Foreign object detection device and foreign object detection method

Abstract

To provide a foreign matter detection device and a foreign matter detection method capable of accurately detecting a foreign matter adhering to a back surface of a plug member attached to a translucent container.SOLUTION: A detection device 10 for detecting a foreign matter G adhering to a rubber plug 91 attached to a translucent container 90, includes: a camera 11 that images the rubber plug 91; and a detection unit 22 that detects the foreign matter G adhering to the rubber plug 91 based on images of the rubber plug 91 imaged by the camera 11. At a plurality of first imaging positions T1 formed on a bottom 90b side of the container 90 in a direction forming a predetermined angle θ1 with respect to an axis S of the container 90, the camera 11 images a back surface 93A of the rubber plug 91 facing inside the container 90 at a plurality of first focus positions 80a and second focus positions 81a along a depth direction of the back surface 93A. The detection unit 22 detects the foreign matter G adhering to the back surface 93A of the rubber plug 91 based on a plurality of first images 80 and second images 81 of the back surface 93A of the rubber plug 91, which are imaged by the camera 11 from the first imaging positions T1.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a foreign matter detecting device and a foreign matter detecting method for detecting foreign matter adhering to a stopper member attached to a translucent container. [Background technology]

[0002] Patent Document 1 discloses a detection device for detecting foreign matter in a translucent container. The detection device in Patent Document 1 detects the quality of a vial based on the presence or absence of foreign matter in the vial while transporting the vial. In the detection device in Patent Document 1, when detecting the lower part of the vial, light is applied to the vial from below, diagonally above, diagonally below, or to the side. When detecting the upper part of the vial, light is applied to the vial from below or to the side. Then, using a camera installed according to the direction of light projection onto the vial, image capture and pixel counting are processed in parallel to continuously inspect the entire vial from the top to the bottom for foreign matter. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3351910 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a conventional detection device such as that shown in Patent Document 1, when detecting foreign matter adhering to a stopper member attached to a container filled with a drug such as a freeze-dried drug, the drug that settles at the bottom of the container prevents the camera from capturing an image of the stopper member, making it impossible for the camera to capture a clear image of the stopper member to detect foreign matter adhering to the back surface of the stopper member, i.e., the surface inside the container.

[0005] Furthermore, when detecting foreign matter in a plug member with a deep back surface (for example, a plug member with a concave back surface) with a conventional detection device, if the resolution is increased to capture a detailed image of the back surface of the plug member with a camera, the depth of field of the camera becomes shallow (the depth of the front and back focus areas becomes shallow), making it impossible to capture a detailed image of the back surface of the plug member. For example, if the back surface of the plug member is captured by setting the focal position to the back part of the back surface of the plug member, the front part of the back surface of the plug member will be blurred.

[0006] For this reason, there has been a problem in that foreign matter adhering to the back surface of the plug member cannot be detected with high accuracy based on the image of the plug member captured by the camera.

[0007] Therefore, the present invention aims to solve these problems and provide a foreign object detection device and a foreign object detection method that can accurately detect foreign objects adhering to the back surface of a stopper member attached to a translucent container. [Means for solving the problem]

[0008] In order to achieve this object, the foreign matter detection device of the present invention is a detection device that detects foreign matter adhering to a stopper member attached to a translucent container, and includes an imaging unit that images the stopper member, and a detection unit that detects foreign matter adhering to the stopper member based on images of the stopper member captured by the imaging unit, wherein the imaging unit images a back surface of the stopper member facing the inside of the container at a plurality of focal positions along the depth direction of the back surface at a plurality of first imaging positions formed on the bottom side of the container in a direction forming a predetermined angle with respect to the axis of the container, and the detection unit detects foreign matter adhering to the back surface of the stopper member based on the plurality of images of the back surface of the stopper member captured at the first imaging positions by the imaging unit. The plurality of focal positions include at least a focal position on a near side relative to the rear surface of the rear surface portion of the plug member and a focal position on a far side relative to the rear surface of the rear surface portion of the plug member, and a depth between the near side and the far side relative to the rear surface of the rear surface portion of the plug member is greater than a depth of field of the imaging unit. It is something.

[0009] According to the foreign object detection device of the present invention, it is preferable that the imaging unit captures images of the stopper member attached to the container when the container is rotated to multiple angular positions around the axis.

