Container inner surface inspection device, inner surface inspection method, and inner surface inspection system

Abstract

To provide a device, a method, and a system for examining an inner surface that can examine the inner surface for a container accurately and quickly.SOLUTION: An inner surface examination device for a container of the present invention is for a container including a camera, an illumination, an examination machine supporting tool, an examination machine movable jig, and a container supporting rotary jig. The camera, an illumination A, and an illumination B are set in the examination machine supporting tool, and the camera and the illumination A are held by the examination machine supporting tool through an angle adjustment mechanism. The illumination B is combined with the examination machine supporting tool. The examination machine movable jig inserts the camera, the illumination A, and the illumination B of the examination machine supporting jig into the container and the container supporting rotary rotates the whole container. It is desirable that the illumination A can change an angle in synchronization with a direction of imaging of the camera and that the illuminances of the illumination A and the illumination B can be independently adjusted. The present invention further includes a method for inspecting the inner surface of a container and an inner surface inspection system for a container which automatically examines the inside of the container.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an inner surface inspection device, an inner surface inspection method, and an inner surface inspection system for a container, and more particularly to an inner surface inspection device, an inner surface inspection method, and an inner surface inspection system that are optimal for inspecting pressure containers for gas, etc. [Background technology]

[0002] As an apparatus for inspecting the inner surface of a container, for example, Patent Document 1 discloses an inspection apparatus that has an illumination light irradiation unit that irradiates light and an imaging unit that images an area to be inspected, moves relatively to the area to be inspected, and detects foreign matter from multiple pieces of image information. However, this apparatus requires complex arithmetic processing to distinguish the real image based on multiple pieces of imaging condition information.

[0003] Patent Document 2 also discloses an inspection device for inspecting the inside of a tank, in which an inspection device support supporting an inspection device is inserted into the tank through an opening of a nozzle arranged on one side of the tank, and a support part is provided at the tip of the inspection device support, which is supported by a nozzle arranged on the other side of the tank, and the support is supported inside the tank in a double-supported state. However, although this inspection device can make the distance between the inspection device of the body part of the container and the inner wall of the container approximately uniform in the circumferential direction and can ensure the accuracy of the inspection of the body part, there is a problem that it cannot inspect the bowl part of the container. Also, although an imaging device and a lighting device are provided as the inspection device, they are both fixed and arranged facing downward, so that it is not possible to sufficiently inspect the nozzle opening in particular. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-161321 A [Patent Document 2] JP 2020-20711 A Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made in consideration of the above background, and its object is to provide an inner surface inspection device, an inner surface inspection method, and an inner surface inspection system that are capable of quickly and accurately inspecting the inner surface of a container. [Means for solving the problem]

[0006] The container inner surface inspection device of the present invention is an apparatus for inspecting the inner surface of a container having a camera, lighting, an inspection machine support tool, an inspection machine movable tool, and a container support rotation tool, and is characterized in that a camera, lighting A, and lighting B are installed on the inspection machine support tool, the camera and lighting A are held on the inspection machine support tool via an angle adjustment mechanism, and lighting B is connected to the inspection machine support tool, the camera and lighting A and lighting B of the inspection machine support tool are inserted into the container by the inspection machine movable tool, and the entire container is rotated by the container support rotation tool.

[0007] Furthermore, it is preferable that the angle of the lighting A is changed in synchronization with the shooting direction of the camera, that the lighting A is a ring lighting centered on the camera lens, that the illuminance of lighting A and lighting B can be adjusted independently, that the movement of the inspection machine support and the angle adjustment mechanism allow the inner surface of the container and the camera to face each other approximately directly and maintain a constant distance, and that the angle adjustment mechanism adjusts a predetermined angle vertically downward with respect to the long axis direction of the inspection machine support.It is also preferable that the inspection machine support is a hollow tube shape, that the container has a shape having a nozzle side of a bowl portion, a body portion, and the other side of the bowl portion, that the container is a pressure vessel made of fiber reinforced plastics (FRP), and that various position information is recorded when the camera takes the image.

[0008] Another container inner surface inspection method of the present invention is a method for inspecting the inner surface of a container, characterized by using the above-mentioned container inner surface inspection device. Furthermore, it is preferable to have a mechanism for adjusting the output of illumination A and illumination B, and reproducing the conditions for re-imaging and re-inspection using various position information recorded at the time of photographing.

[0009] The present invention is also directed to a container inner surface inspection system that uses the above-described inner surface inspection device of the present invention and automatically inspects the inside of a container by inputting in advance various positional information for all photographing. Effect of the Invention

[0010] According to the present invention, it is possible to provide an inner surface inspection device, an inner surface inspection method, and an inner surface inspection system that are capable of quickly and accurately inspecting the inner surface of a container. [Brief description of the drawings]

[0011] [Figure 1] 1 is a cross-sectional view of an embodiment of a container inner surface inspection device of the present invention. [Diagram 2] 1 is a cross-sectional view of a main part of a container inner surface inspection device of the present invention. [Diagram 3] 4 is a cross-sectional view showing the position and irradiation range of illumination B of the container inner surface inspection device of the present invention. FIG. [Figure 4] FIG. 2 is a conceptual diagram of a cross section of a container used in an embodiment of the present invention. [Diagram 5] 1 is a cross-sectional view of a container and a main part of an inner surface inspection device used in an embodiment of the present invention. [Figure 6] This is an example of a container having one opening that is subjected to the inner surface inspection apparatus of the present invention. [Figure 7] This is an example of a container having two openings that can be used with the inner surface inspection apparatus of the present invention. [Figure 8] 1 is a flowchart showing one embodiment of a method for inspecting the inner surface of a container according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The container inner surface inspection device of the present invention is a container inner surface inspection device having a camera, lighting, an inspection machine support, an inspection machine movable jig, and a container support rotation jig. A camera, lighting A, and lighting B are installed on the inspection machine support, the camera and lighting A are held on the inspection machine support via an angle adjustment mechanism, lighting B is connected to the inspection machine support, the camera and lighting A and lighting B of the inspection machine support are inserted into the container by the inspection machine movable jig, and the entire container is rotated by the container support rotation jig.

[0013] Here, the containers that can be inspected by the inner surface inspection device of the present invention are not particularly limited, but are best suited for containers that have only a small opening and whose interior cannot be fully observed visually, preferably a shape having a cap, a bowl, and a body, and whose body is at a constant distance from the center line of the container. Examples of such containers include pressure vessels and cylinders. In particular, the inner surface inspection device of the present invention is suitable for use with FRP containers that use fiber-reinforced resin to reduce weight.

