Inspection Equipment

Abstract

The present invention has a grasping part for grasping a container filled with a liquid, a first illumination part for radiating light to the liquid from one end side in the longitudinal direction of the container, and a second illumination part for radiating light to the liquid from the other end side in the longitudinal direction of the container, the first illumination part and the second illumination part being installed in the same direction as an imaging device for acquiring image data indicating the state of the liquid as viewed from the container, and being installed so as to radiate light to the liquid from positions inclined an arbitrary value from 0 to 40 degrees from a center axis that passes through the center of the container.

Description

[Technical Field]

[0001] The present invention relates to an inspection device and an inspection method. [Background technology]

[0002] Techniques are known for detecting foreign matter present in a liquid contained in a container.

[0003] For example, Patent Document 1 describes a foreign object detection system that holds a container so that it can rotate freely around a first axis that is different from the central axis of the container and a second axis that is perpendicular to the first axis. Patent Document 1 also describes an illumination light source that is disposed on the opposite side of the container from a camera that serves as an imaging device. With this configuration, the imaging device acquires image data while irradiating light onto the imaging device through the container. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-118458 Summary of the Invention [Problem to be solved by the invention]

[0005] As described in Patent Document 1, when an illumination light source is placed on the opposite side of the container from the camera, which is an imaging device, objects such as scratches on the container, foreign objects such as glass pieces that transmit light, and elongated foreign objects such as fiber pieces may transmit light from the illumination light source and not be able to effectively block it. As a result, it may be difficult to detect foreign objects, etc. This has led to a problem that it may be difficult to detect foreign objects based on acquired image data.

[0006] Therefore, an object of the present invention is to provide an inspection device and an inspection method that can solve the problem that it may be difficult to detect foreign matter based on acquired image data. [Means for solving the problem]

[0007] In order to achieve this object, an inspection device according to one embodiment of the present disclosure includes: a gripping portion that grips a container filled with liquid; a first illumination unit that irradiates light onto the liquid from one end side of the container in the longitudinal direction; a second illumination unit that irradiates light onto the liquid from the other end of the container in the longitudinal direction; and The first illumination unit and the second illumination unit are installed in the same direction as an imaging device that acquires image data showing the state of the liquid when viewed from the container, and are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 0 degrees and 40 degrees with respect to a central axis passing through the center of the container. The structure is as follows.

[0008] Furthermore, an inspection method according to another aspect of the present disclosure includes: The inspection equipment irradiating the liquid with light from a position that is in the same direction as an imaging device that acquires image data showing the appearance of the liquid as viewed from a container filled with the liquid, and that is tilted by an arbitrary value between 0 degrees and 40 degrees with respect to a central axis passing through the center of the container; Acquire image data showing the state of the liquid during light irradiation. The structure is as follows. [Effects of the Invention]

[0009] According to the above-described configurations, it is possible to provide an inspection device and an inspection method that enable acquisition of image data for accurately detecting foreign matter. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a plan view showing a configuration example of an inspection system according to a first embodiment of the present disclosure. [Figure 2] FIG. 1 is a front view showing an example of the configuration of an inspection system. [Figure 3]FIG. 10 is a diagram illustrating an example of control by a control device. [Figure 4] FIG. 10 is a diagram illustrating an example of control by a control device. [Figure 5] 4A and 4B are diagrams for explaining examples of the arrangement of a first illumination unit and a second illumination unit. [Figure 6] 4A and 4B are diagrams for explaining examples of the arrangement of a first illumination unit and a second illumination unit. [Figure 7] 10 is a flowchart illustrating an example of the operation of the inspection system. [Figure 8] FIG. 10 is a diagram illustrating a configuration example of an inspection device according to a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] [First embodiment] A first embodiment of the present disclosure will be described with reference to Figs. 1 to 7. Fig. 1 is a plan view showing an example of the configuration of an inspection system 100. Fig. 2 is a front view showing an example of the configuration of the inspection system 100. Figs. 3 and 4 are diagrams showing an example of control by a control device 240. Figs. 5 and 6 are diagrams for explaining an example of the arrangement of a first illumination section 250 and a second illumination section 260. Fig. 7 is a flowchart showing an example of the operation of the inspection system 100.

