Detection system, detection method, and detection program

Abstract

A detection system, a detection method, and a detection program are provided that are capable of determining the type of foreign matter adhering to an object with a simple configuration. [Solution] The detection device 1 comprises a plurality of ring-shaped light sources 3 of different diameters arranged concentrically and emitting light of different colors, a camera 2 that captures an image of an object when the object is illuminated with light emitted from each of the plurality of light sources 3, and a detection processing unit 112 that determines the type of foreign object based on the image captured by the camera 2.

Description

[Technical Field]

[0001] The present invention relates to a technique for detecting foreign matter adhering to an object to be inspected. [Background technology]

[0002] Conventionally, in the visual inspection of an object (inspection object) such as an industrial product, a technique for detecting defects in the object based on color information of an image captured by a camera is known. For example, an inspection device is known that turns on three or more illumination blocks in sequence in block units to generate multiple directional images, and performs color inspection and shape inspection based on the multiple directional images (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-189561 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, foreign matter that adheres to an object can be classified into uneven foreign matter such as fibers and dust, and flat foreign matter such as oil and grease and metal, but because there is little difference in size or contrast between these foreign matter, it is difficult to distinguish between these types of foreign matter using conventional technology. Furthermore, while it is possible to distinguish between uneven and flat foreign matter by using, for example, a 3D measuring device, this raises the problem of increased implementation costs.

[0005] An object of the present disclosure is to provide a detection system, a detection method, and a detection program that are capable of determining the type of foreign matter adhering to an object with a simple configuration. [Means for solving the problem]

[0006] A detection system according to one aspect of the present disclosure is a detection system for detecting a foreign object on an object, the detection system including: a plurality of concentrically arranged annular light sources having different diameters and emitting light of different colors; an imaging unit that images the object in a state where the light emitted from each of the plurality of light sources is irradiated onto the object; and a detection processing unit that determines the type of the foreign object based on the image captured by the imaging unit.

[0007] A detection method according to another aspect of the present disclosure is a method for detecting a foreign object in an object, wherein the detection method includes one or more processors executing the following steps: emitting light from a plurality of concentrically arranged annular light sources having different diameters and emitting light of different colors; capturing an image of the object with the light emitted from the plurality of light sources irradiated onto the object; and determining the type of the foreign object based on the captured image captured by the image capture unit.

[0008] A detection program according to another aspect of the present disclosure is a detection program for detecting a foreign object on an object, the detection program causing one or more processors to execute the following steps: causing a plurality of concentrically arranged annular light sources having different diameters and emitting light of different colors to emit light; causing an imaging unit to capture an image of the object while the light emitted from the plurality of light sources is irradiated onto the object; and determining the type of the foreign object based on the captured image. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a detection system, a detection method, and a detection program that are capable of determining the type of foreign matter adhering to an object with a simple configuration. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the overall configuration of a detection system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a plan view of a light source according to an embodiment of the present disclosure, viewed from above. [Figure 3A] FIG. 3A is an external view of a red light source according to an embodiment of the present disclosure. [Figure 3B] FIG. 3B is an external view of a green light source according to an embodiment of the present disclosure. [Figure 3C] FIG. 3C is an external view of a blue light source according to an embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram illustrating an example of a detection method according to an embodiment of the present disclosure. [Figure 5A] FIG. 5A is a diagram illustrating an example of a captured image according to an embodiment of the present disclosure. [Figure 5B] FIG. 5B is a diagram illustrating an example of a captured image according to an embodiment of the present disclosure. [Figure 6] FIG. 6 is a flowchart illustrating an example of a procedure of a detection process executed in the detection system according to an embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram illustrating another example of a light source according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the following embodiments are examples that embody the present disclosure and do not limit the technical scope of the present disclosure.

[0012] [Detection System 10] FIG. 1 is a diagram showing the configuration of a detection system 10 according to an embodiment of the present disclosure. The detection system 10 includes a detection device 1, a camera 2, and a light source 3. The detection system 10 is a system that detects defects in an object (inspection object) such as an industrial product, for example, foreign matter attached to the object, during visual inspection of the object. The detection system 10 is an example of a detection system according to the present disclosure. Note that the detection system according to the present disclosure may be configured by the detection device 1 alone.

[0013] The detection device 1 is a device (inspection device) that executes a process to detect foreign matter in an object. The camera 2 is a digital camera that captures an image of the subject and outputs the image as digital image data. The camera 2 has a communication function that transmits the digital image data to the detection device 1 via the network N1. The camera 2 may be included in the detection device 1.

