Inspection device and inspection method

Abstract

According to the present invention, a examination system comprises a base portion on which a examination target object is placed, a driving device that rotates the base portion on which the examination target object has been placed, and an imaging device that captures images of the examination target object.

Description

[Technical Field]

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

[0002] In recent years, with the labor shortage in agriculture as a backdrop, automation of inspection and sorting of fruits and vegetables has been promoted. Current sorting items include items that can be easily measured and quantified (weight and length), as well as items that evaluate internal quality that is difficult to measure (sugar content and acidity), and external quality items that require complex evaluation indicators (rot and scratches). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-059877 [Patent Document 2] Japanese Patent Application Laid-Open No. 2011-240257 [Patent Document 3] Japanese Patent Application Laid-Open No. 2005-046794 [Patent Document 4] Japanese Patent Application Publication No. 2019-211456 [Patent Document 5] Japanese Patent Application Laid-Open No. 2002-139433 [Patent Document 6] Japanese Patent Application Publication No. 07-128321 [Patent Document 7] Japanese Patent Application Publication No. 08-262006 [Patent Document 8] Japanese Patent Application Publication No. 09-079965 [Patent Document 9] Patent Publication No. 2021-135275 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, when automated equipment is implemented to replace manual inspection and sorting, processing capacity improves, but the system becomes more complex, requires huge equipment costs, requires a large installation space, and is difficult to use.

[0005] The present invention has been made in consideration of the above circumstances, and aims to provide an inspection device and an inspection method that are simple in configuration and enable easy inspection of inspection objects such as fruits and vegetables. [Means for solving the problem]

[0006] An inspection device according to one aspect includes a base on which an object to be inspected is placed, a driving device that rotates the base on which the object to be inspected is placed, and an imaging device that photographs the object to be inspected. an information processing device that controls the imaging device to capture an image of the inspection object while the inspection object is rotating, acquires a plurality of images of the inspection object from the imaging device, and performs various inspections on the inspection object based on the acquired plurality of images of the inspection object; Equipped with The information processing device calculates the volume of the object to be inspected by substituting the sum of the number of pixels of the multiple images of the object to be inspected obtained from the imaging device into an approximation equation calculated by approximating all points obtained by plotting the sum of the number of pixels of the multiple images for each size of the object to be inspected against the volume. [Effects of the Invention]

[0007] According to the present invention, it is possible to easily inspect inspection objects such as fruits and vegetables with a simple configuration. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of an inspection system according to an embodiment. [Figure 2] FIG. 2 is a diagram showing the appearance of an inspection device included in the inspection system. [Figure 3] FIG. 3 is a diagram showing a modified example of the rotary table 11. In FIG. [Figure 4] FIG. 4 is a diagram showing an example of elements constituting the inspection device 1. As shown in FIG. [Figure 5] FIG. 5 is a diagram illustrating an example of a hardware configuration of the information processing device 2. As shown in FIG. [Figure 6] FIG. 6 is a diagram showing an example of the functional configuration of an inspection program executed by the processor 21. As shown in FIG. [Figure 7] FIG. 7 is a flowchart showing an outline of the operation of the inspection system. [Figure 8]FIG. 8 is a diagram for explaining a basic method for determining the "volume" of an object to be inspected. [Figure 9] FIG. 9 is a diagram for explaining a basic method for determining whether an object under inspection is "anomaly-free." [Figure 10] FIG. 10 is a diagram for explaining the "size" of the inspection object. [Figure 11] FIG. 11 is a diagram for explaining the "abnormal shape" of the object to be inspected. [Figure 12] FIG. 12 is a diagram for explaining the "volume" of the object to be inspected. [Figure 13] FIG. 13 is a diagram for explaining the "volume" of the object to be inspected. [Figure 14] FIG. 14 is a diagram for explaining the "volume" of the object to be inspected. [Figure 15] FIG. 15 is a diagram showing an example of the results of actual verification of "irregular shapes." [Figure 16] FIG. 16 is a diagram showing the correlation between "specific gravity" and "sugar content." [Figure 17] FIG. 17 is a diagram showing an example of a configuration in which a plurality of inspection devices 1 are used. [Figure 18] FIG. 18 is a diagram showing the appearance of an inspection device of a first example of the first modification. [Figure 19] FIG. 19 is a diagram showing the appearance of an inspection device of a second example of the first modification. [Figure 20] FIG. 20 is a block diagram showing the configuration of an inspection device in the first modification. [Figure 21] FIG. 21 is a diagram showing the internal configuration of the case 10 in the second modification. [Figure 22] FIG. 22 is a block diagram showing the configuration of an inspection device in the second modification. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the drawings.

[0010] [1. Configuration] The configuration of the inspection system according to the embodiment will be described below.

[0011] [1-1. Overall System] Fig. 1 is a diagram showing an example of the configuration of an inspection system according to an embodiment, and Fig. 2 is a diagram showing the appearance of an inspection device included in the inspection system.

[0012] The inspection system shown in Figure 1 consists of an inspection device 1 and an information processing device 2. The inspection device 1 is a dedicated device for inspecting (or sorting) fruit and vegetables, etc. The information processing device 2 corresponds to a computer (such as a tablet information terminal).

[0013] As shown in Figures 1 and 2, the inspection device 1 includes a case 10 for housing various equipment inside, a rotatable base 11 (hereinafter referred to as the "rotating table 11") on which the object to be inspected, such as fruit or vegetables, is placed, a color reference sheet 11a used for color matching during photography, an imaging device 12 for photographing the object to be inspected placed on the rotating table 11, a support 12a for supporting the imaging device 12, and a cable C with a connector.

[0014] If it is difficult to place the object to be inspected in the desired orientation on the turntable 11, an appropriate jig may be used to maintain the desired orientation. Also, while Fig. 1 illustrates an example in which the object to be inspected is a tomato, the object to be inspected is not limited to a tomato and may be, for example, various types of fruit or vegetable, such as an onion, apple, or mandarin orange. Also, the object to be inspected may be something other than a fruit or vegetable.

[0015] The color reference sheet 11a is placed on the surface on the turntable 11 where the inspection object is placed, and is used for calibrating the imaging device 12. The color reference sheet 11a makes it possible to use it as a guide for color matching and taking photographs at equal intervals.

[0016] The outer material of the case 10, turntable 11, etc. of the inspection device 1 may be metal, but it may also be resin. In the case of resin, it can be easily and inexpensively manufactured using a 3D printer or the like. By using resin, the entire inspection device 1 becomes lighter. If there is a concern that the lighter weight of the inspection device 1 will reduce stability, it is possible to prevent it from tipping over and improve stability by adding a weight to the bottom of the case 10.

