Apparatus for detecting particle swarms and method for detecting particle swarms

Abstract

The challenge lies in how to distinguish and detect each group of microparticles when multiple groups of microparticles are present. [Solution] The microparticle swarm detection device 10 irradiates a predetermined area including the workpiece 60 with green sheet laser light and red sheet laser light, switching the emission timing of these lights in a time series, and uses the imaging unit 15 to capture a video of the predetermined area including the workpiece 60. Then, frames captured with green sheet laser light and frames captured with red sheet laser light are extracted from the captured video to generate a video of green frames and a video of red frames. Subsequently, the microparticle swarm detection device 10 detects microparticle swarms based on the extracted video of green frames. The microparticle swarm detection device 10 also detects microparticle swarms based on the extracted video of red frames.

Description

[Technical Field]

[0001] The present invention relates to a particle group detection device and a particle group detection method that can efficiently detect each particle group when multiple particle groups with different characteristics (color, density, etc.) are present. [Background technology]

[0002] Traditionally, in arc welding processes for objects such as automobiles, a group of fine particles called welding fumes are often generated when the heat from the arc causes molten metal vapor to be released into the atmosphere. Depending on the metal being arc-welded, these fine particles may appear white or magenta.

[0003] In this arc welding process, although the resulting material should be white, there is a risk that, as a result of unintended metal parts melting, a group of magenta-colored fine particles may be generated. This has led to quality and environmental problems related to these fine particles, and technologies for detecting fine particles scattered in a room are known (see, for example, Patent Document 1). The technology described in Patent Document 1 forms approximately parallel optical surfaces with multicolored light, captures a video of the detection space, and measures the velocity of the particles by analyzing the video. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Special Publication No. 2003-518630 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, the method described in Patent Document 1 cannot distinguish and detect multiple groups of fine particles with different characteristics (color, density, etc.) when they are present simultaneously. Therefore, the challenge lies in how to distinguish and detect each group of fine particles when multiple groups are present.

[0006] The present invention was made to solve the problems (issues) of the above-mentioned prior art, and relates to a particle group detection device and a particle group detection method that can efficiently distinguish and detect each particle group when there are multiple particle groups with different characteristics (color, density, etc.). [Means for solving the problem]

[0007] To solve the above-mentioned problems and achieve the objective, the present invention provides a particle group detection device for detecting a plurality of particle groups located in a predetermined region, comprising: an imaging means for capturing a video consisting of a plurality of images captured in chronological order over the predetermined region; a plurality of light-emitting means for irradiating a plurality of different types of light; a switching means for switching the light emission timing of the plurality of light-emitting means in chronological order; an extraction means for extracting a plurality of images forming the video captured by the imaging means according to the light emission timing of the switching means; and a detection means for detecting the plurality of particle groups based on the plurality of images extracted by the extraction means.

[0008] Furthermore, the present invention is characterized in that, in the above invention, the plurality of light-emitting means comprises a first sheet laser irradiation means for irradiating sheet laser light of a first color and a second sheet laser irradiation means for irradiating sheet laser light of a second color, and the switching means alternately switches between the first sheet laser irradiation means and the second sheet laser irradiation means.

[0009] Furthermore, the present invention is characterized in that, in the above invention, the first sheet laser irradiation means is a light-emitting body that irradiates green sheet laser light.

[0010] Furthermore, the present invention is characterized in that, in the above invention, the second sheet laser irradiation means is a light-emitting body that irradiates red sheet laser light.

[0011] Furthermore, the present invention is characterized in that, in the above invention, the switching means switches the irradiation of the first sheet laser irradiation means and the second sheet laser irradiation means in synchronization with the frame forming the video captured by the imaging means.

[0012] Furthermore, the present invention is characterized in that, in the above invention, the detection means detects the plurality of fine particle groups by a predetermined particle image velocity measurement method or a predetermined particle tracking method.