[0012] In the first embodiment of the present disclosure, an inspection system 100 that acquires image data that can be used to detect foreign matter contained inside a container 400 filled with a liquid 410 such as water or a chemical will be described. As will be described later, in the inspection system 100, a first illumination unit 250 and a second illumination unit 260 are installed in the same direction as the camera 300 is installed from the container 400. Specifically, the inspection system 100 has the first illumination unit 250 at one end of the container 400 in the longitudinal direction, in the same direction as the camera 300 is installed from the container 400. Furthermore, the inspection system 100 has the second illumination unit 260 at the other end of the container 400 in the longitudinal direction, in the same direction as the camera 300 is installed from the container 400. As described above, the inspection system 100 has a first illumination unit 250 that irradiates light onto the liquid 410 from one longitudinal end side of the container 400, and a second illumination unit 260 that irradiates light onto the liquid 410 from the other longitudinal end side of the container 400. As described above, in the case of the inspection system 100 of this embodiment, the first illumination unit 250 and the second illumination unit 260 are installed so that the camera 300 can acquire reflected light from foreign matter or the like.

[0013] In this embodiment, a case will be described in which a syringe is used as container 400. For example, when the viscosity of liquid 410 to be filled inside can be evaluated to be high, such as a predetermined value or more, it is assumed that a syringe will be used as container 400 to fill with liquid 410. Container 400 may also be another translucent container such as a glass bottle or a plastic bottle.

[0014] Fig. 1 is a plan view showing an example of the configuration of an inspection system 100. Fig. 2 is a front view showing an example of the configuration of the inspection system 100. Referring to Figs. 1 and 2, the inspection system 100 includes, for example, an inspection device 200 and a camera 300 which is an imaging device.

[0015] The inspection device 200 is a device that rotates a container 400 filled with a liquid 410 while gripping the container 400 at one end, which is the nozzle side, and the other end, which is the plunger side. For example, the inspection device 200 can rotate the container 400 being gripped around a first rotation axis, which is a central axis that passes through the center of the container 400 in the longitudinal direction. The inspection device 200 can also rotate the container 400 being gripped around a second rotation axis, which is an orthogonal axis that is perpendicular to the first rotation axis. In this way, the inspection device 200 has a two-axis rotation means.

[0016] 1 and 2, the inspection device 200 includes a gripping device 210, a first motor 220, a second motor 230, a control device 240, a first illumination unit 250, and a second illumination unit 260.

[0017] The gripping device 210 grips the container 400 and rotates about a second rotation axis in response to the rotation of the second motor 230, which functions as a rotation means. For example, the gripping device 210 has a structure in which a first gripping unit 211 and a second gripping unit 212 are connected via a plate-like flat plate portion, the first gripping unit 211 and the second gripping unit 212 being provided perpendicularly from the end of the flat plate portion. Note that in this embodiment, the material forming the gripping device 210 is not particularly limited. The gripping device 210 may be formed from any material, such as resin or metal. The shape of the gripping device 210 may also be arbitrary. For example, the flat plate portion forming the gripping device 210 may be rectangular in front view as shown in FIG. 2, or may be circular in front view.

[0018] The first gripping part 211 grips one longitudinal end of the container 400, for example, the nozzle side. For example, the first gripping part 211 includes a first base part that rotates around a first rotation axis in response to rotation of the gripped container 400, and grips the container 400 with the first base part in contact with the container 400. In other words, the first gripping part 211 grips the container 400 so that the container 400 can be rotated around the first rotation axis.

[0019] Furthermore, the second gripping portion 212 grips the other longitudinal end of the container 400, for example, the plunger side. For example, the second gripping portion 212 includes a second base portion that rotates around a first rotation axis in response to rotation of the first motor 220, and grips the container 400 with the second base portion in contact with the container 400. In other words, the second gripping portion 212 grips the container 400 so that the container 400 can be rotated around the first rotation axis.

[0020] It is desirable that the first gripping portion 211 and the second gripping portion 212 grip the container 400 so that the first rotation axis passes through the center of the container 400 in a side view. In other words, it is desirable that the first gripping portion 211 and the second gripping portion 212 are configured to grip the container 400 so that the center of the container 400 overlaps with the first rotation axis in a side view. This may be achieved, for example, by forming the first pedestal portion and the second pedestal portion so that the first rotation axis passes through the center of the first pedestal portion and the second pedestal portion.

