Inspection system, inspection method, and program

Abstract

This inspection apparatus has a holding device for holding a container filled with a liquid, a first illumination unit for emitting light to the liquid from one end portion side of the container in the longitudinal direction, and a first illumination control unit capable of controlling, to an arbitrarily defined angle, an entry angle, with respect to the liquid, of light emitted by the first illumination unit. The first illumination unit and the first illumination control unit are installed in the same direction as an imaging device for acquiring image data indicating the state of the liquid when viewed from the container. An angle at which the brightness in the container becomes most uniform is defined as a reference to enable continuous control, to the arbitrarily defined angle, of the entry angle of light emitted by the first illumination unit.

Description

Technical Field

[0001] The present invention relates to an inspection apparatus, an inspection system, a control apparatus, an inspection method, and a program.

Background Art

[0002] Techniques for detecting an object to be observed, such as foreign matter present in a liquid contained in a container, are known.

[0003] For example, Patent Document 1 describes a foreign matter detection system that holds a container so as to be rotatable about a first axis different from the central axis of the container and a second axis orthogonal to the first axis. Further, according to Patent Document 1, an illumination light source is disposed on the opposite side of a camera, which is an imaging device, across the container. According to such a configuration, the imaging device acquires image data in a state where light is irradiated to the imaging device through the container.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When an illumination light source is disposed on the opposite side of a camera, which is an imaging device, across the container as described in Patent Document 1, the entire outer shape of an object such as an opaque foreign matter such as a hair piece can be observed. On the other hand, it is difficult to observe the entire outer shape of an object such as a scratch formed on the container, a foreign matter such as a glass piece that transmits light, or an elongated foreign matter such as a fiber piece. Therefore, the inspection apparatus of Patent Document 1 may have difficulty in detecting the outer shape of an object to be observed.

[0006] An object of the present invention is to provide an inspection apparatus, an inspection system, a control apparatus, an inspection method, and a program that solve any of the above-described problems. [Means for solving the problem]

[0007] The inspection apparatus of the first embodiment includes a gripping device for gripping a container filled with liquid, a first illumination unit for irradiating the liquid with light from one end of the container in the longitudinal direction, and a first illumination control unit capable of controlling the angle of incidence of the light irradiated by the first illumination unit onto the liquid to any angle. The first illumination unit and the first illumination control unit are installed in the same direction as an imaging device that acquires image data showing the state of the liquid as seen from the container, and the angle of incidence of the light irradiated by the first illumination unit can be continuously controlled to any angle based on the angle at which the brightness inside the container is most uniform.

[0008] The control device of the second embodiment includes a first command means that sends a command to a first illumination control unit to control the angle of incidence of light emitted by the first illumination unit onto the liquid from one longitudinal end of the container filled with liquid, using the angle at which the brightness inside the container is most uniform as a reference, to a continuous arbitrary angle; and an image processing means that acquires image data showing the state of the liquid, wherein the first illumination unit and the first illumination control unit are installed in the same direction as the imaging device that acquires the image data when viewed from the container.

[0009] In the third aspect of the inspection method, the first illumination unit continuously controls the angle of incidence of light irradiated onto the liquid by the first illumination unit to an arbitrary angle, based on the angle at which the brightness inside the container is most uniform, from one end of the longitudinal direction of the container filled with liquid, and acquires image data showing the state of the liquid. The first illumination unit and the first illumination control unit are installed in the same direction as the imaging device that acquires the image data, as viewed from the container.

[0010] The program of the fourth embodiment causes a computer to control the angle of incidence of light emitted by the first illumination unit onto the liquid from one longitudinal end of the container filled with liquid, using the angle at which the brightness inside the container is most uniform as a reference, and to continuously control the angle to an arbitrary angle by the first illumination control unit, thereby acquiring image data showing the state of the liquid, wherein the first illumination unit and the first illumination control unit are installed in the same direction as the imaging device that acquires the image data as viewed from the container. [Effects of the Invention]

[0011] According to the above embodiment, the external shape of the object being observed is easily detected. [Brief explanation of the drawing]