[0017] A small camera module (not shown) is embedded inside the imaging device 12. A support portion 12a that supports the imaging device 12 is configured so that only the required length can be pulled out from the case 10. A scale may be provided on the support portion 12a so that the length when the support portion 12a is pulled out from the case 10 can be determined.

[0018] 1 and 2, various devices are provided inside the inspection device 1, such as a drive device including a motor and gears that rotates the turntable 11, and a load cell (weight measuring device) that measures the weight of an inspection object placed on the turntable 11. Details of these devices will be described later.

[0019] As shown in Fig. 1, an information processing device 2 is connected to the inspection device 1 via a cable C. An end of the cable C is provided with a connector having an interface function such as USB 2.0. With this interface function, the information processing device 2 can supply power to the inspection device 1, as well as give instructions to measure the weight of an inspection object placed on the turntable 11, to control the rotation of the turntable 11, to control photography by the imaging device 12, and to control a display (described later), acquire multiple images generated by the imaging device 12, and acquire weight data of the inspection object.

[0020] The information processing device 2 uses multiple images and weight data of the objects to be inspected obtained from the inspection device 1 to inspect various inspection items (including sorting processing) of the objects to be inspected, and can display the inspection results of each inspection item and the final sorting results on the display unit 24.

[0021] Note that, although the example shown here is a case where the information processing device 2 with the display unit 24 is connected to the inspection device 1 via the cable C, the present invention is not limited to this example. For example, a miniaturized information processing device having the same functions as the information processing device 2 may be mounted inside the inspection device 1, and instead of connecting the information processing device 2 to the inspection device 1, a display device equivalent to the display unit 24 may be connected. Also, for example, if a single-board computer is incorporated into the inspection device 1 itself, there will be no need to connect it to the information processing device 2 via the cable C, and it can also be used as an edge device.

[0022] The information processing device 2 is connected to the inspection device 1 via a cable C, and controls the drive device via an I / F circuit unit 13 to rotate the turntable 11 on which the object to be inspected is placed at a constant speed. While the object to be inspected is rotating at the constant speed, the information processing device 2 controls the imaging device 12 to photograph the object to be inspected at regular time intervals. The information processing device 2 has the function of acquiring multiple images of the object to be inspected from the imaging device 12, and performing various types of information processing on the object to be inspected based on the acquired multiple images of the object to be inspected, thereby carrying out various inspections, and displaying the inspection results on a display unit 24.

[0023] During the inspection, the information processing device 2 performs inspections for various inspection items using multiple images of the inspection object obtained by photography and weight data of the inspection object. The various inspection items are assumed to be "size," "irregular shape," "volume," "density," "sugar content," and "ripeness."

[0024] For example, the information processing device 2 has a function to calculate the size of the object to be inspected based on predetermined information obtained from each of the multiple images. The information processing device 2 also has a function to calculate the degree of irregularity of the object to be inspected based on predetermined information obtained from each of the multiple images. The information processing device 2 also has a function to calculate the volume of the object to be inspected based on the sum of predetermined information obtained from each of the multiple images. The information processing device 2 also has a function to calculate the density of the object to be inspected based on the volume and weight of the object to be inspected. The information processing device 2 also has a function to calculate the sugar content of the object to be inspected based on the density of the object to be inspected. The information processing device 2 also has a function to calculate the ripeness of the object to be inspected based on predetermined information obtained from each of the multiple images. Specific information processing and calculation methods for these functions will be described later.

[0025] 1 and 2 are merely examples, and the present invention is not limited to these examples. For example, the color reference sheet 11a may not be provided if it is not necessary. Also, for example, a light-emitting portion of a display may be provided in the place of the color reference sheet 11a. Also, for example, the shapes of the imaging device 12, the support portion 12a, etc. may be changed as appropriate. An example of a turntable 11 modified from this perspective is shown in FIG. 3.

[0026] FIG. 3 is a diagram showing a modified example of the rotary table 11. In FIG. In the example of Fig. 3, the rotary table 11 is not provided with the color reference sheet 11a described above, but is provided with a light-emitting section 11b. The light-emitting section 11b is a section that emits light for a display 16, which will be described later. In addition, a fixing member 10b is attached to the rotary table 11. This fixing member 10b is a member that fixes the rotary table 11 to the case side so that the rotary table 11 can rotate.

[0027] [1-2. Configuration of inspection equipment] FIG. 4 is a diagram showing an example of elements constituting the inspection device 1. As shown in FIG. (1) Components The inspection device 1 includes, as its main components, the case 10, rotating table 11, imaging device 12, support part 12a, and cable C mentioned above, as well as an interface circuit part 13, a load cell (weight measuring device) 14, an A / D circuit 14a, a power supply part (including a battery) P, a motor 15, a gear 15a, and a display 16.

[0028] The case 10 described above contains an interface circuit section (general interface board) 13 equipped with an A / D circuit 14a, a load cell 14, and a power supply section P. A tray (not shown) is placed on top of the case 10, and the tray is provided with a drive unit including a motor 15 and gear 15a that rotates the turntable 11. A display 16 is also provided on the back side of the side of the turntable 11. The display 16 includes LEDs (Light Emitting Diodes) of various colors that operate inside the inspection device 1, and changes the color of the LED depending on the inspection processing status.

[0029] The imaging device 12 and the information processing device 2 are electrically connected via a support part 12a, an interface circuit part 13, and a cable C. The results measured by the load cell 14 are transmitted to the interface circuit part 13 via an A / D circuit 14a. The power supply part P is provided with a battery as an auxiliary power source in case the power supply from the information processing device 2 alone is insufficient. The battery may be, for example, a dry cell or a secondary battery.

[0030] In the inspection device 1, for example, the following process is performed.

[0031] The motor 15 rotates using power from the power supply unit P, which moves a gear 15a on the back of the turntable 11, causing the turntable 11 to rotate at a constant speed. The power from the power supply unit P also lights up the display 16.

[0032] The image capturing timing of the imaging device 12 is controlled by the information processing device 2 in accordance with the rotation of the turntable 11, so that the object to be inspected is captured at regular time intervals. The multiple images obtained by capturing the images are transmitted to the information processing device 2.

[0033] When a fruit or vegetable is placed on the turntable 11, the load cell 14 is subjected to pressure, and the electrical signal generated by the load cell 14 due to the pressure is A / D converted (analog / digital converted) by the A / D circuit 14a and converted into a numerical value, thereby measuring the mass of the object to be inspected. The measured information on the mass of the object to be inspected is transmitted to the information processing device 2.