[0021] Furthermore, it is desirable that the first gripping portion 211 and the second gripping portion 212 grip the container 400 so that the second rotation axis passes through the longitudinal center of the container 400 of the liquid 410 filled in the container 400. For example, the first gripping portion 211 and the second gripping portion 212 may be configured so that the longitudinal length of the container 400 is adjustable. By configuring the longitudinal lengths of the first gripping portion 211 and the second gripping portion 212 to be adjustable, it becomes possible to grip containers 400 of various sizes and to easily adjust the position when gripping the container 400. Note that the length adjustment function may be realized using known means, for example, by configuring the first gripping portion 211 and the second gripping portion 212 from a first part and a second part, and making the first part and the second part slidable and fixable at any position.

[0022] For example, as described above, it is desirable that the first gripping portion 211 and the second gripping portion 212 are formed so as to be able to grip the container 400 at a location corresponding to the first rotation axis or the second rotation axis. Note that the first gripping portion 211 and the second gripping portion 212 may grip the container 400 at a location other than that illustrated.

[0023] Furthermore, the gripping device 210 is connected to a second motor 230 that rotates about a second rotation axis at a flat plate portion that connects the first gripping unit 211 and the second gripping unit 212. As a result, the gripping device 210 rotates about a second rotation axis that is perpendicular to the first rotation axis in accordance with the rotation of the second motor 230. As a result, the container 400 gripped by the gripping device 210 also rotates about the second rotation axis in accordance with the rotation of the second motor 230.

[0024] The first motor 220 rotates in response to power supplied from an external source, thereby rotating the container 400 held by the first gripping unit 211 and the second gripping unit 212 about the first rotation axis. As will be described later, the first motor 220 is connected to the control device 240, and rotates the container 400 in response to instructions from the control device 240.

[0025] The second motor 230 rotates in response to power supplied from an external source, thereby tilting the gripping device 210 and rotating the container 400 gripped by the first gripping unit 211 and the second gripping unit 212 about a second rotation axis perpendicular to the first rotation axis. As will be described later, the second motor 230 is connected to the control device 240, and rotates the container 400 in response to instructions from the control device 240.

[0026] The control device 240 is an information processing device that controls the rotation of the first motor 220 and the second motor 230. For example, the control device 240 has an arithmetic device such as a CPU (Central Processing Unit) and a storage device, and controls the rotation of the first motor 220 and the second motor 230 by the arithmetic device executing a program stored in the storage device. In other words, for example, the control device 240 issues predetermined instructions to the first motor 220 and the second motor 230 in response to a start instruction from an external device connected to the control device 240 or a start instruction input to the control device 240, so as to realize rotation control in accordance with a predetermined program.

[0027] For example, the control device 240 controls the second motor 230 to rotate about the second rotation axis, and then controls the first motor 220 to rotate about the first rotation axis. Furthermore, after the above control, the control device 240 can further control the second motor 230 to rotate about the second rotation axis, and then control the first motor 220 to rotate about the first rotation axis. In this way, the control device 240 can instruct the first motor 220 and the second motor 230 to rotate about the second rotation axis, and then to rotate about the first rotation axis.

[0028] 3 and 4 show a specific example of control by the control device 240. Referring to Fig. 3 and 4, for example, the control device 240 starts a predetermined rotation control from a state in which the container 400 is horizontal with respect to a reference surface such as the ground. In other words, the control device 240 starts a predetermined rotation control from an initial state in which the container 400 is tilted 90 degrees clockwise from a state in which the nozzle of the container 400 is facing upward at 0 degrees.

[0029] 3 and 4, first, the control device 240 controls the second motor 230 so that the container 400 rotates 205 degrees counterclockwise around the second rotation axis. At this time, the control device 240 can change the rotation speed until the tip of the container 400 faces upward (i.e., until the tilt of the container 400 becomes 0 degrees) and after the tip of the container 400 faces upward. For example, the control device 240 controls the rotation so that the rotation speed is slower until the tip of the container 400 faces upward (i.e., until the tilt of the container 400 becomes 0 degrees) than after the tip of the container 400 faces upward. Specifically, for example, the control device 240 rotates the container 400 over 2.7 seconds until the tip of the container 400 faces upward, and then rotates the container 400 the remaining 115 degrees over 1.7 seconds.

