State determination system, state determination method, and state determination program

Abstract

To more easily determine changes in the state of an object being inspected over time. [Solution] The state determination system S comprises an operation control unit 911, an image conversion unit 912, and a determination unit 512. The operation control unit 911 controls the operation of the contact mechanism 24 to bring the contact mechanism 24 into contact with the packaging container 10. The image conversion unit 912 converts force-tactile parameters related to the operation of the contact mechanism 24 by the operation control unit 911 into an image. After a first image corresponding to the packaging container 10 is generated by the operation control unit 911 and the image conversion unit 912, if a second image corresponding to the packaging container 10 is generated by the operation control unit 911 and the image conversion unit 912, the determination unit 512 compares the first image and the second image to determine whether the packaging container 10 is damaged.

Description

Technical Field

[0001] The present invention relates to a state determination system, a state determination method, and a state determination program.

Background Art

[0002] Conventionally, determinations regarding damage have been made for various articles. For example, inspections are performed on packaging containers for foods and the like, and based on the inspection results, it is determined whether the packaging container is damaged. This makes it possible to detect air leakage or the like in the packaging container before it reaches the consumer, and to maintain the quality as a product.

[0003] An example of a technique related to the determination for such a packaging container is disclosed in Patent Document 1. In the technique disclosed in Patent Document 1, the state of the packaging container is determined by using various sensors such as sensors for measuring weight and temperature, and sensors for measuring the contamination of foreign substances by electromagnetic waves or the like.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, packaging containers are transported by vehicles, trains, etc. in the distribution process until they reach the consumer, and pass through various logistics bases. Then, even a packaging container that had no problem initially may be damaged over time. Therefore, it is necessary to perform the determination not only once at the time of shipment from the factory, but also when performing operations such as loading and distribution processing at logistics bases in the subsequent process. That is, it is also necessary to determine the change in the state of the packaging container over time.

[0006] However, the prior art disclosed in Patent Document 1 is solely for the purpose of determining the state of the packaging container at that particular time. In order to determine the changes in the state of packaging containers over time using conventional technologies, it was necessary to, for example, make each packaging container identifiable, manage the history of the determination results for each container in a database, and build a network to share that data with other logistics centers.

[0007] In other words, conventional technology still had room for improvement in determining changes in the state of objects being inspected, such as packaging containers, over time. This challenge is not limited to food packaging containers, but is common to packaging containers in general.

[0008] The objective of this invention is to more easily determine changes in the state of an object being inspected over time. [Means for solving the problem]

[0009] To solve the above problems, a state determination system according to one embodiment of the present invention is A condition determination system that uses packaging containers as the object of inspection, An operation control means that controls the operation of the contact mechanism to bring the contact mechanism into contact with the object to be inspected, A conversion means that converts force-tactile parameters related to the operation of the contact mechanism by the motion control means (corresponding to various force-tactile parameters and secondary parameters that can be calculated from those parameters, as described in the patent gazette of the patent rights held by Keio University (Patent No. 6382203) or the references shown in paragraph

[0059] of this specification) into an image, After the operation control means and the conversion means have generated a first image corresponding to the object to be inspected, and then the operation control means and the conversion means have generated a second image corresponding to the object to be inspected, the determination means compares the first image and the second image to determine whether the object to be inspected is damaged, It is characterized by having the following features. [Effects of the Invention]

[0010] According to the present invention, changes in the state of an object being inspected over time can be determined more easily. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram showing the overall configuration of the state determination system S according to this embodiment. [Figure 2] This is a schematic diagram illustrating the general procedure of the determination process achieved through the cooperation of each device in the state determination system S. [Figure 3] This is a schematic diagram illustrating the general procedure of the determination process achieved through the cooperation of each device in the state determination system S. [Figure 4] This is a block diagram showing the hardware configuration of the inspection device 20. [Figure 5] This is a block diagram showing an example of the hardware and functional blocks of the control unit 25 in the inspection device 20. [Figure 6] This is a block diagram showing the control algorithm for force tactile sensation transmission by the motion control unit 911. [Figure 7] This block diagram shows an example of hardware and functional blocks in an image-granting device 30. [Figure 8] This is a block diagram showing an example of hardware and functional blocks in a reading device 40. [Figure 9] This is a block diagram showing an example of hardware and functional blocks in a state determination device 50. [Figure 10] This is a flowchart illustrating the flow of the operation control processing performed by the state determination system S. [Figure 11] This is a flowchart illustrating the flow of the judgment process performed by the state judgment system S. [Modes for carrying out the invention]

[0012] Hereinafter, an example of an embodiment of the present invention will be described with reference to the accompanying drawings.

[0013] [System Configuration] FIG. 1 is a block diagram showing the overall configuration of the state determination system S according to the present embodiment. As shown in FIG. 1, the state determination system S includes an inspection device 20, an image application device 30, a reading device 40, and a state determination device 50. In the figure, a packaging container 10 to be inspected is also shown.

[0014] Here, the state determination system S is distributed and arranged at various bases. In this example, at the first base, a packaging container 10, an inspection device 20a, and an image application device 30 are arranged. Here, the first base is, for example, a factory that packages the contents in the packaging container 10. On the other hand, at the second base, a reading device 40, an inspection device 20b, and a state determination device 50 are arranged. Here, the second base is a logistics base located downstream of the first base in the distribution route of the packaging container 10.

[0015] Also, at the first base, the inspection device 20a and the image application device 30 are connected to each other so as to be communicable. Similarly, at the second base, the reading device 40, the inspection device 20b, and the state determination device 50 are connected to each other so as to be communicable. The communication between these devices may be performed in accordance with an arbitrary communication method, and the communication method is not particularly limited. Also, the communication between these devices may be performed directly between the devices or via a LAN (Local Area Network). However, in the present embodiment, there is no need to communicate between the first base and the second base. Therefore, there is no need to construct a network for communicating between the first base and the second base. Note that the inspection device 20a and the inspection device 20b are devices having the same function. Therefore, in the following description, when explaining these two without distinction, they are simply referred to as "inspection device 20".

[0016] The packaging container 10 is a packaging container for packaging the contents of food or the like. The packaging container 10 is the object to be inspected in this embodiment. The packaging container 10 is not particularly limited, but for the purpose of explanation below, it is assumed that the packaging container 10 is a packaging container for packaging food (for example, snacks such as potato chips) as its contents. In such a packaging container, carbon dioxide or nitrogen gas is filled as the contents instead of oxygen in order to prevent deterioration (for example, oxidation) or damage to the food or the like. The condition determination system S uses such a packaging container 10 as an object to be inspected and determines the change in the state of the packaging container 10 over time.

