Condition determination system, condition determination method, and condition determination program

Abstract

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

Description

[Technical Field]

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

[0002] Conventionally, damage assessments have been conducted on various items. For example, packaging containers for food products and the like are inspected, and it is determined whether the packaging container is damaged based on the inspection results. This makes it possible to detect air leaks and other issues in the packaging container before it reaches the consumer, thereby maintaining the quality of the product.

[0003] An example of a technology relating to such determination of packaging containers is disclosed in Patent Document 1. The technology disclosed in Patent Document 1 determines the state of packaging containers by using various sensors, such as sensors that measure weight and temperature, and sensors that use electromagnetic waves to detect the presence of foreign matter. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-253469 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, packaging containers pass through various logistics bases as they are transported by vehicles, trains, etc. during the distribution process before reaching consumers. As a result, even if a packaging container is initially problem-free, it may become damaged over time. Therefore, it is necessary to not only perform an assessment once at the time of shipment from the factory, but also to perform assessments at subsequent logistics bases during operations such as loading and unloading and distribution processing. In other words, it is also necessary to determine changes in the state of the packaging container over time.

[0006] However, the prior art disclosed in Patent Document 1 is merely intended to determine the state of the packaging container at that time. In order to determine changes in the condition of a packaging container over time using such conventional technology, it was necessary, for example, to make each packaging container identifiable, then to create a database and manage the history of each determination result, or to build a network to share that data with other logistics centers.

[0007] In other words, conventional techniques still have room for improvement in determining changes in the state of an object to be inspected, such as a packaging container, over time. This problem is not limited to the case where the object to be inspected is a packaging container for food, etc., but is common to all packaging containers.

[0008] An object of the present invention is to more simply determine changes in the state of an object to be inspected over time. [Means for solving the problem]

[0009] In order to solve the above problem, a state determination system according to one embodiment of the present invention comprises: A condition determination system for inspecting a packaging container, an operation control means for controlling the operation of a contact mechanism to bring the contact mechanism into contact with the inspection object; a conversion means for converting haptic parameters relating to the operation of the contact mechanism by the operation control means (corresponding to the haptic parameters and secondary parameters that can be calculated from these parameters, as described in the patent publication of the patent right held by Keio University (Patent No. 6382203) or the reference document shown in paragraph

[0059] of this specification) into an image; a determination means for determining whether the inspection object is damaged by comparing a first image corresponding to the inspection object with a second image corresponding to the inspection object generated by the operation control means and the conversion means after the first image corresponding to the inspection object is generated by the operation control means and the conversion means; The present invention is characterized by comprising: [Effects of the Invention]

[0010] According to the present invention, it is possible to more easily determine changes in the state of an object to be inspected over time. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing the overall configuration of a state determination system S according to the present embodiment. [Figure 2] 2 is a schematic diagram showing an outline of the procedure of the determination process realized by the cooperation of each device of the state determination system S. FIG. [Figure 3] 2 is a schematic diagram showing an outline of the procedure of the determination process realized by the cooperation of each device of the state determination system S. FIG. [Figure 4] FIG. 2 is a block diagram showing the hardware configuration of the inspection device 20. [Figure 5] 2 is a block diagram showing an example of hardware and functional blocks of a control unit 25 in the inspection device 20. FIG. [Figure 6] FIG. 10 is a block diagram showing a control algorithm for force haptic transmission by an operation control unit 911. [Figure 7] FIG. 2 is a block diagram showing an example of hardware and functional blocks in the image applying device 30. [Figure 8] 2 is a block diagram showing an example of hardware and functional blocks in a reading device 40. FIG. [Figure 9] 2 is a block diagram showing an example of hardware and functional blocks in a state determination device 50. FIG. [Figure 10] 10 is a flowchart illustrating the flow of an operation control process executed by a state determination system S. [Figure 11] 10 is a flowchart illustrating the flow of a determination process executed by a state determination system S. DETAILED DESCRIPTION OF THE INVENTION

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

[0013] [System Configuration] Fig. 1 is a block diagram showing the overall configuration of a condition determination system S according to this embodiment. As shown in Fig. 1, the condition determination system S includes an inspection device 20, an image providing device 30, a reading device 40, and a condition determination device 50. The figure also shows a packaging container 10 that is the object to be inspected.

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

[0015] Furthermore, at the first location, the inspection device 20a and the image application device 30 are connected to each other so that they can communicate with each other. Similarly, at the second location, the reading device 40, the inspection device 20b, and the status determination device 50 are connected to each other so that they can communicate with each other. Communication between these devices may be performed in accordance with any communication method, and the communication method is not particularly limited. Furthermore, communication between these devices may be performed directly between the devices or via a LAN (Local Area Network). However, in this embodiment, there is no need for communication between the first location and the second location, and therefore there is no need to build a network for communication between the first location and the second location. The inspection device 20a and the inspection device 20b have the same functions, and therefore, in the following description, when there is no need to distinguish between the two, they will simply be referred to as "inspection device 20."