[0014] The detection system 10 includes a plurality of light sources 3, each emitting light of a different color. The detection device 1 is placed on an inspection table T (see FIG. 1 ), and acquires a captured image of an object illuminated by light emitted from each of the plurality of light sources 3 using a camera 2. The detection device 1 analyzes the captured image to detect foreign matter attached to the object and to identify the type of the detected foreign matter. The specific configuration of the detection device 1 is described below.

[0015] [Light source 3] FIG. 2 shows the multiple light sources 3 as viewed from above. As shown in FIGS. 1 and 2, the multiple light sources 3 are arranged concentrically and are annular light sources (light-emitting devices) with different diameters that emit light of different colors. The multiple light sources 3 include, for example, a red light source 3R that emits red light, a green light source 3G that emits green light, and a blue light source 3B that emits blue light. The multiple light sources 3 may be integrally formed. In another embodiment, the multiple light sources 3 may further include a light source 3 that emits light of another color. Furthermore, the multiple light sources 3 may be composed of multiple light sources 3 that emit light of a color other than red, green, and blue. Furthermore, the multiple light sources 3 may be composed of two light sources 3 that emit light of at least two colors.

[0016] As shown in FIG. 3A, the red light source 3R has a hollow shape with an inner diameter r1, and an annular light emitter (red LED 31R) is arranged on the bottom surface. As shown in FIG. 3B, the green light source 3G has a hollow shape with an inner diameter r2, and an annular light emitter (green LED 31G) is arranged on the bottom surface. As shown in FIG. 3C, the blue light source 3B has a hollow shape with an inner diameter r3, and an annular light emitter (blue LED 31B) is arranged on the bottom surface. The red light source 3R, the green light source 3G, and the blue light source 3B have a relationship of r1 < r2 < r3 in terms of the inner diameter. The red light source 3R, the green light source 3G, and the blue light source 3B each emit light downward.

[0017] Also, among the plurality of light sources 3, the light source 3 with a larger inner diameter is arranged on the lower side (object side), and the light source 3 with a smaller inner diameter is arranged on the upper side (camera 2 side). Further, the plurality of light sources 3 are arranged in multiple stages according to the distance from the object. That is, the plurality of light sources 3 are arranged in a stepped manner such that the diameter of the concentric circles becomes smaller as the distance from the object increases.

[0018] Also, for example, as shown in FIG. 4, the red light source 3R, the green light source 3G, and the blue light source 3B are arranged such that their respective central axes are located on the object. Specifically, from the object side toward the upper side (camera 2 side), the blue light source 3B, the green light source 3G, and the red light source 3R are arranged in this order.

[0019] The camera 2 is arranged on the central axis of the plurality of light sources 3 and images the object through the space at the central part of each of the plurality of light sources 3. Also, the camera 2 images the object in a state where the light emitted from each of the plurality of light sources 3 irradiates the object simultaneously. Note that "simultaneous irradiation" means a state where the light emitted from each of the plurality of light sources 3 irradiates the object during the same period, and the light emission timings of each light source 3 may be the same or different.

[0020] 4, for example, camera 2 captures an image of an object through the space at the center of each light source 3, with red light emitted from red light source 3R, green light emitted from green light source 3G, and blue light emitted from blue light source 3B simultaneously irradiated onto the object. Camera 2 transmits image data of the captured image of the object to detection device 1 via network N1 (see FIG. 1).

[0021] The multiple light sources 3 may emit light according to an instruction (lighting instruction) output from the detection device 1, or may emit light according to a user operation (lighting operation). The camera 2 may capture an image of the object according to an instruction (imaging instruction) output from the detection device 1, or may capture an image of the object according to a user operation (imaging operation). For example, the detection device 1 may be configured to output a lighting instruction to each of the red light source 3R, the green light source 3G, and the blue light source 3B when detecting an object placed on the examination table T, output an imaging instruction to the camera 2 when detecting that the light from each light source 3 is simultaneously irradiated onto the object, and acquire a captured image from the camera 2 when the camera 2 captures an image of the object.

[0022] [Detection device 1] 1 is a block diagram showing the configuration of a detection device 1 according to this embodiment. The detection device 1 is an information processing device (server) including a control unit 11, a storage unit 12, an operation / display unit 13, and a communication unit 14. The detection device 1 is not limited to a single computer, but may be a computer system in which multiple computers operate in cooperation with each other. Furthermore, various processes executed by the detection device 1 may be executed in a distributed manner by one or multiple processors.