[0011] According to the foreign object detection device of the present invention, it is preferable that the imaging unit images the side of the stopper member attached to the container at a plurality of second imaging positions formed in a direction forming a predetermined angle with respect to the axis of the container, and the detection unit detects foreign objects adhering to the side of the stopper member based on the multiple images of the side of the stopper member imaged by the imaging unit from the plurality of second imaging positions.

[0012] The foreign object detection method of the present invention is a method for detecting foreign objects adhering to a stopper member attached to a translucent container, and includes an imaging step of imaging a back surface of the stopper member facing the inside of the container at a plurality of focal positions along a depth direction of the back surface at a plurality of first imaging positions formed on the bottom side of the container in a direction forming a predetermined angle with respect to the axis of the container, and a foreign object detection step of detecting foreign objects adhering to the back surface of the stopper member based on the plurality of images of the back surface of the stopper member imaged at the first imaging positions in the imaging step. the plurality of focal positions include at least a focal position on a near side with respect to the back surface of the back surface portion of the plug member and a focal position on a far side with respect to the back surface of the back surface portion of the plug member, and a depth between the near side and the far side with respect to the back surface of the back surface portion of the plug member is deeper than a depth of field of imaging in the imaging step. It is a method. [Effects of the Invention]

[0013] According to the foreign matter detecting device and foreign matter detecting method of the present invention, foreign matter adhering to the back surface of the plug member can be detected with high accuracy from the image of the back surface of the plug member captured by the imaging section. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic diagram showing the overall configuration of a foreign object detection device according to an embodiment of the present invention; [Figure 2A] 10 is a diagram showing an image of the back surface of the rubber stopper captured by the camera of the detection device. FIG. [Figure 2B] 10 is a diagram showing an image of the back surface of the rubber stopper captured by the camera of the detection device. FIG. [Figure 3] 10 is a diagram showing the positional relationship between the camera of the detection device and the container (rubber stopper) when the camera captures an image of the back surface of the rubber stopper. FIG. [Figure 4]10 is a diagram showing the positional relationship between the camera of the detection device and the container (rubber stopper) when the camera captures an image of the side surface of the rubber stopper. FIG. [Figure 5] 10 is a flowchart showing a method for detecting foreign matter adhering to the back surface of a rubber plug using the detection device. [Figure 6] 10 is a flowchart showing a method for detecting foreign matter adhering to the side surface of a rubber stopper using the detection device. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, a foreign object detection device and a foreign object detection method according to an embodiment will be described with reference to the drawings.

[0016] As shown in FIG. 1, the detection device 10 in this embodiment is a device that detects a foreign substance G (see FIGS. 2A and 2B) adhering to a rubber stopper 91 (an example of a "stopper member") attached to a container 90. The container 90 to which the rubber stopper 91 is attached is a cylindrical container that is translucent. The container 90 is made of, for example, glass. The container 90 is filled with a drug such as a freeze-dried agent, with a space remaining near the rubber stopper 91.

[0017] The rubber stopper 91 is attached to the mouth 90a of the container 90. The rubber stopper 91 includes a main body 92 that closes the opening at the top of the mouth 90a, and a leg 93 that is formed integrally with the main body 92 and inserted into the mouth 90a. The main body 92 is formed in the shape of a circular plate. The leg 93 is formed in a cylindrical shape.

[0018] The tip surface of the leg portion 93 forms the back surface 93a of the rubber stopper 91. The side surface of the leg portion 93 forms the side surface 93B of the rubber stopper 91. The back surface 93a of the rubber stopper 91 is the surface formed at the lower end of the leg portion 93 when the leg portion 93 is inserted into the opening 90a of the container 90. The side surface 93B of the rubber stopper 91 is the surface that faces the inner wall surface of the opening 90a of the container 90 and is pressed against the inner wall surface when the leg portion 93 is inserted into the opening 90a of the container 90. While the leg portion 93 is formed in a cylindrical shape, the back surface portion 93A of the rubber stopper 91, including the back surface 93a, is formed in a concave shape toward the back side (interior) of the rubber stopper 91. In other words, the back surface portion 93A of the rubber stopper 91 has depth. A back surface portion 93A including a back surface 93a of the rubber stopper 91 is a portion that is formed toward the inside of the container 90 when the leg portion 93 is inserted into the opening portion 90a of the container 90.

