / or biological processes are attached. The support structure 18 may also be used to lift and hold the bag 15 in place within the housing 12. The support structure 18 is shown as having multiple legs 19, although other configurations may be employed.

[0021] Housing 12 includes, among other things, an opening or gap 20 through which a temperature probe 24 can be inserted into a thermowell or port in vessel 15 and then coupled, for example, via a cable, to instrument tower 22. As will be appreciated, temperature probe 24 provides the temperature of the fluid within vessel 15.

[0022] Referring now to FIG. 2, a bubble identification system 100 according to one embodiment of the present invention is shown. As shown, the bubble identification system 100 includes a stereo imaging camera 220 and a controller 130 operably connected to the stereo imaging camera 220. In an embodiment, the stereo imaging camera 220 is secured to the support structure 18 of the frame 14 (FIG. 1). As described in more detail below, the stereo imaging camera 220 images a surface 142 of a liquid 144 within a container (e.g., a bag) 15. In particular, the camera 220 images the surface 142 exposed to a headspace 146 of the container 15. The headspace 146 is the volume within the container 140 that is not occupied by the liquid 144 or the bubble 148. The headspace 146 includes a gas 147, e.g., air, held within the container 15 in contact with the exposed surface 142 of the liquid 144.

[0023] In an embodiment, stereo imaging camera 220 utilizes visible wavelengths (380 nm to 700 nm) to image and calculate bubble depth without the need for illumination. As described in more detail below, in certain embodiments that include an infrared projector, camera 220 may include a sensor that measures infrared wavelengths up to approximately 865 nm.

[0024] Importantly, the stereo imaging camera 220 views a wide field of view V, as opposed to a point source, which is important due to the unpredictable nature of foam buildup. In embodiments, the field of view V is substantially the entire exposed surface 142. In certain embodiments, the stereo imaging camera 220 may utilize a wide-angle lens and may include autofocus capabilities. In embodiments, the camera 220 may image an angle / field of view of about 70° to about 120°.

[0025] Referring now to FIG. 3, the stereo imaging camera 220 includes a first sensor / imager 222, e.g., a right imager, and a second sensor / imager 224, e.g., a left imager. The two sensors 222, 224 are located on the same plane and are separated by a distance D such that the object distance perpendicular to the plane is the same for both sensors 222, 224. The stereo imaging camera 220 captures two images: a left image L and a right image R. Because the distance S between the sensors is known, a comparison of the left image L and the right image R can provide depth information. In particular, the imagers 222, 224 transmit data to a processor, which may be internal or external to the camera 220. The processor calculates a depth value for each pixel in the images, for example, by the parallax principle, which evaluates the difference between points (e.g., points 1 and 2 shown in FIG. 4) from the right image R to the left image L.

[0026] The stereo imaging camera 220 then outputs a depth image, with each pixel having an associated depth (distance from a parallel plane of the imaging device). An example of a depth image is shown in Figure 5. Although not depicted in color in Figure 5, the depth image is colored, with each color representing a depth from the camera 220. As will be appreciated, different colors may be used to represent different depths.

[0027] In an embodiment, as will be appreciated, the camera 220 also includes an RGB module 228 capable of capturing RGB data and outputting an RGB image. An exemplary RGB image (without colorization) is shown in FIG. 6. The RGB image can be used to complement the depth data. In particular, the RGB image may be used to ascertain the percentage of the surface 142 that contains bubbles and / or the density of bubbles present. The image may be manually inspected by an operator to assess / mitigate the bubbles, or the RGB image may be output to a controller that automates the assessment / mitigation of the bubbles via machine learning, etc. In an embodiment, the camera 220 may also output a single file containing pixels with all four values ​​(RGBD).

[0028] The camera 220 may also output stereo image data in a format that also includes color image data (pixel location, RGBD data, and intensity data), which can be used to assess the percentage of the surface 142 that contains bubbles and / or the density of bubbles present.

[0029] In certain embodiments, camera 220 may also include an infrared projector 226. Stereo cameras typically have good low-light sensitivity and do not need to compensate for ambient lighting, but in certain situations, when imaging scenes or objects with low texture or low visual detail, such as smooth surfaces, infrared light may be used to illuminate the object and collect depth data.