[0034] (2) Rotation mechanism A small motor 15 and a gear 15a are arranged in mesh with each other inside the inspection device 1. A gear 15a is also located on the back side of the turntable 11, and the meshing of these gears forms a rotation mechanism centered on a rotation axis.

[0035] Since it is expected that the power supplied from the cable C alone will not be sufficient to drive the motor 15, the motor 15 may be powered by a battery such as an AA battery. The power to drive the motor 15 may also be substituted by a combination of a battery with a power generating function such as a solar cell and a secondary battery.

[0036] The speed of the rotating table 11 can be controlled by adjusting the output of the motor 15 or the shape of the gear 15a. Furthermore, the on / off control of the rotational operation of the rotating table 11 may be performed according to the result of comparing the pressure (weight) sensed by the load cell 14 (described later) with a predetermined threshold value, or according to an instruction from the information processing device 2.

[0037] (3) Filming mechanism A small camera module embedded in the imaging device 12 photographs the inspection object at regular intervals under the control of the information processing device 2.

[0038] The photographing is performed by placing the object to be inspected at the center of the turntable 11 and rotating it at a constant speed. From the start of photographing until the object to be inspected makes one full rotation, photographs are taken multiple times at equal intervals. Alternatively, a method of photographing a video and then extracting images later can be used without any problem. Furthermore, by adjusting the rotation speed of the turntable 11 and the shutter timing of the imaging device 12, any number of images can be obtained.

[0039] In order to ensure a sufficient field of view, the lens may be a wide-angle lens. Furthermore, the support portion 12a that supports the imaging device 12 is structured so that it can be pulled out from the case 10. By pulling out only the necessary amount depending on the object to be inspected, the distance between the imaging device 12 and the object to be inspected can be adjusted, and the field of view of the imaging device 12 can be adjusted.

[0040] However, to avoid a decrease in the accuracy of the inspection, it is desirable not to change the imaging conditions such as the distance between the imaging device 12 and the object to be inspected without careful consideration, and the distance to be pulled out from the case 10 may be determined in advance. The distance to be pulled out from the case 10 may be displayed to the user from the information processing device 2 via the display unit 24.

[0041] (4) Weight measurement mechanism Weight measurement is performed using a load cell 14. The load cell 14 is a sensor that detects force. As a sensor, the load cell 14 converts physical force into an electrical signal and outputs the electronic signal. The electronic signal can be converted into a numerical value of weight using a computer or the like.

[0042] In this case, it is sufficient to incorporate a mechanism for measuring weight into the turntable 11, and it is not necessary to measure weight with the load cell 14. Other possible measurement methods include a spring scale, an electromagnetic scale, and a tuning fork vibrating scale. In this embodiment, the load cell 14 is adopted as it is suitable for miniaturizing the weight measurement mechanism that can be incorporated into the inspection device 1.

[0043] The weight measurement mechanism of the load cell 14 utilizes the fact that the amount of electricity output changes depending on the amount of deflection of the flexure body. For example, one side of an aluminum flexure body is fixed and a sample is placed on the other side. The weight of the sample causes the flexure body to deflect, and the strain gauge attached to the flexure body expands and contracts depending on the amount of deflection, changing the amount of electricity output (more accurately, resistance value). The mass can then be calculated from the amount of electricity.

[0044] [1-3. Inspection equipment control mechanism] Next, the correlation between the control mechanisms provided in the inspection device 1 will be described.

[0045] The power supply unit P supplies power to the motor 15 and the display 16. Specifically, the power supply unit P is a power source equipped with a battery such as a dry cell battery, and supplies the battery power to the display 16, the motor 15, etc. when the power supply from the cable C alone is insufficient.

[0046] The load cell 14 transmits the resistance value of the strain gauge to the A / D circuit 14a in accordance with the weight of the test object placed thereon.

[0047] The A / D circuit 14a outputs the resistance value (value corresponding to the load) after A / D conversion of the resistance value of the strain gauge. Specifically, the A / D circuit 14a converts the electrical resistance value (analog data) of the strain gauge obtained from the load cell 14 into a load (digital data) and passes this to the interface circuit unit 13 as weight data.

[0048] The interface circuit unit 13 mainly integrates various sensor information and exchanges information with the information processing device 2. For example, the interface circuit unit 13 operates by receiving power from the information processing device 2. The interface circuit unit 13 also controls the A / D circuit 14a, the motor 15, and the display 16.

[0049] The interface circuit unit 13, as a comprehensive interface board, is equipped with the A / D circuit 14a, as well as a motor drive control unit and a display drive control unit (not shown). The motor drive control unit controls the motor 15 in accordance with information relating to the control of the motor 15 from the information processing device 2. The movement of the motor 15 generates power by linking the gears it drives, causing the turntable 11 to rotate. The display drive control unit controls the display 16 in accordance with information relating to the control of the display 16 from the information processing device 2.

[0050] The motor 15 transmits power to the rotary table 11 via a gear 15 a and starts / stops the rotation of the rotary table 11 in accordance with the on / off control from the interface circuit unit 13 .

[0051] The information processing device 2 supplies power to the interface circuit unit 13, acquires information on the weight of the object to be inspected from the resistance value (value equivalent to the load) after A / D conversion supplied from the interface circuit unit 13, and controls the shutter of the imaging device 12 to acquire captured images from the imaging device 12 and perform various inspections.

[0052] [1-4. Configuration of information processing device] FIG. 5 is a diagram illustrating an example of a hardware configuration of the information processing device 2. As shown in FIG.

[0053] The information processing device 2 includes a processor 21, a transmitting / receiving unit 22, an input unit 23, a display unit 24, a storage unit 25 (a main storage unit 251, an auxiliary storage unit 252), and a storage unit .

[0054] The processor 21 controls the entire device, for example, executes an inspection program stored in the main memory unit 251, and performs various processes using the auxiliary memory unit 252 as a work area.

[0055] The transmitting / receiving unit 22 corresponds to a communication device that transmits and receives information to and from the inspection device 1.

[0056] The input unit 23 corresponds to an input device such as a pointing device that accepts information input by the user, and is realized using, for example, a tablet.

[0057] The display unit 24 corresponds to a display device that displays the inspection results and the final selection results.

[0058] The storage unit 25 (main storage unit 251, auxiliary storage unit 252) corresponds to a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory) that stores various types of information.

[0059] The storage unit 26 corresponds to a storage device made of a magnetic material or a semiconductor, and stores a plurality of images obtained from the inspection device 1 and weight data of the inspection object.