[0019] The detection device 10 mainly includes a camera 11 (an example of an "imaging unit") that captures an image of the container 90, a holding device 12 that holds the container 90, and a control device 20 that controls the entire detection device 10. Based on the image of the container 90 (rubber stopper 91) captured by the camera 11, the detection device 10 detects a foreign object G (see FIGS. 2A and 2B) adhering to the rubber stopper 91.

[0020] The camera 11 is configured, for example, by a CCD camera. The camera 11 is fixed at a predetermined position on the detection device 10. The camera 11 is disposed so that the optical axis K is inclined upward at a predetermined angle θ with respect to the horizontal direction. The camera 11 captures an image of a back surface portion 93A including a back surface 93a of the rubber stopper 91 attached to the container 90, and a side surface 93B of the rubber stopper 91 attached to the container 90.

[0021] In order to increase the resolution and capture a detailed image of the back surface 93A and side surface 93B of the rubber stopper 91, the camera 11 increases the focal length and further enlarges (shortens the working distance) the object (the back surface 93A and side surface 93B of the rubber stopper 91) to capture the image. Here, when the camera 11 increases the focal length and shortens the working distance to capture an image of the back surface 93A and side surface 93B of the rubber stopper 91, the depth of field of the camera 11 becomes shallow (the depth of the front and rear focus areas becomes shallow), and it becomes impossible to capture an image of the fine details of the back surface 93A and side surface 93B, including the back surface 93a of the rubber stopper 91.

[0022] In particular, in the case of the back surface 93A of the rubber stopper 91, which has a depth due to being cylindrical and concave toward the rear (interior) side, the depth between the front and rear sides of the back surface 93a is deeper than the depth of field of the camera 11. Therefore, when the camera 11 sets the first focal position 80a further rearward than the back surface 93a of the rubber stopper 91 and captures an image of the back surface 93a of the rubber stopper 91, as in the first image 80 of FIG. 2A , the back surface 93a of the rubber stopper 91 is captured blurred. Note that in the first image 80 and the second image 81, the light-colored lines represent out-of-focus (blurred) areas, and the dark-colored areas represent in-focus areas. Therefore, the camera 11 cannot increase the resolution to capture an image of the foreign matter G adhering to the back surface 93a of the rubber stopper 91 using only the first focal position 80a. Therefore, foreign matter G adhering to rear surface 93a of rubber stopper 91 cannot be detected based on first image 80 of the inner side of rear surface 93a of rubber stopper 91 captured by camera 11.

[0023] Therefore, camera 11 sets multiple (two) focal positions (first focal position 80a, second focal position 81a) to capture an image of the back surface 93a of rubber stopper 91. Specifically, camera 11 sets first focal position 80a further back than the back surface 93a of rubber stopper 91 to capture an image of the back surface 93a of rubber stopper 91, as in a first image 80 of FIG. 2A . Camera 11 also sets second focal position 81a on the back surface 93a of rubber stopper 91 to capture an image of the back surface 93a of rubber stopper 91, as in a second image 81 of FIG. 2B . In this way, by setting the focal position of camera 11 to two (multiple) focal positions, namely, first focal position 80a and second focal position 81a, camera 11 can capture an image of the back surface 93A of rubber stopper 91, which is located deep, with increased resolution.

[0024] As shown in FIG. 1 , the holding device 12 mainly includes a gripping unit 13, an arm 14, and a driving unit 15. The gripping unit 13 is a part that grips a rubber stopper 91 that is attached to a container 90. The gripping unit 13 is provided at the tip of the arm 14 and grips a main body 92 of the rubber stopper 91. The arm 14 is an arm for moving and rotating the gripping unit 13. When the arm 14 moves or rotates the gripping unit 13 while gripping the rubber stopper 91 with the gripping unit 13, the container 90 to which the rubber stopper 91 is attached moves or rotates. The driving unit 15 includes a motor (not shown). The driving unit 15 operates the arm 14 by driving the motor. The driving unit 15 is connected to a control device 20. The driving unit 15 drives the motor in response to a signal from the control device 20.

[0025] In the detection device 10, the camera 11 is fixed at a predetermined position on the detection device 10, and the holding device 12 moves the container 90 based on the fixed camera 11, thereby setting the imaging position of the camera 11 on the rubber stopper 91.