[0017] The inspection device 20 is a device that inspects the condition of the packaging container 10 by contacting the packaging container 10. The inspection device 20 has an operating mechanism 22 which is a mechanism that receives user input and a contact mechanism 24 which is a mechanism that contacts the packaging container 10. In the inspection device 20, the operating mechanism 22 functions as the master device, and the contact mechanism 24 functions as the slave device. That is, the operation based on the user's operation to the master device is transmitted to the slave device, causing the slave device to make contact with the packaging container 10. On the other hand, the reaction force input from the packaging container 10 to the slave device is fed back to the user via the master device. In other words, bilateral control is realized in the inspection device 20. The inspection device 20 then implements bilateral control as described in the patent publication (Patent No. 6382203) of a patent held by Keio University. As a result, the inspection device 20 calculates various force-tactile parameters and secondary parameters that can be calculated from those parameters (hereinafter referred to as "force-tactile parameters") as described in the said patent publication or the references shown in paragraph

[0059] of this specification. Furthermore, the inspection device 20 converts these force-tactile parameters into image data.

[0018] The image application device 30 physically applies the application image 61 corresponding to the first image data to the packaging container 10. In this case, the physical application is performed by the application unit 38, and is specifically achieved by printing the image or imprinting it with a stamp or the like.

[0019] The reading device 40 acquires first image data by reading the physically attached image 61 on the packaging container 10 with its reading unit 48. It then transmits the acquired first image data to the state determination device 50.

[0020] The condition determination device 50 determines changes in the state of the packaging container 10 over time by comparing two sets of image data: image data generated by the inspection device 20a at the first location and image data generated by the inspection device 20b at the second location. The condition determination device 50 can then use this determination to detect leaks of the contents, such as food, or of carbon dioxide or nitrogen gas (so-called air leaks), or, if the food is a fluid, to detect leaks of that fluid food. This makes it possible to detect deterioration or leakage of contents due to air leaks, etc., before the product reaches the consumer, thereby guaranteeing the quality of the product. The above describes the system configuration of the state determination system S. Next, we will briefly explain the processing procedure of the state determination system S.

[0021] Figures 2 and 3 are schematic diagrams illustrating the general procedure of the determination process achieved through the cooperation of each device in the state determination system S. As shown in Figure 2(a), first, at the first location, the packaging container 10 is placed on the inspection device 20a. Then, based on the user's operation of the operating mechanism 22, the contact mechanism 24 starts operating. Accordingly, the contact mechanism 24 descends and makes contact with the packaging container 10.

[0022] Next, as shown in Figure 2(b), the lowered contact mechanism 24 presses against the packaging container 10 with a force corresponding to the user's operation. In response, a reaction force acts on the contact mechanism 24 from the packaging container 10.

[0023] Here, since the operating mechanism 22 and the contact mechanism 24 are bilaterally controlled, the user continues the operation while feeling this reaction force. When the user finishes the operation, the inspection device 20a converts these force-tactile parameters into image data. For convenience, this image data will be referred to as the "first image data." The first image data is transmitted to the image-granting device 30. Depending on the operation pattern, multiple contacts and presses may be repeated. For example, if the operation pattern is "press for about 3 seconds three times," the user will perform the corresponding operation. In this case, the actions shown in Figure 2(a) and Figure 2(b) will be repeated.

[0024] Next, as shown in Figure 2(c), the packaging container 10 is placed on the image application device 30. The application unit 38 of the image application device 30 then physically applies an image corresponding to the first image data to the packaging container 10. As a result, the visualized force-tactile parameters are, so to speak, tagged onto the packaging container 10. The packaging container 10, tagged with these visualized force-tactile parameters, is then transported to a second location by vehicle such as a truck or train.

[0025] Next, as shown in Figure 3(e), the packaging container 10 is placed on the reading device 40 at the second location. The reading unit 48 of the reading device 40 then reads the first image physically attached to the packaging container 10, thereby acquiring the first image data. The acquired first image data is then transmitted to the state determination device 50.

[0026] Next, as shown in Figures 3(f) and (g), the packaging container 10 is placed in the inspection device 20b. Then, as described above with reference to Figures 2(b) and (c), the operations shown in Figures 3(f) and (g) are performed based on the user's operation of the operating mechanism 22. Then, once the user has finished their operation, the inspection device 20b converts the force-tactile parameters into image data. For convenience, this image data will be referred to as the "second image data." The second image data is transmitted to the state determination device 50.

[0027] Finally, as shown in Figure 3(h), the state determination device 50 reconstructs the first image and the second image from the first image data and the second image data. Then, by comparing the reconstructed first image and the second image, it determines the change in the state of the packaging container 10 over time. For example, if the first image data shows the packaging container 10 in a normal state, but the second image data shows the packaging container 10 damaged, it can be determined that the damage occurred during the distribution process from the first location to the second location.

[0028] Furthermore, for example, if the first image data shows the packaging container 10 in a normal state, but the second image data shows the packaging container 10 being slightly damaged but within the normal range, then it can be determined that the condition deteriorated during the distribution process from the first location to the second location, and that there is a high possibility of further damage during the subsequent distribution process. Furthermore, for example, if the first image data shows that the packaging container 10 is within the normal range but slightly damaged, and the second image data similarly shows that the packaging container 10 is within the normal range but slightly damaged, then it can be determined that the condition is maintained and that the likelihood of damage during future distribution is not very high. The status determination device 50 notifies the user of such determination results by displaying them on a screen or printing them on paper. In this way, the determination process is realized through the cooperation of each device in the status determination system S.

[0029] Thus, the state determination system S can determine whether the packaging container 10 is damaged simply by comparing a first image and a second image, which are generated at different points in time. In other words, it determines the change in the state of the object being inspected over time. For example, it can determine that the object was in good condition when the first image was generated, but damaged when the second image was generated. In short, it can determine whether damage has occurred over time, or whether the degree of damage is progressing.

[0030] In contrast, conventional technology required identifying each packaging container, managing a database of the history of each identification result, and building a network to share that data with other logistics centers. However, with the state determination system S, all that is required is to compare images, and there is no need to prepare a database or network as in conventional technology.

[0031] Furthermore, the state determination system S allows for the use of simple image processing or image classification methods for determination itself, by imaging force-tactile parameters. In this case, there is no need to analyze force-tactile parameters and perform processing tailored to the characteristics of each object being inspected, nor is there any need for machine learning. In addition, since the determination itself is image processing, the determination unit 512 can utilize existing image processing determination systems (for example, a visual inspection system equipped with a camera) as long as the determination criteria are set. This reduces the user's workload and increases the system's versatility.