[0060] FIG. 6 is a diagram showing an example of the functional configuration of an inspection program executed by the processor 21. As shown in FIG.

[0061] The inspection program 3 executed by the processor 21 has, as various functions, a motor drive control unit 31, an imaging control unit 32, an inspection processing unit 33, and a display drive control unit .

[0062] Motor drive control unit 31 The motor drive control unit 31 controls the output of the motor 15, which serves as the power source for the gear 15a that drives the turntable 11. Since the turntable 11 normally drives at a constant speed, the motor drive control unit 31 only controls the on / off. However, the motor drive control unit 31 may change the rotation speed of the turntable 11 by controlling the output of the motor 15 according to the processing speed of each unit (such as the imaging speed) and work efficiency.

[0063] Shooting control unit 32 The photography control unit 32 controls the shutter timing of the imaging device 12. The photography control unit 32 sends a shutter command signal to the inspection device in accordance with the movement of the turntable 11 and the timing of weight measurement, and operates the shutter of the imaging device 12. Since the turntable 11 normally drives at a constant speed, the photography control unit 32 controls the shutter timing to be constant. However, the photography control unit 32 can change the shutter timing depending on the processing speed of each unit (such as the imaging speed) and work efficiency.

[0064] Inspection processing unit 33 The inspection processing unit 33 performs inspections for various inspection items using multiple images of the inspection object obtained by photography and weight data of the inspection object. The inspection processing unit 33 obtains the final inspection result (rank, etc.) using image processing, artificial intelligence, etc., and displays it on the display unit 24.

[0065] Display drive control unit 34 The display drive control unit 34 controls the display 16 on the inspection device 1 side, and changes the color of the display 16 according to the processing status of the inspection item, for example.

[0066] [2. Operation of the inspection system] FIG. 7 is a flowchart showing an outline of the operation of the inspection system.

[0067] First, preparation for the test is carried out (step S1). In this preparation, the test device 1 and the information processing device 2 are connected by a cable C, and the power of each is turned on. An object to be inspected is placed on a turntable 11 of the inspection device 1.

[0068] Next, the weight of the object to be inspected is measured (step S2). The weight measurement of the object to be inspected does not necessarily have to be performed at this stage. For example, the weight measurement of the object to be inspected may be performed after the object to be inspected has been photographed. In measuring the weight of the object to be inspected, the electrical resistance value (analog data) of the strain gauge obtained from the load cell 14 is converted into a load (digital data) by the A / D circuit 14a, and this is passed on to the interface circuit unit 13 as weight data, and further transmitted to the information processing device 2 via the cable C.

[0069] Next, under the control of the information processing device 2, the interface circuit unit 13 performs processing to rotate the turntable 11 at a constant speed through a drive device including the motor 15 and gear 15a (step S3).

[0070] Next, under the control of the information processing device 2, the imaging device 12 takes images of the inspection object at regular time intervals to obtain a plurality of images (step S4). The plurality of images generated by the imaging device 12 are transmitted to the information processing device 2 through the cable C.

[0071] Finally, the information processing device 2 performs inspections for various inspection items based on the multiple images of the inspection object and the weight data of the inspection object, and displays the inspection results on the display unit 24 (step S5).

[0072] [3. Processing details for each test item] The information processing device 2 performs inspections for various inspection items using multiple images of the inspection object obtained by photographing the inspection object at regular time intervals and the "weight" data of the inspection object. As mentioned above, the inspection items include "size," "irregular shape," "volume," "density," "sugar content," and "ripeness."

[0073] Of these inspection items, the "volume" in particular is of great technical significance, since once the "volume" is determined from multiple images taken, the "density" can be determined from the "volume," and even the "sugar content" can be determined from the "density." Therefore, we will first explain the basic method for determining the "volume."

[0074] FIG. 8 is a diagram for explaining a basic method for determining the "volume" of an object to be inspected.

[0075] The number of dots in the part of the image of the object being inspected, obtained by photographing the object from one direction, correlates with the "cross-sectional area" (hereafter referred to as "area") of the object being inspected. This relationship is shown in Figure 8(A).

[0076] Focusing on this point, we can infer that the sum of the number of dots in the part of the object being inspected in each of multiple images (panoramic images) obtained by photographing the object not only in one direction but at equal intervals while slightly shifting the angle, correlates with the "volume" of the object being inspected. This relationship is shown in Figure 8(B).

[0077] As described above, it is possible to determine the "volume" of an object from multiple images of the object obtained by photographing the object at regular time intervals. Furthermore, from these multiple images, it is also possible to determine the degree of "irregularity" of the object as follows. "Irregularity" refers to the presence of depressions or protrusions in relation to the general shape of each fruit or vegetable. Irregularity is also called shape defect.

[0078] FIG. 9 is a diagram for explaining a basic method for determining whether an object under inspection is "anomaly-free."

[0079] As mentioned above, in multiple images (panoramic images) obtained by photographing the object of inspection not only in one direction but at equal intervals while slightly shifting the angle, the number of dots in the part where the object of inspection is shown will almost always differ, although to some extent, from image to image. Therefore, by analyzing the difference in the number of dots in the part where the object of inspection is shown in each image, the degree of irregularity of the object of inspection can be determined.

[0080] FIG. 9 shows an example of the results of actual verification of irregularities on multiple inspection objects.

[0081] Here, we took 11 images of each object to be inspected as panoramic photographs, and attempted to quantify the degree of irregularity by calculating the ratio of the number of dots between the image with the most dots and the image with the least dots.

[0082] In the example of Figure 9, the degree of irregularity is quantified for five types of inspection objects with different shapes and sizes.

[0083] For the "standard" inspection object, the first image has the smallest number of dots, "91457," and the third image has the largest, "94363." Based on this dot count ratio, the irregularity rate (normal shape rate) is determined to be 96.9%.

[0084] For the "standard small" inspection object, the ninth image has the smallest number of dots, "69656," and the third image has the largest, "74435." Based on this dot count ratio, the irregularity rate (normal shape rate) is determined to be 93.6%.

[0085] For the "standard tilt" inspection object, the 11th image has the smallest number of dots, "90720," and the 3rd image has the largest, "97826." Based on this dot count ratio, the irregularity rate (normal shape rate) is determined to be 92.7%. This number is slightly smaller than the two types of inspection objects mentioned above, and it can be seen that there is a slight bias in the shape.

[0086] For the "abnormal" inspection object, the number of dots in the 11th image, "83987", is the smallest, and the number of dots in the 3rd image, "110585", is the largest. From the ratio of the dot counts, the abnormality rate (normal shape rate) is determined to be 75.9%. This number is significantly lower than the above three types of inspection objects, indicating a strong tendency for abnormalities.