[0026] 3, the holding device 12 (see FIG. 1) moves the container 90 to a first position P1, thereby setting the imaging position of the camera 11 relative to the rubber stopper 91 as a first imaging position T1 for imaging the back surface 93A of the rubber stopper 91. Here, the first position P1 is a position at which the holding device 12 holds the container 90 so that the camera 11 can image the back surface 93A of the rubber stopper 91 as a focal position.

[0027] The holding device 12 (see FIG. 1) moves the container 90 to a first position P1 while holding the container 90 so that the axis S of the container 90 is vertical. By the holding device 12 moving the container 90 to the first position P1 in this manner, a first imaging position T1 of the camera 11 is formed on the bottom 90b side of the container 90, in a direction that forms a predetermined angle θ1 with respect to the axis S (vertical direction) of the container 90. In other words, the first imaging position T1 of the camera 11 is formed diagonally below the container 90, whose axis S is vertical.

[0028] Here, the predetermined angle θ1 is the angle of the optical axis K of the camera 11 relative to the axis S of the container 90. The predetermined angle θ1 is set at an angle that can be formed so that the optical axis K of the camera 11 is directed toward the back surface 93A of the rubber stopper 91 while avoiding the bottom 90b of the container 90 (the lowest position of the container 90 in the vertical direction).

[0029] In this way, the first imaging position T1 of the camera 11 is formed diagonally below the container 90 held by the holding device 12, so that even if a drug such as a freeze-dried agent settles at the bottom 90b of the container 90, the camera 11 can capture an image of the back surface 93A of the rubber stopper 91 without being affected by the drug.

[0030] 4, holding device 12 (see FIG. 1) moves container 90 to second position P2, thereby changing the imaging position of camera 11 relative to rubber stopper 91 to second imaging position T2 for imaging side surface 93B of rubber stopper 91. Here, second position P2 is a position where holding device 12 holds container 90 in an inclined state so that camera 11 can image side surface 93B of rubber stopper 91 as a focal position.

[0031] The holding device 12 moves the container 90 to a second position P2 while holding the container 90 at an angle such that the axis S of the container 90 is perpendicular to the optical axis K of the camera 11. By the holding device 12 moving the container 90 to the second position P2 in this manner, the imaging direction of the camera 11 at the second imaging position T2 is formed in a direction perpendicular to the axis S of the container 90. In other words, the second imaging position T2 of the camera 11 is formed to the side of the container 90, which is tilted so as to be perpendicular to the optical axis K of the camera 11.

[0032] Furthermore, the holding device 12 rotates the container 90 around the axis S while gripping the rubber stopper 91 with the gripping portion 13 at the first position P1 and the second position P2, thereby changing the phase of the container 90 relative to the camera 11. That is, by the holding device 12 rotating the container 90 around the axis S at the first position P1 and the second position P2, the camera 11 captures images of the rubber stopper 91 in multiple phases, i.e., at multiple positions along the circumferential direction of the rubber stopper 91.

[0033] Here, since the camera 11 captures an image of the rubber stopper 91 attached to the cylindrical container 90, if light reflected from a curved portion of the container 90 or the like enters the imaging area, it may not be possible to clearly image the rubber stopper 91. As a result, it may not be possible to identify the foreign matter G from the image of the rubber stopper 91 captured by the camera 11. Therefore, the detection device 10 is configured to rotate the container 90 around the axis S to change the phase of the container 90 relative to the camera 11, so that the portion of the container 90 from which light is reflected is imaged at a different phase. Therefore, it is possible to capture an image of the entire back surface 93A including the back surface 93a of the rubber stopper 91 and the entire side surface 93B.

[0034] Furthermore, camera 11 captures an image of back surface 93A of rubber stopper 91 from diagonally below cylindrical container 90. As a result, a portion of back surface 93A of rubber stopper 91 is shaded by camera 11 and cannot be imaged (a blind spot of camera 11). Therefore, camera 11 cannot image the entire back surface 93A of rubber stopper 91 with a single imaging process at first imaging position T1. Therefore, detection device 10 is configured to rotate container 90 around axis S to change the phase of container 90 relative to camera 11, thereby enabling imaging of back surface 93A of rubber stopper 91 at multiple phases, i.e., rotation angles. Therefore, even a portion that cannot be imaged due to being shaded by camera 11 can be imaged at any of the phases.