[0013] Furthermore, the present invention relates to a particle group detection device for detecting a plurality of particle groups located in a predetermined region, and is characterized by comprising: an imaging step of capturing a video consisting of a plurality of images captured in a time series over the predetermined region; a plurality of light emission steps of irradiating with a plurality of different types of light; a switching step of switching the timing of light emission by the plurality of light emission steps in a time series; an extraction step of extracting a plurality of images forming the video captured by the imaging step for each light emission timing of the switching step; and a detection step of detecting the plurality of particle groups based on the plurality of images extracted by the extraction step. [Effects of the Invention]

[0014] According to the present invention, when multiple groups of fine particles with different characteristics (color, density, etc.) exist, each group of fine particles can be efficiently distinguished and detected. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 shows an overview of a particulate matter detection device according to an embodiment. [Figure 2] Figure 2 shows the configuration of the particulate matter detection system according to the embodiment. [Figure 3] Figure 3 is a functional block diagram showing the configuration of the particulate matter swarm detection device shown in Figure 2. [Figure 4] Figure 4 is an explanatory diagram illustrating the video imaging process of a particle ensemble detection device. [Figure 5]FIG. 5 is an explanatory diagram for explaining the cutting out of the green frame. [Figure 6] FIG. 6 is an explanatory diagram for explaining the cutting out of the red frame. [Figure 7] FIG. 7 is a flowchart showing the processing procedure of the particulate group detection device. [Figure 8] FIG. 8 is a flowchart showing the processing procedure of the laser switching process.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, embodiments of the particulate group detection device and the particulate group detection method according to the present invention will be described in detail based on the drawings.

[0017] The outline of the particulate group detection device according to the present embodiment will be described. FIG. 1 is a diagram showing the outline of the particulate group detection device according to the embodiment. The particulate group detection device according to the embodiment can be used for detecting a group of coating particles in a coating process or detecting welding fumes in an arc welding process. In this embodiment, the case of applying it to the arc welding process will be described.

[0018] As shown in FIG. 1, when the particulate group detection device according to the present embodiment captures a moving image composed of a plurality of images captured at each time series for a predetermined region in the arc welding process, it controls the laser irradiation of a plurality of sheet lasers of different colors, and performs moving image capture while switching the light emission timing of the plurality of sheet lasers at each time series (S1). Here, the case of using two colors, green and red, as the sheet lasers will be described. Next, the particulate group detection device cuts out an image (hereinafter referred to as "frame") irradiated with the green sheet laser light based on the captured moving image (S2).

[0019] Subsequently, the microparticle ensemble detection device extracts frames irradiated with red sheet laser light based on the captured video (S3). Then, the microparticle ensemble detection device inputs the video generated from the frames irradiated with green sheet laser light to the microparticle ensemble detection processing unit (corresponding to the "detection means" in the claim) (S4), and outputs the detection result of the microparticle ensemble detected in the green sheet laser video by the microparticle ensemble detection processing unit (S5).

[0020] Subsequently, the microparticle swarm detection device inputs the video generated from the frames irradiated with red sheet laser light to the microparticle swarm detection processing unit (S6), and outputs the detection result of the microparticle swarm detected in the red sheet laser video (S7).

[0021] As described above, the microparticle group detection device of the present invention irradiates a predetermined area while switching the emission timing of green sheet laser light and red sheet laser light in a time series, captures a video of the predetermined area, extracts frames captured with green sheet laser light and frames captured with red sheet laser light from the captured video, and detects microparticle groups using the video captured with green sheet laser light and the video captured with red sheet laser light respectively, thereby obtaining detection results that can determine each microparticle group even when microparticle groups of different types with different colors and densities are mixed together.

[0022] <System configuration of the particulate matter swarm detection system> Next, the system configuration of the microparticle ensemble detection system according to the embodiment will be described. Figure 2 is a diagram showing the configuration of the microparticle ensemble detection system according to the embodiment. The microparticle ensemble detection system includes a microparticle ensemble detection device 10, a plurality of robot arms 50a, and a workpiece 60. The microparticle ensemble detection device 10 is connected to a green sheet laser irradiation unit 13 (corresponding to the "light-emitting means" in the claim), a red sheet laser irradiation unit 14 (corresponding to the "light-emitting means" in the claim), and an imaging unit 15 (corresponding to the "imaging means" in the claim). The green sheet laser irradiation unit 13 and the red sheet laser irradiation unit 14 are arranged such that the green sheet laser light irradiated from the green sheet laser irradiation unit 13 and the red sheet laser light irradiated from the red sheet laser irradiation unit 14 form at least approximately parallel optical surfaces.

