Foreign body inspection equipment

Abstract

This foreign matter inspecting device comprises an acquiring means and a determining means. The acquiring means acquires an image in the vicinity of a liquid surface in the shape of a paraboloid of revolution, the image being obtained by imaging a transparent container from the side under transillumination, and the liquid surface in the shape of a paraboloid of revolution being formed by causing the transparent container with a transparent liquid accommodated therein to rotate at a predetermined speed about a central axis. The determining means: acquires a luminance value of pixels in the image along a line extending in a direction parallel to the central axis; generates one-dimensional data relating to the luminance value; and determines whether there is foreign matter at the liquid surface on the basis of a spatial change in the luminance value in the one-dimensional data.

Description

[Technical field]

[0001] The present invention relates to a foreign matter inspection device that inspects for the presence or absence of foreign matter floating on a liquid surface, an information processing method, and a recording medium. [Background technology]

[0002] Various devices have been proposed or put into practical use to check whether or not there is a foreign object in a liquid contained in a transparent container. Most of these devices mainly detect the presence or absence of a foreign object floating in the liquid (see, for example, Patent Documents 1 and 2). However, foreign objects such as plastic pieces may float on the liquid surface of an injectable preparation or the like contained in a transparent container. Therefore, it is important to check whether or not there is a foreign object floating on the liquid surface.

[0003] An example of a device for inspecting the presence or absence of foreign matter floating on the liquid surface is described in Patent Document 3. In the technology described in Patent Document 3 (hereinafter referred to as the technology related to the present invention), illumination light is irradiated from below a transparent container toward the back side of the liquid surface, an image of the back side of the liquid surface is captured by an imaging means arranged on the path of the light reflected by the back side of the liquid surface, and the presence or absence of foreign matter on the liquid surface is determined based on the captured image. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2-203259 [Patent Document 2] Japanese Patent Application Publication No. 4-6900 [Patent Document 3] JP 2001-296251 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology related to the present invention, if the liquid surface is perfectly flat, the liquid surface is photographed as a uniform white area, and foreign matter floating on the liquid surface is photographed as a blackish image according to its reflection coefficient. However, due to various factors, blackish areas that are difficult to distinguish from the image of foreign matter may appear, making it difficult to stably determine whether there is any foreign matter on the liquid surface.

[0006] An object of the present invention is to provide a foreign matter inspection apparatus that solves the above-mentioned problems. [Means for solving the problem]

[0007] A foreign body inspection apparatus according to one aspect of the present invention includes: a transparent container containing a transparent liquid and rotating about a central axis at a predetermined speed to form a liquid surface shaped like a paraboloid of revolution, said transparent container being photographed from the side under transmitted illumination, said transparent container being photographed to obtain an image of the vicinity of said liquid surface shaped like a paraboloid of revolution; a determination means for obtaining luminance values ​​of pixels along a line extending in a direction parallel to the central axis in the image, generating one-dimensional data on the luminance values, and determining whether or not a foreign object is present on the liquid surface based on a spatial change in the luminance values ​​in the one-dimensional data; The device is configured to include:

[0008] Further, a foreign body inspection method according to another aspect of the present invention includes: A transparent container containing a transparent liquid is rotated around a central axis at a predetermined speed to form a liquid surface in the shape of a paraboloid of revolution, and an image of the vicinity of the liquid surface in the shape of a paraboloid of revolution is acquired by photographing the transparent container from a side under transmitted illumination; Obtaining luminance values ​​of pixels along a line in the image that extends in a direction parallel to the central axis to generate one-dimensional data on the luminance values; The one-dimensional data is configured to determine whether or not there is a foreign object on the liquid surface based on a spatial change in brightness value in the one-dimensional data.

[0009] In addition, a computer-readable recording medium according to another aspect of the present invention includes: On the computer, A transparent container containing a transparent liquid is rotated around a central axis at a predetermined speed to form a liquid surface shaped like a paraboloid of revolution, and an image of the vicinity of the liquid surface shaped like a paraboloid of revolution is acquired by photographing the transparent container from the side under transmitted illumination; A process of acquiring luminance values ​​of pixels along a line extending in a direction parallel to the central axis in the image, and generating one-dimensional data on the luminance values; A process of determining whether or not there is a foreign object on the liquid surface based on a spatial change in brightness value in the one-dimensional data; The recording medium is configured to record a program for causing the recording medium to perform the above steps. Effect of the Invention

[0010] By having the above-mentioned configuration, the present invention can stably determine whether or not there is a foreign object on the liquid surface. [Brief description of the drawings]

[0011] [Figure 1] This is a schematic diagram of an image taken near the surface of a paraboloid of revolution-shaped liquid that is free of foreign objects and bubbles, and one-dimensional brightness value data created by acquiring the brightness values ​​of pixels along the central axis. [Diagram 2] 1 is a schematic diagram of an image taken near a liquid surface where a paraboloid of revolution is not formed. FIG. [Diagram 3] This is a schematic diagram of an image taken near the liquid surface of a paraboloid of revolution containing a foreign object, and one-dimensional brightness value data created by acquiring the brightness values ​​of pixels along the central axis. [Figure 4] This is a schematic diagram of an image taken near the surface of a paraboloid of revolution containing bubbles, and one-dimensional brightness data created by acquiring the brightness values ​​of pixels along the central axis. [Diagram 5] 1 is a block diagram of an inspection system to which a foreign matter inspection device according to a first embodiment of the present invention is applied. [Figure 6] 1 is a block diagram of a foreign matter inspection device according to a first embodiment of the present invention. [Figure 7] FIG. 2 is a diagram showing an example of a configuration of image information in the first embodiment of the present invention. [Figure 8] FIG. 2 is a diagram showing an example of a configuration of test result information in the first embodiment of the present invention. [Figure 9] 5 is a flowchart showing an example of the operation of the foreign matter inspection apparatus in the first embodiment of the present invention. [Figure 10] 5 is a flowchart showing an example of a process performed by a determination unit in the foreign matter inspection device according to the first embodiment of the present invention. [Figure 11] 4 is a diagram showing an example of the format of a control table used by a determination unit in the foreign matter inspection device according to the first embodiment of the present invention. FIG. [Figure 12] FIG. 2 is a diagram showing an example of a plurality of brightness measurement lines set on a grayscale image obtained by imaging an inspection target container in the first embodiment of the present invention. [Figure 13] 4 is a schematic diagram showing an example of a method in which a determination section in the foreign matter inspection device according to the first embodiment of the present invention calculates a floating matter candidate region. FIG. [Figure 14] FIG. 11 is a block diagram of a foreign matter inspection device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] [First embodiment] Next, a first embodiment of the present invention will be described with reference to the drawings. First, the basic principle of determining whether or not there is a foreign object on the liquid surface will be described. In the following, a specific example of a foreign object floating on the liquid surface will be a plastic piece. However, the foreign object floating on the liquid surface is not limited to a plastic piece.

[0013] In order to determine whether or not there is a foreign object on the liquid surface, it is necessary to detect the liquid surface and confirm that there is no foreign object on the detected liquid surface.