[0087] For the "standard size" inspection object, the first image has the smallest number of dots, "9113739," and the third image has the largest, "117204." Based on this dot count ratio, the irregularity rate (normal shape rate) is determined to be 97.0%. Compared to the four types of inspection objects mentioned above, this number is the largest, indicating that the shape is normal.

[0088] Below, we will explain the specific methods for determining each inspection item: size, irregular shape, volume, density, sugar content, and ripeness.

[0089] ·size The size is determined based on one or more captured images.

[0090] First, calculate the size of the object to be inspected in the image as the number of pixels. Calculating the number of pixels requires preprocessing such as edge detection, binarization, and contrast adjustment, but we will not explain this here. You can calculate the number of pixels using any method you like.

[0091] The calculated number of pixels is then converted into the actual size. For example, as shown in Figure 10, if the number of pixels in the height direction of the object being inspected in the image is 1000 [pixels], it is converted into 5 [cm]. In this case, if the angle of view is constant, the size can be calculated by multiplying it by a predefined constant. However, if it is difficult to fix the angle of view, it is also possible to calculate an adjusted size by finding a ratio that matches the angle of view each time.

[0092] The size inspection result may be, for example, an average of the sizes calculated from a plurality of images, or the size may be expressed as a rank (grade).

[0093] ·Anomaly The basic method for determining whether an object under inspection is "anomaly" has been described above.

[0094] Determination of irregularities is based on multiple captured images. Here, the object being inspected is rotated and multiple images are taken at equal intervals.

[0095] For example, compared to a normal shape as shown on the left side of Figure 11, if there is a protruding part as shown on the right side of Figure 11, the area of ​​the object to be inspected obtained from a single captured image will be larger than the area of ​​a normal object. Conversely, if there is a depressed part, the value will be smaller. Therefore, by comparing the area values ​​of the object to be inspected in multiple captured images and looking at (1) the ratio of the maximum to minimum values ​​of the area of ​​the object to be inspected in each image, or (2) the size of the outlier relative to the average value, it is possible to detect anomalies.

[0096] The result of the anomaly inspection may be a numerical representation of the degree of anomaly (anomaly rate or normal shape rate) based on, for example, the ratio of the number of dots between the image with the most dots and the image with the least dots, as described above, or based on the size of the outlier relative to the average number of dots in each image. Anomalies may also be expressed as a rank (grade).

[0097] ·volume The basic method for determining the "volume" of an object under test has been described above.

[0098] The volume is determined based on multiple captured images. Here, multiple images are taken at equal intervals while the object being inspected is rotated.

[0099] Here, a relational expression is calculated from the correlation between the total value of the "area" of the object to be inspected shown in each image and the "volume," and the volume is determined based on this.

[0100] Below are steps (A), (B), and (C) for determining the volume.

[0101] (A) Deciding the number of shots (number of images) Determine how many times to photograph the object to be inspected. Taking more photographs per rotation will result in more images, improving the accuracy of volume determination.

[0102] (B) Creating a correlation equation To create a relational equation (hereafter referred to as the "volume calculation equation") that expresses the correlation between the total "area" of an object to be inspected and its "volume," first prepare multiple sizes of "reference models" that are close to the shape of the object to be inspected, the volume of which you ultimately want to measure.

[0103] Note that the reference model prepared here does not necessarily have to be the object to be inspected, the final goal of which is to determine its volume. For example, if you ultimately want to measure the volume of a tomato, the image prepared here can be of a spherical shape similar to that of a tomato. Here, an example is shown in which spheres with radii of 50 to 100 mm are prepared in 10 mm radius increments. In this case, six types of spheres are prepared, with radii r = 50, 60, 70, 80, 90, and 100 mm. To further improve the accuracy of volume determination, it is desirable for the shape and size to be similar to the object to be inspected, the final goal of which is to determine its volume. Furthermore, the more sizes prepared, the more accurate the approximation curve can be obtained.

[0104] The reference model of each size is photographed the number of times determined in step (A) above. An example of an image obtained by actually photographing one reference model is shown on the left side of Figure 12. This reference model may be reproduced as a digital twin in digital space, as shown on the right side of Figure 12.

[0105] Next, the area of ​​the reference model is calculated. To calculate the area, the background is removed using image processing, and then the number of pixels (dots) that indicate the area of ​​the remaining object to be inspected are counted. This operation is performed for all captured images, and the total number of pixels (sum of dots) is calculated.

[0106] If the reference model is defined as a perfect sphere with a radius of r, rather than an amorphous object, the area of ​​the perfect circle (=πr 2 The total area can be calculated by multiplying the number of times the area is photographed by the number of times the area is photographed.

[0107] Also, find the actual volume of the reference model. In the case of an irregular object, measurement can be performed using any method, but if a perfect sphere is used as the reference model, the volume (= 4 / 3πr 3 ) can be obtained.

[0108] By this processing, the total number of pixels (sum of dots) and volume of multiple images taken while rotating the reference model of each size (radius r = 50, 60, 70, 80, 90, 100 [mm]) are calculated, as shown on the left side of Figure 13.

[0109] Next, as shown on the right side of Figure 13, a volume calculation equation is calculated that shows the correlation between the total number of pixels already calculated and the actual volume. For example, the total number of pixels for each size is plotted against the volume. Next, an approximation equation is derived by using the least squares method based on all the plotted points. At this time, the approximation function for the least squares method is not limited to a linear function, and an appropriate nth-order function can also be used.

[0110] The volume calculation equation is, for example, y=8E-07x, where x is the sum of the number of dots in the area of ​​the reference model in each image. 2 It is expressed as +1.042x-30980 (where 8E-07:0.0000008). However, this is just an example and is not limiting.

[0111] (C) Determination of volume FIG. 14 shows a specific method for determining the "volume" of an object to be inspected.

[0112] First, as shown in step (1) of Fig. 14, the object to be inspected is placed on the turntable 11 and photographed at regular intervals while rotating it 360 degrees. However, the number of photographs taken is the number determined in step (A) above, and the size of the object to be inspected is close to the size of the reference model prepared in step (B) above.

[0113] Next, as shown in step (2) of FIG. 14, the number of dots in the area of ​​the object to be inspected that appears in each of the captured images is counted.

[0114] Next, as shown in step (3) of FIG. 14, the total number of dots counted from each image is set to x, and the volume calculation equation obtained in step (2) above (for example, the above y=8E-07x 2 +1.042x-30980) to calculate the volume. Volume can also be expressed as a rank (magnitude).