[0032] In other words, the state determination system S can solve the problem of the present invention, which is to more easily determine the change in the state of an object being inspected over time.

[0033] [Device configuration] Next, we will describe the configuration of each device included in the state determination system S.

[0034] [Configuration of the inspection device 20] Figure 4 is a block diagram showing the hardware configuration of the inspection device 20. As shown in Figure 4, the inspection device 20 comprises a master unit 21, an operating mechanism 22, a slave unit 23, a contact mechanism 24, and a control unit 25. Furthermore, the master-side unit 21 includes a master-side actuator 212 for driving the operating mechanism 22, a master-side driver 211 for driving the master-side actuator 212, and a master-side position sensor 213 for detecting the position of the movable part of the operating mechanism 22 that is moved by the drive of the master-side actuator 212.

[0035] On the other hand, the slave unit 23 similarly includes a slave actuator 232 for driving the contact mechanism 24, a slave driver 231 for driving the slave actuator 232, and a slave position sensor 233 for detecting the position of the movable part of the contact mechanism 24 that is moved by the drive of the slave actuator 232.

[0036] In this case, the position of the movable part of the operating mechanism 22 detected by the master-side position sensor 213 is, for example, the position of a predetermined part of the movable part of the operating mechanism 22. However, instead of the position of the movable part of the operating mechanism 22, the position of a predetermined part of the operator operating the operating mechanism 22 may be used. Furthermore, the position of the movable part of the contact mechanism 24 detected by the slave-side position sensor 233 is, for example, the position of a predetermined part of the movable part of the contact mechanism 24. However, instead of the position of the movable part of the contact mechanism 24, the position of a predetermined part that the contact mechanism 24 makes contact with (for example, the position of the tip of the contact mechanism 24) may be used.

[0037] Furthermore, in this embodiment, instead of detecting the position of the movable parts of the operating mechanisms 22 and the movable parts of the contact mechanisms 24, the rotation angle of the output shaft of each actuator may be detected by a rotary encoder built into each actuator. That is, in this embodiment, the concept of position includes angle (for example, the rotation angle of the output shaft of the actuator), and the position information includes position, angle, velocity, angular velocity, acceleration, and angular acceleration. Also, since position and velocity (or acceleration) or angle and angular velocity (or angular acceleration) are parameters that can be substituted by differential and integral calculus, when processing related to position or angle, it is possible to appropriately substitute them with velocity or angular velocity before processing. In the figure, only one system of each driver, each actuator, and each position sensor is shown in the master unit 21 and the slave unit 23, but multiple systems of these can be provided depending on the number of operating mechanisms 22 and contact mechanisms 24, and the number of each actuator.

[0038] In this configuration, the control unit 25 outputs control commands to the master driver 211 and the slave driver 231 based on the positions detected by the master position sensor 213 and the slave position sensor 233, thereby realizing bilateral control that transmits force and tactile sensation between the operating mechanism 22, which is a master device connected to the master unit 21, and the contact mechanism 24, which is a slave device connected to the slave unit 23. The specific algorithm for realizing this force-tactile control (bilateral control) will be described later, with reference to Figure 6.

[0039] Figure 5 is a block diagram showing an example of the hardware and functional blocks of the control unit 25 in the inspection device 20. As shown in Figure 5, the control unit 25 includes a processor 91, a ROM 92, a RAM 93, a communication unit 94, a storage unit 95, an input unit 96, an output unit 97, and a drive 98. Although not shown in Figure 5, the control unit 25 is connected to the drivers of the master unit 21 and the slave unit 23, as well as to the position sensors, as shown in Figure 4. These parts are connected by signal lines and send and receive signals from each other.

[0040] The processor 91 executes various processes according to the program recorded in the ROM 92 or the program loaded into the RAM 93 from the storage unit 95. The RAM 93 also stores data and other information necessary for the processor 91 to execute various processes.

[0041] The communication unit 94 controls communication so that the processor 91 can communicate with other devices (for example, the image application device 30 or the state determination device 50). The storage unit 95 is composed of semiconductor memory such as DRAM (Dynamic Random Access Memory) and stores various types of data.

[0042] The input unit 96 consists of various buttons and a touch panel, or external input devices such as a mouse and keyboard, and inputs various information according to the user's instructions. The output unit 97 consists of a display, speaker, etc., and outputs images, sounds, warning sounds, etc. The drive 98 is appropriately equipped with removable media (not shown in the diagram), such as magnetic disks, optical disks, magneto-optical disks, or semiconductor memory. Programs read from the removable media by the drive 98 are installed in the storage unit 95 as needed.

[0043] In this hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, the processor 91 functions as follows: the operation control unit 911, the image conversion unit 912, and the image notification unit 913. Furthermore, in such a hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, a force-tactile parameter storage unit 951 is set in one area of ​​the storage unit 95, as shown in Figure 5. Unless otherwise specified below, these functional blocks will send and receive the data necessary to perform the processing at the appropriate times.

[0044] The motion control unit 911 controls the operation of each mechanism by performing force-tactile control between the operating mechanism 22 driven by the master unit 21 and the contact mechanism 24 driven by the slave unit 23. To achieve this control, the motion control unit 911 acquires force-tactile information necessary for control. For example, the motion control unit 911 acquires the position (specifically, position or angle) of the movable part of the operating mechanism 22, which is moved by the master actuator 212, from the master position sensor 213. The motion control unit 911 also acquires the position (specifically, position or angle) of the movable part of the contact mechanism 24, which is moved by the slave actuator 232, from the slave position sensor 233. These acquired physical quantity data, such as position, are used as reference values ​​for the operation of each mechanism driven by the master unit 21 and the slave unit 23 in the force-tactile transmission control algorithm.

[0045] Figure 6 is a block diagram showing the control algorithm for force tactile sensation transmission by the motion control unit 911. As shown in Figure 6, the algorithm implemented in the operation control unit 911 is expressed as a control law that includes a function-specific force-velocity assignment conversion block FT, an ideal force source block FC, an ideal velocity (position) source block PC, and an inverse conversion block IFT. The control algorithm shown in Figure 6 is described in the patent gazette (Patent No. 6382203) of the patent rights held by Keio University, which is the applicant of this application, and various control algorithms described in the said patent gazette can be used as appropriate in this embodiment as well. In this embodiment, the master device in the controlled system CS consists of a master-side unit 21 and an operating mechanism 22, and the slave device consists of a slave-side unit 23 and a contact mechanism 24.