[0014] (1) Liquid level detection When a colorless and transparent liquid is put into a cylindrical transparent container and rotated around the central axis at a predetermined speed, a liquid surface in the shape of a paraboloid of revolution is formed. An image 1 taken by a camera from the side under transmitted illumination near the liquid surface in the shape of a paraboloid of revolution is, for example, an image as shown in FIG. 1. Referring to FIG. 1, the liquid surface region in the shape of a paraboloid of revolution in the image 1 becomes a low-luminance region 4 consisting of pixels with low luminance values ​​close to black on the side closer to the air layer 2 in the container, and a high-luminance region 5 close to white on the side closer to the liquid layer 3 in the container 400. The high-luminance region 5 has a sufficiently higher luminance value than the low-luminance region 4, and a slightly lower luminance value than the air layer 2 and the liquid layer 3. It is considered that the low-luminance region 4 is formed because the inclination of the liquid surface becomes steeper toward the upper side of the paraboloid of revolution. By detecting such a low-luminance region 4, the liquid surface in the container can be stably detected.

[0015] On the other hand, when the rotation speed of the transparent container becomes equal to or lower than a predetermined value, the liquid surface having a paraboloid of revolution is not formed. As a result, an image 1 of the transparent container photographed under the same conditions as in the case of FIG. 1 becomes, for example, an image as shown in FIG. 2. Referring to FIG. 2, the projected image of the liquid surface consists only of a high-luminance region 5, and the low-luminance region 4 as shown in FIG. 1 disappears. Since the high-luminance region 5 is close to the luminance value of the liquid layer 3, it is difficult to stably detect the liquid surface in the container based on the high-luminance region 5.

[0016] From the above, in this embodiment, a liquid surface shaped like a paraboloid of revolution is formed by rotating a transparent container containing a transparent liquid around a central axis at a predetermined speed. Next, the transparent container with the liquid surface shaped like a paraboloid of revolution is photographed from the side under transmitted illumination to obtain an image of the vicinity of the liquid surface shaped like a paraboloid of revolution. Next, the liquid surface is detected by detecting a low brightness area 4 with a brightness value equal to or less than a predetermined value from the image. This allows the liquid surface in the container to be stably detected.

[0017] (2) Confirm that there are no foreign objects on the detected liquid surface When plastic pieces with a lower specific gravity than the liquid inside a transparent container are floating on the liquid surface, if the transparent container is rotated around its central axis to form a paraboloid of rotation, the plastic pieces tend to gather near the center of the paraboloid of rotation liquid surface (near the central axis of the container). Therefore, an image 1 of a transparent container photographed under the same conditions as in FIG. 1 will be an image as shown, for example, in FIG. 3. Referring to FIG. 3, a foreign body region 6 corresponding to the plastic pieces is formed near the center of the paraboloid of rotation liquid surface so as to be in contact with the high brightness region 5. The foreign body region 6 corresponding to the plastic pieces has a substantially uniform brightness throughout the region, and its brightness value is sufficiently higher than the low brightness region 4 and lower than the high brightness region 5 to the extent that it can be distinguished.

[0018] Furthermore, if there are bubbles near the liquid surface of the paraboloid of revolution, the bubbles move in synchronization with the rotation of the container, either attached or not attached to the inner wall of the container. Therefore, an image 1 taken of a transparent container under the same conditions as in FIG. 1 will be an image as shown, for example, in FIG. 4. Referring to FIG. 4, bubble regions 7 corresponding to bubbles are formed inside low brightness region 4 and at the bottom end of high brightness region 5. The bubble region 7 is composed of a thin or thick outline and a hollow portion within the outline, and has a ring or doughnut shape. The outline has low brightness, and the hollow portion has high brightness.

[0019] In this embodiment, the brightness values ​​of pixels are obtained along a line extending in a direction parallel to the central axis of the container in the image of the liquid surface shaped like a paraboloid of revolution as described above, one-dimensional data on the brightness values ​​is generated, and it is determined whether or not there is a foreign object on the liquid surface based on the spatial change in the brightness values ​​in this one-dimensional data.

[0020] In Fig. 1, Fig. 3, and Fig. 4, one-dimensional data 8 of the brightness values ​​of pixels acquired along the central axis of the container in the image of the liquid surface of a paraboloid of revolution shown in each of them is also shown. Looking at the change in brightness value from the air layer 2 to the liquid layer 3 in the one-dimensional data 8 in Fig. 1 where there are no foreign objects or bubbles on the liquid surface, the brightness drops significantly at the upper edge of the low brightness region 4, and then the brightness value does not drop at all and reaches the brightness value of the liquid layer 3. On the other hand, referring to the one-dimensional data 8 in Fig. 3 where a plastic piece is floating on the liquid surface, the brightness value drops at the upper edge of the foreign object region 6 corresponding to the plastic piece, and the brightness value rises at the lower part. Also, referring to the one-dimensional data 8 in Fig. 4 where a bubble exists on the liquid surface, in the bubble region 7 existing within the low brightness region 4, the low brightness region 4 is divided by a high brightness hollow part, and the brightness value drops. Also, in the bubble region 7 adjacent to the lower end of the high brightness region 5, the brightness value drops and rises at short intervals due to the high brightness outline. Thus, the characteristics of the spatial change in brightness value of the one-dimensional data 8 when there are no foreign objects or air bubbles on the liquid surface are clearly different from the characteristics of the spatial change in brightness value of the one-dimensional data 8 when there are foreign objects and / or air bubbles on the liquid surface.

[0021] Therefore, in this embodiment, the spatial brightness value change characteristics of the one-dimensional data 8 as shown in FIG. 1, in which there are no foreign objects and no bubbles on the liquid surface, are registered in advance as reference features. Then, in this embodiment, for an image in which one-dimensional data having a spatial brightness value change characteristic that matches the reference feature is obtained, it is determined that there is no foreign object on the liquid surface. Also, in this embodiment, for an image having a change pattern having a spatial brightness value change characteristic that does not match the reference feature, that is, an image having a characteristic as shown in the one-dimensional data 8 in FIG. 3 or FIG. 4, it is recognized that there may be a floating object (foreign object and / or air bubble) on the liquid surface. Then, in this embodiment, first, a floating object candidate region where a floating object may exist is calculated based on the one-dimensional data that did not match the reference feature. Next, in this embodiment, it is determined whether the floating object candidate region is a foreign object or an air bubble, and based on the determination result, it is determined whether there is no foreign object on the liquid surface.

[0022] The above is the basic principle of this embodiment for determining whether or not there is a foreign object on the liquid surface. Next, the configuration and operation of this embodiment will be described in detail with reference to the drawings.

[0023] Fig. 5 is a block diagram of an inspection system 100 to which a foreign matter inspection device according to a first embodiment of the present invention is applied. Referring to Fig. 5, the inspection system 100 is a system that inspects whether or not there is a foreign matter on the surface of a liquid sealed in a container 400. The inspection system 100 includes, as main components, a gripping device 110, a lighting device 120, a camera device 130, a foreign matter inspection device 200, and a display device 300.