[0035] Furthermore, camera 11 captures an image of side surface 93B of rubber stopper 91 from one side of cylindrical container 90. Therefore, side surface 93B on the other side of rubber stopper 91 (opposite the imaging position of camera 11) is in shadow of camera 11 and becomes a portion that cannot be imaged (a blind spot of camera 11). Therefore, camera 11 cannot image the entire side surface 93B of rubber stopper 91 in a single imaging process at second imaging position T2. ​​Therefore, detection device 10 is configured to rotate container 90 around axis S to change the phase of container 90 relative to camera 11, thereby enabling imaging of side surface 93B of rubber stopper 91 at multiple phases. Therefore, even a portion that cannot be imaged due to being in shadow of camera 11 can be imaged at any phase.

[0036] Specifically, while holding the rubber stopper 91 with the gripping portion 13, the holding device 12 intermittently rotates the container 90 around the axis S by a predetermined angle, thereby intermittently changing the phase of the container 90 relative to the camera 11. For example, the holding device 12 intermittently rotates the container 90 around the axis S by 60 degrees at a time, thereby changing the phase of the container 90 relative to the camera 11 to six. That is, the camera 11 images the back side of the rubber stopper 91 rotating around the axis S of the container 90 at six phases at the first imaging position T1. The camera 11 also images the side surface 93B of the rubber stopper 91 rotating around the axis S of the container 90 at six phases at the second imaging position T2.

[0037] As shown in Fig. 1, the control device 20 is connected to the camera 11 and the holding device 12. The control device 20 controls the camera 11 to capture an image of the container 90. The control device 20 controls the holding device 12 to change the position and rotate the container 90. The control device 20 is mainly composed of a control unit 21, a memory unit 23, and a display unit 24.

[0038] Control unit 21 is a CPU (Central Processing Unit), an MPU (Micro-processing Unit), or the like, and executes various processes in detection device 10 according to programs stored in memory unit 23. Control unit 21 includes detection unit 22 that detects foreign matter G adhering to rubber stopper 91 based on an image of rubber stopper 91 captured by camera 11.

[0039] The detection unit 22 detects foreign matter G adhering to the back surface 93A of the rubber stopper 91 based on an image of the back surface 93A including the back surface 93a of the rubber stopper 91 captured by the camera 11. The detection unit 22 detects foreign matter G adhering to the side surface 93B of the rubber stopper 91 based on an image of the side surface 93B of the rubber stopper 91 captured by the camera 11.

[0040] The storage unit 23 is a flash memory, a RAM (Random Access Memory), or the like, and stores programs executed by the control unit 21, data generated by the control unit 21 executing the programs, and the like.

[0041] The display unit 24 performs various displays in the detection device 10. The display unit 24 is configured by, for example, a monitor, a touch panel, or the like.

[0042] Next, a method for detecting foreign matter G adhering to rubber plug 91 using detector 10 will be described.

[0043] The detection device 10 detects, in different steps, foreign matter G adhering to the back surface 93A of the rubber stopper 91 and foreign matter G adhering to the side surface 93B of the rubber stopper 91. First, a method for detecting foreign matter G adhering to the back surface 93a of the rubber stopper 91 in the detection device 10 will be described.

[0044] As shown in Fig. 5, the holding device 12 moves the container 90 to the first position P1 shown in Fig. 3 (S1). At this time, the holding device 12 holds the container 90 so that the axis S of the container 90 is in the vertical direction. As a result, the shooting position (first imaging position T1) of the camera 11 is formed on the bottom 90b side of the container 90, in a direction that forms a predetermined angle θ1 with respect to the axis S of the container 90 (vertical direction).

[0045] When the container 90 is moved to a first position P1 (S1), the camera 11 sets a focal position (first focal position 80a (see FIG. 2A)) on the back side of the back surface 93a of the back surface 93A of the rubber stopper 91 (S2). After setting the focal position (S2), the camera 11 captures an image of the back surface 93A of the rubber stopper 91 (S3).