[0046] The Functional Force / Velocity Assignment Conversion Block FT is a block that defines the conversion of control energy to the velocity (position) and force domains set according to the function of the controlled system CS. Specifically, the Functional Force / Velocity Assignment Conversion Block FT defines a coordinate transformation that takes as input the reference value (reference value) of the function of the controlled system CS and the current position (or current angle) of the movable parts of each mechanism moved by the master actuator 212 and slave actuator 232. This coordinate transformation generally converts an input vector with the reference value and current position (current angle) as elements into an output vector consisting of position (angle) for calculating the control target value of position (angle), and also converts an input vector with the reference value and current force as elements into an output vector consisting of force for calculating the control target value of force.

[0047] By setting the coordinate transformation in the functional force / velocity assignment conversion block FT to represent the force-tactile transmission function, it is possible to realize the force-tactile transmission function between the master unit 21 and the slave unit 23, or to reproduce the force-tactile transmission operation on the slave unit 23 without using the master unit 21. Furthermore, by setting coefficients in the elements of the transformation matrix in the coordinate transformation of the functional force / velocity assignment conversion block FT, it is possible to scale the position (angle) or force.

[0048] In other words, in this embodiment, the function-specific force / velocity assignment conversion block FT "converts" the individual variables (variables in real space) of the movable parts of each mechanism moved by the master actuator 212 and slave actuator 232 into a group of system-wide variables (variables in space after coordinate transformation) that represent the force-tactile transmission function, and assigns control energy to the control energy of position (angle) and the control energy of force. That is, the coordinate transformation set in the function-specific force / velocity assignment conversion block FT converts the coordinates in real space where position (angle) and force are related to each other (oblique coordinates) into coordinates in virtual space where position (angle) and force are independent of each other (orthogonal coordinates). Therefore, compared to the case where control is performed using the individual variables (variables in real space) of the movable parts of each mechanism moved by the master actuator 212 and slave actuator 232, it is possible to independently assign the control energy of position (angle) and the control energy of force, that is, to independently control position (angle) and force.

[0049] In this embodiment, for example, when controlling the position (angle) and force output by the master unit 21, the state value in the space after coordinate transformation can be calculated under the condition that the difference in position (angle) is zero and the sum of the forces is zero (equal forces in opposite directions are output) between the input of the position (angle) of the movable part of each mechanism moved by the drive of the master actuator 212 and the force calculated from these positions (angles), and the reference value that serves as the basis for controlling the position (angle) and force. However, the reference value that serves as the basis for controlling the position (angle) and force is the position (angle) of the movable part of each mechanism moved by the drive of the slave actuator 232 in the slave unit 23 and the force calculated from these positions (angles).

[0050] Similarly, in this embodiment, for example, when controlling the position (angle) and force output by the slave unit 23, the state value in the space after coordinate transformation can be calculated under the condition that the difference in position (angle) is zero and the sum of the forces is zero (equal forces in opposite directions are output) between the input of the position (angle) of the movable part of each mechanism moved by the slave actuator 232 and the force calculated from these positions (angles), and the reference value that serves as the basis for controlling the position (angle) and force. However, the reference value that serves as the basis for controlling the position (angle) and force is the position (angle) of the movable part of each mechanism moved by the master actuator 212 in the master unit 21 and the force calculated from these positions (angles).

[0051] The ideal force source block FC is a block that performs calculations in the force domain according to the coordinate transformation defined by the functional force-velocity assignment conversion block FT. In the ideal force source block FC, a target value for force is set when performing calculations based on the coordinate transformation defined by the functional force-velocity assignment conversion block FT. This target value is set as a fixed value or a variable value depending on the function to be realized. For example, when realizing a function similar to the function indicated by the reference value, zero can be set as the target value, or when scaling is performed, a value that is an enlarged or reduced version of the information representing the function indicated by the reference value can be set. In addition, the ideal force source block FC can set an upper limit on the force energy determined by the calculations in the force domain. By setting an upper limit on the force energy, for example, it is possible to limit the contact force when the slave-side unit 23 contacts the packaging container 10, thereby preventing the contact mechanism 24 from being pressed excessively hard against the packaging container 10.

[0052] The ideal velocity (position) source block PC is a block that performs calculations in the position (angle) domain according to the coordinate transformation defined by the function-specific force / velocity assignment conversion block FT. In the ideal velocity (position) source block PC, a target value for position (angle) is set when performing calculations based on the coordinate transformation defined by the function-specific force / velocity assignment conversion block FT. This target value is set as a fixed value or a variable value depending on the function to be realized. For example, when realizing a function similar to the function indicated by the reference value, zero can be set as the target value, or when scaling is performed, a value that is an enlarged or reduced version of the information indicating the function to be reproduced can be set. In addition, the ideal velocity (position) source block PC can set an upper limit on the force energy determined by the calculations in the position (angle) domain. Setting an upper limit on the position (angle) energy limits the distance that the slave-side unit 23 moves forward and backward, thereby preventing the contact mechanism 24 from being pressed excessively hard against the packaging container 10.

[0053] The inverse transformer block IFT is a block that inversely transforms values ​​in the position (angle) and force domains into values ​​in the input domain to the controlled system CS (e.g., voltage or current values, etc.) (i.e., determines command values ​​in real space). Under this control algorithm, the inspection device 20 receives time-series position (angle) detection values ​​detected by the master-side position sensor 213. These time-series position (angle) detection values ​​represent the operation of the master-side actuator 212 and the slave-side actuator 232, and the inspection device 20 applies a coordinate transformation described in the patent publication (Patent No. 6382203) of a patent held by Keio University to the input position (angle) and the force derived from these positions (angles).

[0054] Based on this algorithm, the motion control unit 911 controls the operation of each mechanism by transmitting force and tactile sensations between the operating mechanism 22 driven by the master unit 21 and the contact mechanism 24 driven by the slave unit 23. Furthermore, in conjunction with the control that transmits this force-tactile sensation, time-series parameters such as the position (angle) of the movable part detected by the master-side position sensor 213 and the slave-side position sensor 233, and time-series parameters for transmitting force-tactile sensation calculated based on these, are stored as force-tactile parameters in the force-tactile parameter storage unit 951. In other words, the force-tactile parameter storage unit 951 functions as a storage unit that stores force-tactile parameters.

[0055] Returning to Figure 8, the image conversion unit 912 reads the force-tactile parameters used by the motion control unit 911 in the algorithm described above from the force-tactile parameter storage unit 951. Then, it converts these force-tactile parameters into an image.

[0056] As for image conversion methods, any method that can visualize time-series data (in this case, time-series force-tactile parameters) can be used. For example, graphing methods such as recurrence plots can be used. A recurrence plot is a method that focuses on the periodicity of time series, and for time-series data x(t), it plots a point on the graph at coordinates (i,j) when the values ​​of x(i) and x(j) are approximately equal at different time points i and j. By performing this image transformation, it is possible to assign an image that shows the characteristics of time-series force-tactile parameters without directly assigning the time-series force-tactile parameters themselves.