[0016] The packaging container 10 is a packaging container that packages contents such as food. The packaging container 10 is the object to be inspected in this embodiment. The packaging container 10 is not particularly limited, but as an example for the purpose of explanation below, it is assumed that the packaging container 10 is a packaging container that packages contents such as food (e.g., snacks such as potato chips). Here, such packaging containers are filled with carbon dioxide or nitrogen gas instead of oxygen as the contents to prevent deterioration (e.g., oxidation) or damage to the food. The condition determination system S determines changes in the condition of the packaging container 10 over time, using the packaging container 10 as an object to be inspected.

[0017] The inspection device 20 is a device that inspects the condition of the packaging container 10 by contacting the packaging container 10. The inspection device 20 has an operation mechanism 22 that is a mechanism that accepts user operations, and a contact mechanism 24 that is a mechanism that contacts the packaging container 10. In the inspection device 20, the operation mechanism 22 functions as a master device, and the contact mechanism 24 functions as a slave device. That is, an action based on a user's operation on the master device is transmitted to the slave device, causing the slave device to contact the packaging container 10. Meanwhile, a reaction force input from the packaging container 10 to the slave device is fed back to the user via the master device. That is, bilateral control is realized in the inspection device 20. The inspection device 20 then realizes the bilateral control described in the patent publication (Japanese Patent No. 6382203) of a patent held by Keio University. As a result, the inspection device 20 calculates various parameters related to haptics and secondary parameters that can be calculated from these parameters (hereinafter referred to as "haptic parameters") that are described in the patent publication or the references shown in paragraph

[0059] of this specification. The inspection device 20 also converts the force and tactile parameters into image data.

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

[0019] The reading device 40 acquires first image data by reading the attached image 61 physically attached to the packaging container 10 with the reading unit 48. Then, the acquired first image data is transmitted to the state determination device 50.

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

[0021] 2 and 3 are schematic diagrams showing an outline of the procedure of the determination process realized by the cooperation of the devices of the state determination system S. In FIG. 2(a), first, at a first site, the packaging container 10 is placed on the inspection device 20a. Then, the operation of the contact mechanism 24 is started based on the user's operation of the operation mechanism 22. Accordingly, the contact mechanism 24 descends and comes into contact with the packaging container 10.

[0022] 2(b), the lowered contact mechanism 24 presses the packaging container 10 with a force corresponding to the operation of the user. In response to this, a reaction force from the packaging container 10 acts on the contact mechanism 24.

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

[0024] 2(c), the packaging container 10 is placed on the image-applying device 30. Then, the applying unit 38 of the image-applying device 30 physically applies an image corresponding to the first image data to the packaging container 10. As a result, the imaged force-haptic parameters are, so to speak, tagged to the packaging container 10. The packaging container 10 tagged with the imaged force-tactile parameters is then transported to a second base station by a vehicle such as a truck or a train.

[0025] 3(e), the packaging container 10 is placed on the reading device 40 at the second location. Then, the reading unit 48 of the reading device 40 acquires first image data by reading the first image physically attached to the packaging container 10. Then, the acquired first image data is transmitted to the state determination device 50.

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

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

[0028] In addition, for example, if the first image data shows that the packaging container 10 is in a normal state, but the second image data shows that the packaging container 10 is within the normal range but slightly damaged, it can be determined that the condition has deteriorated during distribution from the first location to the second location, and that there is a high possibility of damage during future distribution processes. In addition, for example, if the first image data indicates that the packaging container 10 is within the normal range but is slightly damaged, and the second image data similarly indicates that the packaging container 10 is within the normal range but is slightly damaged, it can be determined that the condition is being maintained and that there is not a high possibility of damage during future distribution processes. The state determination device 50 notifies the user of the determination result by displaying it on a display or printing it on a paper medium. In this way, the determination process is realized by the cooperation of each device of the state determination system S.

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

[0030] In contrast, in order to achieve such a judgment using conventional technology, it was necessary to make each packaging container identifiable, to create a database and manage the history of each judgment result, and to build a network to share that data with other logistics bases. However, with the condition determination system S, it is only necessary to compare images, and there is no need to prepare a database or network as in the prior art.

[0031] Furthermore, with the condition determination system S, by imaging the force-tactile parameters, the determination itself can use simple image processing or image classification techniques. In this case, there is no need to analyze the force-tactile parameters related to force-tactile sensations and perform processing tailored to the characteristics of each inspection object or machine learning. In addition, since the determination itself is image processing, the determination unit 512 can also use an existing image processing determination system (for example, a visual inspection system equipped with a camera) as long as the determination criteria are set. This reduces the user's workload and increases the versatility of the system.