[0014] The container to be inspected in the present invention must have one opening in order to insert a camera or light inside, but may have two or more. A preferred embodiment has two openings arranged in a straight line, as is often seen in cylinders. When there are two or more openings, a more stable inspection can be performed by supporting the inspection machine, on which the camera and light are installed, from both ends. Also, by inserting the support from one opening in a cantilevered manner, it becomes possible to perform a faster and more efficient inspection.

[0015] Furthermore, the method is particularly effective for containers that use aluminum alloy or resin liners as the inner liners to be inspected. If the liner is made of aluminum alloy, the surface of the liner will have an inner surface condition similar to that of polished marks, matte finish, etching finish, electrolytic polishing, heat treatment / pickling, polished marks + buff, bright / heat treatment, etc., while if the liner is made of resin, the surface condition will be similar to that of the mold surface used to mold the resin liner, including standard finish, grained finish, high-grade finish, mirror finish, etc., in addition to the machined surface.

[0016] The approximate surface conditions of the inside of such containers are summarized in Table 1.

[0017] Furthermore, defects in each part of the FRP container body are summarized in Table 2. In addition to scratches, unevenness, color, voids (air bubbles), liner deformation, dirt, and dirt on the inner surface of the liner and FRP container, other judgment items include the condition of the area around the valve attachment part of the nozzle, and for FRP containers, cracks during molding, peeling, FRP / liner interface (peeling and gaps), reinforcing fiber orientation, meandering, and fluctuations, fluctuations in resin content Rc and fiber content Vf, voids (air bubbles), and degree of resin hardening, and for the outer surface and appearance, scratches (dents), unevenness (steps), voids (air bubbles), disturbance of reinforcing material, and labels. In particular, the device of the present invention can be used to inspect and judge "scratches, unevenness, color, voids (air bubbles), liner deformation, dirt, and stains" on the "inner surface of liners and inner surfaces of FRP containers," which are of high importance.

[0018] By simply changing the settings of the inspection device of the present invention, it is possible to easily perform appropriate inspections for defects on the inner surfaces of liners and containers. In particular, the inspection device of the present invention is particularly suitable for inspecting pressure vessels of the type having a resin liner. Some pressure vessels of the type having a resin liner are constructed by integrally welding together a number of prefabricated resin molded parts. For example, the edges of a bowl-shaped side liner portion are joined to both end edges of a cylindrical center liner portion by infrared welding or the like. (See Patent Document 2.) In this case, the condition of the resin liner greatly affects the performance, and the inspection device of the present invention is optimal for inspecting the inside surface of this type of pressure vessel.

[0019] In such a resin liner as described in Patent Document 2, it is important to check whether the joints between the resin molded products are in an appropriate state. More specifically, for example, a part of the resin (the resin material constituting the edge of the resin molded product) melted by heating flows as a bead toward the inside of the container, and the strength of the joint between the resin molded products is ensured by cooling and solidifying, so it is important to check whether the amount of this bead is uniform and appropriate over the entire circumferential direction.

[0020] The inspection device of the present invention is particularly suitable for detecting such defects because it uses illumination A and illumination B to illuminate the inspection area from different angles.

[0021] Furthermore, when inspecting a pressure vessel, it is important to inspect the condition of the nozzle side of the bowl and the other side of the bowl, other than the body, and the inspection device of the present invention can perform extremely efficient inspections by inserting the inspection machine support tool equipped with a camera, etc. into the vessel, and by utilizing the angle adjustment mechanism and the vessel support rotation jig. This is because the inspection device of the present invention can easily change the camera's orientation and location by inserting and removing the angle adjustment device and the inspection machine support tool into and from the vessel.

[0022] Therefore, the inspection device of the present invention can effectively and quickly photograph and inspect not only the body of the container, but also the mouth side of the dome-shaped bowl and the other side of the bowl on the opposite side. Furthermore, by rotating the container under test, it is possible to quickly photograph and inspect the container while keeping the distance between the camera and the inner surface of the container constant, especially for containers with a circular cross section.

[0023] The containers for which the container inner surface inspection device of the present invention is most effectively used will be described in further detail with reference to the drawings.

[0024] As mentioned above, the inspection object for which the inspection device of the present invention is most effectively used is a pressure vessel, which is usually made up of a vessel body, a liner, a valve, etc.

[0025] Fig. 7 shows a pressure vessel with two openings, and is a cross-sectional view taken along the axial direction of vessel 1. As shown in Fig. 7, vessel 1 comprises vessel body 2 having an overall sealed cylindrical shape, and nozzles 3A, 3B attached to both longitudinal ends (one side and the other side) of vessel body 2. Vessel body 2 is also made up of a body portion 21 having a substantially cylindrical shape, a dome-shaped bowl portion-mouth portion 3A side 22 on the side of body portion 21 having nozzle 3A, and a dome-shaped bowl portion-other side 23 on the opposite side (here, the nozzle 3B side).

[0026] The inside of the container body 2 is a storage space 5 for storing gas and the like. The container 1 can be filled with gas at normal pressure, or with gas whose pressure is higher than normal pressure. For example, in a fuel cell system, the fuel gas (hydrogen) filled in the container 1 at high pressure is decompressed and used for power generation in the fuel cell.

[0027] The container body 2 has a liner 11 (inner shell) and a reinforcing part 12 (outer shell). The liner 11 is made of an aluminum alloy or a resin material with excellent gas barrier properties. The reinforcing part 12 is preferably made of fiber reinforced plastic (FRP) containing carbon fiber, glass fiber, and epoxy resin, and is wound around the outer periphery of the liner 11.

[0028] The caps 3A and 3B are made of metal such as aluminum alloy or stainless steel, and are provided at the center of the end wall of the container body 2, which is hemispherical in shape. The inner circumferential surfaces of the openings 3a and 3b provided in the caps 3A and 3B are formed with female threads (not shown), and functional parts such as piping and a valve assembly 14 can be screwed into and connected to the caps 3A and 3B through the female threads. For example, the container 1 applied to a fuel cell system is connected between the storage space 5 and an external gas flow path (not shown) through a valve assembly 14 that integrally incorporates piping elements such as valves and joints, and hydrogen can be filled into the storage space 5 and released from the storage space 5. In the container 1 of this embodiment, the inner diameter of the opening 3a of the cap 3A located on the left side of the figure is slightly smaller than the inner diameter of the opening 3b of the cap 3B located on the right side of the figure. In addition, although the figure shows the cap 3B, there are cases where it is possible to fill and release gas such as hydrogen into the storage space 5 by using functional parts such as piping and valve assembly 14 connected to the cap 3A, in which case the cap 3B may be omitted (FIG. 6).