[0030] Thereafter, the control device 240 controls the first motor 220 to rotate the container 400 180 degrees clockwise around the first rotation axis. That is, as shown in FIG. 4, the control device 240 rotates the container 400 around the first rotation axis with the nozzle side of the container 400 positioned lower than the plunger side. At this time, the control device 240 can rotate the container 400 multiple times at predetermined intervals. For example, in the case of FIGS. 3 and 4, the container 400 is rotated 180 degrees twice, each time taking 7.5 seconds.

[0031] Furthermore, after the above rotation, the control device 240 controls the second motor 230 so that the container 400 rotates 230 degrees clockwise around the second rotation axis. At this time, the control device 240 can change the rotation speed until the tip of the container 400 faces upward (i.e., until the tilt of the container 400 becomes 0 degrees) and after the tip of the container 400 faces upward. For example, the control device 240 controls the rotation so that the rotation speed is slower until the tip of the container 400 faces upward (i.e., until the tilt of the container 400 becomes 0 degrees) than after the tip of the container 400 faces upward. Specifically, for example, the control device 240 rotates the container 400 over 3.3 seconds until the tip of the container 400 faces upward, and then rotates the container 400 the remaining 115 degrees over 1.7 seconds.

[0032] Thereafter, the control device 240 controls the first motor 220 to rotate the container 400 180 degrees clockwise around the first rotation axis. That is, as shown in FIG. 4, the control device 240 rotates the container 400 around the first rotation axis in a state where the nozzle side of the container 400 is positioned lower than the plunger side. At this time, the control device 240 can rotate the container 400 multiple times. For example, in the case of FIGS. 3 and 4, the container 400 is rotated 180 degrees twice, each time taking 7.5 seconds.

[0033] Thereafter, the control device 240 rotates the container 400 counterclockwise by 25 degrees around the second rotation axis, thereby returning the container 400 to its initial state where it is horizontal with respect to the ground or other reference surface.

[0034] In this way, the control device 240 can issue necessary instructions to the first motor 220 and the second motor 230 to rotate around the first rotation axis after rotating around the second rotation axis. Note that the control method of the control device 240 is not limited to the above-described case. For example, the angle by which the control device 240 rotates the container 400 around the second rotation axis and the angle by which the control device 240 rotates the container 400 around the first rotation axis may be other than those exemplified in Figures 3 and 4. Furthermore, the speed at which the control device 240 rotates the container 400 may also be other than those exemplified.

[0035] The control device 240 may control the first motor 220 and the second motor 230 to rotate around the second rotation axis and then wait a predetermined time before rotating around the first rotation axis, or may control the first motor 220 and the second motor 230 to rotate around the second rotation axis and then rotate around the first rotation axis without waiting.

[0036] The control device 240 may also be configured to perform different rotation control depending on the viscosity of the liquid 410 filled in the container 400. For example, if the viscosity of the liquid 410 is estimated to be higher than a predetermined value, and it is possible to evaluate that the container 400 is filled with a highly viscous liquid 410, the control device 240 may be configured to rotate the container 400 at a high speed (any speed) faster than a predetermined value around the first rotation axis and then rotate the container 400 around the second rotation axis. In this way, by rotating the container 400 around the first rotation axis and then the second rotation axis when the viscosity of the liquid 410 is estimated to be high, sufficient rotation can be imparted to the liquid 410 even when the viscosity of the liquid 410 is high. This makes it possible to acquire more appropriate image data for detecting foreign matter in the liquid 410. Whether the viscosity of the liquid 410 is high may be determined, for example, based on the components contained in the liquid 410 (e.g., the size of proteins).

[0037] The first illumination unit 250 irradiates light onto the liquid 410 filled in the container 400 from one end side of the container 400 in the longitudinal direction, for example, from the tip side. For example, the first illumination unit 250 has a rectangular or circular shape and can emit light from a surface. For example, the first illumination unit 250 is installed at a predetermined position independently of the gripping device 210 and the like using a lighting fixing means (not shown). For example, as described above, the first illumination unit 250 is installed on the same side of the container 400 as the camera 300. In other words, the first illumination unit 250 is installed on the opposite side of the container 400 from the side where the flat plate portion of the gripping device 210 and the second motor 230 are located. With this configuration, the camera 300 (described later) captures reflected light of the light irradiated by the first illumination unit 250. In other words, the first illumination unit 250 is installed so that reflected light is incident on the camera 300.