[0032] That is, the state determination system S can solve the problem of the present invention, which is to more easily determine changes in the state of an object to be inspected over time.

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

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

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

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

[0037] In this embodiment, instead of detecting the position of the movable part of the operation mechanism 22 or the position of the movable part of the contact mechanism 24, the rotation angle of the output shaft of each actuator may be detected by a rotary encoder built into each actuator. That is, in this embodiment, the concept of position includes an angle (e.g., the rotation angle of the output shaft of the actuator), and information related to position includes position, angle, velocity, angular velocity, acceleration, and angular acceleration. Furthermore, since position and velocity (or acceleration) or angle and angular velocity (or angular acceleration) are parameters that can be substituted by differential and integral calculations, when processing position or angle, they can be substituted with velocity or angular velocity, etc., as appropriate, before processing. While the figure shows only one system of drivers, actuators, and position sensors in the master unit 21 and the slave unit 23, multiple systems of these may be provided depending on the number of operation mechanisms 22 and contact mechanisms 24 and the number of actuators.

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

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

[0040] The processor 91 executes various processes in accordance with programs recorded in the ROM 92 or programs loaded from the storage unit 95 to the RAM 93. The RAM 93 also stores data and the like necessary for the processor 91 to execute various processes, as appropriate.

[0041] The communication unit 94 controls communication between the processor 91 and other devices (for example, the image adding device 30 and the state determining device 50). The storage unit 95 is configured with a semiconductor memory such as a DRAM (Dynamic Random Access Memory) and stores various data.

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

[0043] In such a hardware configuration, when the determination process described above with reference to Figures 2 and 3 is realized, an operation control unit 911, an image conversion unit 912, and an image notification unit 913 function in the processor 91 as shown in Figure 5. Furthermore, in such a hardware configuration, when the determination process described above with reference to FIGS. 2 and 3 is realized, a force / haptic parameter storage unit 951 is set in one area of ​​the storage unit 95 as shown in FIG. Including cases not specifically mentioned below, data required to realize processing is transmitted and received between these functional blocks at appropriate times.

[0044] The operation control unit 911 controls the transmission of haptic sensation between the operation mechanism 22 driven by the master unit 21 and the contact mechanism 24 driven by the slave unit 23, thereby controlling the operation of each mechanism. To achieve this control, the operation control unit 911 acquires haptic information for achieving the control. For example, the operation control unit 911 acquires the position (specifically, the position or angle) of the movable part of the operation mechanism 22, which is moved by being driven by the master-side actuator 212, from the master-side position sensor 213. The operation control unit 911 also acquires the position (specifically, the position or angle) of the movable part of the contact mechanism 24, which is moved by being driven by the slave-side actuator 232, from the slave-side position sensor 233. The acquired physical quantity data, such as position, is used as a reference value for the operation of each mechanism driven by the master-side unit 21 and the slave-side unit 23 in the control algorithm for haptic transmission.

[0045] FIG. 6 is a block diagram showing a control algorithm for the force haptic sensation transmission by the operation control unit 911. As shown in FIG. 6, the algorithm implemented in the motion control unit 911 is expressed as a control law including a functional force-velocity allocation conversion block FT, an ideal force source block FC, an ideal velocity (position) source block PC, and an inverse conversion block IFT. The control algorithm shown in FIG. 6 is described in a patent publication (Japanese Patent No. 6382203) owned by Keio University, which is the applicant of the present application. Various control algorithms described in this patent publication can also be used in this embodiment as appropriate. In this embodiment, the master device in the controlled system CS is composed of a master-side unit 21 and an operation mechanism 22, and the slave device is composed of a slave-side unit 23 and a contact mechanism 24.

[0046] The functional force-speed allocation transformation block FT defines the transformation of control energy into the velocity (position) and force ranges set according to the function of the controlled system CS. Specifically, the functional force-speed allocation transformation block FT defines a coordinate transformation that takes as input the reference value (reference value) of the function of the controlled system CS and the current position (or current angle) of the moving part of each mechanism driven by the master-side actuator 212 and the slave-side actuator 232. This coordinate transformation generally transforms an input vector whose elements are the reference value and the current position (current angle) into an output vector consisting of positions (angles) for calculating a control target value for position (angle), and also transforms an input vector whose elements are the reference value and the current force into an output vector consisting of forces for calculating a control target value for force.

[0047] By setting the coordinate transformation in the functional force-velocity allocation transformation block FT to a content that represents the force-haptic transmission function, it is possible to realize the force-haptic transmission function between the master unit 21 and the slave unit 23, or to reproduce the operation of transmitting the force-haptic sensation in the slave unit 23 without using the master unit 21. Furthermore, by setting coefficients in the elements of the transformation matrix in the coordinate transformation in the functional force-velocity allocation transformation block FT, it is possible to perform scaling of the position (angle) or force.