[0115] Figure 15 shows an example of the results of actual verification of irregularities on multiple inspection objects.

[0116] The example in Figure 15 shows the results of calculating the volumes of five types of tomatoes, the volumes of which are known in advance: "standard," "standard small," "standard large," "standard tilted and rotated" (a standard tomato rotated at an angle), and "irregular shaped."

[0117] For items other than "irregular shapes," the error from the actual volume was 2.3% or less, indicating that accurate inspection results were obtained. For "irregular shapes," the error was 3.6%, indicating that relatively accurate inspection results were obtained.

[0118] ·density Density of the object to be inspected (g / cm 3) is obtained by calculating "weight / volume" using the "weight" and "volume" of the object to be inspected that have already been obtained. Density may be expressed as a rank (grade).

[0119] ·sugar content Sugar content is correlated with specific gravity and density, so if you know the specific gravity or density of the object being tested, you can calculate the sugar content.

[0120] Generally, methods for calculating density are complicated. Therefore, in this embodiment, the density is obtained by utilizing the volume that has already been calculated, and the sugar content is calculated by substituting the density into a correlation equation that shows the correlation between density and sugar content, which has been created in advance.

[0121] The sugar content test result may be, for example, an average of sugar contents calculated from a plurality of images. The sugar content may also be expressed as a rank (grade).

[0122] The correlation equation is created in advance by measuring the sugar content of the test object. The correlation equation may also show the correlation between specific gravity and sugar content. Specific gravity can be determined from density. Figure 16 shows the correlation between specific gravity and sugar content. The three types of symbols in Figure 16 each represent data for a different test object. The correlation equation is created based on this data.

[0123] Ripeness Ripeness refers to the degree of ripeness of fruits, etc., and generally, there are differences in the surface color between ripe and unripe fruits. Examples include tomatoes and apples. It is known that the surface color of these fruits changes from green to red as they ripen.

[0124] In this embodiment, the outer periphery of the object to be inspected is photographed, so it is possible to quantify the change in surface color from the multiple images obtained by photographing. Specifically, the degree of ripeness is calculated by dividing the number of pixels of the color that appears when ripe (red for tomatoes, apples, etc.) by the total number of dots on the measured periphery. The degree of ripeness may also be expressed as a rank (grade).

[0125] [4. Deployment example] The inspection system can be deployed in various ways, as shown below.

[0126] (1) Application of multiple inspection devices1 FIG. 17 is a diagram showing an example in which a plurality of units identical to the above-described inspection device 1 are prepared and arranged on an inspection table 4 to perform an inspection all at once.

[0127] 17, a plurality of inspection devices 1 are arranged on an inspection table 4, and an information processing device 2 having a display unit is also arranged on the inspection table 4. The plurality of inspection devices 1 are connected to the information processing device 2 via the above-mentioned cable C or wireless communication. The plurality of inspection devices 1 are controlled by the information processing device 2, and the inspection results of each are displayed on the information processing device 2.

[0128] Increasing the number of turntables 11 in this way increases the processing capacity per unit time. Also, by setting the shooting direction to the same direction as the line of inspection objects, the partition boards can be used as the background. This allows stable background processing by image processing, etc.

[0129] (2) Development of AI visual inspection using captured images Visual inspection of the inspection object may be performed using AI (Artificial Intelligence). To perform visual inspection using AI, a learning model must be created in advance, which generally requires a large number of images. Therefore, by accumulating images of the inspection object taken using the inspection device 1, these images can be used for AI learning, making it possible to improve the accuracy of visual inspection using AI. In this case, the inspection device 1 also functions as an imaging device for obtaining the images necessary for AI learning.

[0130] As described above in detail, according to the embodiment, it is possible to easily inspect inspection objects such as fruits and vegetables with a simple configuration.

[0131] Here, in the embodiment, the rotation speed of the turntable 11 is constant, but the rotation speed of the turntable 11 does not necessarily have to be constant. Furthermore, the time interval between photographing by the imaging device 12 does not necessarily have to be constant. However, the photographing position by the imaging device 12 needs to be consistent between photographing the object under test and photographing the reference model. For this reason, it is desirable that the rotation speed of the turntable 11 and the time interval between photographing by the imaging device 12 are consistent between photographing the object under test and photographing the reference model. Even if the photographing position by the imaging device 12 is not consistent between photographing the object under test and photographing the reference model, if the object under test is nearly spherical, such as a tomato or melon, the volume and other parameters can be accurately calculated using the volume calculation equation described above.

[0132] [3. Modified Examples of Inspection Device] Several modified examples of the inspection device 1 will be described below. [3-1. Variation 1] In the above-described embodiment, there is one imaging device 12. In Modification 1, there may be two or more imaging devices 12. In this case, two or more support portions 12a are provided along the outer periphery of the case 10, and each imaging device 12 is supported by each support portion 12a. The two or more support portions 12a may be spaced equally or unequally apart. By using two or more imaging devices 12, two or more images of the object to be inspected can be obtained by each imaging device 12 taking an image at a time. This can reduce the number of times imaging is required to obtain images of the object to be inspected that are necessary to calculate the volume.

[0133] Furthermore, increasing the number of imaging devices 12 also reduces the amount of rotation of the turntable 11 required to obtain images of the object to be inspected, which are necessary to determine the volume. In other words, as long as a sufficient number of imaging devices 12 are used to perform imaging, it is not necessary to rotate the turntable 11 while performing imaging.

[0134] FIG. 18 is a diagram showing the appearance of a first example of the inspection device of Modification 1. In the first example, multiple support portions 11c are formed around a non-rotating base portion 11. The support portions 11c are bent obliquely upward from the outer periphery of the base portion 11, and are formed so that their tips are at a constant height relative to the base portion 11. An annular support portion 11d having a diameter larger than that of the base portion 11 is supported by the tips of the support portions 11c. For example, when the size of the object to be inspected is 5 cm to 10 cm, the diameter of the base portion 11 is approximately 10 cm, and the diameter of the support portion 11d is approximately 20 cm. An imaging device 12 is fixed to the support portion 11d. The orientation of the imaging device 12 is adjusted so that the object to be inspected is within the angle of view of the camera module. Note that depending on the orientation of the imaging device 12, an image of another imaging device 12 may appear in the image of the object to be inspected. Such images of other imaging devices 12 are removed during image processing during inspection. The image of the imaging device 12 may be removed by any method such as a pattern matching method or a machine learning method.