[0038] The second illumination unit 260 irradiates light onto the liquid 410 filled in the container 400 from the other longitudinal end side of the container 400, for example, the plunger side. For example, the second illumination unit 260 has a rectangular or circular shape and can emit light from a surface. For example, the second illumination unit 260 is installed at a predetermined position independently of the gripping device 210 and the first illumination unit 250 using a lighting fixing means (not shown). For example, as described above, the second illumination unit 260 is installed on the same side of the container 400 as the camera 300. In other words, the second illumination unit 260 is installed on the opposite side of the container 400 from the side where the flat plate portion of the gripping device 210 and the second motor 230 are located. With this configuration, the camera 300 (described later) captures reflected light of the light irradiated by the second illumination unit 260. In other words, the second illumination unit 260 is installed so that reflected light is incident on the camera 300.

[0039] 5 and 6 are diagrams for more specifically explaining the positional relationship between the first illumination section 250 and the second illumination section 260. Specifically, Fig. 5 shows an example of the positional relationship between the first illumination section 250 and the second illumination section 260 and the container 400 when viewed from a planar direction. Also, Fig. 5 shows an example of the positional relationship between the first illumination section 250 and the second illumination section 260 and the container 400 when viewed from the front direction.

[0040] Referring to FIG. 5 , the first illumination unit 250 and the second illumination unit 260 are positioned opposite each other at a predetermined angle across the second rotation axis when viewed from a plan view. For example, the first illumination unit 250 is located closer to the nozzle than the second rotation axis, and the second illumination unit 260 is located closer to the plunger than the second rotation axis. The first illumination unit 250 is positioned so as to irradiate light onto the liquid 410 from a position a degrees away from the first rotation axis toward the camera 300 when viewed from a plan view. Meanwhile, the second illumination unit 260 is positioned so as to irradiate light onto the liquid 410 from a position b degrees away from the first rotation axis when viewed from a plan view. In other words, the first illumination unit 250 is positioned so as to irradiate light onto the liquid 410 from a position tilted a degrees from the first rotation axis horizontally, and the second illumination unit 260 is positioned so as to irradiate light onto the liquid 410 from a position tilted b degrees from the first rotation axis horizontally.

[0041] In this way, the first illumination unit 250 and the second illumination unit 260 are installed so that, when viewed from a planar direction, they irradiate the liquid 410 with light from the camera 300 side by a predetermined angle from the first rotation axis. Note that the angle a is any value between 10 degrees and 30 degrees. The angle b is any value between 10 degrees and 30 degrees. a and b may be the same or different values. Also, FIG. 5 shows an example in which the optical axes of the first illumination unit 250 and the second illumination unit 260 overlap with the intersection of the first rotation axis and the second rotation axis. However, the optical axes of the first illumination unit 250 and the second illumination unit 260 do not necessarily have to overlap with the intersection of the first rotation axis and the second rotation axis.

[0042] 6, the first illumination unit 250 and the second illumination unit 260 are disposed opposite each other at a predetermined angle across the first rotation axis when viewed from the front. For example, the first illumination unit 250 is disposed above the first rotation axis, and the second illumination unit 260 is disposed below the first rotation axis. The first illumination unit 250 is disposed so as to irradiate the liquid 410 with light from a position c degrees above the first rotation axis when viewed from the front. Meanwhile, the second illumination unit 260 is disposed so as to irradiate the liquid 410 with light from a position d degrees below the first rotation axis when viewed from the front. In other words, the first illumination unit 250 is disposed so as to irradiate the liquid 410 with light from a position tilted c degrees vertically from the first rotation axis, and the second illumination unit 260 is disposed so as to irradiate the liquid 410 with light from a position tilted d degrees horizontally from the first rotation axis.