[0046] When camera 11 captures an image of back surface 93A of rubber stopper 91 (S3), holding device 12 rotates container 90 by a predetermined angle (e.g., 60 degrees) around axis S of container 90 (S4). When container 90 is rotated by the predetermined angle (S4), camera 11 further captures an image of back surface 93A of rubber stopper 91 (S5). When camera 11 captures an image of back surface 93A of rubber stopper 91 (S5), control unit 21 determines whether holding device 12 has rotated container 90 once (S6). When control unit 21 determines that container 90 has not rotated once (S6-No), holding device 12 further rotates container 90 by a predetermined angle around axis S (S4). Then, camera 11 further captures an image of back surface 93A of rubber stopper 91 (S5). That is, the rotation of the container 90 by the holding device 12 (S4) and the image capture of the back surface 93A of the rubber stopper 91 by the camera 11 (S5) are alternately repeated until the holding device 12 rotates the container 90 once.

[0047] When control unit 21 determines that container 90 has rotated once (S6-Yes), camera 11 sets a focal position (second focal position 81a (see FIG. 2B)) on the near side of back surface 93A of rubber stopper 91, for example, on back surface 93a (S7). After setting the focal position (S7), camera 11 captures an image of back surface 93a of rubber stopper 91 (S8).

[0048] When camera 11 captures an image of rear surface 93a of rubber stopper 91 (S8), holding device 12 rotates container 90 by a predetermined angle around axis S (S9). When container 90 is rotated by the predetermined angle (S9), camera 11 further captures an image of rear surface 93a of rubber stopper 91 (S10). When camera 11 captures an image of rear surface 93a of rubber stopper 91 (S10), control unit 21 determines whether container 90 has been rotated once by holding device 12 (S11). When control unit 21 determines that container 90 has not been rotated once (S11-No), holding device 12 further rotates container 90 by a predetermined angle around axis S (S9). Then, camera 11 further captures an image of rear surface 93a of rubber stopper 91 (S10). That is, the rotation of the container 90 by the holding device 12 (S9) and the image capture of the back surface 93a of the rubber stopper 91 by the camera 11 (S10) are alternately repeated until the holding device 12 rotates the container 90 once (image capture step).

[0049] When control unit 21 determines that container 90 has rotated once (S11-Yes), detection unit 22 determines whether or not foreign matter G is present in the image of back surface 93a of rubber stopper 91 captured by camera 11 (S12, foreign matter detection step). That is, detection unit 22 detects whether or not foreign matter G is attached to back surface 93a of rubber stopper 91 based on the image of back surface 93a of rubber stopper 91 captured by camera 11.

[0050] When the detection unit 22 determines that a foreign matter G is present in the image of the back surface 93a of the rubber stopper 91 captured by the camera 11 (S12-Yes), the detection unit 22 determines that a foreign matter G is attached to the back surface 93a of the rubber stopper 91 (S13). On the other hand, when the detection unit 22 determines that a foreign matter G is not present in the image of the back surface 93a of the rubber stopper 91 captured by the camera 11 (S12-No), the detection unit 22 determines that a foreign matter G is not attached to the back surface 93a of the rubber stopper 91 (S13).

[0051] Next, a method for detecting foreign matter G adhering to side surface 93B of rubber plug 91 using detector 10 will be described.

[0052] As shown in Fig. 6, the holding device 12 moves the container 90 to a second position P2 (S21). At this time, as shown in Fig. 4, the holding device 12 holds the container 90 so that the axis S of the container 90 is perpendicular to the optical axis K of the camera 11. As a result, the imaging position of the camera 11 (second imaging position T2) is formed on the side of the container 90 that is tilted so as to be perpendicular to the optical axis K of the camera 11.

[0053] When the container 90 is moved to the second position P2 (S21), the camera 11 captures an image of the side surface 93B of the rubber stopper 91 (S22). When the camera 11 captures an image of the side surface 93b of the rubber stopper 91 (S22), the holding device 12 rotates the container 90 by a predetermined angle (e.g., 60 degrees) around the axis S (S23). When the container 90 is rotated by the predetermined angle (S23), the camera 11 further captures an image of the side surface 93B of the rubber stopper 91 (S24).

[0054] When camera 11 captures an image of side surface 93B of rubber stopper 91 (S24), control unit 21 determines whether holding device 12 has rotated container 90 once (S25). If control unit 21 determines that container 90 has not rotated once (S25-No), holding device 12 further rotates container 90 about axis S by a predetermined angle (S23). Camera 11 then further captures an image of side surface 93B of rubber stopper 91 (S24). That is, the rotation of container 90 by holding device 12 (S23) and the capture of image of side surface 93B of rubber stopper 91 by camera 11 (S24) are alternately repeated until holding device 12 rotates container 90 once.