[0012] [Figure 1] This is a side view showing an example of the configuration of the inspection system in the first embodiment of this disclosure. [Figure 2] This is a front view showing an example of the configuration of the inspection system in the first embodiment of this disclosure. [Figure 3] This is a front view showing the angle of illumination controlled by the inspection system in the first embodiment of this disclosure. [Figure 4] This is a block diagram of a control device according to a first embodiment of the present disclosure. [Figure 5] This is a flowchart illustrating an example of the operation of the inspection system in the first embodiment of this disclosure. [Figure 6] Block diagram of a control device in a second embodiment of the present disclosure. [Figure 7] This flowchart shows an example of the operation of the inspection system in a second embodiment of this disclosure. [Figure 8] This graph shows an example of controlling the lighting angle. [Figure 9] This figure shows an example of a contour extraction algorithm for when the observed object continues to float in the same position. [Figure 10] This figure shows an example of a contour extraction algorithm when the observed object is continuously moving. [Figure 11]It is a side view showing an inspection apparatus in an embodiment of the minimum configuration of the present disclosure. [Figure 12] It is a block diagram showing a control apparatus in an embodiment of the minimum configuration of the present disclosure. [Figure 13] It is a flowchart showing an inspection method in an embodiment of the minimum configuration of the present disclosure.

Mode for Carrying Out the Invention

[0013] Each embodiment of the present invention will be described in detail below with reference to the drawings.

[0014] <First Embodiment> The inspection system of the first embodiment will be described with reference to FIGS. 1 to 5.

[0015] (Description of Configuration) In the present embodiment, an inspection system 100 that acquires image data from which an outer shape can be extracted when detecting foreign matter mixed inside a container filled with a liquid such as water or a chemical will be described. As will be described later, in the inspection system 100, a first illumination unit 400, a second illumination unit 410, a first illumination control unit 405, and a second illumination control unit 415 are installed in the same direction as the side where the camera 300 is installed when viewed from the container 200. Note that the first illumination control unit 405 and the second illumination control unit 415 can control the incident angle to the container 200. In the present embodiment, the case where a syringe is used as the container will be described. The container 200 may be another container having translucency such as a glass bottle or a plastic bottle.

[0016] Referring to FIGS. 1 and 2, the inspection system 100 includes, as an example, an inspection apparatus 110, a camera 300 that is an imaging device, and a determination device 560.

[0017] The inspection device 110 is a device that rotates a container 200 filled with liquid 210 while gripping both ends of the container 200. For example, the inspection device 110 can rotate the container 200 on a first rotation axis, which is the central axis AXC passing through the longitudinal direction of the container 200, and a second rotation axis, which is the central axis passing through the center of the container 200 and the center of the camera 300. Furthermore, the first rotation axis and the second rotation axis are orthogonal to the container 200 being gripped. Thus, the inspection device 110 has two rotational means.

[0018] Referring to Figures 1 and 2, the inspection device 110 includes a gripping device 500, a first motor 530, a second motor 540, a first illumination unit 400, a first illumination control unit 405, a second illumination unit 410, a second illumination control unit 415, and a control device 550.

[0019] The gripping device 500 grips the container 200 and rotates around a first rotation axis and a second rotation axis, respectively, in accordance with the rotation of the first motor 530 and the second motor 540, which function as rotating means. The gripping device 500 also includes a first gripping part 505 and a second gripping part 510 that grip both ends of the container 200. The gripping device 500 may have any shape.

[0020] The gripping device 500 is connected to a first motor 530 that rotates around a first rotation axis. In the flat plate section connecting the first gripping section 505 and the second gripping section 510, it is connected to a second motor 540 that rotates around a second rotation axis. The first motor 530 and the second motor 540 rotate themselves in response to power supplied from an external source, so that the gripping device 500 performs a first rotation axis rotation due to the rotation of the first motor 530 and a second rotation axis rotation due to the rotation of the second motor 540.

[0021] The first illumination unit 400 irradiates light into the liquid 210 filled in the container 200 from one end of the container 200 in the longitudinal direction. The first illumination unit 400 can control the angle of incidence to the liquid 210 by the first illumination control unit 405. For example, the first illumination unit 400 can have a rectangular or circular shape and can perform surface emission. For example, the first illumination unit 400 is installed in the same direction as the side on which the camera 300 is installed when viewed from the container 200. With such a configuration, it can be said that the camera 300 is installed to observe the reflection of light from the first illumination unit 400.