[0043] In this way, the first illumination unit 250 and the second illumination unit 260 are installed so as to irradiate the liquid 410 with light from a predetermined angle above or below the first rotation axis when viewed from the front. Note that the angle c is any value between 0 and 40 degrees, and preferably between 10 and 30 degrees. The angle d is any value between 0 and 40 degrees, and preferably between 10 and 30 degrees. c and d may be the same or different values. FIG. 6 also shows an example in which the intersection of the first and second rotation axes overlaps with the optical axes of the first illumination unit 250 and the second illumination unit 260. However, the intersection of the first and second rotation axes does not necessarily need to overlap with the optical axes of the first illumination unit 250 and the second illumination unit 260.

[0044] 6, it can also be said that the first illumination unit 250 and the second illumination unit 260 are installed so as to have a point-symmetric positional relationship with respect to the point through which the second rotation axis passes when viewed from the front. In this way, the first illumination unit 250 and the second illumination unit 260 may be installed so as to have a point-symmetric positional relationship with respect to the point through which the second rotation axis passes when viewed from the front.

[0045] For example, as described above, the first illumination section 250 and the second illumination section 260 are installed at positions where the first rotation axis is tilted by an arbitrary value between 0 degrees and 40 degrees. Note that the first illumination section 250 and the second illumination section 260 may be installed so as to satisfy only one of the example illustrated in FIG. 5 and the example illustrated in FIG. 6.

[0046] The above is an example of the configuration of the inspection device 200.

[0047] The camera 300 is an imaging device that captures an image of the container 400 to obtain image data. For example, the camera 300 is installed in advance at a predetermined position in the same direction as the first illumination unit 250 and the second illumination unit 260 when viewed from the container 400, using a camera fixing means (not shown). Specifically, for example, the camera 300 is installed so that the optical axis of the camera 300 overlaps with the second rotation axis. In other words, for example, the camera 300 is installed so that the optical axis of the camera 300 passes through the center of the liquid 410. The installation position of the camera 300 may be other than those exemplified above.

[0048] For example, camera 300 can acquire image data at a high frame rate of about 150 to 200 fps. Camera 300 can also transmit the acquired image data together with information indicating the image capture time to an external device connected to camera 300. Camera 300 may acquire image data at a frame rate other than those exemplified above.

[0049] The container 400 is a translucent container such as a syringe, a glass bottle, or a PET bottle. As described above, when the liquid 410 to be filled inside has a high viscosity, it is expected that a syringe will be used as the container 400. The inside of the container 400 is filled with the liquid 410, such as water or a medicine. The container 400 may have scratches or dirt attached thereto. Furthermore, the inside of the container 400 may contain foreign matter. Examples of foreign matter that may be present include pieces of rubber, hair, pieces of fiber, soot, pieces of glass, pieces of plastic, and the like.

[0050] The above is an example of the configuration of the inspection system 100. As described above, the image data acquired by the camera 300 of the inspection system 100 can be used when an external determination device that performs foreign matter determination determines whether or not there is a foreign matter. In this embodiment, there are no particular limitations on the algorithm that the determination device uses when performing foreign matter determination, etc.

[0051] Next, an example of the operation of the inspection system 100 will be described with reference to Fig. 7. Referring to Fig. 7, the gripping device 210 grips a syringe, which is the container 400 (step S101).

[0052] Camera 300 starts acquiring image data in response to an instruction to start capturing an image (step S102). For example, camera 300 can acquire image data at a high frame rate of about 150 to 200 fps.

[0053] The control device 240 rotates the container 400 around the second rotation axis (step S103). The container 400 may be rotated by any angle.

[0054] The control device 240 also rotates the container 400 around the first rotation axis (step S104). The container 400 may be rotated by any angle. The control device 240 may also rotate the container 400 multiple times.

[0055] The control device 240 may perform the processes of steps S130 and S140 multiple times, with the container 400 being rotated by different angles.

[0056] After the rotation by the control device 240, for example, after a predetermined time has elapsed, the camera 300 stops acquiring image data (step S105). The image data acquired by the camera 300 can be transmitted to a determination device that performs foreign matter determination.

[0057] As described above, the inspection device 200 has the first illumination unit 250 and the second illumination unit 260 installed in the same direction as the camera 300. This configuration allows the camera 300 to capture light reflected by foreign matter, etc. As a result, more appropriate image data for detecting foreign matter can be acquired. This allows an external device, etc., to more appropriately detect foreign matter based on the image data.