[0023] The communication unit 14 is a communication interface that connects the detection device 1 to the network N1 by wire or wirelessly and executes data communication with external devices such as the camera 2 via the network N1 in accordance with a predetermined communication protocol.

[0024] The operation display unit 13 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a mouse, keyboard, or touch panel that accepts operations.

[0025] The storage unit 12 is a non-volatile storage unit such as a hard disk drive (HDD), a solid state drive (SSD), or a flash memory that stores various types of information. Specifically, the storage unit 12 stores data of captured images received from the camera 2, etc.

[0026] The storage unit 12 also stores control programs such as a detection program for causing the control unit 11 to execute various processes such as a detection process (see FIG. 6) described below. For example, the detection program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive provided in the detection device 1 and stored in the storage unit 12.

[0027] The control unit 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The control unit 11 controls the detection device 1 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0028] Specifically, the control unit 11 includes various processing units such as an acquisition processing unit 111, a detection processing unit 112, and an output processing unit 113. The control unit 11 functions as the various processing units by executing various processes in accordance with the detection program using the CPU. Some or all of the processing units may be configured with electronic circuits. The detection program may be a program for causing multiple processors to function as the processing units.

[0029] The acquisition processing unit 111 acquires a captured image of an object from the camera 2. Specifically, when the camera 2 captures an image of the object placed on the examination table T (see FIG. 1 ) while being irradiated with light emitted from each of the plurality of light sources 3, the camera 2 transmits image data of the captured image to the detection device 1. The acquisition processing unit 111 acquires the captured image from the camera 2. The acquisition processing unit 111 also stores the acquired captured image in the storage unit 12.

[0030] The detection processing unit 112 detects foreign matter attached to the object based on the captured image captured by the camera 2. The detection processing unit 112 also determines the type of foreign matter detected. Here, foreign matter includes uneven foreign matter such as fibers and dust, and flat foreign matter such as oil and grease and metal. The detection processing unit 112 determines whether the foreign matter attached to the object is uneven or flat.

[0031] Specifically, the detection processing unit 112 determines the type of foreign object (uneven foreign object or flat foreign object) based on the spatial (positional) distribution of the color of the object in the captured image. For example, if the spatial distribution of the color of the object in the captured image is a multi-color color distribution, the detection processing unit 112 determines the foreign object to be a flat foreign object, and if the spatial distribution of the color of the object in the captured image is a single-color color distribution, the detection processing unit 112 determines the foreign object to be an uneven foreign object.

[0032] For example, in the case of a flat foreign object, the red light emitted from the red light source 3R, the green light emitted from the green light source 3G, and the blue light emitted from the blue light source 3B are likely to be specularly reflected, resulting in a color distribution in the captured image in which the colors do not mix. Specifically, as shown in Fig. 5A, a color distribution X1 consisting of red, green, and blue rings appears in the captured image.

[0033] In contrast, in the case of an uneven foreign object, the red light emitted from the red light source 3R, the green light emitted from the green light source 3G, and the blue light emitted from the blue light source 3B are likely to be diffused, and therefore a color distribution in the captured image will appear in which each color is mixed. Specifically, a single white color distribution in which red, green, and blue are mixed will appear in the captured image.

[0034] The detection processing unit 112 determines the type of foreign matter by utilizing the characteristics of the color distribution. Specifically, when the detection processing unit 112 detects a multi-color color distribution X1 (see FIG. 5A) consisting of red, green, and blue rings from the captured image, it determines that the foreign matter is a flat foreign matter. In contrast, when the detection processing unit 112 detects a single-color white color distribution X2 (see FIG. 5B) from the captured image, it determines that the foreign matter is an uneven foreign matter.

[0035] In another embodiment, the detection processing unit 112 may determine the type of foreign object based on the amount of color variation within a predetermined range of the object in the captured image. For example, in the case of a flat foreign object, the red light emitted from the red light source 3R, the green light emitted from the green light source 3G, and the blue light emitted from the blue light source 3B are more likely to be specularly reflected, resulting in a large amount of color variation within the predetermined range in the captured image. Specifically, as shown in FIG. 5A, the amount of color variation within the range of color distribution X1 appearing in the captured image is large.

[0036] In contrast, in the case of an uneven foreign object, the red light emitted from the red light source 3R, the green light emitted from the green light source 3G, and the blue light emitted from the blue light source 3B are more likely to be diffused, thereby reducing the amount of color variation within a predetermined range in the captured image. Specifically, as shown in FIG. 5B, the amount of color variation within the range of color distribution X2 appearing in the captured image is reduced.