[0024] The container 400 is a transparent or translucent container having a circular cross section, such as a glass bottle or a plastic bottle. A liquid medicine (hereinafter, referred to as a medicinal liquid) is contained inside the container 400. In addition, there is a possibility that foreign matter is floating on the liquid surface of the medicinal liquid contained in the container 400. The foreign matter floating on the liquid surface is, for example, a piece of plastic. The container 400 is, for example, a syringe pre-filled with the medicinal liquid. However, the container 400 to be inspected is not limited to a syringe. The container 400 may be a vial or an ampule containing the medicinal liquid. In addition, the container 400 is not limited to a container containing the medicinal liquid, and may be a container containing drinking water or the like.

[0025] The gripping device 110 is configured to grip the container 400 in an upright position. For example, in the case of a syringe, the gripping device 110 grips the syringe in an upright position with the nozzle side facing up. The mechanism for gripping the container 400 in an upright position is arbitrary. For example, the gripping mechanism may be configured to include a base on which the container 400 is placed in an upright position, and a member for pressing the upper surface of the top portion 401 of the container 400 placed on the base.

[0026] The gripping device 110 is configured to rotate the container 400 around the central axis of the container 400 while gripping the container 400. The mechanism for rotating the container 400 is arbitrary. For example, the rotation mechanism may be configured to include a motor that rotates the entire gripping mechanism while gripping the container 400.

[0027] The gripping device 110 is also connected to the foreign matter inspection device 200 by wire or wirelessly. When started by an instruction from the foreign matter inspection device 200, the gripping device 110 rotates the container 400 in an upright position and while gripping it at a predetermined speed around the central axis. In response to a stop instruction from the foreign matter inspection device 200, the gripping device 110 stops the operation of rotating the container 400.

[0028] When the container 400 is rotated at a predetermined speed as described above, the liquid in the container 400 flows, forming a liquid surface in the shape of a paraboloid of revolution. Furthermore, if foreign matter such as plastic pieces is floating on the liquid surface of the container 400, when the container 400 is rotated to form a liquid surface in the shape of a paraboloid of revolution, the foreign matter such as plastic pieces tends to gather in the center of the liquid surface in the shape of a paraboloid of revolution. Furthermore, air bubbles that existed near the liquid surface before the rotation and air bubbles that are generated near the liquid surface due to the rotation move near the liquid surface in synchronization with the rotation. Therefore, the foreign matter inspection device 200 checks whether there is any floating matter on the liquid surface in the shape of a paraboloid of revolution, and if there is, identifies whether the floating matter is a foreign matter or an air bubble.

[0029] The illumination device 120 is configured to irradiate illumination light onto the liquid sealed in the container 400. The illumination device 120 is, for example, a surface light source having a size corresponding to the size of the container 400. The illumination device 120 is installed on the opposite side of the container 400 from the side on which the camera device 130 is installed. In other words, the illumination by the illumination device 120 is transmitted illumination.

[0030] The camera device 130 is a high-speed camera that captures the liquid in the container 400 from the opposite side of the container 400 from the side where the illumination device 120 is installed. The video rate of the camera device 130 may be, for example, about 160 fps. However, the video rate of the camera device 130 may be other than the above. The camera device 130 is, for example, a black-and-white camera equipped with a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary MOS) image sensor having a pixel capacity of about several million pixels, and outputs a grayscale image in which one pixel is represented by 8 bits, for example. However, the camera device 130 may be a color camera. The level of the luminance value of the grayscale image is not limited to 256 gradations, and may be less or more gradations than that. The camera device 130 is connected to the foreign matter inspection device 200 by wire or wirelessly. The camera device 130 transmits the time-series images obtained by capturing images to the foreign matter inspection device 200 together with information indicating the capture time, etc.

[0031] The display device 300 is a display device such as an LCD (Liquid Crystal Display). The display device 300 is connected to the foreign matter inspection device 200 by wire or wirelessly. The display device 300 displays the inspection results of the container 400 performed by the foreign matter inspection device 200, etc.

[0032] The foreign matter inspection device 200 is configured to perform image processing on time-series images captured by the camera device 130 and inspect the presence or absence of foreign matter floating on the surface of the liquid sealed in the container 400. The foreign matter inspection device 200 is connected to the gripping device 110, the camera device 130, and the display device 300 by wire or wirelessly.

[0033] 6 is a block diagram showing an example of a foreign matter inspection device 200. Referring to FIG. 6, the foreign matter inspection device 200 includes a communication I / F unit 210, an operation input unit 220, a storage unit 230, and a calculation processing unit 240.

[0034] The communication I / F unit 210 is composed of a data communication circuit, and is configured to perform data communication with the gripping device 110, the camera device 130, the display device 300, and other external devices (not shown) via wired or wireless communication. The operation input unit 220 is composed of operation input devices such as a keyboard and a mouse, and is configured to detect an operator's operation and output it to the calculation processing unit 240.

[0035] The storage unit 230 is composed of one or more storage devices of one or more types, such as a hard disk or memory, and is configured to store processing information and programs 231 required for various processes in the arithmetic processing unit 240. The programs 231 are programs that are read into the arithmetic processing unit 240 and executed to realize various processing units, and are read in advance from an external device or recording medium (not shown) via a data input / output function such as the communication I / F unit 210 and stored in the storage unit 230. The main processing information stored in the storage unit 230 includes image information 232 and examination result information 233.

[0036] The image information 232 includes a time series of images obtained by continuously photographing the liquid in the container 400 by the camera device 130. If floating matter is present in the liquid in the container 400, the image information 232 includes an image of the floating matter.

[0037] FIG. 7 shows an example of the configuration of the image information 232. The image information 232 in this example is composed of entries each consisting of a set of a container ID 2321, a photographing time 2322, and a frame image 2323. An ID that uniquely identifies the container 400 is set in the container ID 2321 item. The container ID 2321 may be a serial number assigned to the container 400, a barcode attached to the container 400, or fingerprint information collected from the cap of the container 400. The photographing time 2322 and the frame image 2323 items are set with a photographing time and a frame image. The photographing time 2322 is set to an accuracy (for example, milliseconds) that allows the photographing time to be distinguished from other frame images of the same container ID. The frame image 2323 is a grayscale image with 8 bits per pixel. In the example of FIG. 7, the container ID 2321 is associated with each frame image 2323, but the container ID 2321 may be associated with each group of multiple frame images 2323.

[0038] The inspection result information 233 is information on the result of inspecting the presence or absence of foreign matter in the liquid sealed in the container 400 to be inspected. FIG. 8 shows an example of the configuration of the inspection result information 233. In this example, the inspection result information 233 is composed of a set of a container ID 2331 and an inspection result 2332. An ID that uniquely identifies the container 400 to be inspected is set in the entry of the container ID 2331. An inspection result of either OK (inspection passed) or NG (inspection failed) is set in the entry of the inspection result 2332. For example, an OK inspection result is issued when no foreign matter is present in the liquid sealed in the container 400 identified by the container ID. In contrast, an NG inspection result is issued when one or more foreign matter is present.