[0058] Furthermore, in the case of the inspection device 200 of this embodiment, the first illumination unit 250 and the second illumination unit 260 are installed at a position where the first rotation axis is tilted by an arbitrary value between 0 degrees and 40 degrees. By installing the first illumination unit 250 and the second illumination unit 260 in this manner, it is possible to suppress reflected light from the syringe, etc. As a result, it is possible to suppress an increase in blind spots, etc., and it is possible to acquire image data that is more appropriate for detecting foreign matter.

[0059] [Second embodiment] Next, a second embodiment of the present invention will be described with reference to Fig. 8. In Fig. 8, an outline of the configuration of an inspection device 500 will be described.

[0060] Fig. 8 shows a configuration example of the inspection device 500. Referring to Fig. 8, the inspection device 500 has, for example, a gripping unit 510, a first illumination unit 520, and a second illumination unit 530.

[0061] The gripping portion 510 grips a container filled with a liquid. For example, the gripping portion 510 grips one end and the other end in the longitudinal direction of a container such as a syringe.

[0062] The first illuminator 520 irradiates the liquid with light from one end of the container in the longitudinal direction, and the second illuminator 530 irradiates the liquid with light from the other end of the container in the longitudinal direction.

[0063] 8, the first illumination unit 520 and the second illumination unit 530 are installed in the same direction as the imaging device that acquires image data showing the appearance of the liquid as seen from the container. The first illumination unit 520 and the second illumination unit 530 are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 0 degrees and 40 degrees with respect to the central axis passing through the center of the container.

[0064] As described above, the inspection device 500 has a first illumination unit 520 and a second illumination unit 530 installed in the same direction as the imaging device. This configuration allows the imaging device to capture light reflected by foreign matter, etc. As a result, more appropriate image data can be acquired for detecting foreign matter. This allows an external device, etc., to more appropriately detect foreign matter based on the image data.

[0065] Furthermore, the inspection method performed by the inspection device 500 described above is such that the inspection device 500 irradiates light onto the liquid from a position that is in the same direction as an imaging device that acquires image data showing the appearance of the liquid as seen from a container filled with the liquid, and that is tilted by any value between 0 degrees and 40 degrees with respect to the central axis passing through the center of the container, and acquires image data showing the appearance of the liquid during light irradiation.

[0066] The invention of the inspection method having the above-mentioned configuration also has the same functions and effects as the above-mentioned case, and therefore can achieve the above-mentioned object of the present invention.

[0067] <Additional Notes> A part or all of the above-described embodiments can be described as follows: An outline of the inspection device and the like according to the present invention will be described below. However, the present invention is not limited to the following configuration.

[0068] (Appendix 1) a gripping portion that grips a container filled with liquid; a first illumination unit that irradiates light onto the liquid from one end side of the container in the longitudinal direction; a second illumination unit that irradiates light onto the liquid from the other end of the container in the longitudinal direction; and The first illumination unit and the second illumination unit are installed in the same direction as an imaging device that acquires image data showing the state of the liquid when viewed from the container, and are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 0 degrees and 40 degrees with respect to a central axis passing through the center of the container. Inspection equipment. (Appendix 2) The first illumination unit and the second illumination unit are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 10 degrees and 30 degrees with respect to the central axis in the horizontal direction. 10. The inspection device described in Appendix 1. (Appendix 3) The first illumination unit and the second illumination unit are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 0 degrees and 40 degrees with respect to the central axis in a vertical direction perpendicular to the central axis. 10. The inspection device of claim 1 or 2. (Appendix 4) The first illumination unit and the second illumination unit are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 10 degrees and 30 degrees with respect to the central axis in a vertical direction perpendicular to the central axis. 10. The inspection device according to claim 1, wherein the inspection device is a (Appendix 5) The first illumination unit is installed to irradiate the liquid with light from above the central axis, and the second illumination unit is installed to irradiate the liquid with light from below the central axis. 10. The inspection device according to claim 1, wherein the inspection device is a (Appendix 6) the gripping portion grips the container so as to be rotatable around the central axis, and grips the container so as to be rotatable around an orthogonal axis perpendicular to the central axis, The first illumination unit and the second illumination unit are installed at positions symmetrical with respect to the orthogonal axis. 10. The inspection device according to claim 1, wherein the inspection device is a (Appendix 7) the gripping portion grips the container so as to be rotatable around the central axis, and grips the container so as to be rotatable around an orthogonal axis perpendicular to the central axis, a control device for controlling the rotation of the container; The control device rotates the container around the orthogonal axis and then rotates the container around the central axis. 10. The inspection device according to claim 1, wherein the inspection device is a (Appendix 8) the gripping portion grips the container so as to be rotatable around the central axis, and grips the container so as to be rotatable around an orthogonal axis perpendicular to the central axis, a control device for controlling the rotation of the container; The control device is configured to perform different rotation control depending on the viscosity of the liquid. 10. The inspection device according to claim 1, wherein the inspection device is a (Appendix 9) The control device performs either one of a rotation control of rotating the container around the orthogonal axis and then around the central axis, or a rotation control of rotating the container around the central axis and then around the orthogonal axis, depending on the viscosity of the liquid. 10. The inspection device described in Appendix 8. (Appendix 10) The inspection equipment irradiating the liquid with light from a position that is in the same direction as an imaging device that acquires image data showing the appearance of the liquid as viewed from a container filled with the liquid, and that is tilted by an arbitrary value between 0 degrees and 40 degrees with respect to a central axis passing through the center of the container; Acquire image data showing the state of the liquid during light irradiation. Testing method.