[0048] That is, in this embodiment, the functional force-velocity allocation conversion block FT "converts" the individual variables (variables in real space) of the moving parts of each mechanism moved by the master-side actuator 212 and the slave-side actuator 232 into a group of variables (variables in space after coordinate transformation) of the entire system that expresses the force haptic transmission function, and allocates control energy to the control energy of position (angle) and the control energy of force. That is, the coordinate transformation set in the functional force-velocity allocation conversion block FT converts real-space coordinates (oblique coordinates) in which position (angle) and force are related to each other into virtual-space coordinates (cartesian coordinates) in which position (angle) and force are independent of each other. Therefore, compared to the case where the individual variables (variables in real space) of the moving parts of each mechanism moved by the master-side actuator 212 and the slave-side actuator 232 are controlled as they are, it is possible to independently assign the control energy of position (angle) and the control energy of force, i.e., to independently control the position (angle) and the force.

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

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

[0051] The ideal force source block FC performs calculations in the force domain according to the coordinate transformation defined by the functional force-velocity allocation transformation block FT. The ideal force source block FC sets a target value for the force used when performing calculations based on the coordinate transformation defined by the functional force-velocity allocation transformation block FT. This target value is set as a fixed value or a variable value depending on the function to be realized. For example, to achieve a function similar to that indicated by a reference value, the target value can be set to zero. To perform scaling, a value obtained by enlarging or reducing the information representing the function indicated by the reference value can be set. The ideal force source block FC can also set an upper limit for the force energy determined by calculations in the force domain. Setting an upper limit for the force energy can, for example, limit the contact force when the slave unit 23 contacts the packaging container 10, thereby preventing the contact mechanism 24 from pressing excessively hard against the packaging container 10.

[0052] The ideal velocity (position) source block PC performs calculations in the position (angle) domain according to the coordinate transformation defined by the functional force-velocity allocation transformation block FT. The ideal velocity (position) source block PC sets a target value for the position (angle) when performing calculations based on the coordinate transformation defined by the functional force-velocity allocation transformation block FT. This target value is set as a fixed value or a variable value depending on the function to be realized. For example, to achieve a function similar to the function indicated by the reference value, the target value can be set to zero. To perform scaling, a value obtained by enlarging or reducing the information indicating the function to be reproduced can be set. The ideal velocity (position) source block PC can also set an upper limit for the force energy determined by calculations in the position (angle) domain. Setting an upper limit for the position (angle) energy limits the distance the slave unit 23 can advance and retreat, preventing the contact mechanism 24 from pressing excessively hard against the packaging container 10.

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

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

[0055] 8, the image conversion unit 912 reads out the force and haptic parameters used by the operation control unit 911 in the above-mentioned algorithm from the force and haptic parameter storage unit 951. Then, the image conversion unit 912 converts these force and haptic parameters into an image.

[0056] Any method can be used to convert images as long as it can visualize time-series data (here, time-series force-tactile parameters). For example, a graphing method such as recurrence plotting can be used. Recurrence plotting is a method that focuses on the periodicity of time series, and for time-series data x(t), it draws (plots) a point on a graph at coordinates (i, j) when the values ​​of x(i) and x(j) are approximately equal at different points i and j. By performing such image conversion, it is possible to add an image that indicates the characteristics of the time-series force-tactile parameters without directly adding the time-series force-tactile parameters themselves.

[0057] Here, in addition to the time-series haptic parameters, the image conversion unit 912 may also convert time-series parameters such as the position (angle) of the movable part detected by the master-side position sensor 213 or the slave-side position sensor 233. Alternatively, the conversion may be for time-series parameters for transmitting haptic sensations calculated based on the position (angle) of the movable part. Other time-series parameters such as acceleration and speed derived by differential and integral calculation of these time-series parameters may also be converted.

[0058] As an example, a value called "force-tactile stimulation amount" indicating the state of the packaging container 10 may be defined as an index, and this time-series force-tactile stimulation amount may be the subject of conversion. The force-tactile stimulation amount is defined as "instantaneous f / t sensation" in equation (8) on page 127 of the following <References>. Specifically, the force-tactile stimulation amount is a value obtained by dividing force by velocity, and its unit is [Nm / sec]. The following <References> are documents contributed by Kohei Onishi, one of the inventors of the present application.

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

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

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

[0062] [Configuration of image providing device 30]

[0063] Fig. 7 is a block diagram showing an example of hardware and functional blocks in the image adding device 30. As shown in Fig. 7, the image adding device 30 includes a processor 31, a ROM 32, a RAM 33, a communication unit 34, a storage unit 35, an input unit 36, an output unit 37, and an adding unit 38. These units are connected by signal lines and send and receive signals to and from each other. Of these, the hardware other than the assigning unit 38 has the same functions as the hardware of the same name but with different reference numerals in the control unit 25 shown in FIG. 5, and therefore a duplicated description will be omitted.