[0037] Therefore, the detection processing unit 112 may determine that a foreign object is a flat foreign object when the amount of color change within a predetermined range of the object in the captured image is equal to or greater than a first threshold, and may determine that the foreign object is an uneven foreign object when the amount of color change is less than a second threshold. Note that the second threshold may be the same as the first threshold, or may be smaller than the first threshold.

[0038] Specifically, the detection processing unit 112 determines that a foreign object is a flat foreign object when the amount of color change in the color distribution X1 (see FIG. 5A) detected from the captured image is equal to or greater than a first threshold value. Conversely, the detection processing unit 112 determines that a foreign object is an uneven foreign object when the amount of color change in the color distribution X2 (see FIG. 5B) detected from the captured image is less than a second threshold value.

[0039] As described above, the detection processing unit 112 determines the type of foreign object based on the captured image taken by the camera 2 in a state where the object is irradiated with light emitted from each of multiple ring-shaped light sources 3 of different diameters that are arranged concentrically and emit light of different colors.

[0040] The output processing unit 113 outputs the determination result by the detection processing unit 112. For example, when a foreign matter attached to the object is detected, the output processing unit 113 causes the operation display unit 13 to display the determination result, whether the foreign matter is a flat foreign matter or an uneven foreign matter. Furthermore, the output processing unit 113 may cause the operation display unit 13 to display the captured image, as well as position information that can identify the position of the foreign matter, and type information that can identify the type of the foreign matter, on the captured image.

[0041] [Detection process] Hereinafter, an example of the detection process executed by the detection system 10 according to the embodiment will be described with reference to FIG.

[0042] The present disclosure can be understood as a disclosure of a detection method that executes one or more steps included in the detection process. The detection method is an example of the detection method of the present disclosure. One or more steps included in the detection process described here may be omitted as appropriate. The steps in the detection process may be executed in a different order as long as the same effect is achieved. One or more processors may execute the steps in the detection process in a distributed manner.

[0043] <Step S1> In step S1, the control unit 11 acquires a captured image of the object from the camera 2. For example, as shown in FIG. 1, when the object to be inspected is placed on the inspection table T, the red light source 3R, the green light source 3G, and the blue light source 3B each emit light (red light, green light, and blue light) toward the object. The camera 2 captures an image of the object through the space at the center of each light source 3, with the red light emitted from the red light source 3R, the green light emitted from the green light source 3G, and the blue light emitted from the blue light source 3B being simultaneously irradiated onto the object. The control unit 11 acquires the captured image transmitted from the camera 2.

[0044] <Step S2> In step S2, when the control unit 11 acquires a captured image, it determines whether or not the captured image contains a foreign object. For example, the control unit 11 determines whether or not there is a color distribution in the entire captured image, and if a predetermined color distribution is detected, it determines that the captured image contains a foreign object (that is, a foreign object is attached to the object). If the control unit 11 detects a foreign object (S2: Yes), it shifts the processing to step S3. On the other hand, if the control unit 11 does not detect a foreign object (S2: No), it ends the detection processing for the object.

[0045] <Step S3> In step S3, the control unit 11 determines whether the detected color distribution is polychromatic or monochromatic. For example, the control unit 11 determines that the color distribution is polychromatic if the detected color distribution includes red, green, and blue, and determines that the color distribution is monochromatic if the detected color distribution is a white color distribution. If the control unit 11 determines that the detected color distribution is polychromatic (S3: Yes), it proceeds to step S41. If the control unit 11 determines that the detected color distribution is monochromatic (S3: No), it proceeds to step S42.

[0046] In another embodiment, in step S3, the control unit 11 may determine whether the amount of color change in the color distribution detected from the captured image is greater than or equal to a first threshold, and if it determines that the amount of change is greater than or equal to the first threshold (S3: Yes), it may proceed to step S41, and if it determines that the amount of change is less than the first threshold (or less than a second threshold that is smaller than the first threshold) (S3: No), it may proceed to step S42.

[0047] <Step S41> In step S41, the control unit 11 determines that the detected foreign matter is a flat foreign matter. For example, as shown in FIG. 5A, when the control unit 11 detects a foreign matter having a multi-color distribution X1, the control unit 11 determines that the foreign matter is a flat foreign matter. After step S41, the control unit 11 causes the process to proceed to step S5.