[0057] Here, the image conversion unit 912 may also convert time-series parameters other than time-series force-tactile parameters, such as the position (angle) of the movable part detected by the master-side position sensor 213 or the slave-side position sensor 233. Alternatively, it may convert time-series parameters for transmitting force-tactile sensation calculated based on these parameters. Furthermore, it may also convert time-series parameters such as acceleration and velocity derived by performing differential and integral calculations on these time-series parameters.

[0058] As an example, a value called "force-tactile stimulation amount" that indicates the state of the packaging container 10 may be defined as an indicator, and this time-series force-tactile stimulation amount may be used as the target of conversion. The force-tactile stimulation amount is defined as "Instantaneous f / t sensation" in equation (8) on page 127 of the <References> listed below. Specifically, the force-tactile stimulation amount is the value obtained by dividing force by velocity, and its unit is [Nm / sec]. The <References> listed below are documents submitted by Kohei Onishi, who is one of the inventors of this application.

[0059] <References> Kohei Onishi, 1 others, “IEEJ Journal of Industry Applications Vol.12 No.2 pp.125-130”, [online], October 21, 2020, Institute of Electrical Engineers of Japan, [searched on September 25, 2020], Internet <URL:https: / / www.jstage.jst.go.jp / article / ieejjia / 12 / 2 / 12_22004546 / _article / -char / ja>

[0060] The image conversion unit 912 outputs the image data of the image generated by the conversion to the image notification unit 913.

[0061] The image notification unit 913 notifies by sending the input image data to the notification destination. When the inspection device 20 operates as inspection device 20a, this notification destination is the image assignment device 30, and the notified image data corresponds to the first image data. On the other hand, when the inspection device 20 operates as inspection device 20b, this notification destination is the state determination device 50, and the notified image data corresponds to the second image data.

[0062] [Configuration of the image granting device 30]

[0063] Figure 7 is a block diagram showing an example of hardware and functional blocks in an image application device 30. As shown in Figure 7, the image application device 30 includes a processor 31, a ROM 32, a RAM 33, a communication unit 34, a storage unit 35, an input unit 36, an output unit 37, and an application unit 38. These units are connected by signal lines and send and receive signals from each other. Of these, the hardware other than the assigning unit 38 has the same function as the hardware with the same name as the control unit 25 shown in Figure 5, only differing in its symbol; therefore, redundant explanations will be omitted.

[0064] The application unit 38 physically applies the first image data of the first image, which is obtained by converting force-tactile parameters received from the inspection device 20, to the packaging container 10. The application unit 38 is implemented, for example, by a printing device or an engraving mechanism.

[0065] In this hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, the image acquisition unit 311 and the assignment control unit 312 function in the processor 31, as shown in Figure 7. Furthermore, in such a hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, an image data storage unit 351 is set in one area of ​​the storage unit 35, as shown in Figure 7. Unless otherwise specified below, these functional blocks will send and receive the data necessary to perform the processing at the appropriate times.

[0066] The image acquisition unit 311 acquires the first image data of the first image, which has been converted from force-tactile parameters, by receiving it from the inspection device 20a. The image acquisition unit 311 also stores the acquired first image data in the image data storage unit 351. In other words, the image data storage unit 351 functions as a storage unit that stores the first image data.

[0067] The application control unit 312 reads the first image data stored in the image data storage unit 351. Then, the application control unit 312 controls the application unit 38 to physically apply the first image corresponding to the first image data to the packaging container 10 as the applied image 61.

[0068] One method of application is to print the first image onto product tag paper, and then attach this product tag to the packaging container 10 as a sticker. Alternatively, if the outer packaging of the packaging container 10 is printable, the first image may be printed directly onto the edge of the outer packaging of the packaging container 10. Another method is to modify the shape of the stamping mechanism for imprinting on the packaging container 10 to match the image, so that it can be stamped.

[0069] In either case, the ink used to print or stamp the first image should be a special ink that is invisible to the user under visible light. For example, an ink that reflects visible light while absorbing infrared light can be used. This makes it invisible to the user but readable with an infrared camera, etc. This prevents the design of the packaging container 10 from being obstructed or information such as warnings written on the package from becoming invisible due to the printing of the first image.

[0070] In this way, by physically attaching the first image, the first image becomes physically linked to the packaging container 10, eliminating the need to manage the correspondence between each packaging container 10 and its corresponding first image during the distribution process. Furthermore, it eliminates the need to share data related to the first image via a network. The packaging container 10, to which the first image has been physically attached, is then transported to the second location by a vehicle such as a truck or a train.

[0071] [Configuration of the reading device 40] Figure 8 is a block diagram showing an example of hardware and functional blocks in a reading device 40. As shown in Figure 8, the reading device 40 includes a processor 41, a ROM 42, a RAM 43, a communication unit 44, a storage unit 45, an input unit 46, an output unit 47, and a reading unit 48. These units are connected by signal lines and send and receive signals from each other. Of these, the hardware other than the reading unit 48 has the same function as the hardware of the same name as the control unit 25 shown in Figure 5, only differing in its code; therefore, redundant explanations will be omitted.

[0072] The reading unit 48 acquires first image data by reading the assigned image 61 that is physically attached to the packaging container 10. The reading unit 48 is implemented, for example, by an infrared camera or an infrared scanner.

[0073] In this hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, the processor 41 functions as follows: the read control unit 411 and the image notification unit 412. Furthermore, in such a hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, an image data storage unit 451 is set in one area of ​​the storage unit 45, as shown in Figure 8. Unless otherwise specified below, these functional blocks will send and receive the data necessary to perform the processing at the appropriate times.

[0074] The reading control unit 411 controls the reading unit 48 to read the assigned image 61 that is physically attached to the packaging container 10, thereby acquiring first image data. The reading control unit 411 also stores the acquired first image data in the image data storage unit 451. In other words, the image data storage unit 451 functions as a storage unit that stores the first image data.

[0075] The image notification unit 412 reads out the first image data stored in the image data storage unit 351. The image notification unit 412 then notifies the state determination device 50 by transmitting the read-out first image data.

[0076] [Configuration of the state determination device 50] Figure 9 is a block diagram showing an example of hardware and functional blocks in a state determination device 50. As shown in Figure 9, the state determination device 50 includes a processor 51, a ROM 52, a RAM 53, a communication unit 54, a storage unit 55, an input unit 56, an output unit 57, and a drive 58. These units are connected by signal lines and send and receive signals from each other. Since each of these hardware components has the same function as the control unit 25 shown in Figure 5, only differing in its symbol, redundant explanations will be omitted.