[0064] The assigning unit 38 physically assigns the first image data of the first image, which has been received from the inspection device 20 and into which the force-tactile parameters have been converted, to the packaging container 10. The assigning unit 38 is realized by, for example, a printing device or an imprinting mechanism.

[0065] In such a hardware configuration, when the determination process described above with reference to FIGS. 2 and 3 is realized, an image acquisition unit 311 and an attachment control unit 312 function in the processor 31 as shown in FIG. Furthermore, in such a hardware configuration, when the determination process described above with reference to FIGS. 2 and 3 is realized, an image data storage unit 351 is set in one area of ​​the storage unit 35 as shown in FIG. Including cases not specifically mentioned below, data required to realize processing is transmitted and received between these functional blocks at appropriate times.

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

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

[0068] As a method of applying the first image, for example, the first image is printed on product tag paper. Then, this product tag is attached to the packaging container 10 as a sticker. Alternatively, for example, if the exterior of the packaging container 10 is printable, the first image may be printed directly on the edge or the like of the exterior of the packaging container 10. Alternatively, for example, the shape of an imprinting mechanism for imprinting on the packaging container 10 may be deformed to match the image, and a stamp may be applied.

[0069] In either case, it is preferable to use a special ink for printing or stamping the first image that is invisible to the user under visible light. For example, ink that reflects visible light but absorbs infrared light can be used. This makes the image invisible to the user but readable by an infrared camera or the like. This prevents the printed first image from interfering with the design of the packaging container 10 package or obscuring information such as warnings printed on the package.

[0070] In this way, by physically assigning the first image, the first image is physically linked to the packaging container 10, and it becomes unnecessary to manage the correspondence between each packaging container 10 and its corresponding first image during the distribution process. Also, it becomes unnecessary to share data related to the first image via a network. Then, the packaging container 10 to which the first image has been physically attached is transported to the second base by a vehicle such as a truck, a train, or the like.

[0071] [Configuration of the reading device 40] Fig. 8 is a block diagram showing an example of hardware and functional blocks in the reading device 40. As shown in Fig. 8, the reading device 40 includes a processor 41, a ROM 42, a RAM 43, a communication unit 44, a storage unit 45, an input unit 46, an output unit 47, and a reading unit 48. These units are connected by signal lines and send and receive signals to and from each other. Of these, the hardware other than the reading unit 48 has the same functions as the hardware of the same name but with different reference numerals in the control unit 25 shown in FIG. 5, and therefore a duplicated description will be omitted.

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

[0073] In such a hardware configuration, when the determination process described above with reference to FIGS. 2 and 3 is realized, a read control unit 411 and an image notification unit 412 function in the processor 41 as shown in FIG. Furthermore, in such a hardware configuration, when the determination process described above with reference to FIGS. 2 and 3 is realized, an image data storage unit 451 is set in one area of ​​the storage unit 45 as shown in FIG. Including cases not specifically mentioned below, data required to realize processing is transmitted and received between these functional blocks at appropriate times.

[0074] The reading control unit 411 acquires first image data by controlling the reading unit 48 to read the attached image 61 physically attached to the packaging container 10. The reading control unit 411 also stores the acquired first image data in the image data storage unit 451. That is, the image data storage unit 451 functions as a storage unit that stores the first image data.

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

[0076] [Configuration of state determination device 50] Fig. 9 is a block diagram showing an example of hardware and functional blocks in the state determination device 50. As shown in Fig. 9, the state determination device 50 includes a processor 51, a ROM 52, a RAM 53, a communication unit 54, a storage unit 55, an input unit 56, an output unit 57, and a drive 58. These units are connected by signal lines and transmit and receive signals to and from each other. These hardware components have the same functions as the hardware components of the control unit 25 shown in FIG. 5, but with different reference numerals, and therefore will not be described again.

[0077] In such a hardware configuration, when the judgment process described above with reference to Figures 2 and 3 is realized, an image acquisition unit 511, a judgment unit 512, and a judgment result output unit 513 function in the processor 51 as shown in Figure 9. Furthermore, in such a hardware configuration, when the judgment process described above with reference to Figures 2 and 3 is realized, an image data memory unit 551 and a judgment result memory unit 552 are set in one area of ​​the memory unit 55, as shown in Figure 9. Including cases not specifically mentioned below, data required to realize processing is transmitted and received between these functional blocks at appropriate times.

[0078] The image acquisition unit 511 acquires first image data of a first image into which force-tactile parameters when an inspection is performed at a first location are converted by receiving the first image data from the reading device 40. The image acquisition unit 511 also acquires second image data of a second image into which force-tactile parameters when an inspection is performed at a second location are converted by receiving the second image data from the inspection device 20b.