[0048] <Step S42> In step S42, the control unit 11 determines that the detected foreign matter is an uneven foreign matter. For example, as shown in FIG. 5B, when the control unit 11 detects a foreign matter having a single-color color distribution X2, the control unit 11 determines that the foreign matter is an uneven foreign matter. After step S42, the control unit 11 shifts the process to step S5.

[0049] <Step S5> In step S5, the control unit 11 outputs the determination result of the detected foreign matter. For example, the control unit 11 causes the operation display unit 13 to display the determination result of whether or not a foreign matter is attached to the target object and the determination result of whether the foreign matter is a flat foreign matter or an uneven foreign matter.

[0050] As described above, the control unit 11 executes the detection process for each object and determines the presence or absence of a foreign object and the type of the foreign object.

[0051] As described above, the detection device 1 according to this embodiment includes a plurality of ring-shaped light sources 3 of different diameters that are arranged concentrically and emit light of different colors, a camera 2 that captures an image of an object when the object is irradiated with light emitted from each of the plurality of light sources 3, and a detection processing unit 112 that determines the type of foreign object based on the captured image captured by the camera 2.

[0052] According to the above configuration, by simultaneously irradiating the target with light of different colors from the multiple light sources 3, the type of foreign matter can be determined by utilizing the spatial distribution of colors corresponding to the type of foreign matter. This makes it possible to distinguish between uneven foreign matter such as fibers and dust and flat foreign matter such as oil, grease, and metal. In other words, it is possible to determine the type of foreign matter attached to the target with a simple configuration. Note that the detection system 10 only needs to have at least two multiple light sources 3.

[0053] [Other embodiments] In another embodiment, the multiple light sources 3 may be arranged in the same plane as shown in Fig. 7. For example, a green light source 3G may be arranged in the internal space of a blue light source 3B, and a red light source 3R may be arranged in the internal space of a green light source 3G, so that the red light source 3R, green light source 3G, and blue light source 3B are arranged in the same plane. In other words, the multiple light sources 3 of the present disclosure may be arranged on the same plane at a predetermined distance from the object.

[0054] In the detection system 10 according to the present disclosure, the control unit 11 of the detection device 1 controls the entire detection device 1. The control unit 11 realizes various functions by reading and executing various programs stored in the memory unit 12 (for example, storage or ROM). The control unit 11 may be realized by one or more control devices / arithmetic units (CPUs (Central Processing Units), SoCs (System on a Chip)). The control unit 11 may also be configured by one or more control circuits (electronic circuits).

[0055] [Disclosure Note] The following will provide an outline of the disclosure extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0056] <Appendix 1> 1. A detection system for detecting a foreign object on an object, comprising: a plurality of annular light sources having different diameters that are arranged concentrically and emit light of different colors; an imaging unit that images the object in a state where the object is irradiated with light emitted from each of the plurality of light sources; a detection processing unit that determines the type of the foreign matter based on the captured image captured by the imaging unit; A detection system comprising:

[0057] <Appendix 2> The plurality of light sources are arranged in multiple stages according to the distance to the object. 10. The detection system of claim 1.

[0058] <Appendix 3> The plurality of light sources are arranged in a stepped pattern so that the diameters of the concentric circles become smaller as the distance from the object increases. 2. The detection system of claim 1.

[0059] <Appendix 4> The plurality of light sources are arranged on the same plane at a predetermined distance from the object. 10. The detection system of claim 1.

[0060] <Appendix 5> the plurality of light sources are arranged such that the central axes of the plurality of light sources are positioned on the object; the imaging unit is disposed on the central axis and images the object through spaces at the centers of the plurality of light sources. A detection system according to any one of appendices 1 to 4.

[0061] <Appendix 6> the detection processing unit determines the type of the foreign matter based on a spatial distribution of colors of the object in the captured image. A detection system according to any one of appendices 1 to 5.

[0062] <Appendix 7> the detection processing unit determines the foreign object to be a flat foreign object when a spatial distribution of colors of the object in the captured image is a color distribution of multiple colors. 7. The detection system of claim 6.

[0063] <Appendix 8> the detection processing unit determines the foreign object to be a flat foreign object when a color change amount within a predetermined range of the object in the captured image is equal to or greater than a first threshold value; 7. The detection system of claim 6.

[0064] <Appendix 9> the detection processing unit determines the foreign object to be an uneven foreign object when a spatial distribution of a color of the object in the captured image is a color distribution of a single color. 7. The detection system of claim 6.

[0065] <Appendix 10> the detection processing unit determines that the foreign object is an uneven foreign object when a color change amount within a predetermined range of the object in the captured image is less than a second threshold value; 7. The detection system of claim 6.