[0029] The liner 11 present in the inner layer of the container functions as a permeation barrier for the gas / fluid stored inside the container and is disposed on the inner surface of the composite pressure container to seal the inner surface of the container. Such liners 11 are made of aluminum alloys, and more recently, some are made of nonmetallic elastic materials or resin materials. Another role of the liner 11 is to prevent the gas / fluid stored inside from coming into contact with the composite material.

[0030] A6000 series aluminum alloy liner 11 is generally used. For example, an aluminum alloy plate material is subjected to press cupping, drawing, and spinning to be roughly finished into a container shape, and then T6 heat treatment and threading of the mouthpiece are performed to complete liner 11. Alternatively, an aluminum alloy extruded tube is used, and a rotary ironing process is performed to thin the wall, and both ends of the blank tube are necked to be roughly finished into a container shape, and then T6 heat treatment and threading of the mouthpiece are performed to complete liner 11.

[0031] The quality of the manufacturing processes for these aluminum alloy liners, i.e., press cupping, drawing, spinning, rotary ironing, and necking, is reflected not only in the body portion 21 of the container body 2, but also in the condition of the bowl portion-mouth side 22 and the bowl portion-other side 23, so it is important to inspect the inner surface of the container body 2.

[0032] On the other hand, the pressure vessel 2 having the resin liner 11 may be an integrally molded product of the entire liner, or may be constructed by integrally welding together a number of prefabricated resin molded products. For example, the latter is constructed by joining the edges of the cup-shaped side liner parts 22 and 23 to both ends of the cylindrical center liner part 21 by infrared welding or the like.

[0033] The condition of the resin liner 11 has a large effect on product performance, and inspection of the inside surface of the vessel is particularly important for this type of pressure vessel 2. In this resin liner 11, it is necessary to inspect whether the joints between the resin molded products are in a proper joint state, for example, whether the amount of the bead is uniform and appropriate over the entire circumference, since part of the resin (the resin material that constitutes the edge of the resin molded product) melted by heating flows into the vessel as a bead and solidifies when cooled, thereby ensuring the joint strength between the resin molded products.

[0034] In addition, the judgment items listed in Table 2 above are important as test items.

[0035] Next, an inner surface inspection device of the present invention suitable for inspecting the inner surfaces of containers as described above will be described.

[0036] The inner surface inspection device of the present invention has a camera, lighting, an inspection machine support, an inspection machine movable jig, and a container support rotation jig, but it is necessary to have two or more lighting devices, and one lighting device A is held by the inspection machine support via an angle adjustment mechanism, lighting device B is connected to the inspection machine support, and lighting device A and lighting device B are installed in different locations, making it possible to simultaneously irradiate light from different directions onto one inspection and photography site.Furthermore, it is preferable that there are multiple lighting devices B, and lighting device A and multiple lighting devices B irradiate from three or more light sources in three or more locations and directions.

[0037] Furthermore, the camera and lighting A are held by the inspection machine support via an angle adjustment mechanism, making it possible to position them approximately facing the inspection and photography sites inside various containers. Here, "held" means that the movement of the angle adjustment mechanism is restricted by the inspection machine support, and includes cases where the movement is substantially restricted, such as when the end of the angle adjustment mechanism is inside a support made of a hollow member, in addition to cases where it is directly connected.

[0038] The camera and lighting A may be installed in the same position, but they can also be installed in different positions or at different angles. Alternatively, the camera and lighting A can be installed separately on different angle adjustment mechanisms. Even in such cases, it is preferable that lighting A changes its angle in sync with the shooting direction of the camera. In general, it is preferable to install the camera and lighting A on the same angle adjustment mechanism and to have both roughly face the shooting area. Furthermore, it is preferable that lighting A is a ring light. When lighting A is a ring light centered on the camera lens, the camera and lighting are arranged coaxially, making it possible to inspect and shoot containers with rough inner surfaces.

[0039] The angle adjustment mechanism is preferably small so that it can be inserted into the container through a narrow opening. The adjustment direction is preferably one or two directions, and the adjustment angle is preferably within 0° to 180°. In the present invention, the inspection machine movable jig allows the inspection machine support tool equipped with a camera and lighting to be inserted into the container, and the container support rotation jig rotates the entire container itself to be inspected, so that the angle adjustment mechanism can be simplified. The angle adjustment direction is preferably an adjustment angle of 0° to 180° with respect to the long axis direction of the inspection machine support tool inserted from the opening, and most preferably, the angle adjustment mechanism adjusts the angle only vertically downward with respect to the long axis direction of the inspection machine support tool.

[0040] For example, more specifically, in the case where a container is placed sideways on a container rotation jig and the entire container is rotated, and the inspection machine support is inserted into the container parallel to the ground, it is preferable that the angle adjustment device has an adjustment angle of 0° to 180° with respect to the long axis direction of the inspection machine support. When the camera's shooting part is the torso part and is positioned vertically downward, when the angle adjustment device is adjusted to 90°, the camera and the lighting A arranged coaxially therewith will be approximately directly facing the shooting part.

[0041] Specifically, the angle at which the image is taken can be set to 0° (in the direction of the long axis of the inspection device support), 30°, 60°, 90°, 120°, or 150° with respect to the long axis of the inspection device support. Also, when the container is small, for example a pressure container cylinder with a body diameter of 250 mm or less, angles of around 30°, 90°, or 150° can be effective enough. (See Figure 2.)

[0042] In addition, it is preferable that the distance between the camera and the part to be photographed is within an appropriate range. In the present invention, by maintaining an appropriate focal distance between the camera and the inner surface of the container, non-contact inspection is performed without contacting and damaging the inside.