[0030] In an embodiment, camera 220 may be USB powered, although other powering mechanisms are possible without departing from the scope of the present invention. In certain embodiments, camera 220 may be secured within a durable housing that may be water resistant and / or cushioned to protect camera 220.

[0031] As will be appreciated, embodiments of the present invention are useful for determining when chemical or mechanical defoaming is required, the amount of defoaming required given the size / rate of foam formation, and the effectiveness of the defoaming treatment. In other words, defoaming may be automatically triggered, for example, if the distance (i.e., depth) of the foam to the camera 220 exceeds a certain minimum or threshold.

[0032] 2 and 8, in an embodiment, a bubble identification system 100 includes a vessel 15 having a viewport 50 that allows a stereo imaging camera 220 to image an exposed surface 142 of a liquid 144. In some embodiments, the viewport 50 may be heated or include an air curtain to reduce condensation, as described in more detail below.

[0033] In an embodiment, the container 15 has a multi-layer structure including an innermost layer of wetting material 200 (e.g., polyethylene) in contact with the liquid within the container. The viewport 50 may be formed on or bonded to the wetting material 200. In a particular embodiment, the viewport 50 is made from low-density polyethylene (LDPE), a material known to have excellent transmittance in the spectral range of interest, e.g., 380 nm to 900 nm. As will be appreciated, the thickness of the viewport 50 may vary depending on the material properties. Other materials having the required transmittance may be utilized without departing from the scope of the present invention. In particular embodiments, polypropylene and polystyrene may be utilized.

[0034] In certain embodiments, the viewport 50 may be the same single or multi-layer material as the container 15 itself. In other words, the container 15 may not have a dedicated viewport with a structure that deviates from the structure of the container 15. For example, a 15-20 mil thick LDPE sheet may provide suitable permeability and structure for such embodiments. In yet other embodiments, the port 50 may be a layer of the inner wetting material 200, or may be formed by simply removing a layer above the wetting material 200.

[0035] In certain embodiments, the viewport 50 is circular and has a diameter that is substantially wider / larger than the lens of the stereo imaging camera 220. Other viewport 50 sizes and shapes may be used without departing from this invention.

[0036] As mentioned above, stereo imaging camera 220 may be mounted on support structure 18 so as to be positioned above container 15 and facing vertically downward so that substantially the entire exposed surface 142 may be imaged. In this regard, viewport 50 may be located on the top or ceiling surface of container 15. As will be appreciated, viewport 50 may be in a variety of locations so long as substantially the entire exposed surface 142 may be imaged.

[0037] In one embodiment, the bubble identification system 100 includes an air curtain 52, as shown in FIGS. 9 and 10. The air curtain 52 reduces condensation on the container and facilitates stereo imaging of the exposed surface 142. In an embodiment, the air curtain 52 is located within the container (e.g., a bag) 15 and is directed toward the viewport 50 or other optically transparent viewing area of ​​the container 15. The air curtain 52 may be removably or permanently attached to a wall of the container 15 and may utilize gas (e.g., air, O2, or N2) from an existing top-pass gas flow from the mass flow controller 180. As will be appreciated, in embodiments in which the air curtain 52 utilizes an existing gas flow, no additional hardware is required; simply add the air curtain 52 to the container 15. Furthermore, the existing top-pass gas flow provides a very low dew point gas below -40°C, which is ideal for preventing condensation.

[0038] 9, the exemplary air curtain 52 includes a nozzle or outlet portion 53 through which the gas / air flow is directed and a threaded base portion 55. The threaded base portion 55 may be directly attached to or otherwise in fluid communication with a mass flow controller 180 (FIG. 10).

[0039] In use, the air curtain 52 directs a flow of gas / air F toward the viewport 50 to remove areas of condensation. In certain embodiments, the air curtain 52 may be selectively positionable, allowing an operator to direct the flow of gas F to maximize condensation removal. Additionally, the velocity of the flow of gas / air F may vary depending on the moisture content of the air in the headspace, the temperature of the air in the headspace, or other variables. Note that the air curtain 52 may be paired with a sensor or meter to measure moisture content, etc.

[0040] As will be appreciated, the air curtain 52 may be used to remove a portion of the condensation on the container / bag for purposes other than imaging, such as for various external optical measurements.