[0135] Here, in FIG. 18, the imaging devices 12 are fixed at the intersection positions of the support portions 11c and 11d. However, the imaging devices 12 do not necessarily have to be fixed at the intersection positions of the support portions 11c and 11d. In addition, the number of support portions 11c does not have to match the number of imaging devices 12. Furthermore, in FIG. 18, the support portions 11c are formed at equal intervals along the outer periphery of the base portion 11. However, the support portions 11c may be formed at unequal intervals along the outer periphery of the base portion 11. In addition, the fixing positions of the imaging devices 12 may also be unequal intervals.

[0136] Furthermore, the height of the tip portion relative to the base 11 is the position where, for example, when an object to be inspected is placed on the base 11, the optical axis of the camera module of the imaging device 12 coincides with the center of the object to be inspected. In reality, the size of fruit or vegetable to be inspected is not uniform, so the height of the tip portion relative to the base 11 may be determined by the reference model described above. Also, in FIG. 18, the imaging device 12 is fixed to the support 11d. However, the imaging device 12 may be fixed to the support 11c, in which case the support 11d may not be included. The heights of the imaging devices 12 supported by the base 11 may be different.

[0137] FIG. 19 is a diagram showing the appearance of an inspection device of a second example of Modification 1. The structure of the first example is a skeleton structure made up of support portions 11c and 11d. In contrast, the structure of the second example is a continuous structure formed obliquely upward from base portion 11. In the second example, base portion 11 is formed as a cage having living hinge 11e, for example. An inspection object is placed on the bottom of base portion 11 of the cage. Furthermore, imaging device 12 is installed on a step formed by bending living hinge 11e. The orientation of imaging device 12 is adjusted so that the inspection object falls within the angle of view of the camera module. In the second example, the installation height of imaging device 12 can be changed by changing the bending position of living hinge 11e, i.e., the position where the step is formed.

[0138] 19, the installation intervals of the imaging devices 12 in the circumferential direction of the base 11 do not need to be equal, but may be unequal. Furthermore, if multiple steps of different heights are formed by bending the living hinge 11e multiple times, the imaging devices 12 can be installed at different heights relative to the bottom of the base 11.

[0139] FIG. 20 is a block diagram showing the configuration of an inspection device in Modification 1. The configuration in FIG. 20 can be applied to both the first and second examples. In Modification 1, the inspection device 1 includes an interface circuit unit 13, a load cell (weight measuring device) 14, an A / D circuit 14a, a power supply unit (including a battery) P, a display 16, and the like. That is, in Modification 1, it is not necessary to rotate the base unit 11, so the motor 15 and gear 15a are not required. Also, in Modification 1, the case 10 and base unit 11 shown in FIG. 2 can be combined into a single base unit 11. In this case, the interface circuit unit 13, the load cell 14, the A / D circuit 14a, the power supply unit P, and the display 16 can all be mounted on the base unit 11.

[0140] The configurations of the interface circuit unit 13, load cell 14, A / D circuit 14a, power supply unit P, and display unit 16 are the same as those described in Fig. 4. Therefore, their description will be omitted. The configuration of the information processing device 2 is also basically the same as that described in Fig. 5. However, the inspection program 3 executed by the processor 21 does not need to have the function of the motor drive control unit 31.

[0141] The inspection performed by the inspection processing unit 33 is also basically the same as that described with reference to Figures 7 to 14. However, in Modification 1, the operation of step S3 in Figure 7 is not necessary. In Modification 1, the number of times of imaging used in calculating the volume is the number of imaging devices 12 installed on the base unit 11.

[0142] As described above, no mechanism for rotating the inspection object is required in Modification 1. Therefore, inspection objects such as fruits and vegetables can be easily inspected with a simple configuration.

[0143] [3-2. Variation 2] In the above-described embodiment, a panoramic image of the object to be inspected is obtained by rotating the turntable 11 and using the imaging device 12 to capture an image of the object to be inspected that rotates in accordance with the rotation of the turntable 11. Conversely, a panoramic image of the object to be inspected can also be obtained by fixing the object to be inspected and capturing an image of the object to be inspected using the imaging device 12 that rotates around the object to be inspected.

[0144] 21 is a diagram showing the internal configuration of case 10 in Modification 2. In Modification 2, a drive device including gears is provided inside case 10. The drive device includes a planetary gear mechanism. The planetary gear mechanism has a shaft 100a, a sun gear 100b, a planetary gear 100c, an internal gear 100d, and a planet carrier 100e.

[0145] The shaft 100a is a fixed shaft on which the sun gear 100b is fitted. The shaft 100a is attached to the base 11 and also serves as a shaft that supports the base 11.

[0146] The sun gear 100b meshes with four planetary gears 100c arranged around the periphery and is fixed to the shaft 100a.

[0147] Each planet gear 100c meshes with the sun gear 100b and also with the internal gear 100d. Each planet gear 100c is connected to a planet carrier 100e. The planet carrier 100e can be rotated by the motor 15.

[0148] The internal gear 100d forms at least a part of the outer periphery of the case 10. A support portion 12a is attached to the outer periphery of the case 10. The imaging device 12 is supported by the support portion 12a.

[0149] 21, when the planetary carrier 100e is rotated by the motor 15, the four planetary gears 100c connected by the planetary carrier 100e rotate while revolving around the sun gear 100b. The revolution of the four planetary gears 100c causes the internal gear 100d to rotate, for example, in the R direction shown in the figure, and this causes the case 10 to rotate. Because the support portion 12a is attached to the outer periphery of the case 10, the rotation of the case 10 also causes the support portion 12a to rotate, for example, in the R direction.

[0150] As a result, the imaging device 12 supported by the support portion 12a also rotates, for example, in the R direction. On the other hand, since the shaft 100a does not rotate, the base portion 11 supported by the shaft 100a does not rotate either. Therefore, the imaging device 12 can rotate relative to the inspection object placed on the base portion 11. When the imaging device 12 photographs the inspection object in this state, a full-circumference photographed image of the inspection object similar to that described in the embodiment is obtained. Here, in Modification 2, the rotation speed of the internal gear 100d does not necessarily have to be constant. Furthermore, the interval between photographs taken by the imaging device 12 does not necessarily have to be a constant time interval.

[0151] Furthermore, a cable C is provided on the case 10. In the second modification, the rotation of the case 10 causes the support portion 12a to rotate, which may result in the rotating support portion 12a hitting the cable C. To avoid such contact between the support portion 12a and the cable C when the support portion 12a rotates, it is desirable that the installation height of the support portion 12a on the case 10 be determined taking into consideration the flexing of the cable C, etc. Furthermore, the case 10 may be divided into a rotating portion to which the internal gear 10d is attached, and a non-rotating portion. In this case, the cable C, etc. may be provided on the non-rotating portion of the case 10.