[0043] The camera must be small enough to be inserted through the opening, and is preferably a USB camera. Furthermore, it is preferably a CCD camera with a CCD (ultra-small image sensor) located at the tip of the scope. Furthermore, by using high-brightness LED lighting as the light source and transmitting light to the tip of the scope, it is possible to achieve a low-power battery drive and a compact image recording function. The size of the camera head is preferably 15 mm or less in diameter, and more preferably in the range of 4 to 12 mm.

[0044] Furthermore, it is preferable that the camera used in the present invention has built-in lighting A. When lighting A is built into the camera, it is preferable that multiple light sources are arranged in a ring shape around the camera lens. In this case, it is preferable that the lighting is an LED lighting that is less affected by heat, etc., and it is preferable that multiple lighting sources, for example 3 to 24, particularly 4 to 12, are arranged in a ring shape.

[0045] The angle of view of the camera is preferably in the range of 45° to 135°, more preferably in the range of 60° to 120°, and particularly preferably in the range of 75° to 90°.

[0046] Examples of cameras that can be used in the measuring device of the present invention include USB cameras with model numbers MD-T31105, RD-V31110RL, 10-VD608-311-2W-77, and MD-T5015LV (all manufactured by MISUMI Electronics).

[0047] Moreover, the lighting B is connected to a different location from the lighting A of the support of the inspection machine. Furthermore, it is preferable that the angle of the lighting B can be adjusted so that the inspection area is appropriately illuminated. Alternatively, it is also preferable to install a plurality of lighting B with different positions and irradiation angles, and to change the lighting B used in conjunction with the imaging area. It is preferable that the irradiation angle can be set to two or more stages, and more preferably, to four or more stages, particularly, to seven or more stages such as 0° (long axis direction of the support of the inspection machine), 30°, 45°, 60°, 90°, 120°, 135°, 150°, or to be set steplessly with respect to the long axis direction of the support of the inspection machine. Furthermore, when the container is small, for example, in the case of a pressure container cylinder with a body diameter of 250 mm or less, even about four stages of 0°, 45°, 90°, and 135° can be set to a sufficient effect. (See FIG. 3.)

[0048] It is preferable to be able to independently adjust the illuminance of such illumination A and illumination B. It is also preferable to set the illuminance of one of the illuminations to 0 depending on the purpose or object of the inspection.

[0049] Here, lighting B is an external light source that casts an oblique light to create a shadow on the defective part and captures the shadow, and it is preferable to increase the illuminance of lighting B when mainly detecting defects with unevenness. On the other hand, lighting A is an illumination source coming from approximately the same direction as the camera, and has the purpose of clearly illuminating the target object. It is also preferable to adjust the illuminance of lighting A and lighting B depending on the reflectance, gloss, etc. of the target object.

[0050] It is preferable that such an illumination device uses an LED light source. It is preferable that an output fiber is used from the light source to the tip, and it is particularly preferable to use a quartz fiber.

[0051] In addition, it is preferable that the probe connecting the camera and the lighting to the operation unit is an optical fiber that is easy to adjust the angle. The tip of the probe is equipped with a camera and lighting, and the other end is equipped with an adjustment mechanism for the angle for the inspection machine. Furthermore, as described above, the angle adjustment mechanism is preferably such that the USB camera at the tip can move from 0° to nearly 180° in one direction relative to the tip side of the inspection machine support (the side where the camera and lighting are located) and can also move from 0° to nearly 180° in the opposite direction, that is, rotate a total of nearly 360°. The probe is a part for bringing the camera and lighting close to a specific part to take an image, and also has built-in cables for operating the camera and lighting, and a mechanism for moving them by the inspection machine orientation adjustment mechanism.

[0052] The above-mentioned camera, lighting, inspection machine support, inspection machine movable jig, and container support rotation jig are each connected, but there are no particular limitations on the method of connection as long as they are fixed in place so as not to cause blurring when the camera is taking pictures.

[0053] The inspection machine support only needs to have sufficient rigidity so that it does not bend when inserted through the opening of the container, and is preferably in the form of a hollow tube that is less likely to bend. For example, the inspection machine support is preferably in the form of a hollow or pipe. The weight of the camera and lighting is preferably light. Because it is so light, a thin, hollow object can be used for the inspection machine support, and even when the inspection machine support is used horizontally, it is possible to maintain a sufficiently horizontal state.

[0054] More specifically, it is preferable to use a hollow member such as a pipe as the inspection machine support used in the inspection machine of the present invention.

[0055] In the inspection device of the present invention, it is preferable that the inspection device support be movable and the angle adjustment mechanism be used to position the camera directly opposite the inner surface of the container and to maintain a constant distance therebetween.

[0056] The method for moving the inspection machine support used in the apparatus of the present invention uses an inspection machine movable jig.

[0057] The inspection machine movable jig used in the present invention is a jig having a slide mechanism for fixing the inspection machine support of the inspection device and inserting and moving the inspection machine support in which a camera and a light are arranged inside the container. This inspection machine movable jig preferably further includes a fixing jig for firmly fixing the inspection machine support. Next, the fixing jig has a left-right adjustment mechanism that can move the fixing jig horizontally left and right for moving the inspection machine support in which a camera and a light are arranged inside the container from the opening of the cap of the container to the inside of the container. Furthermore, it is preferable that the inspection machine movable jig has a height adjustment mechanism that can move in the height direction. During inspection, the inspection machine support fixing jig is moved linearly in the longitudinal direction by the slide mechanism to move the camera and light installed on the support from the opening of the cap of the container to the bottom inside the container, thereby performing inspection.

[0058] In the inspection device of the present invention, the camera can be moved from the opening of the container to the innermost part by moving the inspection machine movable jig of the inspection machine support fixture, and the angle adjustment mechanism allows not only the body part but also the nozzle side of the bowl part on the opening side and the other side of the bowl part at the innermost part to be photographed and inspected in the same way as the body part.

[0059] The inspection device of the present invention also includes a container supporting and rotating jig that supports and rotates the entire container.

[0060] The container support and rotation jig that supports and rotates the container is a jig that has a mechanism that can support and rotate the container, which is the test object, relative to the inspection machine support jig on which a camera and lighting are installed. Furthermore, it is preferable that this container support and rotation jig has four rotating rollers that can support the container at four points. And, for example, by attaching a motor and a rotary encoder to the same axis as one of the rotating rollers, it becomes possible to more accurately control the rotation of the rotating roller.