[0077] In this hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, the image acquisition unit 511, the determination unit 512, and the determination result output unit 513 function on the processor 51, as shown in Figure 9. Furthermore, in such a hardware configuration, when the above-described determination process is implemented with reference to Figures 2 and 3, an image data storage unit 551 and a determination result storage unit 552 are set in one area of ​​the storage unit 55, as shown in Figure 9. Unless otherwise specified below, these functional blocks will send and receive the data necessary to perform the processing at the appropriate times.

[0078] The image acquisition unit 511 acquires the first image data of the first image, which is obtained by converting the force-tactile parameters when an inspection was performed at the first site, by receiving it from the reading device 40. The image acquisition unit 511 also acquires the second image data of the second image, which is obtained by converting the force-tactile parameters when an inspection was performed at the second site, by receiving it from the inspection device 20b.

[0079] Furthermore, the image acquisition unit 311 stores the acquired first image data and second image data in the image data storage unit 551. In other words, the image data storage unit 551 functions as a storage unit that stores the first image data and the second image data.

[0080] The determination unit 512 reads the first image data and the second image data stored in the image data storage unit 551. Then, it reconstructs the first image and the second image from these image data. The determination unit 512 then compares the reconstructed first image with the second image to determine the change in the state of the packaging container 10 over time.

[0081] For example, if the first image data shows the packaging container 10 in a normal state, but the second image data shows the packaging container 10 damaged, it can be determined that the damage occurred during the distribution process from the first location to the second location. In addition, as mentioned above and referring to Figure 3, it is also possible to determine whether the condition has deteriorated during the distribution process or whether the condition has been maintained. Alternatively, if the first and second images can be scored, the judgment can also be made by comparing these scores.

[0082] The determination unit 512 stores the determination result in the determination result storage unit 552. In other words, the determination result storage unit 552 functions as a storage unit that stores the determination result of the determination unit 512 regarding the change in the state of the packaging container 10 over time.

[0083] The judgment result output unit 513 reads the judgment result from the judgment result storage unit 552. Then, it outputs the read judgment result so that the user can understand it. The output is realized, for example, by displaying it on a display included in the output unit 57, by outputting audio from a speaker included in the output unit 57, or by printing it from a printer connected via the communication unit 54.

[0084] Users who review these outputs can understand the results of their assessment of changes in the state of the packaging container 10 over time. This makes it possible to remove products that have become defective due to damage to the packaging container 10. In other words, it is possible to detect leaks of the contents, such as food, or leaks of carbon dioxide or nitrogen gas (so-called air leaks), or, if the food is a fluid, to detect leaks of that fluid food. This makes it possible to detect deterioration or leakage of contents due to air leaks, etc., before the product reaches the consumer, thereby guaranteeing the quality of the product.

[0085] [Decision Processing] Each device included in the state determination system S has been described in detail. Next, the processing content of the determination process implemented by each of these devices will be explained. First, the operation control process, which is a prerequisite for the determination process, will be explained. The operation control process is executed as a subroutine in the determination process.

[0086] (Motion control processing) Figure 10 is a flowchart illustrating the flow of the operation control process performed by the state determination system S. In step S1, the motion control unit 911 acquires the position (angle) of the movable part of the mechanism to be moved by the actuator. In this embodiment, the mechanism to be moved is the operating mechanism 22 and the contact mechanism 24. In this case, the motion control unit 911 acquires the positions corresponding to these mechanisms from the master-side position sensor 213 and the slave-side position sensor 233.

[0087] In step S2, the operation control unit 911 converts the input vector in real space into a vector in virtual space. In step S3, the motion control unit 911 performs calculations in the velocity (position) domain and calculations in the force domain.

[0088] In step S4, the motion control unit 911 inversely converts the values ​​in the velocity (position) and force domains into values ​​in the input domain (vectors in real space) to the system CS under control. In step S5, the motion control unit 911 outputs command values ​​for the master actuator 212 and the slave actuator 232.

[0089] In step S6, it is determined whether or not to terminate the operation control process. The operation control process terminates, for example, when a user who has completed the inspection of the packaging container 10 in a predetermined operation pattern stops operating the operating mechanism 22. If the operation control process is to be terminated, it is determined as Yes in step S6, and this process ends. On the other hand, if the operation control process is not to be terminated, it is determined as No in step S6, and the process returns to step S1 and is repeated.

[0090] According to the motion control process described above, the operation of each mechanism can be controlled by performing force-tactile control (bilateral control) between the operating mechanism 22 and the contact mechanism 24 of the inspection device 20.

[0091] Figure 11 is a flowchart illustrating the flow of the determination process performed by the state determination system S. The determination process is executed when each device of the state determination system S receives a user's instruction to start the determination process.

[0092] In step S11, the operation control unit 911 of the inspection device 20a performs the operation control processing shown in Figure 10, which is a subroutine, based on the user's operation of the operating mechanism 22.

[0093] In step S12, the image conversion unit 912 of the inspection device 20a generates first image data. The generated first image data is notified to the image assignment device 30 by the image notification unit 913 of the inspection device 20a.

[0094] In step S13, the application control unit 312 of the image application device 30 controls the application unit 38 to physically apply the first image corresponding to the first image data to the packaging container 10 as the applied image 61.

[0095] In step S14, the reading control unit 411 of the reading device 40 controls the reading unit 48 to read the first image physically applied to the packaging container 10, thereby acquiring first image data. The acquired first image data is notified to the state determination device 50 by the image notification unit 412 of the reading device 40.

[0096] In step S15, the operation control unit 911 of the inspection device 20b performs the operation control processing shown in Figure 10, which is a subroutine, based on the user's operation of the operating mechanism 22.

[0097] In step S16, the image conversion unit 912 of the inspection device 20b generates a second image data. The generated second image data is notified to the image assignment device 30 by the image notification unit 913 of the inspection device 20a.

[0098] In step S17, the image acquisition unit 511 of the state determination device 50 reconstructs the first image and the second image from the first image data and the second image data. The determination unit 512 then compares the reconstructed first image with the second image to determine the change in the state of the packaging container 10 over time.

[0099] In step S18, the determination result output unit 513 of the state determination device 50 outputs the determination result from step S17. The user who checks this output can understand the determination result of the change in the state of the packaging container 10 over time. This completes the process.

[0100] The judgment process described above solves the problem of the present invention, which is to more easily determine changes in the state of an object being inspected over time. Furthermore, it provides the various effects described with reference to Figures 2 and 3.