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

[0080] The determination unit 512 reads out the first image data and the second image data stored in the image data storage unit 551. Then, the determination unit 512 restores the first image and the second image from these image data. Then, the determination unit 512 compares the restored first image with the second image to determine changes in the state of the packaging container 10 over time.

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

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

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

[0084] By checking these outputs, the user can grasp the results of the determination of changes in the state of the packaging container 10 over time. This makes it possible to remove products that have become defective due to damage to the packaging container 10. That is, it is possible to detect leaks of the contents, such as food, or carbon dioxide or nitrogen gas (so-called air leaks), and in cases where the food is a fluid, it is possible to detect leaks of the fluid, such as food. This makes it possible to detect deterioration or leakage of the contents due to air leaks, etc., before the product reaches the consumer, thereby ensuring the quality of the product.

[0085] [Determination process] Each device included in the state determination system S has been described in detail. Next, the contents of the determination process realized by each device will be described. First, the operation control process that is the premise of the determination process will be described. The operation control process is executed as a subroutine in the determination process.

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

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

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

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

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

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

[0092] In step S11, the operation control unit 911 of the inspection device 20a performs the operation control process shown in FIG. 10, which is a subroutine, based on the operation of the operation mechanism 22 by the user.

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

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

[0095] In step S14, the reading control unit 411 of the reading device 40 acquires first image data by controlling the reading unit 48 to read the first image physically attached to the packaging container 10. The acquired first image data is notified to the status determination device 50 by the image notification unit 412 of the reading device 40.

[0096] In step S15, the operation control unit 911 of the inspection device 20b performs the operation control process shown in FIG. 10, which is a subroutine, based on the operation of the operation mechanism 22 by the user.

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

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

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

[0100] The above-described determination process solves the problem of the present invention, namely, more simply determining the change in the state of the test object over time, and also provides the various effects described with reference to FIGS.

[0101] [Variations] Although the embodiments of the present invention have been described above, these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take on various other embodiments and can undergo various modifications such as omissions and substitutions without departing from the spirit of the present invention. In such cases, these embodiments and their modifications are included in the scope and spirit of the invention described in this specification, etc., and are also included in the scope of the invention described in the claims and their equivalents. As an example, the above-described embodiment of the present invention may be modified as follows.

[0102] (Variation 1) In the above-described embodiment, bilateral control is performed by the user operating the operation mechanism 22, and force-tactile parameters are acquired. However, this is not limiting, and the user's operation does not have to be used as input to the operation mechanism 22. For example, force-tactile parameters corresponding to the user's operation during a previous inspection (i.e., the force-tactile sensation during the user's operation) are stored. These force-tactile parameters are then reproduced and used as input to the operation mechanism 22, thereby controlling the operation of the contact mechanism 24. This makes it possible to perform an inspection using the inspection device 20 without requiring user operation, and to acquire force-tactile parameters that indicate the state of the packaging container 10 currently being inspected. In this case, force-tactile parameters generated by a program may be used as input instead of past force-tactile parameters.

[0103] (Variation 2) In the above-described embodiment, the first image data is generated at a first location, and the second image data is generated at a second location. However, this is not limiting, and these two image data may be generated at the same location. For example, if the location is a warehouse, the first image data is generated on a certain day. Then, the second image data is generated on a day after a certain number of days have passed. The condition determination device 50 then makes a determination by comparing the first image data with the second image data. This makes it possible to output a determination result of changes in the condition of the packaging container 10 over time during storage in the warehouse.

[0104] (Variation 3) In the above-described embodiment, the first image data is compared with the second image data to make the determination. However, this is not limiting, and comparison with third and subsequent image data may also be performed. In this case, the image-applying device 30 physically applies the second image data to the portions of the packaging container 10 where the first image data has not been applied. Then, at the third location, the reading device 40 reads the second image data, and the inspection device 20c generates third image data. Furthermore, the state determination device 50 makes a determination by comparing the second image data with the third image data, thereby making it possible to output a determination result of the change in state of the packaging container 10 over time from the second location to the third location.

[0105] In this case, the determination may be made by comparing the first image data with the third image data. Furthermore, these processes may be continued further, and the determination may be made by comparing the Nth (N is an integer of 2 or more) image data with the previous image data.