[0061] In the present invention, by rotating the entire container to be photographed, a more stable image with less blurring can be obtained compared to when the inspection machine support on which the camera is installed rotates. For example, when a container is installed sideways and inspected, there is a problem that a difference occurs between the distance to the inner surface of the container when the camera installed on the inspection machine support is facing vertically downward (0°) and the distance to the inner surface of the container when the inspection machine support is rotated 180° and the camera is facing vertically upward. This is particularly noticeable when the inspection machine support is in a cantilevered state, because the inspection machine support is deflected by its own weight. In addition, there is also a problem that bending vibration is likely to occur when the inspection machine support is rotated.

[0062] However, in the present invention, by rotating the container itself while holding the camera in the same orientation, it is possible to easily maintain a constant distance between the camera and the inner surface of the container.

[0063] Furthermore, in the inspection device of the present invention, it is preferable that various position information when photographing by the camera is recorded at any time.

[0064] Another method for inspecting the inner surface of a container according to the present invention is an inspection method carried out using the above-mentioned container inner surface inspection device.

[0065] Furthermore, it is preferable that the method adjusts the output of illumination A and illumination B when inspecting the inside surface of the container. At this time, it is preferable to change the output of each illumination depending on the surface condition of the inside of the container (e.g., mirror surface, matte surface, etc.). For example, when "halation phenomenon is large", it is preferable to reduce the output of built-in illumination A and increase the output of external illumination B. Conversely, when "halation phenomenon is small", it is preferable to increase the output of built-in illumination A and reduce the output of external illumination B, or even set it to 0%. In addition to the surface condition of the container, it is also preferable to change the conditions depending on the part of the container to be photographed (body, bowl, etc.).

[0066] Furthermore, it is preferable that the method for inspecting the inner surface of a container has a mechanism for automatically reproducing the conditions for re-imaging and re-inspection using various position information recorded at the time of photographing. Note that the various position information preferably includes the position, direction, and exposure level of the camera, the position, direction, and illuminance of each light, the rotation angle of the container, etc.

[0067] More specifically, such a method for inspecting the inner surface of a container according to the present invention is, for example, a method shown in a flow chart in FIG.

[0068] The container inner surface inspection system of the present invention is a container inner surface inspection system that automatically inspects and judges the inner surface condition of a container by the above-mentioned container inner surface inspection method.Furthermore, it is preferable that the container inner surface inspection system uses the inner surface inspection device of the present invention and automatically inspects the inside of a container by inputting various position information for all photographing in advance.

[0069] The inner surface inspection device and the inner surface inspection method of the present invention will be described in further detail with reference to the drawings and the embodiments described later.

[0070] [Containers to be inspected] A container suitable for inner surface inspection is a container as shown in the conceptual diagram of FIG. Fig. 4 is a cross-sectional view taken along the axial direction of the container sample 50. As shown in Fig. 4, the container sample 50 is composed of a container sample main body 51 and a lid 52. The container sample main body 51 includes a body portion 61 having a substantially cylindrical shape, and a dome-shaped bowl portion-mouth side 62 having a mouth 7A attached to one side in the longitudinal direction of the body portion 61. The side of the body portion 61 opposite to the bowl portion-mouth side 62 has an opening 64, which is in an open state.

[0071] A dome-shaped bowl-cover 52 having approximately the same shape as the opening 64 of the body 61 of the container sample main body 51 is attached to the opening 64 .

[0072] Therefore, the container sample 50 has, as the container sample body 51, the body portion 61 and a dome-shaped bowl portion / nozzle side 62 having the nozzle 7A, and in addition, as the lid 52 that closes the opening 64, it is composed of a dome-shaped bowl portion / lid 63. The exact dimensions of the container body 51 actually tested in the embodiment are shown in FIG.

[0073] Furthermore, defects to be detected on the inner surface of the container include, for example, scratches, unevenness, wrinkles, liner deformation, dirt, stains, etc. In the embodiment, as representative defect samples for detection, defects having dents with diameters of 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, 1.0 mm, and 1.2 mm were applied to the body portion, and defects having dents with diameters of 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, 1.0 mm, and 1.2 mm were applied to the bowl portion, and detection tests were performed.

[0074] [camera] In the embodiment, a USB camera with a diameter of 10.1 mm, a height of 6.6 mm, a standard angle of view (77°), 2 million pixels, a lens (1.83 mm, F5.0), and built-in lighting was used. It was connected to the control unit by a cable with a diameter of φ2.5 mm and a probe with a diameter of φ6 to 8 mm. The probe was equipped with an angle adjustment mechanism, and the USB camera at the tip could be moved in two directions by operating the dial, and could rotate 180° on one side and 360° on both sides.

[0075] [Lighting A] In the embodiment, a built-in light was used, in which eight LEDs were mounted on a flat ring-shaped board around the camera lens. It is preferable that the light A can provide uniform illumination in this way. Camera 111a and light 111b in Fig. 1 correspond to a USB camera with built-in light (light A).

[0076] [Lighting B] In the embodiment, an ultra-compact fiber output LED light source was used. A 600 μm core quartz fiber was used as the output fiber. The mounting angles were three directions, as shown in Figure 3, vertical (90° downward), forward 45°, and the long axis direction of the support of the inspection machine (0° parallel). It is preferable that lighting B has an angle with the front of the camera and lighting A, and that its illuminance is adjusted depending on the part to be photographed.

[0077] Lighting B was attached to the tip of the inspection machine support 120 on the side where the camera 111a and lighting 111b were installed. Lighting 111c in FIG. 1 corresponds to the external lighting (lighting B).

[0078] [Inspection machine support] In the embodiment described later, an aluminum alloy pipe having a length of 1.5 m, an outer diameter of 20 mm, and an inner diameter of 18 mm was used as the inspection machine support. This had high rigidity with a deflection of 4.8 mm, even when it held the other end of the part where the camera 111a and the lights 111b and 111c were installed, and even when the length of the cantilever part excluding the part inserted into the inspection machine support fixing jig 131 was set to 1.0 m.

[0079] As other support fixtures for the inspection machine, a carbon fiber reinforced plastic pipe using high-strength carbon fiber of the same dimensions (deflection under the same conditions: 3.3 mm) and a carbon fiber reinforced plastic pipe with varying dimensions of 1.5 m in length, 17 mm in outer diameter, and 15 mm in inner diameter (deflection under the same conditions: 4.6 mm) were used.