[0022] The first lighting control unit 405 can control the incident angle of the light irradiated onto the container 200 by the first lighting unit 400 to any angle. Referring to Figure 3, the first lighting control unit 405 can continuously control the angle of incidence of light from the first lighting unit 400 to the liquid 210 within the range of θ±a, using the angle θ, which is the angle of incidence at which the brightness inside the container 200 is most uniform, as a reference. Furthermore, if the reflection from the container 200 becomes strong due to the shape of the container, the angle of incidence of light may be set to an asymmetric range with respect to angle θ. The angle of incidence refers to the angle that the direction of incidence of light makes with respect to the central axis AXC, as viewed from the camera 300 side. Figure 3 shows the case where the reference angle θ is 0 degrees and the angle of incidence is θ + a (= a).

[0023] The second illumination unit 410 irradiates light onto the liquid 210 filled in the container 200 from the other end of the container 200 in the longitudinal direction. For example, the second illumination unit 410 has a rectangular or circular shape and can perform surface emission. For example, the second illumination unit 410 can have its incident angle with respect to the liquid 210 controlled by the second illumination control unit 415. For example, the second illumination unit 410 is installed in the same direction as the side on which the camera 300 is installed when viewed from the container 200. With such a configuration, it can be said that the camera 300 is installed to observe the reflection of light from the second illumination unit 410.

[0024] The second lighting control unit 415 can control the incident angle of the light irradiated onto the container 200 by the second lighting unit 410 to any desired angle. Referring to Figure 3, the second lighting control unit 415 can continuously control the angle of incidence of light from the second lighting unit 410 to the liquid 210 to any angle within the range of θ±b, using the angle θ, which is the angle of incidence at which the brightness inside the container 200 is most uniform, as a reference. Furthermore, if the reflection from the container 200 becomes strong due to the shape of the container, the angle of incidence of light may be set to an asymmetric range with respect to angle θ. Figure 3 shows the case where the reference angle θ is 0 degrees and the angle of incidence is θ + b (= b).

[0025] The angles a and b can be controlled to a range where the illumination light from the first illumination unit 400 and the second illumination unit 410 is reflected within the container 200, and the reflected light does not affect the observation area of ​​the camera 300. a and b may be the same value or different. For example, they may be angles from -20 degrees to +20 degrees, or angles from -30 degrees to +30 degrees.

[0026] The control device 550 is an information processing device that controls the rotational speed of the first motor 530, the rotational speed of the second motor 540, the angle of the first lighting control unit 405, and the angle of the second lighting control unit 415. For example, the control device 550 has a hardware configuration that includes a arithmetic unit 551 such as a CPU (Central Processing Unit), a storage device 552, and a communication interface 553. The arithmetic unit 551 executes a program stored in the storage device 552 to control the rotational speed of the first motor 530, the rotational speed of the second motor 540, the angle of the first lighting control unit 405, and the angle of the second lighting control unit 415. In other words, for example, the control device 550 gives predetermined instructions to the first motor 530, the second motor 540, the first lighting control unit 405, and the second lighting control unit 415 in order to achieve rotational control according to a predetermined program, in response to start instructions from external devices connected to the control device 550 or start instructions input to the control device 550. The communication interface 553 is a connection interface for communicating with other devices via wired or wireless means.

[0027] As shown in Figure 4, the control device 550 functionally comprises a first command means 555, a second command means 556, and an image processing means 557. In this embodiment, the arithmetic unit 551 performs various functions by operating according to a pre-prepared program.

[0028] The first command means 555 sends a command to the first illumination control unit 405 to control the angle of incidence of the light emitted by the first illumination unit 400 onto the liquid 210 to a continuously arbitrary angle. The first command means 555 sends commands to the first motor 530 and the first lighting control unit 405 via the communication interface 553 to control the rotational speed of the first motor 530 and the angle of the first lighting control unit 405.

[0029] The second command means 556 sends a command to the second illumination control unit 415 to control the angle of incidence of the light irradiated by the second illumination unit 410 onto the liquid 210 to a continuously arbitrary angle. The second command means 556 sends commands to the second motor 540 and the second lighting control unit 415 via the communication interface 553 to control the rotational speed of the second motor 540 and the angle of the second lighting control unit 415.

[0030] The control device 550 can control the first illumination unit 400, the first illumination control unit 405, the second illumination unit 410, and the second illumination control unit 415 so that light is irradiated onto the liquid 210 from a position tilted by an arbitrary value with respect to a reference angle θ in a direction perpendicular to the central axis AXC.