[0106] (Variation 4) In the above-described embodiment, the operation pattern of the contact method is determined in advance when the user performs an inspection by operating the contact mechanism 24 of the inspection device 20. However, the present invention is not limited to this, and various operation patterns of the contact method may be provided depending on the characteristics and sizes of the packaging container 10 and the contents. In this case, this operation pattern may also be converted into an image and physically applied to the packaging container 10. For example, when generating the first image, the image applying device 30 converts information that can identify which operation pattern was used in the inspection by the inspection device 20a into an image. Furthermore, the reader 40 identifies the movement pattern by reading this identifiable image. Then, when the second image is generated by the inspection device 20b, the user and the inspection device 20b control the operation of the contact mechanism 24 in accordance with the specified operation pattern. This allows the operation pattern of the contact method of the contact mechanism 24 to be the same when generating the first image and when generating the second image. In other words, when various operation patterns of the contact method are provided depending on the characteristics and sizes of the packaging container 10 and the contents, it is possible to prevent an image from being generated by mistakenly making contact using a contact method with a different operation pattern.

[0107] [Configuration example] As described above, the state determination system S in this embodiment includes the operation control unit 911, the image conversion unit 912, and the determination unit 512. The operation control section 911 controls the operation of the contact mechanism 24 to bring the contact mechanism 24 into contact with the packaging container 10. The image conversion unit 912 converts the force and haptic parameters relating to the operation of the contact mechanism 24 by the operation control unit 911 into an image. When a first image corresponding to the packaging container 10 is generated by the operation control unit 911 and the image conversion unit 912, and then a second image corresponding to the packaging container 10 is generated by the operation control unit 911 and the image conversion unit 912, the judgment unit 512 makes a judgment regarding damage to the packaging container 10 by comparing the first image with the second image.

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

[0109] In contrast, in order to achieve such a judgment using conventional technology, it was necessary to make each packaging container identifiable, to create a database and manage the history of each judgment result, and to build a network to share that data with other logistics bases. However, with the condition determination system S, it is only necessary to compare images, and there is no need to prepare a database or network as in the prior art.

[0110] Furthermore, according to the state determination system S, by imaging the force-tactile parameters related to the force-tactile sense, the determination itself can use simple image processing or image classification techniques. In this case, there is no need to analyze the force-tactile parameters related to the force-tactile sense and perform processing tailored to the characteristics of each inspection object or machine learning. In addition, since the determination itself is image processing, the determination unit 512 can also use an existing image processing determination system (for example, an appearance inspection system equipped with a camera) as long as the determination criteria are set. This reduces the user's workload and increases the versatility of the system.

[0111] That is, the state determination system S can solve the problem of the present invention, which is to more easily determine changes in the state of an object to be inspected over time.

[0112] The condition determination system S further includes an assigning unit 38 and a reading unit 48. The applying unit 38 physically applies the first image to the packaging container 10. The reading unit 48 reads the first image added by the adding unit 38. The determination unit 512 compares the first image and the second image read by the reading unit 48 to determine whether the packaging container 10 is damaged. This physically links the first image to the inspection object, eliminating the need to manage the correspondence between each inspection object and its corresponding first image during the distribution process. Also, it eliminates the need to share data related to the first image via a network.

[0113] There are a number of methods for controlling the operation of the contact mechanism 24 by the operation control section 911. When generating the first image, the image conversion unit 912 converts information that can identify the control method used by the operation control unit 911 into an image. The reading unit 48 identifies the control method by reading the image that can be identified. When generating the second image, the operation control unit 911 controls the operation of the contact mechanism 24 using the specified control method. This allows the control method of the operation of the contact mechanism 24 (i.e., the operation pattern of the contact method for the inspection object) to be the same when generating the first image and when generating the second image. In other words, when various operation patterns of the contact method are provided depending on the characteristics and size of the inspection object, it is possible to prevent the generation of an image by contacting with a different pattern of contact method by mistake.

[0114] The applying unit 38 applies a first image to the packaging container 10 using ink that is invisible to the user under visible light. This prevents the first image from being printed or otherwise interfering with the design of the inspection object package, or from making it impossible to see information such as warnings written on the package.

[0115] There are a plurality of pairs of operation control unit 911 and image conversion unit 912. The first set that generates the first image is located at a first location. A second set generating a second image is located at a second location. This makes it possible to determine changes in the state of the inspection object over time when it is moved between different logistics bases.

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

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

[0118] For example, when the function of executing the above-mentioned series of processes is realized by a processor that executes arithmetic processing, the processor that executes this arithmetic processing includes processors that are composed of various processing devices alone, such as single processors, multiprocessors, and multicore processors, as well as processors that combine these various processing devices with processing circuits such as ASICs (Application Specific Integrated Circuits) or FPGAs (Field-Programmable Gate Arrays).

[0119] Furthermore, for example, when the function of executing the above-described series of processes is realized by software, the program constituting the software is installed on a computer via a network or a recording medium. In this case, the computer may be a computer incorporating dedicated hardware, or may be a general-purpose computer (e.g., a general electronic device such as a general-purpose personal computer) that can execute predetermined functions by installing a program.