[0039] 6 again, the arithmetic processing unit 240 has a microprocessor such as an MPU and its peripheral circuits, and is configured to implement various processing units by reading and executing the program 231 from the storage unit 230, thereby allowing the above hardware and the program 231 to work together. The main processing units implemented by the arithmetic processing unit 240 include an acquisition unit 241, a determination unit 242, and an output unit 243.

[0040] The acquisition unit 241 controls the gripping device 110 to rotate the container 400 containing a transparent liquid at a predetermined speed around the central axis, thereby forming a liquid surface shaped like a paraboloid of revolution. The acquisition unit 241 also controls the camera device 130 to continuously capture images of the container 400 on which the liquid surface shaped like a paraboloid of revolution has been formed, from the side of the container 400, under transmitted illumination by the lighting device 120. The acquisition unit 241 also acquires multiple grayscale images of the vicinity of the liquid surface shaped like a paraboloid of revolution obtained by continuously capturing the images, and stores the images in the storage unit 230 as image information 232.

[0041] The determination unit 242 reads out the image information 232 from the storage unit 230, and determines whether or not there is a foreign object on the liquid surface for each grayscale image near the liquid surface of a paraboloid of revolution represented by the image information 232. For example, the determination unit 242 acquires the luminance values ​​of pixels along each of a plurality of lines extending in a direction parallel to the central axis of the container 400 in the grayscale image, and generates one-dimensional data on the luminance values ​​for each line. Next, the determination unit 242 determines whether or not there is a foreign object on the liquid surface based on the spatial change in the luminance value in the one-dimensional data for each line. Specifically, the determination unit 242 compares the spatial change in the luminance value in the one-dimensional data with the change in the luminance value when there is no floating object on the liquid surface, and determines that there is no foreign object on the liquid surface when the two match. On the other hand, when the two do not match, the determination unit 242 calculates a floatable matter candidate region where floatable matter may exist based on the spatial change in brightness value in the one-dimensional data, recognizes the floatable matter from the floatable matter candidate region, and determines whether the recognized floatable matter is a foreign body or an air bubble. The determination unit 242 repeats the above process for all grayscale images obtained from the same container 400 included in the image information 232. Then, the determination unit 242 creates the inspection result information 233 based on the results of the determination for all grayscale images, and stores it in the storage unit 230.

[0042] The output unit 243 reads out the test result information 233 from the storage unit 230, and displays it on the screen of the display device 300 via the communication I / F unit 210 and / or outputs it to an external device (not shown).

[0043] Next, a description will be given of the operation of the inspection system 100. Fig. 9 is a flow chart showing an example of the operation of inspecting the presence or absence of foreign matter in the liquid sealed in the container 400 that is the inspection target.

[0044] 9, first, the acquisition unit 241 controls the gripping device 110 to rotate the container 400 containing a transparent liquid around the central axis at a predetermined speed to form a liquid surface shaped like a paraboloid of revolution (step S1). Next, the acquisition unit 241 controls the camera device 130 to continuously photograph the container 400 with the liquid surface shaped like a paraboloid of revolution from the side of the container 400 under transmitted illumination by the illumination device 120 to acquire multiple grayscale images near the liquid surface shaped like a paraboloid of revolution, and store the images in the storage unit 230 as image information 232 (step S2).

[0045] Next, the determination unit 242 reads out the image information 232 from the storage unit 230, acquires the luminance values ​​of pixels along a plurality of lines extending in a direction parallel to the central axis for each grayscale image, and generates one-dimensional data for the luminance values ​​of the pixels for each line (step S3). In addition, in step S3, the determination unit 242 determines whether or not there is a foreign object on the liquid surface based on the spatial change in the luminance value in the one-dimensional data generated for each grayscale image and for each line, creates inspection result information 233 representing the determination result, and stores it in the storage unit 230. Next, the output unit 243 reads out the inspection result information 233 from the storage unit 230, displays it on the screen of the display device 300 through the communication I / F unit 210, and / or outputs it to an external device (not shown) (step S4).

[0046] Next, the acquisition unit 241 and the determination unit 242 will be described in detail.

[0047] First, the acquisition unit 241 will be described in detail.

[0048] The acquisition unit 241 first starts the gripping device 110 gripping the container 400 in an upright position, thereby rotating the container 400 around its central axis at a predetermined rotation speed of about 100 to 200 rotations per minute, and forming a liquid surface in the shape of a paraboloid of rotation in the container 400. The predetermined speed may be, for example, 100 to 200 rotations per minute. However, the rotation speed required to form the liquid surface in the shape of a paraboloid of rotation differs depending on the viscosity of the enclosed liquid. Therefore, it is desirable to confirm the rotation speed at which the liquid surface in the shape of a paraboloid of rotation is formed by a prior test. Furthermore, if the rotation speed of the container 400 fluctuates, the liquid surface in the shape of a paraboloid of rotation fluctuates. Therefore, it is desirable that the rotation speed of the container 400 is a predetermined and constant speed.

[0049] Next, the acquisition unit 241 continuously captures images of the rotating container 400 using the camera device 130 under transmitted illumination by the illumination device 120. For example, when the frame rate of the camera device 130 is, for example, 160 fps, continuous shooting for, for example, 0.5 seconds will result in 80 grayscale images. By continuously capturing multiple images of the rotating container 400 in this manner, foreign matter floating on the liquid surface can be captured in different positions. This makes it possible to prevent foreign matter from being overlooked. The number of images to be captured is determined by a trade-off between inspection accuracy and processing speed.

[0050] Next, the acquisition unit 241 performs image stabilization processing such as flicker removal on each of the acquired grayscale images, and then cuts out an image near the liquid surface of the paraboloid of revolution and stores it in the storage unit 230 as image information 232.

[0051] In this manner, the acquisition unit 241 acquires a plurality of grayscale images of the vicinity of the liquid surface having a paraboloid of revolution as shown typically in FIGS. 1, 3, and 4, and stores them in the storage unit 230.

[0052] Next, the determination unit 242 will be described in detail.

[0053] Fig. 10 is a flowchart showing an example of the process of the determination unit 242. Referring to Fig. 10, the determination unit 242 first initializes the control table 500 used in the determination process (step S11).

[0054] 11 shows an example of the format of the control table 500. The control table 500 in this example is composed of a container ID 501 and multiple pieces of image analysis information 502. The ID (container ID 2331) of the container 400 to be inspected is set in the container ID 501 item. The multiple pieces of image analysis information 502 are provided in the same number as the number of grayscale images obtained by imaging the container 400 to be inspected.

[0055] Each image analysis information 502 is composed of an image ID 503, a luminance measurement line ID 504, one-dimensional data 505, a comparison result 506, a floating object candidate region 507, and the presence or absence of a foreign object 508. In the item of image ID 503, an ID of a grayscale image (for example, a shooting time 2322) is set. There are a plurality of pairs of a luminance measurement line ID 504, one-dimensional data 505, and a comparison result 506. In the item of luminance measurement line ID 504, an ID of a line for measuring the luminance value of a pixel on a grayscale image is set. In the item of one-dimensional data 505, one-dimensional data of the luminance value of a pixel acquired along a line specified by the luminance measurement line ID 504 of the same pair is set. In the item of comparison result 506, a result of comparing the characteristics of the spatial change in the luminance value in the one-dimensional data 505 of the same pair with a reference characteristic registered in advance is set.