[0055] When control unit 21 determines that container 90 has made one rotation (S25-Yes), detection unit 22 determines whether or not foreign matter G is present in the image of side surface 93B of rubber stopper 91 captured by camera 11 (S26). That is, detection unit 22 detects whether or not foreign matter G is attached to side surface 93B of rubber stopper 91, based on the image of side surface 93B of rubber stopper 91 captured by camera 11.

[0056] When the detection unit 22 determines that a foreign object G is present in the image of the side surface 93B of the rubber stopper 91 captured by the camera 11 (S26-Yes), the detection unit 22 determines that a foreign object G is attached to the side surface 93B of the rubber stopper 91 (S27). On the other hand, when the detection unit 22 determines that a foreign object G is not present in the image of the side surface 93B of the rubber stopper 91 captured by the camera 11 (S26-No), the detection unit 22 determines that a foreign object G is not attached to the side surface 93B of the rubber stopper 91 (S28).

[0057] As described above, according to this embodiment, as shown in FIG. 3 , images of the back surface 93a of the rubber stopper 91 are captured from a plurality of first imaging positions T1 formed on the bottom 90b side of the container 90 in a direction forming a predetermined angle θ1 with respect to the axis S of the container 90. Therefore, the back surface 93A of the rubber stopper 91 can be imaged using light rays along an optical axis that passes through the side of the container 90 without passing through the bottom 90b of the container 90. Therefore, even if a drug such as a freeze-dried drug settles on the bottom 90b of the container 90, an image of the back surface 93A of the rubber stopper 91 can be captured while avoiding the drug. Therefore, foreign matter adhering to the back surface 93A of the rubber stopper 91 can be accurately detected from the image of the back surface 93A of the rubber stopper 91 captured by the camera 11 without being affected by the drug in the container 90.

[0058] Furthermore, according to this embodiment, images of the back surface 93A of the rubber stopper 91 are captured at multiple focal positions (first focal position 80a, second focal position 81a) from the first imaging position T1, so even when detecting a foreign object G in a rubber stopper 91 whose back surface 93A has depth, the camera 11 can capture images of finer details of the back surface 93A of the rubber stopper 91 at the multiple focal positions (first focal position 80a, second focal position 81a). Therefore, regardless of the shape of the back surface 93A of the rubber stopper 91, foreign object G adhering to the back surface 93A of the rubber stopper 91 can be detected with high accuracy from the images of the back surface 93A of the rubber stopper 91 captured by the camera 11.

[0059] 3 and 4, camera 11 captures an image of rubber stopper 91 attached to cylindrical container 90, and if light reflected from a curved portion of container 90 or the like enters the imaging area, it may not be possible to capture a clear image of rubber stopper 91. However, in this embodiment, by rotating container 90 around axis S to change the phase of container 90 relative to camera 11, the portion of container 90 from which light is reflected is imaged at a different phase. Therefore, it is possible to capture an image of the entire back surface portion 93A including back surface 93a of rubber stopper 91 and the entire side surface 93B.

[0060] 3, when detecting foreign matter G adhering to the back surface 93A of the rubber stopper 91 attached to the top opening of the container 90 by imaging the back surface 93A on the interior side of the container 90 from a diagonally downward direction of the container 90, there is a possibility that a shadowed portion will occur on the back surface 93A. However, in this embodiment, the container 90 is rotated around the axis S to change the phase of the container 90 relative to the camera 11, so that the shadowed portion can be imaged at any phase. Therefore, the entire back surface 93A of the rubber stopper 91 can be evenly imaged, and the presence of the foreign matter G can be detected.

[0061] 4, when imaging the side surface 91c of the rubber stopper 91 from the side of the container 90, the portion of the rubber stopper 91 opposite the imaging side in the circumferential direction is in shadow and cannot be imaged. However, in this embodiment, the container 90 is also rotated around the axis S to change the phase of the container 90 relative to the camera 11, so that the portion in shadow can be imaged in either phase. Therefore, the entire circumference of the side surface 91c of the rubber stopper 91 can be imaged evenly, and the presence of a foreign object G can be detected.