[0031] For example, the control device 550 can control the first illumination unit 400, the first illumination control unit 405, the second illumination unit 410, and the second illumination control unit 415 by combining commands from the first command means 555 and commands from the second command means 556, so that the first illumination unit 400 and the second illumination unit 410 continuously irradiate the liquid 210 with light at an angle between -20 degrees and +20 degrees with respect to a reference angle θ. At that time, the camera 300 acquires image data showing the state of the object to be observed in the liquid 210 while it is being irradiated with light.

[0032] The image processing means 557 identifies and outputs from the image data objects that are moving and stationary during a certain period of time. The image processing means 557 extracts an outline from the image data that is close to the original shape of the object being observed, according to the amount of movement of the object being observed.

[0033] The above is an example of the configuration of the inspection device 110.

[0034] Camera 300 is an imaging device that acquires image data by imaging the container 200. For example, camera 300 is pre-installed at a predetermined position in the same direction as the side where the first illumination unit 400 and the second illumination unit 410 are located, as viewed from the container 200, using camera fixing means (not shown). Specifically, camera 300 is installed so that its optical axis coincides with the second rotation axis. The installation position of camera 300 may be other than that exemplified above.

[0035] For example, camera 300 can acquire image data at a high frame rate of approximately 150-200 fps. Furthermore, camera 300 can transmit the acquired image data, along with information indicating the time of capture, to an external device connected to it. Note that camera 300 may acquire image data at frame rates other than those exemplified above.

[0036] Container 200 is a translucent container such as a syringe, glass bottle, or PET bottle. As mentioned above, if the viscosity of the liquid 210 to be filled inside is high, a syringe is expected to be used as container 200. Also, the inside of container 200 is filled with liquid 210 such as water or medicine. Container 200 may have scratches or dirt attached to it. In addition, foreign matter may be mixed inside container 200. Examples of foreign matter include rubber pieces, hair, fiber pieces, soot, glass or plastic pieces, etc.

[0037] The above is an example of the configuration of the inspection system 100. As described above, the image data acquired by the camera 300 of the inspection system 100 can be used by an external foreign object detection device to detect foreign objects. In this embodiment, the algorithm used by the detection device 560 when detecting foreign objects is not particularly limited.

[0038] (Operation description) Next, the overall operation of the inspection system 100 of this embodiment will be described in detail with reference to the flowchart in Figure 5.

[0039] First, the container 200 is placed on the gripping device 500 so that it can rotate on the first and second axes (ST01: gripping step). Next, the camera 300 starts imaging based on a command from the control device 550. Next, the rotation speed of the first motor 530 and the rotation speed of the second motor 540 are controlled by a command from the control device 550, and the container remains stationary or rotates while the camera 300 continues to image (ST02: rotation step). Next, while the container 200 is stationary, the angle of the first illumination control unit 405 and the angle of the second illumination control unit 415 are controlled by a command from the control device 550 (ST03: incidence angle control step). Furthermore, the control device 550 extracts contours that are close to the original external shape of bubbles and foreign objects inside the container 200 from the continuous image data captured by the camera 300 (ST04: image processing step). If the rotation of the container 200 is resumed, the angle of the first lighting control unit 405 and the angle of the second lighting control unit 415 are controlled again during the time when the container 200 is stationary. Finally, the rotation of the container 200 and the imaging by the camera 300 are completed, and the determination device 560 performs foreign object detection based on the contour extraction results and image data in the control device 550, as well as statistical data from the tracking process (ST05: Foreign object detection step).

[0040] Next, the container rotation of this embodiment will be described.

[0041] First, the container rotation performed by the inspection device 110 consists of two types of rotations: a first axis and a second axis. The first axis rotates the container 200 by 90 degrees or more if foreign matter may be present at both ends in the longitudinal direction, moving the foreign matter into the observable range of the camera 300 by gravity or contained air bubbles. The second axis rotates the container 200 by 90 to 180 degrees if foreign matter may be present at both ends in the short direction, moving the foreign matter into the observable range of the camera 300 by gravity or contained air bubbles.

[0042] By arbitrarily combining these two types of rotation and by providing a period of stillness between each rotation of the container, the camera 300 observes foreign objects during a series of stationary oscillations and acquires a continuous image of the behavior or external shape of the foreign objects. When the container 200 is rotated on the first axis, the first illumination unit 400 and the second illumination unit 410 rotate while maintaining a constant relative angle or an angle that is not affected by reflected light, in order to prevent reflection from the container to the camera 300.