[0152] Fig. 22 is a block diagram showing the configuration of an inspection device in Modification 2. In Modification 2, the inspection device 1 includes an interface circuit unit 13, a load cell (weight measuring device) 14, an A / D circuit 14a, a power supply unit (including a battery) P, a display 16, and a motor 15. Unlike Fig. 4, in Fig. 22, the motor 15 is configured to rotate the case 10, more specifically, the planetary carrier 10e. The rest of the configuration is the same as in Fig. 4.

[0153] The inspection performed by the inspection processing unit 33 is also basically the same as that described with reference to Figures 7 to 14. However, in the second modification, it is the case 10 that is rotated in step S3 in Figure 7, rather than the turntable 11.

[0154] As described above, in Modification 2, it is possible to easily inspect inspection objects such as fruits and vegetables with a simple configuration. Furthermore, in Modification 2, the base on which the inspection object is placed does not rotate. Therefore, the position of the inspection object is likely to be stable.

[0155] The present invention is not limited to the above-described embodiments, and the components can be modified and embodied in practice without departing from the spirit of the invention. Furthermore, various inventions can be formed by appropriately combining multiple components disclosed in the above-described embodiments. For example, some components may be omitted from all the components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined. [Explanation of symbols]

[0156] 1...inspection device, 2...information processing device, 3...program, 4...inspection table, 10...case, 10b...fixing member, 11...rotating table (base portion), 11a...color reference sheet, 11b...light emitting portion, 12...imaging device, 12a...support portion, 13...interface circuit portion, 14...load cell (weight measuring device), 14a...A / D circuit, 15...motor, 15a...gear, 16...display, C...cable, P...power supply portion, 21...processor, 22...transmitting / receiving portion, 23...input portion, 24...display portion, 25...memory portion, 251...main memory portion, 252...auxiliary memory portion, 26...memory portion, 31...motor drive control portion, 32...imaging control portion, 33...inspection processing portion, 34...display drive control portion.

Claims

1. a base on which an object to be inspected is placed; a driving device that rotates the base on which the inspection object is placed; an imaging device that captures an image of the inspection object; an information processing device that controls the imaging device to capture an image of the inspection object while the inspection object is rotating, acquires a plurality of images of the inspection object from the imaging device, and performs various inspections on the inspection object based on the acquired plurality of images of the inspection object; Equipped with The information processing device includes: calculating a volume of the object to be inspected by substituting the sum of the number of pixels of the plurality of images of the object to be inspected acquired from the imaging device into an approximation equation calculated by approximating all points obtained by plotting the sum of the number of pixels of the plurality of images for each size of the object to be inspected against the volume; Inspection equipment.

2. The information processing device includes: determining the degree of deformation of the inspection object based on predetermined information obtained from each of the plurality of images; The inspection device according to claim 1 .

3. The information processing device includes: determining a size of the inspection object based on predetermined information obtained from each of the plurality of images; The inspection device according to claim 1 .

4. Further comprising a weight measuring device for measuring the weight of the inspection object, The information processing device includes: determining the density of the test object based on the volume and weight of the test object; The inspection device according to claim 1 .

5. The information processing device includes: determining the sugar content of the test object based on the density of the test object; The inspection device according to claim 4.

6. The information processing device includes: determining the maturity of the inspection object based on predetermined information obtained from each of the plurality of images; The inspection device according to claim 1 .

7. the base unit, the drive device, and the imaging device are provided in one inspection device, The inspection device is connected to the information processing device. The inspection device according to claim 1 .

8. A plurality of the inspection devices are provided, the plurality of inspection devices are connected to the information processing device; The inspection device according to claim 7.

9. a case that rotatably holds the base; a support portion attached to the case and supporting the imaging device; The inspection device of claim 1 further comprising:

10. a base on which an object to be inspected is placed; a structure formed obliquely upward on the base portion; a plurality of imaging devices supported by the structure and configured to capture images of the inspection object from different directions; an information processing device that acquires a plurality of images of the inspection object from each of the imaging devices and performs various inspections on the inspection object based on the acquired plurality of images of the inspection object; Equipped with The information processing device includes: calculating a volume of the object to be inspected by substituting the sum of the number of pixels of the plurality of images of the object to be inspected acquired from the imaging device into an approximation equation calculated by approximating all points obtained by plotting the sum of the number of pixels of the plurality of images for each size of the object to be inspected against the volume; Inspection equipment.

11. The structure is a plurality of first support portions formed by bending obliquely upwards on the base portion; an annular second support portion supported at tip ends of the plurality of first support portions; A skeleton-like structure having The inspection device according to claim 10.

12. The structure is A continuous structure having a living hinge portion formed by bending obliquely upward from the base portion, The inspection device according to claim 10.

13. a base on which an object to be inspected is placed; a case that supports the base portion so that it does not rotate; a drive unit provided inside the case for rotating the case; a support portion attached to the case and supporting an imaging device that captures an image of the inspection object; an information processing device that controls the imaging device to capture an image of the inspection object while the imaging device is rotating, acquires a plurality of images of the inspection object from the imaging device, and performs various inspections on the inspection object based on the acquired plurality of images of the inspection object; Equipped with The information processing device includes: calculating a volume of the object to be inspected by substituting the sum of the number of pixels of the plurality of images of the object to be inspected acquired from the imaging device into an approximation equation calculated by approximating all points obtained by plotting the sum of the number of pixels of the plurality of images for each size of the object to be inspected against the volume; Inspection equipment.

14. The drive device is a fixed sun gear; a plurality of planetary gears that mesh with the sun gear and revolve around the sun gear; a planetary carrier that connects a plurality of the planetary gears and is attached to a motor; an internal gear that meshes with the planetary gears, rotates in accordance with the revolution of the planetary gears, and rotates at least a portion of the case to which the support portion is attached; The inspection device according to claim 13, further comprising:

15. A driving device rotates a base on which an object to be inspected is placed; While the inspection object is rotating, an information processing device controls an imaging device to capture an image of the inspection object, acquires a plurality of images of the inspection object from the imaging device, and performs various inspections on the inspection object based on the acquired plurality of images of the inspection object. Including, The various types of inspections include determining the volume of the inspection object by substituting the sum of the number of pixels of a plurality of images of the inspection object acquired from the imaging device into an approximation equation calculated by approximating all points obtained by plotting the sum of the number of pixels of the plurality of images for each size of the inspection object against the volume, Testing method.

Images