[0101] [Differentiation] Although embodiments of the present invention have been described above, these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take various other forms without departing from the spirit of the invention, and various modifications such as omissions and substitutions can be made. In this case, these embodiments and their variations are included in the scope and spirit of the invention as described herein, and are included in the scope of the invention and its equivalents as described in the claims. As an example, the embodiments of the present invention described above may be modified as follows.

[0102] (Variation 1) In the embodiment described above, the user operated the operating mechanism 22 to perform bilateral control and acquire force-tactile parameters. However, this is not the only option, and the user's operation does not necessarily have to be used as input to the operating mechanism 22. For example, force-tactile parameters corresponding to the user's operation (i.e., the force-tactile sensation during the user's operation) from a past inspection can be stored. Then, these force-tactile parameters can be reproduced and used as input to the operating mechanism 22 to control the operation of the contact mechanism 24. This allows the inspection by the inspection device 20 to be performed without requiring user operation, and force-tactile parameters indicating the state of the packaging container 10 being inspected can be acquired. In this case, force-tactile parameters generated by a program may be used as input instead of past force-tactile parameters.

[0103] (Modification 2) In the above-described embodiment, the first image data was generated at the first location and the second image data was generated at the second location. However, the system is not limited to this, and both image data may be generated at the same location. For example, if the location is a warehouse, the first image data is generated on a certain day. Then, the second image data is generated on a day after a certain number of days have passed. The state determination device 50 then makes a determination by comparing the first image data and the second image data. This makes it possible to output a determination result of the change in the state of the packaging container 10 over time while stored in the warehouse.

[0104] (Variation 3) In the above-described embodiment, the determination was made by comparing the first image data with the second image data. However, the system is not limited to this, and comparisons may also be made with a third or subsequent image data. In this case, the image application device 30 physically applies the second image data to the area of ​​the packaging container 10 where the first image data has not been applied. Then, at the third location, the reading device 40 reads the second image data, and the inspection device 20c generates the third image data. Furthermore, the state determination device 50 makes a determination by comparing the second image data with the third image data. This allows it to output a determination result of the change in the state of the packaging container 10 over time from the second location to the third location.

[0105] In this case, the determination may be made by comparing the first image data with the third image data. Alternatively, these processes may be continued to compare the Nth (where N is an integer greater than or equal to 2) image data with the previous image data to make a determination.

[0106] (Modification 4) In the above-described embodiment, the operation pattern of the contact method when the user operates the contact mechanism 24 of the inspection device 20 to perform the inspection was predetermined. However, the operation pattern of the contact method may be varied depending on the characteristics and size of the packaging container 10 and its contents. In this case, this operation pattern may also be converted into an image and physically applied to the packaging container 10. For example, when the image-granting device 30 generates the first image, it converts information into an image that allows it to identify which operation pattern was used in the inspection by the inspection device 20a. Furthermore, the reading device 40 identifies the operation pattern by reading this identifiable image. Then, when the inspection device 20b generates a second image, the user and the inspection device 20b control the operation of the contact mechanism 24 in a specified operation pattern. This allows the operation pattern of the contact method of the contact mechanism 24 to be the same when generating the first image and when generating the second image. In other words, when various operation patterns of the contact method are provided depending on the characteristics and size of the packaging container 10 and its contents, it is possible to prevent accidental contact with a different operation pattern and generation of an image.

[0107] [Example Configuration] As described above, the state determination system S in this embodiment comprises an operation control unit 911, an image conversion unit 912, and a determination unit 512. The operation control unit 911 controls the operation of the contact mechanism 24 to bring the contact mechanism 24 into contact with the packaging container 10. The image conversion unit 912 converts force-tactile parameters related to the operation of the contact mechanism 24, as controlled by the motion control unit 911, into images. The determination unit 512 makes a determination regarding damage to the packaging container 10 by comparing the first image and the second image when the operation control unit 911 and the image conversion unit 912 have generated a first image corresponding to the packaging container 10 and the operation control unit 911 and the image conversion unit 912 have generated a second image corresponding to the packaging container 10.

[0108] Thus, the state determination system S can determine whether the packaging container 10 is damaged simply by comparing a first image and a second image, which are generated at different points in time. In other words, it determines the change in the state of the object being inspected over time. For example, it can determine that the object was in good condition when the first image was generated, but damaged when the second image was generated. In short, it can determine whether damage has occurred over time, or whether the degree of damage is progressing.

[0109] In contrast, conventional technology required identifying each packaging container, managing a database of the history of each identification result, and building a network to share that data with other logistics centers. However, with the state determination system S, all that is required is to compare images, and there is no need to prepare a database or network as in conventional technology.

[0110] Furthermore, the state determination system S allows for the use of simple image processing or image classification methods for determination itself, by imaging force-tactile parameters related to force sensation. In this case, there is no need to analyze force-tactile parameters and perform processing tailored to the characteristics of each object being inspected, nor is there any need for machine learning. In addition, since the determination itself is image processing, the determination unit 512 can utilize existing image processing determination systems (for example, a visual inspection system equipped with a camera) as long as the determination criteria are set. This reduces the user's workload and increases the versatility of the system.

[0111] In other words, the state determination system S can solve the problem of the present invention, which is to more easily determine the change in the state of an object being inspected over time.

[0112] The state determination system S further comprises an assignment unit 38 and a reading unit 48. The application unit 38 physically applies the first image to the packaging container 10. The reading unit 48 reads the first image assigned to the assignment unit 38. The determination unit 512 makes a determination regarding damage to the packaging container 10 by comparing the first image and the second image read by the reading unit 48. This means that the first image is physically linked to the object being inspected, eliminating the need to manage the correspondence between each object and its corresponding first image during the distribution process. Furthermore, it eliminates the need to share data related to the first image over a network.

[0113] There are multiple methods for controlling the operation of the contact mechanism 24 by the operation control unit 911. When generating the first image, the image conversion unit 912 converts information into an image that allows it to identify which control method was used by the operation control unit 911. The reading unit 48 identifies the control method by reading an identifiable image. When generating the second image, the motion control unit 911 controls the operation of the contact mechanism 24 using a specified control method. This allows the control method of the contact mechanism 24 (i.e., the operation pattern of the contact method with respect to the object being inspected) to be the same when generating the first image and when generating the second image. In other words, when various operation patterns of the contact method are provided according to the characteristics and size of the object being inspected, it is possible to prevent accidental contact with a different pattern and generation of an image.

[0114] The application unit 38 applies a first image to the packaging container 10 using ink that is not visible to the user under visible light. This prevents the design of the inspection target's packaging from being obstructed by the printing of the first image, and prevents warnings and other information on the packaging from becoming unreadable.

[0115] There are multiple sets of the motion control unit 911 and the image conversion unit 912. The first set that generates the first image is installed at the first location. The second set, which generates the second image, is installed at the second location. This makes it possible to determine how the condition of the object being inspected changes over time when it moves between different logistics centers.