[0041] In certain other embodiments, an air knife may be used, although such configurations may require additional pressurized air and flow control.

[0042] 11-13, alternative arrangements of the stereo camera may be used. In one embodiment, the stereo imaging camera 220 may be positioned to image the side of the headspace of the container 15. Such an arrangement may be appropriate for a container (e.g., a bag) made entirely from a material that is substantially transparent in the spectral range of the camera 220, or for a container that has a side viewport.

[0043] In another embodiment, the system may include multiple stereo imaging cameras 220 spaced around the periphery of the vessel 15 and aimed at the headspace. In certain embodiments, one or more stereo cameras may be incorporated into the rigid bioreactor housing 12. In still other embodiments, the stereo cameras may be integral to the vessel / bag itself. In embodiments, for multiple cameras or cameras incorporated into the vessel / bag, lower resolution stereo imaging cameras may be used to reduce costs.

[0044] During use, system 100 identifies the presence and / or size of bubbles 148 on surface 142 of liquid 144 exposed to headspace 146 in several ways. In one embodiment, system 100 detects the difference between the depth of bubble-free surface 142 and an in-use depth measurement of the vessel / reactor, which indicates a potentially problematic level of bubbles. In other embodiments, the rate of depth change may be assessed by multiple measurements by stereo imaging camera 220.

[0045] A method for identifying bubbles 148 on the surface of a liquid 144 in a container 15 is provided. The method includes obtaining depth measurements D of a surface 142 of the liquid 144 via a stereo imaging camera 220 in the absence of bubbles 148 in the container 15; then obtaining at least one depth measurement D′ of the surface 142 to detect a change in depth of the exposed surface 142 of the liquid 144; and identifying the bubbles 148 on the exposed surface 142 based on the detected change in depth. In certain embodiments, the depth measurement D is compared to a separately calculated fluid volume calculation (e.g., an independent measurement of the height of the surface of the liquid 144). This may be performed to ensure that the surface 142 of the liquid 144 is accurately measured in the absence of bubbles. In one example, the volume, and therefore the depth D, is calculated based on the measured mass of the container 15 and the liquid 144 and the dimensions of the container 15. In this manner, erroneous measurements by the stereo imaging camera 220 are avoided in the absence of bubbles (e.g., to mitigate issues with imaging featureless surfaces (no bubbles)).

[0046] In yet another embodiment, identifying bubbles 148 on exposed surface 142 includes, for example, obtaining multiple depth measurements of a set area on exposed surface 142 of liquid 144, determining a depth rate of change of the area on exposed surface 142 from the multiple depth measurements of exposed surface 142, and identifying the presence and / or size of bubbles 148 on the surface of liquid 144 by comparing the depth rate of change to a predetermined value indicative of a bubble.

[0047] In one embodiment, the method of identifying bubbles 148 also includes mitigating the detected bubbles 148 on the exposed surface 142 of the liquid 144, for example, by applying an anti-foaming agent within the container 15.

[0048] In an embodiment, the method for identifying bubbles 148 also includes removing condensation from the viewport 50 of the container 15 via a condensation prevention system (e.g., air curtain 52, etc.) to facilitate identification of the bubbles 148 by the stereo imaging camera 220.

[0049] In some embodiments, the foam identification system 100 provides feedback on antifoam injection by analyzing bubble size during and after application of mechanical or gaseous solutions in addition to chemical antifoams. The stereo imaging camera 220 provides data quantifying the antifoam injection and / or the foam's 148 response to the antifoam.

[0050] As used herein, elements or steps listed in the singular and preceded by the word "a" or "an" should be understood as not excluding a plurality of said elements or steps, unless such exclusion is expressly stated. Furthermore, references to "one embodiment" of the invention are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Furthermore, unless expressly stated to the contrary, embodiments "comprising," "including," or "having" an element or elements having a particular characteristic may include additional such elements that do not have that characteristic.