[0023] When welding is performed on a workpiece 60 using multiple robot arms 50a, the particulate matter ensemble detection device 10 controls the green sheet laser irradiation unit 13 and the red sheet laser irradiation unit 14 to detect welding fumes and other particles generated from the welding tips of the robot arms 50a. The imaging unit 15 captures a video of a predetermined area including the workpiece 60 while switching the emission timing of the two sheet lasers in a time series. From the captured video, the device extracts green frames where the green sheet laser light is irradiated and red frames where the red sheet laser light is irradiated, respectively, and generates a green frame video based on the green frames and a red frame video based on the red frames. The particulate matter ensemble detection device then inputs the green frame video to the particulate matter ensemble detection processing unit to detect welding fumes and other particulate matter ensemble, and also inputs the red frame video to the particulate matter ensemble detection processing unit to detect welding fumes and other particulate matter ensemble.

[0024] The particle swarm detection device 10 performs processes such as capturing video, switching sheet lasers, extracting frames based on the video, detecting particle swarms based on the images from each sheet laser, and displaying the detection results.

[0025] <Configuration of the particulate matter detection device 10> Next, the configuration of the particulate matter detection device 10 will be described. Figure 3 is a functional block diagram showing the configuration of the particulate matter detection device 10 shown in Figure 2. As shown in Figure 3, the particulate matter detection device 10 includes a display unit 11, an input unit 12, a green sheet laser irradiation unit 13, a red sheet laser irradiation unit 14, an imaging unit 15, a storage unit 16, and a control unit 17. The display unit 11 is a display device such as a liquid crystal display that displays various information. The input unit 12 is an input device such as a mouse or keyboard.

[0026] The green sheet laser irradiation unit 13 is a processing unit that irradiates a green sheet-shaped laser beam towards a predetermined area including the workpiece 60 on which the welding process is being carried out. To obtain a green sheet laser beam, for example, a laser using a solid with a crystal structure of YAG (yttrium aluminum garnet) or a solid with a crystal structure of YVO4 (yttrium vanadite) can be passed through an oxide single crystal to extract the second harmonic, and this laser beam can be passed through a cylindrical lens to irradiate a green sheet-shaped laser beam.

[0027] The red sheet laser irradiation unit 14 is a processing unit that irradiates a red sheet-shaped laser beam towards a predetermined area including the workpiece 60 on which the welding process is being performed. To obtain red sheet laser beam, for example, a laser using a solid with a crystalline structure based on AlGaInP (aluminum gallium indium phosphide) can be passed through a cylindrical lens to irradiate a red sheet-shaped laser beam.

[0028] The imaging unit 15 is a camera that captures multiple images in a time series based on the reflected light from a group of fine particles such as welding fumes that are reflected by a sheet laser beam irradiated onto a predetermined area including the workpiece 60.

[0029] The storage unit 16 is a storage device such as a hard disk drive or non-volatile memory, and stores the captured image data 16a, green frame data 16b, red frame data 16c, green frame microparticle group detection data 16d, and red frame microparticle group detection data 16e. The captured image data 16a is video data of a predetermined area including the workpiece 60, captured by the green sheet laser irradiation unit 13 and the red sheet laser irradiation unit 14 with their emission timings switched sequentially.

[0030] Green frame data 16b is video data generated by extracting frames captured when the green sheet laser light was irradiated in all frames of the captured image data 16a. Red frame data 16c is video data generated by extracting frames captured when the red sheet laser light was irradiated in all frames of the captured image data 16a.

[0031] The green frame microparticle group detection data 16d is obtained using the green frame data 16b to identify the microparticle group captured in the video by the displacement vector Δx of the microparticle group over a minute time interval Δt between frames. g The local velocity vector V ≈ Δx of the particle group is obtained by image processing. g This is the data used to calculate / Δt.

[0032] The red frame microparticle group detection data 16e is obtained by using the red frame data 16c to determine the microparticle group captured in the video by the displacement vector Δx of the microparticle group over a minute time interval Δt between frames. r The local velocity vector V ≈ Δx of the particle group is obtained by image processing. r This is the data used to calculate / Δt.

[0033] The control unit 17 is a control unit that controls the entire particle ensemble detection device 10, and includes an imaging control unit 17a, a sheet laser irradiation switching control unit 17b, a frame extraction processing unit 17c, a particle ensemble detection processing unit 17d, and a display control unit 17e. In practice, by loading these programs into the CPU and executing them, the imaging control unit 17a, the sheet laser irradiation switching control unit 17b, the frame extraction processing unit 17c, the particle ensemble detection processing unit 17d, and the display control unit 17e are made to execute the processes corresponding to each of them.