[0120] The recording medium on which such a program is recorded may be a removable medium distributed separately from the computer main body, or a storage medium pre-installed in the device main body. Removable media may be, for example, a magnetic disk, an optical disk, a magneto-optical disk, or a flash memory. Optical disks may be, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray Discs (registered trademark), etc. Magneto-optical disks may be, for example, MDs (Mini-Disks), etc. Flash memories may be, for example, USB (Universal Serial Bus) memories or SD cards. Storage media pre-installed in the device main body may be, for example, a ROM or hard disk on which the program is stored.

[0121] In this specification, the steps describing the program to be recorded on the recording medium include not only processes that are performed in chronological order, but also processes that are not necessarily performed in chronological order but are performed in parallel or individually. In addition, in this specification, the term "system" refers to an overall device that is made up of a plurality of devices, a plurality of means, etc.

[0122] The above-described embodiment shows an example of application of the present invention and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as by omission or substitution, without departing from the spirit of the present invention, and various embodiments other than the above-described embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0123] 10 Inspection object, 20 Inspection device, 21 Master side unit, 22 Operation mechanism, 221 Master side slave side driver 2312 Master side actuator, 213 Master side position sensor, 23 Slave side unit, 231 Slave side driver, 232 Slave side actuator, 233 Slave side position sensor, 24 Contact mechanism, 25 Control unit, 30 Image providing device, 31, 41, 91 Processor, 32, 42, 92 ROM, 33, 43, 93 RAM, 34, 44, 94 Communication unit, 35, 45, 95 Memory unit, 36, 46, 96 Input unit, 37, 47, 97 Output unit, 38 Provide unit, 40 Reader, 48 Read unit, 50 Status determination device, 58, 98 Drive, 61 Provided image, 311, 412, 511 Image acquisition unit, 312 Application control unit, 351, 451 image data storage unit, 411 reading control unit, 512 judgment unit, 513 judgment result notification unit, 911 operation control unit, 912 image conversion unit, 412, 913 image notification unit, 951 force haptic parameter storage unit, CS controlled system, FT force-velocity allocation conversion block, FC ideal force source block, PC ideal velocity (position) source block, IFT inverse conversion block, N network, S state judgment system

Claims

1. A condition determination system for inspecting a packaging container, an operation control means for controlling the operation of a contact mechanism to bring the contact mechanism into contact with the inspection object; a conversion means for converting a force-tactile parameter relating to the operation of the contact mechanism by the operation control means into an image; a determination means for determining whether the inspection object is damaged by comparing a first image corresponding to the inspection object with a second image corresponding to the inspection object generated by the operation control means and the conversion means after the first image corresponding to the inspection object is generated by the operation control means and the conversion means; and A state determination system comprising:

2. an applying means for physically applying the first image to the inspection object; a reading means for reading the first image provided by the providing means; Furthermore, the determining means determines whether the inspection object is damaged by comparing the first image and the second image read by the reading means.

2. The state determination system according to claim 1.

3. There are a plurality of methods for controlling the operation of the contact mechanism by the operation control means, the conversion means converts, into an image, information that can identify the control method used by the operation control means when generating a first image; the reading means reads the identifiable image to identify a control method; When generating the second image, the operation control means controls the operation of the contact mechanism using the specified control method.

3. The state determination system according to claim 2.

4. the applying means applies the first image to the inspection object using ink that is invisible to a user under visible light; 4. The state determination system according to claim 2 or 3,

5. There are a plurality of pairs of the operation control means and the conversion means, a first set generating the first image is located at a first location; a second set generating the second image is located at a second location; 4. The state determination system according to claim 1, wherein the state determination system is a state determination system for determining a state of an object.

6. The determination means determines whether or not the contents packaged in the packaging container have leaked due to damage to the packaging container, which is the inspection object.

4. The state determination system according to claim 1, wherein the state determination system is a state determination system for determining a state of an object.

7. A condition determination method performed by a condition determination system that inspects packaging containers, comprising: an operation control step of controlling an operation of a contact mechanism to bring the contact mechanism into contact with the inspection object; a conversion step of converting a force / haptic parameter related to the operation of the contact mechanism by the operation control step into an image; a determination step of, when a second image corresponding to the inspection object is generated by the operation control step and the conversion step after a first image corresponding to the inspection object is generated by the operation control step and the conversion step, determining whether the inspection object is damaged by comparing the first image with the second image; A state determination method comprising:

8. A condition determination program for inspecting a packaging container, an operation control function for controlling the operation of a contact mechanism to bring the contact mechanism into contact with the inspection object; a conversion function for converting force-tactile parameters relating to the operation of the contact mechanism by the operation control function into an image; a determination function that, when a second image corresponding to the inspection object is generated by the operation control function and the conversion function after a first image corresponding to the inspection object is generated by the operation control function and the conversion function, determines whether the inspection object is damaged by comparing the first image with the second image; A state determination program characterized by causing a computer to realize the above.

Images