[0080] Furthermore, the carbon fiber was changed to a high-rigidity type, and a thin carbon fiber reinforced plastic pipe (deflection under the same conditions: 4.9 mm) with dimensions changed to 1.5 m in length, 14 mm in outer diameter, and 12 mm in inner diameter was used. The amount of deflection was kept to less than 5 mm, which was appropriate for photographing the inside of the container.

[0081] The inspection machine support may be made of a lightweight metal such as an aluminum alloy, but a hollow shape made of fiber-reinforced plastic or the like is preferable because it has a lighter weight and less deflection.

[0082] [Inspection machine movable fixture] As shown in FIG. 1, the inspection machine movable jig 130 is a jig having a slide mechanism for fixing the inspection machine support tool 120 and inserting and moving the inspection machine support tool 120 supporting the inspection machine 110 inside the container (2, 51).

[0083] The inspection machine movable jig 130 includes an inspection machine support fixing jig 131 capable of fixing the inspection machine support 120 .

[0084] The inspection machine support fixture fixing jig 131 has a left-right adjustment mechanism 132 that can move left-right and a height adjustment mechanism 133 that can move heightwise so that the camera 111a, lighting A 111b, and lighting B 111c can be inserted into the container (2, 51) that is the test object through the mouth opening (7a in FIG. 4, 3a in FIG. 6, 3a in FIG. 7) by moving the inspection machine support fixture fixing jig 131. The left-right adjustment mechanism 132 and the height adjustment mechanism 133 are equipped with servo motors 132a and 133a, respectively, and can be controlled so that the inspection machine 110 and the inspection machine support fixture 120 do not come into contact with the mouth opening of the container (2, 51).

[0085] The inspection machine support fixture fixing jig 131 can be moved linearly in the longitudinal direction of the container (2, 51) by the slide mechanism 134, so that the camera 111a and the lights 111b, 111c can be inserted into the container through the opening (7a in FIG. 4, 3a in FIG. 6, 3a in FIG. 7) of the cap of the container to be inspected. The slide mechanism 134 is also equipped with a servo motor 134a, so that the shooting pitch can be controlled.

[0086] In this embodiment, the inspection machine movable jig 130 was firmly fixed by its legs 135 while maintaining its horizontal position with respect to the floor surface.

[0087] [Container support rotation jig] The container supporting and rotating jig 140 is a jig having a mechanism capable of supporting and rotating the container (2, 51) which is the test object.

[0088] The container supporting and rotating jig 140 has four rotating rollers 141 (141a, 141b, 141c, and 141d, respectively) capable of supporting the container (2, 51) at four points.

[0089] A motor 142 and a rotary encoder 143 are attached to the same shaft of the rotating roller 141, so that the rotation of the rotating roller 141 can be controlled.

[0090] In this embodiment, a laser Doppler velocimeter (optical sensor: S-100Z, signal processing unit: PV-01, both manufactured by Canon) 144 was used, and the container (2, 51) being the subject was rotated once, whereby the numerical data (one circumference of the container) of the laser Doppler velocimeter 144 could be correlated with the numerical data of the motor 142 and rotary encoder 143 attached to the rotating roller 141. The correlation with the rotation angle and angular velocity of the rotating roller 141a required to rotate the container (2, 51) once, and the external dimensions of the container (2, 51) were calculated.

[0091] The container supporting and rotating jig 140 was firmly fixed by its legs 145 while maintaining its horizontal position with respect to the floor surface.

[0092] [controller] The controller 150 includes a display unit 151 , an input / output unit 152 , and a control unit 153 .

[0093] The control unit 153 controls the movement and control of the inspection machine 110 , the inspection machine support tool 120 , the inspection machine movable tool 130 , and the container support rotation tool 140 .

[0094] The container inner surface inspection device 100 is operated by executing a series of tasks, such as inputting data and control instructions through the input / output unit 152, and information on images captured during this inspection and judgment results are displayed on the display unit 151 and are stored and recorded in the input / output unit 152.

[0095] [Table 1]

[0096] [Table 2] EXAMPLES

[0097] The present invention will now be described in more detail with reference to examples.

[0098] [Example 1] The container inner surface inspection work was carried out in the following order. 1) Setting the container for the specimen 2) A step of setting the inspection machine 110 (camera 111a and lighting 111b and 111c) on the inspection machine support 120. 3) Inputting conditions 4) Photographing and pre-inspection process 5) Photographing and inspection process 6) Re-photographing and re-inspection process 7) Cleaning up the test sample containers.

[0099] 1) Setting the container for the specimen 1, a container 1 is set on a container support rotating jig 140 of a container inner surface inspection device 100. In this state, the container 1 is placed on four rollers 141a, 141b, 141c, and 141d of a rotating roller 141.

[0100] 2) A step of setting the inspection machine 110 (camera 111a and lighting 111b and 111c) on the inspection machine support 120. The camera 111a of the "USB camera" connected to a 2m-long probe 112 and the built-in light 111b of the USB camera corresponding to light A were attached and prepared on the inspection machine support 120 so that they were held via the angle adjustment mechanism 113 of the inspection machine. In addition, lighting B was attached to the tip of inspection machine support 120 on the side where camera 111a and lighting 111b were installed in inspection machine 110. Lighting 111c in Fig. 1 corresponds to external lighting (lighting B), and its irradiation direction was set to 90°, 45°, and 0° with respect to the longitudinal direction of the inspection machine support (Fig. 3).

[0101] 3) Inputting conditions The dimensions of the container 1 to be inspected and the conditions of the inspection machine 110 (camera 111a and lighting 111b and 111c) in the setting step of step 2) above were inputted into the system by an inspector from outside.

[0102] In addition, the "control value of the movable dimension of the left / right adjustment mechanism 132 of the inspection machine movable jig 130" and the "control value of the movable dimension of the height adjustment mechanism 133 of the inspection machine movable jig 130" are determined by a sensor in the next process, 4) photographing / pre-inspection process, when the inspection machine 110 is inserted into the opening 3a of the nozzle 3A of the container 1, which is the test object, and the determined value is automatically input.

[0103] Furthermore, since the "control value of the rotation angle and angular velocity of the rotating roller 141a of the container support rotating jig 140" and the "control value of the movable pitch and speed of the slide mechanism 134 of the inspection machine movable jig 130" are affected by the length and external dimensions (internal dimensions) of the container 1 to be inspected in the next process, 5) photography and inspection process, these values ​​were calculated in advance and the results were automatically input.