[0069] Although the present invention has been described above with reference to the above-mentioned embodiments, the present invention is not limited to the above-mentioned embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. [Explanation of symbols]

[0070] 100 Inspection Systems 200 Inspection Equipment 210 Gripping device 211 1st grip part 212 Second grip part 220 First Motor 230 Second Motor 240 Control Device 250 First Lighting Section 260 Second Lighting Section 300 cameras 400 containers 410 Liquid 500 Inspection Equipment 510 Gripping part 520 First Lighting Section 530 Second Lighting Section

Claims

1. a gripping portion that grips a container filled with liquid; a first illumination unit that irradiates light onto the liquid from one end side of the container in the longitudinal direction; a second illumination unit that irradiates the liquid with light from the other end of the container in the longitudinal direction; and The first illumination unit and the second illumination unit are installed on the opposite side of the container from the side on which the flat plate portion constituting the gripping unit is located, when viewed from a planar direction, so as to be located in the same direction as an imaging device that acquires image data showing the state of the liquid, and are also installed so as to irradiate light onto the liquid from a position tilted by an arbitrary value with respect to a central axis passing through the center of the container, an orthogonal axis perpendicular to the central axis when viewed from a planar direction is formed on the same plane as the central axis, and the orthogonal axis is formed on a plane parallel to a predetermined reference plane so as to form a point when viewed from the front direction; When viewed from the front, the first illumination unit and the second illumination unit are installed so as to have a positional relationship that is point symmetrical about a point through which the orthogonal axis passes, and the first illumination unit is installed above the central axis so as to irradiate light onto the liquid from above the central axis, and the second illumination unit is installed below the central axis so as to irradiate light onto the liquid from below the central axis. Inspection equipment.

2. The first illumination unit and the second illumination unit are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 10 degrees and 30 degrees with respect to the central axis in the horizontal direction. The inspection device according to claim 1 .

3. The first illumination unit and the second illumination unit are installed so as to irradiate the liquid with light from a position tilted by an arbitrary value between 10 degrees and 30 degrees with respect to the central axis in a vertical direction perpendicular to the central axis. The inspection device according to claim 1 .

4. The gripping portion grips the container so as to be rotatable around the central axis, and grips the container so as to be rotatable around the orthogonal axis perpendicular to the central axis. The inspection device according to claim 1 .

5. the gripping portion grips the container so as to be rotatable around the central axis, and grips the container so as to be rotatable around the orthogonal axis perpendicular to the central axis, a control device for controlling the rotation of the container; the control device rotates the container around the orthogonal axis and then rotates the container around the central axis; When the viscosity of the liquid can be evaluated to be higher than a predetermined value, the control device rotates the container around the central axis and then rotates the container around the orthogonal axis, instead of rotating the container around the orthogonal axis and then rotating the container around the central axis. The inspection device according to claim 1 .

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