[0034] The imaging control unit 17a is a processing unit that captures a video consisting of multiple images taken in a time series for a predetermined area including the workpiece 60 using the imaging unit 15, and stores the captured image data 16a in the storage unit 16.

[0035] The sheet laser irradiation switching control unit 17b (corresponding to the "switching means" in the claim) controls the green sheet laser irradiation unit 13 and the red sheet laser irradiation unit 14, and is a processing unit that switches the emission timing of the green sheet laser light and the red sheet laser light in a time series to irradiate a predetermined area including the workpiece 60. It is desirable that the switching between the green sheet laser light and the red sheet laser light be synchronized with the frames of the video from the imaging unit 15.

[0036] For example, if the frame rate of the video from the imaging unit 15 is 60fps, the green sheet laser irradiation unit 13 and the red sheet laser irradiation unit 14 are switched 30 times each per second. Specifically, the green sheet laser irradiation unit 13 is turned on, the green sheet laser light is irradiated for 1 / 60 of a second, then the green sheet laser irradiation unit 13 is turned off, the red sheet laser irradiation unit 14 is turned on, the red sheet laser light is irradiated for 1 / 60 of a second, the red sheet laser irradiation unit 14 is turned off, and the green sheet laser irradiation unit 13 is turned on again, and this control is repeated.

[0037] Furthermore, the sheet laser irradiation switching control unit 17b may receive an imaging start signal from the imaging unit 15 and start switching laser irradiation in order to synchronize with the timing of the frames of the video being captured. Note that the irradiation interval between the green sheet laser light and the red sheet laser light does not need to be synchronized with the frame rate of the video.

[0038] The frame extraction processing unit 17c (corresponding to the "extraction means" in the claim) is a processing unit that reads out the captured image data 16a captured by the imaging unit 15 and stored in the storage unit 16, and extracts frames that are irradiated with green sheet laser light and frames that are irradiated with red sheet laser light. Specifically, it extracts frames irradiated with green sheet laser light from multiple frames of the captured image data 16a, generates a green extracted video and stores it in the storage unit 16 as green frame data 16b, extracts frames irradiated with red sheet laser light, generates a red extracted video and stores it in the storage unit 16 as red frame data 16c.

[0039] Furthermore, if the frames of the video captured by the imaging unit 15 are not synchronized with the irradiation of the green sheet laser light and the red sheet laser light, the frame extraction processing unit 17c may determine the color of each frame of the captured image data 16a and extract the frame. For example, if the green component of all pixels constituting a frame is above a predetermined threshold, it is determined to be a frame irradiated with green sheet laser light, and if the red component of all pixels constituting a frame is above a predetermined threshold, it is determined to be a frame irradiated with red sheet laser light, and the extraction is performed.

[0040] The particle group detection processing unit 17d is a processing unit that detects groups of particles from the input extracted video. The particle group detection processing unit 17d uses methods such as image velocity measurement and particle tracking. Image velocity measurement is a method that measures the velocity of particles by analyzing the movement of particle groups within the inspection area. Particle tracking is a method that measures the velocity of particles by directly tracking the movement of the particles. Since image velocity measurement and particle tracking are existing technologies, a detailed explanation of them will be omitted.

[0041] The particle swarm detection processing unit 17d reads the green frame data 16b from the storage unit 16, analyzes the green frame data 16b using particle image velocity measurement or particle tracking, and detects the movement of the particle swarm. The particle swarm detection processing unit 17d also reads the red frame data 16c from the storage unit 16, analyzes the red frame data 16c using particle image velocity measurement or particle tracking, and detects the movement of the particle swarm.

[0042] The display control unit 17e is a control unit that displays the detection results of the fine particle group based on the green frame data 16b and red frame data 16c detected by the fine particle group detection processing unit 17d on a predetermined display unit 11.

[0043] <Acquisition of captured images> Next, the acquisition of images by the imaging unit 15 of the particle ensemble detection device 10 will be explained. Figure 4 is an explanatory diagram for explaining the motion capture of the particle ensemble detection device 10. As shown in Figure 4, the imaging unit 15 captures a motion picture consisting of multiple images captured in chronological order. Specifically, at time t1, the imaging unit 15 captures the first frame f1 by turning on the green sheet laser light and turning off the red sheet laser light. Then, at time t2, the imaging unit 15 captures the second frame f2 by turning off the green sheet laser light and turning on the red sheet laser light.