[0056] FIG. 12 shows an example of a plurality of luminance measurement lines 510-1 to 510-6 set on a grayscale image obtained by imaging the container 400 to be inspected. Each of the luminance measurement lines 510-1 to 510-6 has a width W of one pixel and extends in a direction parallel to the central axis of the container 400 from the upper end (air layer 2 side) of the image 1 to the lower end (liquid layer 3 side). The plurality of luminance measurement lines 510-1 to 510-6 are provided at intervals of the width of the number of pixels H. The number of pixels H is determined according to the minimum diameter of a foreign object to be detected. That is, the narrower the interval between the plurality of luminance measurement lines 510-1 to 510-6, the smaller the foreign object can be detected. The intervals between the luminance measurement lines 510 may be the same or different. For example, the intervals may be narrower in a place closer to the central axis than in a place farther away. 12, the luminance measurement lines 510-1 to 510-6 are provided only near the center of the container 400 where foreign matter gathers. However, the luminance measurement lines may be provided not only near the center of the container 400 but also in locations close to the side surfaces of the container 400. Each of the luminance measurement regions 510-1 to 510-6 is assigned an ID for unique identification.

[0057] 11 again, an image of an area in the grayscale image where a floating object (foreign object or air bubble) may exist is set as floating object candidate area 507. Information on the presence or absence of a foreign object 508 is set based on the result of analyzing floating object candidate area 507.

[0058] 10, the determination unit 242 sets the ID of the container 400 to be inspected in the item of container ID 501 of the control table 500, reads out image information 232 of the container 400 to be inspected from the storage unit 230, sets the container ID 2321 of the image information 232 to the container ID 501 of the control table 500, and sets the shooting time 2322 of the frame image to the image ID 503. Also, in the initialization step S11, the determination unit 242 sets the ID of the luminance measurement line 510 to the luminance measurement line ID of the control table 500, and initializes the items of one-dimensional data 505, comparison result 506, floating object candidate region 507, and presence or absence of foreign object 508 to NULL values, for example.

[0059] After completing the initialization of the control table 500, the determination unit 242 focuses on one image ID 503 (for example, the first image ID 503) set in the control table 500 (step S11). Next, the determination unit 242 acquires the luminance values ​​of pixels along the luminance measurement lines 510-1 to 510-6 for each luminance measurement line ID 504 from the grayscale image identified by the image ID 503 under consideration, and creates one-dimensional data 505 (step S13). For example, the determination unit 242 acquires the luminance values ​​of pixels of the grayscale image one pixel at a time in order from the air layer 2 side along one luminance measurement line, and creates one-dimensional data 505 by arranging the luminance values ​​of the acquired pixels in a row in the order of acquisition. Instead of storing the created one-dimensional data in the control table 500 as it is, the determination unit 242 may store the one-dimensional data obtained by smoothing the created one-dimensional data in the control table 500.

[0060] Next, the determination unit 242 compares the feature of the spatial change in pixel brightness value of the one-dimensional data 505 with the reference feature for each one-dimensional data 505, and saves a comparison result 506 indicating whether the feature of the one-dimensional data 505 matches the reference feature (step S14). The reference feature is created in advance based on one-dimensional data when there are no foreign objects or bubbles on the liquid surface, and is saved in advance. The reference feature has a feature that the pixel brightness value does not decrease even once until it reaches the liquid layer 3 after the pixel brightness value significantly decreases at the boundary between the air layer 2 and the low brightness region 4. Therefore, the determination unit 242 scans the pixel brightness value from the head part (air layer side) of the one-dimensional data 505, and detects the part where the pixel brightness value has decreased to a predetermined threshold or less as the boundary between the air layer 2 and the low brightness region 4 (i.e., the liquid surface). Next, the determination unit 242 determines that the one-dimensional data 505 matches the reference feature if the luminance value of a pixel from the detected boundary to the end of the one-dimensional data 505 does not drop below the luminance value of the immediately preceding pixel. On the other hand, the determination unit 242 determines that the one-dimensional data 505 does not match the reference feature if there is at least one point from the boundary where the luminance value of a pixel of the one-dimensional data 505 is lower than the luminance value of the immediately preceding pixel.

[0061] Next, the determination unit 242 determines whether or not all of the one-dimensional data 505 matches the reference feature (step S15). Next, if all of the one-dimensional data 505 matches the reference feature, the determination unit 242 records that there is no foreign object in the foreign object presence / absence 508 field corresponding to the image ID 503 of interest (step S16). Then, the determination unit 242 proceeds to step S21.

[0062] On the other hand, if at least one piece of one-dimensional data 505 does not match the reference feature, the determination unit 242 calculates a floating object candidate region 507 (step S17).

[0063] FIG. 13 is a schematic diagram showing an example of a method for calculating a floating object candidate region 507. In FIG. 13, among the multiple luminance measurement lines 510, those whose one-dimensional data 505 match the reference feature are shown by solid lines, and those whose one-dimensional data do not match are shown by dashed lines. The determination unit 242 draws a parallel line at a fixed distance ΔH to the left of the leftmost luminance measurement line 510-3 of the luminance measurement lines 510-3 and 510-4 that do not match the reference feature, and sets this parallel line as the left boundary line 511 of the floating object candidate region 507. The determination unit 242 also draws a parallel line at a fixed distance ΔH to the right of the rightmost luminance measurement line 510-4 of the luminance measurement lines 510-3 and 510-4 that do not match the reference feature, and sets this parallel line as the right boundary line 512 of the floating object candidate region 507. The fixed distance ΔH may be the same as the interval H between the luminance measurement lines, for example.

[0064] The determination unit 242 also determines the upper boundary line 513 of the floating object candidate region 507 as follows. First, the determination unit 242 detects the boundary between the air layer 2 and the low brightness region 4 from the one-dimensional data 505 that does not match the reference feature. If there are multiple one-dimensional data 505 that do not match the reference feature, the determination unit 242 detects the uppermost boundary line among the boundaries detected from each of the data. Next, the determination unit 242 draws a line that passes through the detected boundary line and is perpendicular to the central axis of the container 400, and sets this line as the upper boundary line 513 of the floating object candidate region 507.

[0065] The determination unit 242 also determines the lower boundary line 514 of the floating object candidate region 507 as follows. First, the determination unit 242 scans the luminance values ​​of the pixels of the one-dimensional data 505 that do not match the reference feature from the end (liquid layer side) to the beginning, and detects the first point where the pixel luminance value drops sharply by a certain value ΔL or more as the lower boundary. Here, ΔL is determined in advance based on the difference in the luminance values ​​of the pixels of the liquid layer 3 and the floating object. If there are multiple one-dimensional data 505 that do not match the reference feature, the lower boundary that is located at the bottom among the lower boundaries detected from each of them is detected. Next, the determination unit 242 draws a line that passes through the detected lower boundary and is perpendicular to the central axis of the container 400, and sets this line as the lower boundary line 514 of the floating object candidate region 507.