[0062] In this embodiment, the back surface 93A of the rubber stopper 91 is imaged while the container 90 is held so that the axis S is vertical, but this is not limited to this, and as long as the optical axis K of the camera 11 can be set to avoid the lowest vertical position of the container 90, the back surface 93A of the rubber stopper 91 may be imaged while the container 90 is held so that the axis S is at a predetermined angle to the vertical.

[0063] In this embodiment, the container 90 is rotated about the axis S to change the phase of the container 90 relative to the camera 11, thereby enabling the entire back surface 93A and side surface 93B of the rubber stopper 91 to be evenly imaged, but this is not limiting. For example, the first image capturing position T1 and the second image capturing position T2 of the camera 11 may be changed by rotating the camera 11 about the axis S of the container 90.

[0064] In this embodiment, the focal position of the camera 11 relative to the back surface 93a of the rubber stopper 91 is set in the order from the rear side relative to the back surface 93a of the rubber stopper 91 (first focal position 80a) to the front side relative to the back surface 93a of the rubber stopper 91 (second focal position 81a), but this is not limited to this and the focal position may also be set in the order from the front side relative to the back surface 93a of the rubber stopper 91 (second focal position 81a) to the rear side relative to the back surface 93a of the rubber stopper 91 (first focal position 80a).

[0065] In this embodiment, it has been described that the container 90 is rotated around the axis S in 60 degree increments to take images, but this is not limited to this. For example, the container 90 may be rotated in 45 degree increments to take images, or may be rotated at any combination of angles to take images. [Explanation of symbols]

[0066] 10. Detection Device 11 Camera (imaging unit) 22 Detection unit 80 1st image (image) 80a 1st focal position (focal position) 81 Second image (image) 81b 2nd focal position (focal position) 90 containers 90b Bottom of container 91 Rubber stoppers (stopper components) 93A Back side of rubber stopper 93a Back of rubber stopper 93B Side of rubber stopper G Foreign object S Container axis T1 First imaging position T2 Second imaging position

Claims

1. A foreign matter detection device for detecting foreign matter adhering to a plug member attached to a translucent container, an imaging unit that images the plug member; a detection unit that detects foreign matter adhering to the plug member based on an image of the plug member captured by the imaging unit; Equipped with the imaging unit images a back surface of the plug member facing the inside of the container at a plurality of focal positions along a depth direction of the back surface at a plurality of first imaging positions formed on the bottom side of the container in a direction forming a predetermined angle with respect to an axis of the container, the detection unit detects foreign matter adhering to the back surface of the plug member based on a plurality of images of the back surface of the plug member captured by the imaging unit from the first imaging position; the plurality of focal positions include at least a focal position on a near side relative to the back surface of the back surface portion of the plug member and a focal position on a far side relative to the back surface of the back surface portion of the plug member, The depth between the front side and the back side of the rear surface portion of the plug member relative to the rear surface is deeper than the depth of field of the imaging unit. A foreign object detection device characterized by:

2. The imaging unit captures images of the plug member attached to the container when the container is rotated to a plurality of angular positions around the axis.

2. The foreign object detecting device according to claim 1,

3. the imaging unit images the side surface of the plug member attached to the container at a plurality of second imaging positions formed in a direction forming a predetermined angle with respect to an axis of the container, The detection unit detects foreign matter adhering to the side surface of the plug member based on a plurality of images of the side surface of the plug member captured by the imaging unit from the plurality of second imaging positions.

3. The foreign object detecting device according to claim 1, wherein:

4. A foreign matter detection method for detecting foreign matter adhering to a plug member attached to a translucent container, comprising: an imaging step of imaging a back surface of the plug member facing the inside of the container at a plurality of focal positions along a depth direction of the back surface at a plurality of first imaging positions formed on the bottom side of the container in a direction forming a predetermined angle with respect to the axis of the container; a foreign matter detection step of detecting foreign matter adhering to the back surface of the plug member based on a plurality of images of the back surface of the plug member captured at the first imaging position in the imaging step; Including, the plurality of focal positions include at least a focal position on a near side relative to the back surface of the back surface portion of the plug member and a focal position on a far side relative to the back surface of the back surface portion of the plug member, The depth between the front side and the back side of the back surface portion of the plug member relative to the back surface is deeper than the depth of field of the image capturing step. A foreign object detection method comprising:

Images