[0044] Thereafter, at time t3, the green sheet laser light is turned on and the red sheet laser light is turned off, and the imaging unit 15 captures the third frame f3. Then, at time t4, the green sheet laser light is turned off and the red sheet laser light is turned on, and the imaging unit 15 captures the fourth frame f4. Also, at time t n the green sheet laser light is turned on and the red sheet laser light is turned off, and the imaging unit 15 captures the nth frame f n . Then, at time t n+1 the green sheet laser light is turned off and the red sheet laser light is turned on, and the imaging unit 15 captures the (n + 1)th frame f n+1 .

[0045] <Regarding the green frame data 16b> Next, the green frame data 16b will be described. FIG. 5 is an explanatory diagram for explaining the extraction of the green frame. As shown in FIG. 5, in the captured image data 16a captured by the imaging unit 15, the frames f1, f3, f n captured by irradiating the green sheet laser light are extracted by the frame extraction processing unit 17c, and only the frames irradiated with the green sheet laser light are arranged in time series to generate the green frame data 16b.

[0046] <Regarding the red frame data 16c> Next, the red frame data 16c will be described. FIG. 6 is an explanatory diagram for explaining the extraction of the red frame. As shown in FIG. 6, in the captured image data 16a captured by the imaging unit - 15, the frames f2, f4, f n+1 captured by irradiating the red sheet laser light are extracted by the frame extraction processing unit 17c, and only the frames irradiated with the red sheet laser light are arranged in time series to generate the red frame data 16c.

[0047] <Processing procedure of the microparticle group detection device 10> Next, the processing procedure of the particle ensemble detection device 10 will be described. Figure 7 is a flowchart showing the processing procedure of the particle ensemble detection device 10. As shown in Figure 7, the particle ensemble detection device 10 starts imaging (step S101). Then, the particle ensemble detection device 10 performs sheet laser switching processing to switch the emission timing of the green sheet laser irradiation unit 13 and the red sheet laser irradiation unit 14 in a time series (step S102).

[0048] Then, the particle group detection device 10 stops imaging (step S103). After that, the particle group detection device 10 extracts a frame of green sheet laser light from the captured image (step S104). Then, the particle group detection device 10 inputs the video of the green frame to the particle group detection processing unit 17d and performs particle group detection from the green frame (step S105).

[0049] Subsequently, the particle group detection device 10 extracts a frame of red sheet laser light from the captured image (step S106). Then, the particle group detection device 10 inputs the video of the red frame to the particle group detection processing unit 17d and performs particle group detection from the red frame (step S107). After that, the particle group detection device 10 determines whether or not to terminate the detection process (step S108). If the particle group detection device 10 does not terminate the detection process (step S108: No), it proceeds to step S101. If the particle group detection device 10 does terminate the detection process (step S108: Yes), it terminates the process.

[0050] <Processing procedure for the laser switching unit> Next, the processing procedure for the laser switching process will be described. Figure 8 is a flowchart showing the processing procedure for the laser switching process. As shown in Figure 8, the particle ensemble detection device 10 turns on the green sheet laser light (step S201). Then, the particle ensemble detection device 10 determines whether a predetermined time has elapsed (step S202). Here, the predetermined time is, for example, 1 / 60 of a second. If the predetermined time has not elapsed (step S201: No), the particle ensemble detection device 10 waits until the predetermined time has elapsed.

[0051] If a predetermined time has elapsed (Step S202: Yes), the particle ensemble detection device 10 turns off the green sheet laser light (Step S203) and turns on the red sheet laser light (Step S204). Then, the particle ensemble detection device 10 determines whether or not the predetermined time has elapsed (Step S205). Here, the predetermined time is, for example, 1 / 60 of a second. If the predetermined time has not elapsed (Step S205: No), the particle ensemble detection device 10 waits until the predetermined time has elapsed.

[0052] If a predetermined time has elapsed (step S205: Yes), the particulate matter group detection device 10 turns off the red sheet laser light (step S206). Then, the particulate matter group detection device 10 determines whether or not the predetermined time has elapsed (step S207). Here, the predetermined time is, for example, 60 seconds. If the predetermined time has not elapsed (step S207: No), the particulate matter group detection device 10 proceeds to step S201. If the predetermined time has elapsed (step S207: Yes), the particulate matter group detection device 10 returns to step S103 in Figure 8.