[0116] The determination unit 512 determines whether or not the contents packaged in the packaging container 10 have leaked out due to damage to the packaging container 10. This makes it possible to determine whether or not there is air leakage from the packaging container 10 or leakage of the packaged goods.

[0117] [Implementation of functions through hardware and software] The function for executing the series of processes according to the above-described embodiment can be implemented by hardware, by software, or by a combination of both. In other words, it is sufficient that the function to perform the series of processes described above is implemented in any of the state determination systems S, and there are no particular limitations on how this function is implemented.

[0118] For example, when the function of performing the series of processes described above is implemented by a processor that performs arithmetic processing, this processor that performs arithmetic processing may consist of various processing units such as single processors, multi-processors, and multi-core processors, as well as a combination of these various processing units with processing circuits such as ASICs (Application Specific Integrated Circuits) or FPGAs (Field-Programmable Gate Arrays).

[0119] Furthermore, if the function of performing the series of processes described above is implemented by software, the program constituting that software is installed on a computer via a network or recording medium. In this case, the computer may be a computer with dedicated hardware built in, or it may be a general-purpose computer (for example, a general-purpose personal computer or other electronic device in general) capable of performing predetermined functions by installing a program.

[0120] The recording medium on which such a program is stored consists of removable media distributed separately from the computer itself, or storage media pre-installed in the device. Removable media consists of, for example, magnetic disks, optical disks, magneto-optical disks, or flash memory. Optical disks consist of, for example, CD-ROM (Compact Disk-Read Only Memory), DVD (Digital Versatile Disk), Blu-ray Disc (registered trademark), etc. Magneto-optical disks consist of, for example, MD (Mini-Disk). Flash memory consists of, for example, USB (Universal Serial Bus) memory or SD cards. Storage media pre-installed in the device consists of, for example, ROM or hard disks on which the program is stored.

[0121] In this specification, the step of describing a program to be recorded on a recording medium includes not only processes that are performed chronologically in that order, but also processes that are not necessarily performed chronologically, but are executed in parallel or individually. Furthermore, in this specification, the term "system" refers to an overall system composed of multiple devices, means, etc.

[0122] The above embodiments illustrate one example of applying the present invention and do not limit the technical scope of the present invention. That is, the present invention can be modified in various ways, such as by omitting or substituting, without departing from the spirit of the invention, and various embodiments other than those described above are possible. Various embodiments that the present invention can take and their variations are included in the scope of the invention described in the claims and its equivalents. [Explanation of Symbols]

[0123] 10 Object to be inspected, 20 Inspection device, 21 Master-side unit, 22 Operating mechanism, 221 Master-side / slave-side driver, 2312 Master-side actuator, 213 Master-side position sensor, 23 Slave-side unit, 231 Slave-side driver, 232 Slave-side actuator, 233 Slave-side position sensor, 24 Contact mechanism, 25 Control unit, 30 Image application device, 31, 41, 91 Processor, 32, 42, 92 ROM, 33, 43, 93 RAM, 34, 44, 94 Communication unit, 35, 45, 95 Storage unit, 36, 46, 96 Input unit, 37, 47, 97 Output unit, 38 Application unit, 40 Reading device, 48 Reading unit, 50 State determination device, 58, 98 Drive, 61 Application image, 311, 412, 511 Image acquisition unit, 312 Assignment control unit, 351, 451 Image data storage unit, 411 Reading control unit, 512 Judgment unit, 513 Judgment result notification unit, 911 Operation control unit, 912 Image conversion unit, 412, 913 Image notification unit, 951 Force tactile parameter storage unit, CS Controlled system, FT Force / velocity assignment conversion block, FC Ideal force source block, PC Ideal velocity (position) source block, IFT Inverse conversion block, N Network, S State determination system

Claims

1. A condition determination system that uses packaging containers as the object of inspection, An operation control means that controls the operation of the contact mechanism to bring the contact mechanism into contact with the object to be inspected, A conversion means that converts force-tactile parameters related to the operation of the contact mechanism by the aforementioned motion control means into an image, After the operation control means and the conversion means have generated a first image corresponding to the object to be inspected, and then the operation control means and the conversion means have generated a second image corresponding to the object to be inspected, a determination means for determining whether the object to be inspected is damaged by comparing the first image and the second image, A state determination system characterized by comprising the following features.

2. The first image is applied physically to the object to be inspected, A reading means for reading the first image assigned to the assigning means, Furthermore, The determination means makes a determination regarding damage to the object being inspected by comparing the first image read by the reading means with the second image. The state determination system according to feature 1.

3. There are multiple methods for controlling the operation of the contact mechanism using the aforementioned operation control means. When generating the first image, the conversion means converts information into an image that allows it to identify which control method was used by the operation control means. The reading means identifies the control method by reading the identifiable image, When generating the second image, the operation control means controls the operation of the contact mechanism using the specified control method. The state determination system according to feature 2.

4. The imparting means imparts the first image to the object to be inspected using an ink that is not visible to the user under visible light. A state determination system according to the feature described in 2 or 3,

5. There are multiple sets of the aforementioned operation control means and conversion means. The first set for generating the first image is installed in the first location, The second set that generates the second image is installed in the second location. A state determination system according to any one of claims 1 to 3.

6. The determination means determines whether or not the contents contained in the packaging container have leaked out due to damage to the packaging container, which is the object to be inspected. A state determination system according to any one of claims 1 to 3.

7. A condition determination method performed by a condition determination system that inspects packaging containers, A control step to bring the contact mechanism into contact with the object to be inspected by controlling the operation of the contact mechanism, A conversion step that converts force-tactile parameters related to the operation of the contact mechanism by the aforementioned motion control step into an image, After a first image corresponding to the object to be inspected is generated by the motion control step and the conversion step, if a second image corresponding to the object to be inspected is generated by the motion control step and the conversion step, a determination step is made to compare the first image and the second image to determine whether the object to be inspected is damaged. A method for determining a state, characterized by including the following:

8. A condition determination program that uses packaging containers as the object to be inspected, A function to control the operation of the contact mechanism so that the contact mechanism comes into contact with the object to be inspected, A conversion function that converts force-tactile parameters related to the operation of the contact mechanism by the aforementioned motion control function into an image, After a first image corresponding to the object to be inspected is generated by the aforementioned motion control function and conversion function, if a second image corresponding to the object to be inspected is generated by the aforementioned motion control function and conversion function, a determination function is provided to compare the first image and the second image to determine whether the object to be inspected is damaged. A state determination program characterized by enabling a computer to implement this.

Images