[0043] (Mechanism of Action and Effects) Next, the operation and effects of this embodiment will be described.

[0044] In this embodiment, the inspection device 110 is configured to continuously control the angle of incidence of light onto the container 200 irradiated by the first illumination unit 400 and the second illumination unit 410, and at the same time to capture images of how the location of light reflection changes on the surface of the same object to be observed, such as foreign matter or bubbles, thereby enabling the extraction of the outline of the object to be observed. Therefore, the inspection device 110 of this embodiment can easily detect the external shape of the object to be observed.

[0045] As a comparative example, in a method that simply shines light on the object to be observed and observes the reflected light, even translucent foreign objects such as glass fragments can be imaged. However, because the reflected light is reflected only from a part of the object being observed, it can be difficult to detect the outer shape of the object using this comparative method.

[0046] As another comparative example, in the comparative example described above, if the container itself is moved to continuously change the angle of incidence of the irradiated light, information close to the external shape of the foreign object can be obtained by observing the shifting of the part to which the reflected light is reflected. However, because the object being observed in the liquid moves due to the effects of liquid flow, etc., it may be difficult to continuously observe the shift in the reflected light.

[0047] In contrast, the inspection device 110 of this embodiment continuously changes the incident angle of the irradiated light without moving the container itself, making it easier to detect the external shape of the object being observed.

[0048] <Second Embodiment> This will be explained using the inspection system of the second embodiment. This embodiment differs from the first embodiment in that it specifies the operation of the inspection system 100 and the function of the image processing means 557 in more detail, but the other configurations are the same as those of the inspection system 100 in the first embodiment.

[0049] (composition) In this embodiment, the image processing means 557 functionally includes a tracking means 5571, a stationary section determination means 5572, a count determination means 5573, and a contour extraction means 5574, as shown in Figure 6.

[0050] The tracking means 5571 performs tracking processing on each individual object being observed.

[0051] The stationary period determination means 5572 determines whether the stationary period, which is the period during which the container 200 is stationary, has ended.

[0052] The count determination means 5573 determines whether the number of oscillations is less than a preset number.

[0053] The contour extraction means 5574 extracts the outline of the outer shape of the object to be observed from the continuous image data captured by the camera 300 within the control device 550.

[0054] (operation) Referring to the flowchart in Figure 7, an algorithm will be described for extracting contours close to the original external shape of bubbles and foreign objects inside the container 200 by oscillating the container 200 from continuous image data captured by the camera 300 within the control device 550 of this embodiment, and controlling the illumination angles of the first illumination unit 400 and the second illumination unit 410.

[0055] First, a lighting angular velocity control table is created according to the movement speed of the object being observed (ST100: Table creation step). The first example of a lighting angular velocity control table, a lookup table, is described below. When the lighting angular velocity of the angle of the first lighting control unit 405 and the angle of the second lighting control unit 415 is determined by the lookup table according to the movement speed of the object being observed, a table is created that associates the movement speed of the object being observed with the angle of the first lighting control unit 405 and the angle of the second lighting control unit 415. Next, the calculation formula, which is the second example of a lighting angular velocity control table, is described below. The second example has a pre-set lighting angular velocity calculation formula, which is a calculation formula for determining the lighting angular velocity according to the movement speed of the object being observed. This calculation formula shows the proportional relationship between the movement speed of the object being observed and the lighting angular velocity according to pre-set weighting coefficients, etc.

[0056] Subsequently, the inspection device 110 is made to grip the container 200 (ST101: container gripping step), and the camera 300 starts imaging. Figure 8 shows an example of the operation of the stationary oscillation of the container 200, the angle of the first illumination control unit 405, and the angle of the second illumination control unit 415.

[0057] The container 200 rotates along the first and second axes (ST102: container rotation step), and after the rotation is complete, angle control is started by the first lighting control unit 405 and the second lighting control unit 415 (ST103: incident angle control step). The lighting angles of the first lighting control unit 405 and the second lighting control unit 415 reciprocate around angle θ by an amplitude of predetermined angles a and b. The angular velocity of the illumination is controlled by controlling the period T of this reciprocating motion.