[0053] As described above, in this embodiment, the microparticle cluster detection device 10 irradiates a predetermined area including the workpiece 60 with green sheet laser light and red sheet laser light, switching the emission timing over time, and captures a video using the imaging unit 15. Then, frames captured with green sheet laser light and frames captured with red sheet laser light are extracted from the captured video to generate a video of green frames and a video of red frames. Subsequently, the microparticle cluster detection device 10 detects microparticles based on the video of green frames. The microparticle cluster detection device 10 also detects microparticles based on the video of red frames.

[0054] In the above embodiment, the case in which fine particles are detected using sheet laser light of different colors was described. However, the fine particle group detection device 10 may also be equipped with an abnormality determination unit, and the detected green frame fine particle group detection data 16d and red frame fine particle group detection data 16e may be input to the abnormality determination unit so that an alarm is displayed when fine particles meeting pre-set conditions are detected.

[0055] The configurations illustrated in each of the above embodiments are functional schematics and do not necessarily have to be physically represented as shown. In other words, the distributed and integrated forms of each device are not limited to those shown, and all or part of them can be functionally or physically distributed and integrated in any unit according to various loads and usage conditions. [Industrial applicability]

[0056] The particle group detection device and particle group detection method according to the present invention are suitable for efficiently distinguishing and detecting each particle group when multiple particle groups with different characteristics (color, density, etc.) exist. [Explanation of symbols]

[0057] 10. Particle ensemble detection device 11 Display section 12 Input section 13 Green sheet laser irradiation area 14 Red sheet laser irradiation area 15 Imaging Unit 16 Memory section 16a Image data 16b Green frame data 16c Red Frame Data 16d Green frame particulate matter detection data 16e Red frame particulate matter detection data 17 Control Unit 17a Imaging control unit 17b Sheet laser irradiation switching control unit 17c Frame cutting and processing unit 17d Particulate matter group detection processing unit 17e Display Control Unit 50a Robot Arm 60. Object to be processed

Claims

1. A particle ensemble detection device for detecting multiple groups of particles located in a predetermined area, An imaging means for capturing a video consisting of multiple images captured in chronological order over a predetermined region, Multiple light-emitting means that emit multiple different types of light, A switching means for switching the timing of light emission by the plurality of light-emitting means in a time series, A cutting means for cutting out multiple images that form a video captured by the imaging means, according to the light emission timing of the switching means, A detection means for detecting the plurality of microparticle groups based on the plurality of images extracted by the extraction means. A device for detecting a group of particulate matter, characterized by being equipped with the following features.

2. The plurality of light-emitting means are A first sheet laser irradiation means that irradiates a sheet laser beam of a first color, A second sheet laser irradiation means that irradiates a sheet laser beam of a second color, Equipped with, The aforementioned switching means is The particle group detection device according to claim 1, characterized in that the first sheet laser irradiation means and the second sheet laser irradiation means are alternately switched.

3. The first sheet laser irradiation means is The particle group detection device according to claim 2, characterized in that it is a light-emitting element that irradiates with green sheet laser light.

4. The second sheet laser irradiation means is The particle group detection device according to claim 2, characterized in that it is a light-emitting element that irradiates red sheet laser light.

5. The aforementioned switching means is The particle group detection device according to claim 2, characterized in that the irradiation of the first sheet laser irradiation means and the second sheet laser irradiation means is switched in synchronization with the frames forming the video captured by the imaging means.

6. The detection means is The particle group detection device according to claim 1, characterized in that it detects the plurality of particle groups by a predetermined particle image velocity measurement method or a predetermined particle tracking method.

7. A method for detecting a group of fine particles in a fine particle group detection device that detects multiple groups of fine particles located in a predetermined area, An imaging step of capturing a video consisting of multiple images captured in chronological order over a predetermined region, Multiple light emission processes, each irradiating with multiple types of light, A switching step which switches the timing of light emission by the multiple light emission steps in a time series, A cutting step in which a plurality of images forming a video captured by the imaging step are cut out according to the light emission timing of the switching step, A detection step in which a plurality of microparticle groups are detected based on a plurality of images extracted by the above extraction step, A method for detecting a group of fine particles, characterized by including the following:

Images