[0066] <Appendix 11> The plurality of light sources are configured of a red light source that emits red light, a green light source that emits green light, and a blue light source that emits blue light. A detection system according to any one of appendices 1 to 10.

[0067] <Appendix 12> the imaging unit images the object in a state where the object is simultaneously illuminated with light emitted from each of the plurality of light sources, A detection system according to any one of appendices 1 to 11.

[0068] <Appendix 13> A detection method for detecting a foreign object in an object, comprising: Emitting light from each of a plurality of annular light sources having different diameters, which are arranged concentrically and emit light of different emission colors; causing an imaging unit to capture an image of the object in a state in which the object is irradiated with light emitted from each of the plurality of light sources; determining the type of the foreign matter based on the captured image captured by the imaging unit; The detection method is executed by one or more processors.

[0069] <Appendix 14> A detection program for detecting a foreign object in an object, Emitting light from each of a plurality of annular light sources having different diameters, which are arranged concentrically and emit light of different emission colors; causing an imaging unit to capture an image of the object in a state in which the object is irradiated with light emitted from each of the plurality of light sources; determining the type of the foreign matter based on the captured image captured by the imaging unit; A detection program for causing one or more processors to execute the above, or a non-transitory computer-readable recording medium on which the detection program is recorded. [Explanation of symbols]

[0070] 10: Detection system 1:Detection device 2: Camera 3:Light source 3B:Blue light source 3G: Green light source 3R: Red light source 31B: Blue LED 31G: Green LED 31R: Red LED 11: Control section 12: Storage section 13: Operation display section 14: Communications Department 111: Acquisition processing unit 112: Detection processing unit 113: Output processing section

Claims

1. A detection system for detecting foreign objects in an object, Multiple annular light sources of different diameters, arranged concentrically and emitting light of different colors, An imaging unit that images the object while the object is illuminated by light emitted from each of the plurality of light sources, A detection processing unit that determines the type of foreign object based on the image captured by the imaging unit, A detection system equipped with the following features.

2. The aforementioned multiple light sources are arranged in multiple stages according to their distance from the object. The detection system according to claim 1.

3. The multiple light sources are arranged in a stepped pattern such that the diameter of the concentric circles decreases as they move away from the object. The detection system according to claim 2.

4. The plurality of light sources are arranged on the same plane at a predetermined distance from the object. The detection system according to claim 1.

5. The plurality of light sources are arranged such that the central axis of each of the plurality of light sources is located on the object. The imaging unit is positioned on the central axis and images the object through the space between the central parts of each of the plurality of light sources. The detection system according to claim 1.

6. The detection processing unit determines the type of foreign object based on the spatial distribution of the object's color in the captured image. The detection system according to claim 1.

7. The detection processing unit determines that the foreign object is a flat foreign object when the spatial distribution of the color of the object in the captured image is a multi-color distribution. The detection system according to claim 6.

8. The detection processing unit determines that the foreign object is a flat foreign object when the amount of color change within a predetermined range of the object in the captured image is equal to or greater than a first threshold. The detection system according to claim 6.

9. The detection processing unit determines that the foreign object is an uneven foreign object if the spatial distribution of the color of the object in the captured image is a single-color distribution. The detection system according to claim 6.

10. The detection processing unit determines that the foreign object is an uneven foreign object if the amount of color change within a predetermined range of the object in the captured image is less than a second threshold. The detection system according to claim 6.

11. The aforementioned plurality of light sources consist of a red light source that emits red light, a green light source that emits green light, and a blue light source that emits blue light. A detection system according to any one of claims 1 to 10.

12. the imaging unit images the object in a state where the object is simultaneously illuminated with light emitted from each of the plurality of light sources, A detection system according to any one of claims 1 to 10.

13. A detection method for detecting a foreign object in an object, comprising: Emitting light from each of a plurality of annular light sources having different diameters, which are arranged concentrically and emit light of different emission colors; causing an imaging unit to capture an image of the object in a state in which the object is irradiated with light emitted from each of the plurality of light sources; determining the type of the foreign matter based on the captured image captured by the imaging unit; The detection method is executed by one or more processors.

14. A detection program for detecting a foreign object in an object, Emitting light from each of a plurality of annular light sources having different diameters, which are arranged concentrically and emit light of different emission colors; causing an imaging unit to capture an image of the object in a state in which the object is irradiated with light emitted from each of the plurality of light sources; determining the type of the foreign matter based on the captured image captured by the imaging unit; A detection program for causing one or more processors to execute the above.

Images