[0058] Next, the control device 550 extracts contours that closely resemble the original external shape of air bubbles and foreign objects inside the container 200 from the continuous image data captured by the camera 300 (ST104: Image processing step). ST104 performs processes ST104-1 through ST104-4. First, the tracking means 5571 performs a tracking process on each object observed in the liquid, for example, by performing a binarization process on the captured continuous image data to extract the XY coordinates of each object observed in the liquid. Furthermore, the tracking means 5571 performs tracking processing on each object observed in the liquid by calculating the difference between frames (ST104-1: tracking processing step). By performing these processes, the tracking means 5571 identifies the objects extracted from the image data as objects that move and objects that remain stationary over a certain period of time, and outputs them. In ST104, the movement speed of each observed object obtained through these tracking processes is used to control the illumination angle and extract contours, thereby extracting contours that closely resemble the original shape of the observed object according to the amount of movement of the observed object.

[0059] Following the execution of ST104-1, the stationary section determination means 5572 determines whether the stationary section, which is the period during which the container 200 is stationary, has ended (ST104-2: stationary section determination step). If the stationary section determination means 5572 determines that the stationary section has not ended (ST104-2:NO), the process returns to ST103. If the stationary section determination means 5572 determines that the stationary section has ended (ST104-2: YES), proceed to ST104-3. In this process, the period T is determined in the illumination angular velocity control table according to the fastest velocity V among the multiple moving velocities of the observed objects calculated during the tracking process. As a result, the illumination angular velocity of the first lighting control unit 405 and the second lighting control unit 415 is feedback-controlled until the end of the stationary section.

[0060] After the stationary section ends, the count determination means 5573 determines whether the number of oscillations is less than a preset number (ST104-3: Count determination step). If the count determination means 5573 determines that the number of oscillations is less than the preset number (ST104-3: YES), the process returns to ST102. If the count determination means 5573 determines that the number of oscillations is not less than the preset number (i.e., the number of oscillations is equal to or greater than the preset number) (ST104-2: NO), the process proceeds to ST104-4. In other words, if the number of oscillations is equal to or greater than the preset number at the current angles of the first and second axes, the oscillation ends and image processing begins in the contour extraction block. If the number of oscillations is less than the preset number, the container 200 rotates until it is oscillated again or the preset oscillation is completed.

[0061] After the oscillation is complete, the contour extraction means 5574 extracts the outline of the outer shape of the object to be observed from the continuous image data captured by the camera 300 within the control device 550 (ST104-4: contour extraction step). Figure 9 shows the algorithm for the contour extraction block when an object containing foreign matter or bubbles continues to float in the same XY coordinates within continuous image data. The reflected light from the object moves continuously along the outline of the object because the angles of the first illumination control unit 405 and the second illumination control unit 415 are continuously controlled. Therefore, in S104-4, the pixel values ​​around the object in the continuous image data are accumulated to extract the contour from the movement of the reflected light. This method is expected to be effective for highly viscous liquids, light foreign matter, and small bubbles or foreign matter.

[0062] Figure 10 shows the algorithm for the contour extraction block when the XY coordinates of observed objects such as foreign matter and bubbles are continuously updated in continuous image data due to movement such as sedimentation. The reflected light from the observed object is controlled by the first illumination control unit 405 and the second illumination control unit 415, with the illumination angle being controlled continuously before the observed object finishes moving. Therefore, the image with the clearest reflection during the movement is selected and extracted. Effectiveness is expected for heavy foreign matter and large bubbles and foreign matter.

[0063] The above is an example of the overall operation of this embodiment.

[0064] (Mechanism of Action and Effects) Next, the operation and effects of this embodiment will be described.

[0065] In this embodiment, the inspection device 110 is configured to continuously control the angle of incidence of light irradiated onto the container 200 by the first illumination unit 400 and the second illumination unit 410 according to the movement speed of the object to be observed, and at the same time to capture images of how the location of light reflection on the surface of the same object to be observed, such as foreign matter or bubbles, changes. As a result, the outline of the object to be observed can be clearly extracted by image integration or tracking processing. Therefore, the inspection device 110 of this embodiment can easily detect the external shape of the object to be observed.

[0066] <Minimum configuration of the inspection device> A minimal configuration of the inspection device will be described.