[0066] The determination unit 242 determines the region surrounded by the left boundary line 511, right boundary line 512, upper boundary line 513, and lower boundary line 514 determined as above as a floatable matter candidate region 507. By determining the floatable matter candidate region 507 based on the one-dimensional data 505 that does not match the reference feature in this manner, the size of the floatable matter candidate region 507 can be made smaller than when the entire vicinity of the liquid surface is determined as the floatable matter candidate region, and accordingly the amount of processing required to check for foreign matter and air bubbles in the floatable matter candidate region 507 can be reduced.

[0067] The method of determining the floating object candidate region 507 based on the one-dimensional data 505 that does not match the reference feature is not limited to the above. For example, the upper and lower ends of a foreign object or air bubble may be detected from a spatial change in pixel brightness value of the one-dimensional data 505, and lines passing through the detected upper and lower ends and perpendicular to the central axis of the container 400 may be set as the upper boundary 513 and the lower boundary 514 of the floating object candidate region 507. According to such a method, for example, in the example of FIG. 13, an upper boundary 513' is determined instead of the upper boundary 513.

[0068] 10 again, when the determination unit 242 determines the floating object candidate region 507, the determination unit 242 analyzes the floating object candidate region 507 to determine whether the floating object present in the floating object candidate region 507 is a foreign object or an air bubble (step S18). This determination is performed, for example, as follows.

[0069] The determination unit 242 first recognizes a floating object region from the floating object candidate region 507 in the grayscale image of the image ID under consideration. Foreign objects and air bubbles in the liquid layer 3 and the high brightness region 5 appear as a collection of pixels with lower brightness than the liquid layer 3 and the high brightness region 5. Therefore, the determination unit 242 recognizes a region in the liquid layer 3 and the high brightness region 5 where a certain number of pixels or more of low brightness pixels are continuously distributed as one floating object region. Furthermore, foreign objects and air bubbles in the low brightness region 4 appear as a collection of pixels with higher brightness than the low brightness region 4. Therefore, the determination unit 242 recognizes a region in the low brightness region 4 where a certain number of pixels or more of high brightness pixels are continuously distributed as one floating object region.

[0070] Next, the determination unit 242 determines whether each floating object region is a foreign object or an air bubble based on the characteristics of the shape. For example, air bubbles in the liquid layer 3 and the high brightness region 5 have a hollow shape consisting of a linear outline and a hollow part within the outline, whereas foreign objects rarely appear as hollow shapes. Also, air bubbles in the low brightness region 4, the liquid layer 3, and the high brightness region 5 are hollow spheres, so they rarely appear as shapes that are flattened or inclined to a certain degree or more. In contrast, plastic pieces, which are foreign objects, are likely to appear as relatively large and flat shapes. Also, foreign objects often appear as relatively opaque shapes near their centers of gravity, whereas air bubbles rarely appear as opaque shapes near their centers of gravity. Based on such characteristics of the shape, the determination unit 242 determines whether a floating object region is a foreign object or an air bubble.

[0071] When the determination unit 242 determines that at least one floating matter region is a foreign matter, it records the presence of a foreign matter in the item of foreign matter presence / absence 508 corresponding to the currently focused image ID 503 in the control table 500 (steps S19 and S20). On the other hand, when the determination unit 242 determines that all floating matter regions are air bubbles, it records the absence of a foreign matter in the item of foreign matter presence / absence 508 corresponding to the currently focused image ID 503 in the control table 500 (step S16). Then, the determination unit 242 proceeds to step S21.

[0072] In step S21, the determination unit 242 shifts its attention to the next image ID 503 in the control table 500. Then, via step S22, the process returns to step S13, and the same process as described above is repeated for the grayscale image of the newly focused image ID 503. Then, when attention has been paid to all image IDs 503 set in the control table 500 (YES in step S22), the process proceeds to step S23.

[0073] In step S23, the determination unit 242 checks all of the foreign matter presence / absence fields 508 in the control table 500, and if at least one of the foreign matter presence / absence fields 508 indicates the presence of a foreign matter, the determination unit 242 creates inspection result information 233 of NG and stores it in the storage unit 230 (step S24). If all of the foreign matter presence / absence fields 508 indicate the absence of a foreign matter, the determination unit 242 creates inspection result information 233 of OK and stores it in the storage unit 230 (step S25). Then, the determination unit 242 ends the process of FIG. 10.

[0074] The above is an example of the detailed configuration and operation of the determination unit 242. However, the configuration and operation of the determination unit 242 are not limited to the above example. For example, the determination unit 242 may be configured and operate as follows.

[0075] In the above example, the determination unit 242 creates one-dimensional data by acquiring pixel brightness values ​​for one grayscale image, compares the one-dimensional data with the reference feature, calculates a floating object candidate region when the one-dimensional data does not match the reference feature, and analyzes the floating object candidate region, and then repeats the same process for the next grayscale image. However, as another example, the determination unit 242 creates one-dimensional data by acquiring pixel brightness values ​​for all or a group of grayscale images, compares the one-dimensional data with the reference feature, and calculates a floating object candidate region when the one-dimensional data does not match the reference feature, and then calculates a region obtained by taking the logical sum of all the calculated one or more floating object candidate regions as the final floating object candidate region. Then, the determination unit 242 commonly uses the final floating object candidate region to analyze the floating object candidate region for all grayscale images that do not match the reference feature. This makes it possible to extremely reduce the probability that a foreign object exists outside the floating object candidate region. Also, to simplify the process, the final floatable object candidate region may be commonly used to perform floatable object candidate region analysis on a portion of all grayscale images that do not match the reference features.

[0076] Also, in the above example, the same process was repeated for all grayscale images corresponding to the container ID, but once a foreign object is detected in at least one grayscale image, the process for the remaining grayscale images may be omitted, and inspection result information indicating NG may be immediately created, and the process of FIG. 10 may be terminated.

[0077] In the above example, the luminance measurement line 510 has a width of one pixel, but a luminance measurement line having a width of two or more pixels may be used. In this case, the average luminance value may be calculated for each group of two or more pixels arranged horizontally, and these average values ​​may be arranged to create one-dimensional data.

[0078] Thus, according to this embodiment, it is possible to stably determine whether or not there is a foreign object on the liquid surface. One reason is that the apparatus is provided with an acquisition unit 241 that acquires an image 1 of the vicinity of the liquid surface of a paraboloid of revolution obtained by photographing a transparent container 400, which is rotated around the central axis at a predetermined speed while containing a transparent liquid and has a liquid surface of a paraboloid of revolution, from the side of the container under transmitted illumination using a camera device 130. Another reason is that the apparatus is provided with a determination unit 242 that acquires the luminance values ​​of pixels along a line extending in a direction parallel to the central axis of the container 400 in the image, generates one-dimensional data on the luminance values, and determines whether or not there is a foreign object on the liquid surface based on a spatial change in the luminance values ​​in the one-dimensional data. In contrast, in the technology related to the present invention, if the liquid surface is a perfect plane, the liquid surface is photographed as a uniform white area, and foreign matter floating on the liquid surface is photographed as a blackish image according to its reflection coefficient. However, even if the transparent container is completely still, the liquid surface does not become a perfect plane due to the meniscus. This phenomenon is particularly noticeable in transparent containers with small inner diameters. In addition, depending on the structure of the inspection stage on which the transparent container is placed and the noise environment of the inspection location, the transparent container may shake slightly during photography, causing ripples on the liquid surface during photography. In this way, if the liquid surface is not a perfect plane, it will not be photographed as a uniform white area, and a blackish area that is difficult to distinguish from the image of the foreign matter will appear. Therefore, it is difficult to stably determine that there is no foreign matter on the liquid surface.