[0051] This specification uses examples to disclose certain embodiments of the invention, including the best mode, and also enables those skilled in the art to practice embodiments of the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements that do not differ substantially from the literal language of the claims. [Explanation of symbols]

[0052] 10 Bioreactor System 12 Rigid bioreactor enclosure, rigid enclosure 14 frames 15 Flexible bioreactor bags, containers, flexible bioprocess bags 18 Support structure 19 Legs 20 Openings or gaps 22 Instrument Tower 24 temperature probes 50 viewports 52 Air Curtain 53 Exit part 55 Threaded base 100 Bubble Identification System 130 Controller 142 Exposed surface 144 Liquid 146 Headspace 147 Gas 148 Bubbles 180 Mass Flow Controller 200 Wet Materials 220 Stereo Imaging Camera 222 Sensor / imaging device 224 Sensor / imaging device 226 Infrared Projector 228 RGB modules D distance S distance D' depth measurement F Gas / Air L Left image R Right image

Claims

1. 1. A bioreactor system comprising: a housing configured to receive and support the container; a stereo camera having a first imaging device and a second imaging device fixed to the housing and configured to capture images of the surface of the liquid and foam exposed to the head space of the container; a controller operatively connected to the stereo camera; Equipped with The bioreactor system, wherein the stereo camera and the controller are configured to create an image of an exposed surface and identify bubbles on the surface based on the image.

2. The bioreactor system of claim 1 , wherein the image of the exposed surface is a depth image.

3. 10. The bioreactor system of claim 1, wherein the stereo camera further comprises an RGB module, and the image is an RGB image.

4. The bioreactor system of claim 3 , wherein the image is a depth RGB composite image.

5. 10. The bioreactor system of claim 1, wherein the stereo camera further comprises an infrared projector to facilitate depth imaging of surfaces with low texture or low visual detail.

6. 6. The bioreactor system of claim 5, wherein the stereo camera detects light having a wavelength of about 400 nm to about 865 nm.

7. 10. The bioreactor system of claim 1, wherein the stereo camera has a field of view of about 70 degrees to about 120 degrees.

8. 10. The bioreactor system of claim 1, wherein the stereo camera provides data quantifying the dosage of an antifoam agent and / or the response of the foam to the antifoam agent.

9. a container having a viewport configured to allow the stereo camera to image the exposed surface; 10. The bioreactor system of claim 1, further comprising:

10. 10. The bioreactor system of claim 9, wherein the viewport is heated to reduce condensation.

11. an air curtain configured to reduce condensation on the container to facilitate imaging of the exposed surface; 10. The bioreactor system of claim 1, further comprising:

12. 12. The bioreactor system of claim 11, further comprising the vessel, the air curtain disposed within the vessel.

13. 2. The bioreactor system of claim 1, wherein the camera is mounted to a support structure of the enclosure so as to be positioned above the vessel and facing vertically downward so that substantially the entire exposed surface can be imaged.

14. 10. The bioreactor system of claim 1, wherein the container is a collapsible bioreactor bag.

15. 1. A method for identifying bubbles on the surface of a liquid in a container, comprising: generating an image of the surface of the liquid exposed to a headspace of the container via a stereo imaging camera having a first imaging device and a second imaging device; identifying bubbles on the exposed surface based on the image; A method comprising:

16. The method of claim 15 , wherein the image of the exposed surface is a depth image.

17. the step of identifying bubbles on the exposed surface comprises:

17. The method of claim 16, comprising comparing a first depth image of the surface of the liquid without bubbles to a second depth image of the surface to determine whether the depth has changed.

18. the step of identifying bubbles on the exposed surface comprises: acquiring a plurality of depth images of the exposed surface of the liquid; determining a rate of depth change across the exposed surface from the plurality of depth images of the exposed surface; identifying the presence and / or size of bubbles on the surface by comparing the depth rate of change with a predetermined value indicative of bubbles; 17. The method of claim 16, comprising:

19. The method of claim 15 , wherein the stereo camera further comprises an RGB module, and the image is an RGB image.

20. The method of claim 19, wherein the image is a depth RGB composite image.

21. The method of claim 15 , wherein the stereo camera further comprises an infrared projector to facilitate depth imaging of surfaces with low texture or low visual detail.

22. 16. The method of claim 15, further comprising providing data quantifying the dosage of antifoam agent and / or the response of the foam to the antifoam agent.

23. The method of claim 15 further comprising mitigating any detected bubbles on the exposed surface of the liquid.

24. removing condensation from the container via a condensation prevention system to facilitate identification of bubbles by the stereo camera.

16. The method of claim 15, further comprising:

Images