[0104] In addition, the "estimated time from start to finish of the photography and inspection process" was calculated and displayed on the screen to inform the inspector.

[0105] 4) Photographing and pre-inspection process First, the motor 142 on the same axis as the rotating roller 141a of the container support rotation jig 140 was operated, and at the same time, a laser Doppler velocimeter 144 (optical sensor: S-100Z, signal processing unit: PV-01, both manufactured by Canon) was used to rotate the container (2, 51) as the test object once, thereby measuring one circumference of the container 1 and calculating the outer dimensions of the container using the numerical data of the laser Doppler velocimeter 144. Then, based on this numerical data, the numerical data of the motor 142 and the rotary encoder 143 attached to the rotating roller 141a were associated with each other, and the control values ​​for the rotation angle and angular velocity of the rotating roller 141a were calculated again.

[0106] Next, the left / right adjustment mechanism 132 and the height adjustment mechanism 133 of the inspection machine support 120, i.e., the inspection machine support fixing jig 131, were operated to move the camera 111a and the lights 111b and 111c at the tip end attached to the inspection machine support 120 to a position where they could be inserted into the opening 3a of the nozzle 3A of the container 1 of the test subject.

[0107] Finally, the slide mechanism 134 of the inspection machine movable jig 130, i.e., the camera 111a and the lights 111b and 111c at the tip of the inspection machine support 120, was operated, and the camera 111a and the lights 111b and 111c at the tip attached to the inspection machine support 120 were inserted through the opening 3a of the nozzle 3A of the container 1 of the test object, and moved to the initial photographing and inspection position.

[0108] 5) Photographing and inspection process Based on the control values ​​input in the above 3) various condition input process, 4) preparation for photography and inspection was carried out, and then inspection of the inner surface of the container was actually started. When starting the inspection of the inside surface of a container, first, when the photographing / inspection position of the bowl-mouth side 22 (Fig. 6) is reached, the angle adjustment mechanism 113 of the inspection machine is operated to set the orientation of the camera 111a and the lighting 111b in Fig. 1 approximately perpendicular to the camera 111a and the lighting 111b (lighting A) and the inner surface of the container 1 (Fig. 6) to be inspected, and then photographing / inspecting one revolution of the container inner surface of the bowl-mouth side 22 (Fig. 6) of the container 1 (Fig. 6) is performed. Note that the angle of the angle adjustment device of the camera 111a and the lighting 111b (lighting A) at this time is set to 150° or 120° (Fig. 2), and the lighting 111c (lighting B) installed on the inspection machine support 120 is used facing vertically downward (Fig. 3).

[0109] After that, tests were conducted by changing the output of the lighting 111b (lighting A) built into the camera 111a and the lighting 111c (lighting B) with an angle installed on the inspection machine support 120 as shown in Table 3 or Table 4. Here, Table 3 is for an aluminum alloy liner with a low surface reflectance (class 1), and Table 4 is for an aluminum alloy liner with a medium to high surface reflectance (class 4).

[0110] At this time, the rotating roller 141a of the container support rotating jig 140 was operated to photograph and inspect one revolution of the container's inner surface, repeating the cycle of "photographing and importing image data" → "rotating container" → "photographing and importing image data" → "rotating container", ... to photograph and inspect one revolution of the container's inner surface at that photographing and inspection position.

[0111] When photographing and inspection of one revolution of the inner surface of the container has been completed, the slide mechanism 134 of the inspection machine movable jig 130 is actuated, and the camera 111a and the lights 111b and 111c at the tip end are moved to the next photographing and inspection position of the container to be inspected, and photographing and inspection of the next revolution is performed. This is repeated until photographing and inspection of the bowl portion and nozzle side 22 (Figure 6) has been completed.

[0112] Next, following the bowl part and cap side 22 of the container 1, the body part 21 of the container 1 (Fig. 6) was also photographed and inspected in the same manner as above, taking pictures of the inner surface of the container for each revolution. However, the angle of the angle adjustment device for the camera 111a and the lighting 111b (lighting A) was set to 90° (Fig. 2), and the lighting 111c (lighting B) installed on the inspection machine support 120 was angled downward at 45° (Fig. 3). The output of lighting A and lighting B was as shown in Table 3 or Table 4. Table 3 is for an aluminum alloy liner with a low surface reflectivity (Class 1), and Table 4 is for an aluminum alloy liner with a medium to high surface reflectivity (Class 4).

[0113] Furthermore, when the camera reached the photographing and inspection position for the other side 23 (FIG. 6) of the container's bowl portion of the container after the body portion 21 of the container 1, photographing and inspection were performed for each revolution of the container's inner surface in the same manner as described above. However, the angle of the angle adjustment device for the camera 111a and the lighting 111b (lighting A) was set to 30° or 60° (FIG. 2), and the lighting 111c (lighting B) installed on the inspection machine support 120 was set at a 45° downward angle and in the long axis direction of the inspection machine support 120 (lighting B) (FIG. 3). The output of the lighting A and lighting B was set under the conditions shown in Table 3 or Table 4. Table 3 is for an aluminum alloy liner with a low surface reflection (class 1), and Table 4 is for an aluminum alloy liner with a medium to high surface reflection (class 4). By repeating the above operations, the entire inner surface of the container was photographed and inspected.

[0114] When the entire inner surface of the container 1 under test has been photographed and inspected, an analysis is performed to determine where on the inner surface of the container 1 there are defects (e.g., scratches, unevenness, wrinkles, liner deformation, dirt, stains, etc., as determined by the items listed in Table 1), and the results are displayed and output on the display unit 151 and stored and recorded in the input / output unit 152 together with various positional information at the time of photographing by the camera 111a. The detection state according to the size of the dent in the defective sample is shown in Tables 3 and 4.

[0115] 6) Re-photographing and re-inspection process In the above 5) photographing and inspection step, if any defects or the like are recorded and it is desired to check them again, the camera 111a and the lighting devices 111b and 111c are moved to the appropriate positions based on various position information at the time of photographing by the camera 111a, and photographing and inspection are performed again.

[0116] 7) Cleaning up containers and other specimens First, the slide mechanism 134 of the inspection machine movable jig 130 was operated, and the inspection machine 110 and the inspection machine support tool 120 were moved and pulled out from inside the container under test through the opening 3a of the nozzle portion 3A of the container 1 (Figure 6). Next, the power to the controller 150 was turned off to shut down the container inner surface inspection system. The inspection machine 110 and the inspection machine support 120 are removed from the inspection machine support fixing jig 131 . Finally, the container 1 as the test specimen was removed from the container supporting rotation jig 140.