[0079] [Second embodiment] Next, a foreign matter inspection apparatus according to a second embodiment of the present invention will be described below. Fig. 14 is a block diagram of a foreign matter inspection apparatus 600 according to this embodiment.

[0080] With reference to FIG. 13, a foreign substance inspection device 600 includes an acquisition unit 601 and a determination unit 602 .

[0081] The acquisition means 601 is configured to acquire an image of the vicinity of the liquid surface of the paraboloid of revolution obtained by photographing a transparent container, in which a liquid surface of the paraboloid of revolution is formed by rotating the transparent container containing a transparent liquid around a central axis at a predetermined speed, from the side of the transparent container under transmitted illumination. The acquisition means 601 can be configured in the same manner as the acquisition unit 241 in FIG. 6, for example, but is not limited thereto.

[0082] The determination means 602 is configured to obtain the luminance values ​​of pixels along a line extending in a direction parallel to the central axis in the image obtained by the obtaining means 601, generate one-dimensional data on the luminance values, and determine whether or not there is a foreign object on the liquid surface based on a spatial change in the luminance values ​​in the one-dimensional data. The determination means 602 can be configured in the same manner as the determination unit 242 in Fig. 6, for example, but is not limited to this.

[0083] The foreign matter inspection device 600 configured in this manner operates as follows. That is, first, the acquisition means 601 acquires an image of the vicinity of the liquid surface of the paraboloid of revolution obtained by photographing a transparent container, which contains a transparent liquid and is rotated around the central axis at a predetermined speed to form a liquid surface of a paraboloid of revolution, from the side of the transparent container under transmitted illumination. Next, the determination means 602 acquires the brightness values ​​of pixels along a line extending in a direction parallel to the central axis in the image acquired by the acquisition means 601, generates one-dimensional data on the brightness values, and determines whether or not there is a foreign matter on the liquid surface based on spatial changes in the brightness values ​​in this one-dimensional data.

[0084] According to the foreign matter inspection device 600 configured and operated as described above, it is possible to stably determine whether or not there is a foreign matter on the liquid surface. One reason is that the device is provided with an acquisition means 601 that acquires an image of the vicinity of the liquid surface of a paraboloid of revolution obtained by photographing a transparent container, in which a liquid surface of a paraboloid of revolution is formed by rotating the transparent container containing a transparent liquid around its central axis at a predetermined speed under transmitted illumination, from the side of the container. Another reason is that the device is provided with a determination means 602 that acquires the luminance values ​​of pixels along a line extending in a direction parallel to the central axis of the transparent container in the image, generates one-dimensional data on the luminance values, and determines whether or not there is a foreign matter on the liquid surface based on the spatial change in the luminance values ​​in the one-dimensional data.

[0085] Although the present invention has been described with reference to the above-mentioned embodiments, the present invention is not limited to the above-mentioned embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. [Industrial Applicability]

[0086] The present invention can be used for inspections such as checking whether or not there are any foreign objects such as plastic pieces on the surface of a liquid medicine contained in a container such as a syringe.

[0087] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes. [Appendix 1] a transparent container containing a transparent liquid and rotating about a central axis at a predetermined speed to form a liquid surface shaped like a paraboloid of revolution, said transparent container being photographed from the side under transmitted illumination, said transparent container being photographed to obtain an image of the vicinity of said liquid surface shaped like a paraboloid of revolution; a determination means for obtaining luminance values ​​of pixels along a line extending in a direction parallel to the central axis in the image, generating one-dimensional data on the luminance values, and determining whether or not a foreign object is present on the liquid surface based on a spatial change in the luminance values ​​in the one-dimensional data; A foreign body inspection device comprising: [Appendix 2] the determining means provides a plurality of the lines at a predetermined interval, generates the one-dimensional data for each of the lines, and performs the determination based on a spatial change in luminance value in the one-dimensional data for each of the lines. 2. A foreign body inspection device as described in claim 1. [Appendix 3] the determining means compares a spatial change in luminance value in the one-dimensional data with a change in luminance value when there is no floating matter on the liquid surface, and performs the determination based on a result of the comparison. 3. A foreign body inspection device according to claim 1 or 2. [Appendix 4] the determining means determines that no foreign matter is present on the liquid surface when a spatial change in luminance value in the one-dimensional data coincides with a change in luminance value when no floating matter is present on the liquid surface. 4. A foreign body inspection device according to claim 3. [Appendix 5] When the spatial change in brightness value in the one-dimensional data does not match the change in brightness value when there is no floating matter on the liquid surface, the determination means calculates a floating matter candidate region in which a floating matter may exist based on the spatial change in brightness value in the one-dimensional data, recognizes a floating matter from the floating matter candidate region, and determines whether the recognized floating matter is a foreign object or an air bubble. 5. A foreign body inspection device as described in appendix 4. [Appendix 6] The acquisition means performs the photographing operation multiple times in succession to acquire multiple images photographed at different times, the determining means performs the determination based on a spatial change in luminance value in the plurality of one-dimensional data generated from each of the plurality of images. 6. A foreign body inspection device according to any one of claims 1 to 5. [Appendix 7] a gripping mechanism that grips the transparent container in an upright position and rotates the transparent container around the central axis at a predetermined rotation speed in accordance with an instruction from the foreign body inspection device; and a camera device that photographs, under transmitted illumination, the liquid surface shaped like a paraboloid of revolution formed in the transparent container by the rotation; A foreign body inspection system comprising: [Appendix 8] A transparent container containing a transparent liquid is rotated around a central axis at a predetermined speed to form a liquid surface in the shape of a paraboloid of revolution, and an image of the vicinity of the liquid surface in the shape of a paraboloid of revolution is acquired by photographing the transparent container from a side under transmitted illumination; Obtaining luminance values ​​of pixels along a line in the image that extends in a direction parallel to the central axis to generate one-dimensional data on the luminance values; determining whether or not there is a foreign object on the liquid surface based on a spatial change in brightness value in the one-dimensional data; Foreign body inspection method. [Appendix 9] In the determination, a plurality of the lines are provided at a predetermined interval, the one-dimensional data is generated for each of the lines, and the determination is made based on a spatial change in luminance value in the one-dimensional data for each of the lines. 9. A foreign body inspection method as described in appendix 8. [Appendix 10] In the determination, a spatial change in brightness value in the one-dimensional data is compared with a change in brightness value when there is no floating matter on the liquid surface, and the determination is made based on a result of the comparison. 10. A foreign body inspection method according to claim 8 or 9. [Appendix 11] In the determination, when a spatial change in brightness value in the one-dimensional data matches a change in brightness value when no floating matter is present on the liquid surface, it is determined that no foreign matter is present on the liquid surface. 11. A foreign body inspection method as described in appendix 10. [Appendix 12] In the determination, when the spatial change in brightness value in the one-dimensional data does not match the change in brightness value when there is no floating matter on the liquid surface, a floating matter candidate region in which a floating matter may exist is calculated based on the spatial change in brightness value in the one-dimensional data, a floating matter is recognized from the floating matter candidate region, and it is determined whether the recognized floating matter is a foreign object or an air bubble. 12. A foreign body inspection method as described in appendix 11. [Appendix 13] In the acquisition, the photographing is performed several times in succession to acquire several images photographed at different times; The determination is made based on a spatial change in luminance values ​​in the plurality of one-dimensional data generated from each of the plurality of images. 13. A foreign body inspection method according to any one of appendices 8 to 12. [Appendix 14] On the computer, A transparent container containing a transparent liquid is rotated around a central axis at a predetermined speed to form a liquid surface shaped like a paraboloid of revolution, and an image of the vicinity of the liquid surface shaped like a paraboloid of revolution is acquired by photographing the transparent container from the side under transmitted illumination; A process of acquiring luminance values ​​of pixels along a line extending in a direction parallel to the central axis in the image, and generating one-dimensional data on the luminance values; A process of determining whether or not there is a foreign object on the liquid surface based on a spatial change in brightness value in the one-dimensional data; A computer-readable recording medium having a program recorded thereon for causing a computer to carry out the above. [Explanation of symbols]