[0067] (composition) As shown in Figure 11, the inspection device 110 comprises a gripping device 500, a first illumination unit 400, and a first illumination control unit 405. The gripping device 500 grips a container filled with liquid. The first illumination unit 400 irradiates light onto the liquid from one end of the container 200 in the longitudinal direction. The first lighting control unit 405 can control the angle of incidence of the light emitted by the first lighting unit 400 onto the liquid to any desired angle. The first illumination unit 400 and the first illumination control unit 405 are installed in the same direction as the imaging device that acquires image data showing the state of the liquid as seen from the container. The inspection device 110 can continuously control the angle of incidence of light emitted by the first illumination unit to any arbitrary angle, using the angle in which the brightness inside the container is most uniform as a reference.

[0068] (Mechanism of Action and Effects) In this embodiment, the inspection device 110 can control the angle of incidence of the light emitted by the first illumination unit 400 onto the container. Therefore, the inspection device 110 of this embodiment can easily detect the external shape of the object to be observed.

[0069] <Minimum configuration embodiment of the control device> A minimal configuration embodiment of the control device will be described.

[0070] (composition) As shown in Figure 12, the control device 550 comprises a first command means 555 and an image processing means 557. The first command means sends a command to the first illumination control unit to control the angle of incidence of light emitted by the first illumination unit onto the liquid, from one end of the container in the longitudinal direction of the container to the liquid, using the angle at which the brightness inside the container is most uniform as a reference, to a continuous arbitrary angle. The image processing means 557 acquires image data showing the state of the liquid. The first illumination unit and the first illumination control unit are installed in the same direction as the imaging device that acquires image data showing the state of the liquid as seen from the container.

[0071] (Mechanism of Action and Effects) In this embodiment, the control device 550 can control the angle of incidence of the light emitted by the first illumination unit onto the container. Therefore, the control device 550 of this embodiment can easily detect the external shape of the object being observed.

[0072] <Minimum configuration of the inspection method> A minimal embodiment of the inspection method will be described.

[0073] (composition) As shown in Figure 13, in the inspection method, the first illumination control unit continuously controls the angle of incidence of light emitted by the first illumination unit onto the liquid, using the angle at which the brightness inside the container is most uniform as a reference, from one end of the container in the longitudinal direction of the liquid-filled container to any arbitrary angle (ST201). Furthermore, the inspection method involves acquiring image data showing the state of the liquid (ST202). Furthermore, in the inspection method, the first illumination unit and the first illumination control unit are installed in the same direction as the imaging device that acquires image data showing the state of the liquid as seen from the container.

[0074] (Mechanism of Action and Effects) In this embodiment, the inspection method allows control over the angle of incidence of the light emitted by the first illumination unit onto the container. Therefore, the inspection method of this embodiment makes it easy to detect the external shape of the object being observed.

[0075] In each of the embodiments described above, the processes of various operations of the devices constituting the control device 550 are stored in program form on a computer-readable recording medium, and the various operations are performed by the computer reading and executing this program. The computer-readable recording medium refers to magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memory, etc. Alternatively, this computer program may be distributed to a computer via a communication line, and the computer that receives the distribution may execute the program.

[0076] The program described above may be intended to implement only a portion of the functions described above. Furthermore, it may be a so-called differential file (differential program) that can implement the functions described above in combination with a program already recorded in the computer system.

[0077] Although the present invention has been described above with reference to the embodiments described above, the present invention is not limited to the embodiments described above. Various modifications to the structure and details of the present invention can be made within the scope of the present invention as can be understood by those skilled in the art. [Industrial applicability]

[0078] According to the above-described embodiment, the external shape of the object being observed can be easily detected. [Explanation of Symbols]

[0079] 100 Inspection Systems 110 Inspection device 200 containers 210 Liquid 300 Cameras (imaging devices) 400 1st Lighting Section 405 First Lighting Control Unit 410 Second Lighting Section 415 Second Lighting Control Unit 500 Gripping device 505 1st grip part 510 Second grip part 530 First Motor 540 Second motor 550 Control device 551 Arithmetic equipment 552 Storage device 553 Communication Interface 555 First command means 556 Second command means 557 Image processing means 560 Judgment device 5571 Tracking method 5572 Stationary section determination means 5573 Count determination means 5574 Contour extraction means AXC center axis