[0117] [Table 3]

[0118] [Table 4]

[0119] The photographing range was 40mm x 70mm for the body 61 and the bowl part and other side 63 (non-ferrule side) shown in Figure 4, and the inspection was performed so that 30% of the area overlapped. On the other hand, the bowl part and the nozzle side 62 could be inspected in an area of ​​40mm x 60mm, but since the image was slightly unclear, the images were photographed so that half of the area overlapped. The time required to photograph one image was 0.8 seconds.

[0120] Even with such quick imaging within 10 minutes, foreign objects with a diameter of 0.2 mm or more were detected in the body part 61. Foreign objects with a diameter of 0.5 mm or more were also detected in the bowl part / mouth side 62 and the other side 63, where detection is relatively difficult.

[0121] Furthermore, if these conditions are applied to a container of general size such as that shown below, the entire container can be inspected within 10 minutes. Container A (volume 20 liters); inspection time 4 minutes Container length 80cm / external dimensions φ25cm Length of the mouth of the bowl 10cm x length of the body 40cm x length of the other side of the bowl 10cm Container B (volume 100 liters); inspection time 10 minutes Container length 100cm / external dimensions φ60cm Length of the mouth of the bowl 20cm x length of the body 35cm x length of the other side of the bowl 20cm Container C (volume 10 liters); inspection time 3 minutes Container length 60cm / External dimensions approx. φ20cm Length of the mouth of the bowl 10cm x length of the body 30cm x length of the other side of the bowl 10cm Container D (volume 30 liters); inspection time 5 minutes Container length 90cm / external dimensions φ25cm Length of the mouth side of the bowl: 20cm x length of the body: 35cm x length of the other side of the bowl: 20cm. [Explanation of symbols]

[0122] 1 container 11 Liner (inner shell) 12 Reinforcement part (outer shell) 2 Container body 21 Body 22 Bowl part - Mouthpiece side 23 Bowl part - other side 3. Base 3A,3B Base part 3a,3b opening 5. Storage space

[0123] 50 container samples 51 Container sample body 52 Lid 61 Torso 62 Bowl part - Mouthpiece side 63 Bowl part - other side 64 Opening 7A Base part 7a opening

[0124] 100 Container inner surface inspection device 110 Inspection Machine 111 Tip 111a Camera 111b Lighting A 111c Lighting B 112 Probe 113 Angle adjustment mechanism 120 Inspection machine support

[0125] 130 Inspection machine movable jig 131 Inspection machine support fixture 132 Left and right adjustment mechanism 132a Servo motor 133 Height adjustment mechanism 133a Servo motor 134 Slide mechanism 134a Servo motor 135 Leg (inspection machine movable jig)

[0126] 140 Container support rotation jig 141 Rotating Roller 141a, 141b, 141c, 141d Rotating rollers 142 Motor 143 Rotary Encoder 144 Laser Doppler Velocimeter 145 Leg (container support rotating jig)

[0127] 150 Controller 151 Display section 152 Input / output section 153 Control Unit

Claims

1. An apparatus for inspecting the inner surface of a container having a camera, lighting, an inspection machine support tool, a movable inspection machine jig, and a container support rotation tool, wherein a camera, lighting A, and lighting B are installed on the inspection machine support tool, the camera and lighting A are held on the inspection machine support tool via an angle adjustment mechanism, and lighting B is connected to the inspection machine support tool, the camera and lighting A and lighting B of the inspection machine support tool are inserted into the container by the movable inspection machine jig, and the entire container is rotated by the container support rotation tool.

2. 2. The container inner surface inspection device according to claim 1, wherein the angle of the illumination A is changed in synchronization with the photographing direction of the camera.

3. 3. The container inner surface inspection device according to claim 1, wherein the illumination A is a ring illumination centered on the camera lens.

4. 4. The container inner surface inspection device according to claim 1, wherein the illuminance of the illumination A and the illuminance of the illumination B can be adjusted independently.

5. 5. The container inner surface inspection device according to claim 1, wherein the camera faces the container inner surface directly and maintains a constant distance therebetween by moving the inspection machine support and by using an angle adjustment mechanism.

6. 6. The container inner surface inspection device according to claim 1, wherein the angle adjustment mechanism adjusts the angle vertically downward with respect to the longitudinal direction of the inspection machine support.

7. 7. The container inner surface inspection device according to any one of claims 1 to 6, wherein the inspection machine support tool has a hollow tube shape.

8. 8. The container inner surface inspection device according to claim 1, wherein the container has a shape having a mouth side of a bowl portion, a body portion, and the other side of the bowl portion.

9. 9. The container inner surface inspection device according to any one of claims 1 to 8, wherein the container is a pressure vessel made of FRP.

10. The container inner surface inspection device according to any one of claims 1 to 9, wherein various position information at the time of photographing by the camera is recorded.

11. Using a container inner surface inspection device having a camera, lighting, an inspection machine support, an inspection machine movable jig, and a container support rotation jig, a camera, lighting A, and lighting B are installed on the inspection machine support, the camera and lighting A are held on the inspection machine support via an angle adjustment mechanism, and lighting B is connected to the inspection machine support, A method for inspecting the inner surface of a container, characterized in that the camera and lighting A and lighting B of the inspection machine support tool are inserted into the container by the inspection machine movable jig, and the entire container is rotated by the container support rotation jig, thereby inspecting the inner surface of the container.

12. The method for inspecting the inner surface of a container according to claim 11, further comprising adjusting outputs of the illumination A and the illumination B.

13. Recording various position information when photographing with a camera and lighting using the inner surface inspection device, 13. The method for inspecting the inner surface of a container according to claim 11 or 12, wherein the conditions for re-imaging and re-inspection are automatically reproduced using various position information recorded at the time of photographing.

14. An inner surface inspection system for containers comprising an inner surface inspection device according to any one of claims 1 to 10, a recording means for recording various positional information at the time of photographing using a camera and lighting, and a means for pre-inputting various positional information at the time of all photographing, the system automatically inspecting the inside of a container by automatically reproducing the conditions for re-photographing and re-inspection using the various positional information at the time of photographing recorded in the recording means.

Images