[0088] 1 Image 2. Air layer 3 liquid layer 4. Low brightness area 5 High brightness area 6 Foreign object area 7. Bubble Area 8 One-dimensional data 100 Inspection Systems 110 Gripping device 120 Lighting Equipment 130 Camera Equipment 200 Foreign body inspection device 210 Communication I / F section 220 Operation input section 230 Storage section 231 Programs 232 Image information 233 Test result information 240 Processing unit 241 Acquisition Department 242 Judgment section 243 Output section 300 display device 400 containers 401 Top of the head 500 Control Table 510-1~510-6 Luminance measurement lines 511 Left border 512 Right border 513 Top Border 514 Bottom Border

Claims

1. a transparent container containing a transparent liquid and rotating about a central axis at a predetermined speed to form a liquid surface shaped like a paraboloid of revolution, said transparent container being photographed from the side under transmitted illumination, said transparent container being photographed to obtain an image of the vicinity of said liquid surface shaped like a paraboloid of revolution; a determination means for obtaining luminance values ​​of pixels along a line extending in a direction parallel to the central axis in the image, generating one-dimensional data on the luminance values, and determining whether or not a foreign object is present on the liquid surface based on a spatial change in the luminance values ​​in the one-dimensional data; A foreign body inspection device comprising:

2. the determining means provides a plurality of the lines at a predetermined interval, generates the one-dimensional data for each of the lines, and performs the determination based on a spatial change in luminance value in the one-dimensional data for each of the lines.

2. The foreign matter inspection device according to claim 1.

3. the determining means compares a spatial change in luminance value in the one-dimensional data with a change in luminance value when there is no floating matter on the liquid surface, and performs the determination based on a result of the comparison.

3. The foreign matter inspection device according to claim 1 or 2.

4. the determining means determines that no foreign matter is present on the liquid surface when a spatial change in luminance value in the one-dimensional data coincides with a change in luminance value when no floating matter is present on the liquid surface; The foreign matter inspection device according to claim 3.

5. When the spatial change in brightness value in the one-dimensional data does not match the change in brightness value when there is no floating matter on the liquid surface, the determination means calculates a floating matter candidate region in which a floating matter may exist based on the spatial change in brightness value in the one-dimensional data, recognizes a floating matter from the floating matter candidate region, and determines whether the recognized floating matter is a foreign object or an air bubble.

5. The foreign matter inspection device according to claim 4.

6. The acquisition means performs the photographing operation multiple times in succession to acquire multiple images photographed at different times, the determining means performs the determination based on a spatial change in luminance value in the plurality of one-dimensional data generated from each of the plurality of images.

6. The foreign matter inspection apparatus according to claim 1.

7. a foreign matter inspection device according to any one of claims 1 to 6; a gripping mechanism that grips the transparent container in an upright state and rotates the transparent container around the central axis at a predetermined rotation speed in accordance with an instruction from the foreign matter inspection device; and a camera device that photographs, under transmitted illumination, the liquid surface shaped like a paraboloid of revolution formed in the transparent container by the rotation; A foreign body inspection system comprising:

8. A transparent container containing a transparent liquid is rotated around a central axis at a predetermined speed to form a liquid surface in the shape of a paraboloid of revolution, and an image of the vicinity of the liquid surface in the shape of a paraboloid of revolution is acquired by photographing the transparent container from a side under transmitted illumination; Obtaining luminance values ​​of pixels along a line in the image that extends in a direction parallel to the central axis to generate one-dimensional data on the luminance values; determining whether or not there is a foreign object on the liquid surface based on a spatial change in brightness value in the one-dimensional data; Foreign body inspection method.

9. In the determination, a plurality of the lines are provided at a predetermined interval, the one-dimensional data is generated for each of the lines, and the determination is made based on a spatial change in luminance value in the one-dimensional data for each of the lines. The method for inspecting for foreign matter according to claim 8.

10. In the determination, a spatial change in luminance value in the one-dimensional data is compared with a change in luminance value when there is no floating matter on the liquid surface, and the determination is made based on a result of the comparison.

10. The method for inspecting for foreign matter according to claim 8.

11. In the determination, when a spatial change in brightness value in the one-dimensional data matches a change in brightness value when no floating matter is present on the liquid surface, it is determined that no foreign matter is present on the liquid surface. The method for inspecting for foreign matter according to claim 10.

12. In the determination, when the spatial change in brightness value in the one-dimensional data does not match the change in brightness value when there is no floating matter on the liquid surface, a floating matter candidate region in which a floating matter may exist is calculated based on the spatial change in brightness value in the one-dimensional data, a floating matter is recognized from the floating matter candidate region, and it is determined whether the recognized floating matter is a foreign object or an air bubble. The method for inspecting for foreign matter according to claim 11.

13. In the acquisition, the photographing is performed several times in succession to acquire several images photographed at different times; The determination is made based on a spatial change in luminance value in the plurality of one-dimensional data generated from each of the plurality of images.

13. The method for inspecting for foreign matter according to claim 8.

14. On the computer, A transparent container containing a transparent liquid is rotated around a central axis at a predetermined speed to form a liquid surface shaped like a paraboloid of revolution, and an image of the vicinity of the liquid surface shaped like a paraboloid of revolution is acquired by photographing the transparent container from the side under transmitted illumination; A process of acquiring luminance values ​​of pixels along a line extending in a direction parallel to the central axis in the image to generate one-dimensional data on the luminance values; A process of determining whether or not there is a foreign object on the liquid surface based on a spatial change in brightness value in the one-dimensional data; A program to carry out the above.

Images