Claims

1. An inspection device, An imaging device that acquires image data showing the state of the liquid filled in a container, It is an inspection system equipped with, The inspection device, A gripping device for gripping the container, Viewed from the side of the inspection system, the first illumination unit irradiates light onto the liquid from one side in the longitudinal direction of the container relative to the optical axis of the imaging device, Viewed from the front of the inspection system, the inspection system includes a first illumination control unit capable of controlling the angle of incidence of the light emitted by the first illumination unit onto the liquid to any angle, It has, Viewed from the aforementioned side, the first illumination unit and the first illumination control unit are installed on the side of the container where the imaging device is installed. The angle of incidence of the light emitted by the first illumination unit can be continuously controlled to any arbitrary angle, based on the angle at which the brightness inside the container, which is filled with the aforementioned liquid and held by the gripping device, is most uniform. Inspection system.

2. A second illumination unit that, when viewed from the side, irradiates the liquid with light from the other side in the longitudinal direction of the container relative to the optical axis of the imaging device, The second illumination control unit, as viewed from the front, is capable of controlling the angle of incidence of the light emitted by the second illumination unit onto the liquid to any angle, It further possesses, Viewed from the aforementioned side, the second illumination unit and the second illumination control unit are installed on the side of the container where the imaging device is installed. The angle of incidence of the light irradiated by the second illumination unit can be continuously controlled to any arbitrary angle, based on the angle at which the brightness inside the container, which is filled with the aforementioned liquid and held by the gripping device, is most uniform. The inspection system according to claim 1.

3. The first illumination unit and the first illumination control unit are further comprising a control device that controls the first illumination unit and the first illumination control unit so as to irradiate the liquid with light from a position tilted by an arbitrary value with respect to the reference when viewed from the front. The inspection system according to claim 1 or 2.

4. The first illumination unit continuously irradiates the liquid with light at a temperature between -20 degrees and +20 degrees relative to the reference. The imaging device acquires image data showing the state of the object to be observed in the liquid while it is being irradiated with light. The inspection system according to claim 1 or 2.

5. The system further includes image processing means for identifying and outputting from the aforementioned image data the observed object that is moving and the observed object that is stationary during a certain period of time. The inspection system according to claim 4.

6. Further comprising a determination device, The image processing means extracts from the image data an outline that is close to the original shape of the object being observed, according to the amount of movement of the object being observed. The determination device determines the presence of a foreign object based on the extracted contour. The inspection system according to claim 5.

7. An inspection device and An imaging device that acquires image data showing the state of the liquid filled in a container, It is an inspection system equipped with, The inspection device, A gripping device for gripping the container, Viewed from the side of the inspection system, the first illumination unit irradiates light onto the liquid from one side in the longitudinal direction of the container relative to the optical axis of the imaging device, Viewed from the front of the inspection system, the inspection system includes a first illumination control unit capable of controlling the angle of incidence of the light emitted by the first illumination unit onto the liquid to any angle, The first illumination control unit continuously controls the angle of incidence of light emitted by the first illumination unit onto the liquid, based on the angle at which the brightness inside the container filled with the liquid is most uniform, and the first illumination control unit has a gripping device that grips the container, which is filled with the liquid, and the angle at which the brightness inside the container is most uniform is used as a reference. The aforementioned image data is acquired, Viewed from the aforementioned side, the first illumination unit and the first illumination control unit are installed on the side of the container where the imaging device is installed. Testing method.

8. On the computer, Inspection equipment and An imaging device that acquires image data showing the state of the liquid filled in a container, It is an inspection system equipped with, The inspection device, A gripping device for gripping the container, Viewed from the side of the inspection system, the first illumination unit irradiates light onto the liquid from one side in the longitudinal direction of the container relative to the optical axis of the imaging device, Viewed from the front of the inspection system, the inspection system includes a first illumination control unit capable of controlling the angle of incidence of the light emitted by the first illumination unit onto the liquid to any angle, The first illumination control unit continuously controls the angle of incidence of light emitted by the first illumination unit onto the liquid, based on the angle at which the brightness inside the container filled with the liquid is most uniform, and the first illumination control unit has a gripping device that grips the container, which is filled with the liquid, and the angle at which the light emitted by the first illumination unit onto the liquid is continuously controlled to any arbitrary angle. The aforementioned image data is acquired. Let them do it, Viewed from the aforementioned side, the first illumination unit and the first illumination control unit are installed on the side of the container where the imaging device is installed. program.

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