Foreign object inspection device

Abstract

This foreign matter inspection device comprises a detection means and a display control means. The detection means detects foreign matter present in a liquid and the type thereof from a plurality of images captured by continuously photographing a container having the liquid enclosed therein. The display control means outputs the type of the detected foreign matter to a display device.

Description

Technical Field

[0001] The present invention relates to a foreign matter inspection device, a foreign matter inspection method, and a recording medium.

Background Art

[0002] An apparatus for inspecting the presence or absence of foreign matter in a liquid enclosed in a container has been proposed.

[0003] For example, in Patent Document 1, the movement trajectory of floating matter is calculated from a plurality of images obtained by continuously photographing the liquid in a container with a camera, and based on the characteristics of the movement trajectory, it is determined whether the floating matter is a bubble or a foreign matter, and the determination result is displayed on the screen of a display device.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when foreign matter is detected in the liquid in the container, it has been difficult to recognize the type of the foreign matter. By the way, when foreign matter is detected in the liquid in the container produced on the production line, it is necessary to quickly improve the production line so that the same event does not occur repeatedly. However, since all kinds of things may be mixed in all kinds of places, it is difficult to specify the mixing route unless the type of the mixed foreign matter is known.

[0006] An object of the present invention is to provide a foreign matter inspection device that solves the above-described problems.

Means for Solving the Problems

[0007] A foreign matter inspection device according to one embodiment of the present invention is A detection means for detecting foreign matter present in a liquid and its type from multiple images obtained by continuously photographing a container filled with liquid, A display control means that outputs the type of foreign object detected to a display device, It is configured to include the following:

[0008] A foreign object inspection method according to another embodiment of the present invention is: By continuously photographing a container filled with liquid and obtaining multiple images, the foreign matter present in the liquid and its type are detected. The type of foreign object detected is output to the display device. It is structured in this way.

[0009] Another embodiment of the present invention is a computer-readable recording medium, On the computer, A process for detecting foreign matter present in a liquid and its type from multiple images obtained by continuously photographing a container filled with liquid, The process involves outputting the type of foreign object detected to a display device, It is configured to record a program that performs that action. [Effects of the Invention]

[0010] Because the present invention has the above-described configuration, the type of foreign object detected is output to the display device, making it possible to recognize the type of foreign object. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram of an inspection system according to the first embodiment of the present invention. [Figure 2] This is a block diagram showing an example of an inspection apparatus in the first embodiment of the present invention. [Figure 3] This figure shows an example of the configuration of image information in the first embodiment of the present invention. [Figure 4] This figure shows an example of the configuration of tracking information in the first embodiment of the present invention. [Figure 5] This is a diagram showing a configuration example of inspection result information in the first embodiment of the present invention. [Figure 6] This is a schematic diagram showing an example of a moving trajectory still image visualizing the moving trajectory information of a foreign object in the first embodiment of the present invention. [Figure 7] This is a diagram showing a configuration example of foreign object mixing factor information in the first embodiment of the present invention. [Figure 8] This is a flowchart showing an example of the operations performed by the inspection system from the start to the end of inspection for one container in the first embodiment of the present invention. [Figure 9] This is a diagram showing an example of an inspection result display screen in the first embodiment of the present invention. [Figure 10] This is an explanatory diagram of a modification example of the first embodiment of the present invention. [Figure 11] This is a block diagram of a foreign object inspection device according to the second embodiment of the present invention. [Embodiments for Carrying Out the Invention]

[0012] Next, embodiments of the present invention will be described in detail with reference to the drawings. [First Embodiment] FIG. 1 is a block diagram of an inspection system 100 according to the first embodiment of the present invention. Referring to FIG. 1, the inspection system 100 is a system for inspecting the presence or absence of foreign objects in a liquid enclosed in a container 400. The inspection system 100 mainly includes a gripping device 110, a lighting device 120, a camera device 130, an inspection device 200, and a display device 300.

[0013] The container 400 is a transparent or translucent container such as a glass bottle or a plastic bottle. A liquid such as a drug or water is enclosed and filled inside the container 400. Further, there may be foreign objects mixed in the liquid enclosed in the container 400. Examples of foreign objects include glass pieces, plastic pieces, rubber pieces, hair pieces / fiber pieces, metal pieces, etc.

[0014] The gripping device 110 is configured to grip the container 400 in a predetermined position. The predetermined position is arbitrary. For example, the predetermined position may be the position in which the container 400 is upright. Alternatively, the predetermined position may be the position in which the container 400 is tilted at a predetermined angle from the upright position. In the following description, the upright position of the container 400 will be used as the predetermined position. The mechanism for gripping the container 400 in the upright position is arbitrary. For example, the gripping mechanism may include a base on which the container 400 is placed in the upright position, and a member that presses the upper surface of the rubber stopper 401, which is the top of the container 400 placed on the base.

[0015] Furthermore, the gripping device 110 is configured to rotate, tilt, or swing the container 400 in a predetermined direction from an upright position while gripping the container 400. The mechanism for rotating, tilting, and swinging the container 400 is arbitrary. For example, the mechanism for rotating, tilting, and swinging may include a motor that rotates, tilts, and swings the entire gripping mechanism while gripping the container 400.

[0016] Furthermore, the gripping device 110 is connected to the inspection device 200 by wire or wireless connection. When activated by an instruction from the inspection device 200, the gripping device 110 grips the container 400 and rotates, tilts, and swings the container 400 from an upright position in a predetermined direction. When stopped by an instruction from the inspection device 200, the gripping device 110 stops rotating, tilting, and swinging the container 400 and returns to a state where it grips the container 400 in an upright position.

[0017] As described above, when the container 400 is rotated, tilted, or oscillated, foreign matter adhering to the inner bottom surface of the container 400 moves along the bottom surface and / or floats. At the same time, air bubbles adhering to the inner walls of the container 400 and air bubbles mixed in during the flow of the liquid may float in the liquid. This condition continues even after the container 400 is brought to a standstill, as long as the liquid is flowing due to inertia. Therefore, the inspection device 200 needs to distinguish whether the floating matter is foreign matter or air bubbles.

[0018] The illumination device 120 is configured to irradiate the liquid sealed in the container 400 with illumination light. The illumination device 120 is, for example, a surface light source sized according to the size of the container 400. The illumination device 120 is installed on the side opposite to where the camera device 130 is installed, as viewed from the container 400. In other words, the illumination by the illumination device 120 is transmitted illumination. However, the position of the illumination device 120 is not limited to this, and it may also be installed, for example, on the bottom side of the container 400 or adjacent to the camera device 130, to capture images using reflected light illumination.

[0019] The camera device 130 is a high-speed imaging device that continuously photographs the liquid inside the container 400 at a predetermined high frame rate from a predetermined position on the opposite side from where the illumination device 120 is installed, as viewed from the container 400. The camera device 130 may consist of a color camera or a monochrome camera equipped with a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary MOS) image sensor having a pixel capacity of several million pixels, for example. The camera device 130 is connected to the inspection device 200 by wire or wireless. The camera device 130 is configured to transmit the time-series images obtained by the camera, along with information indicating the time of capture, to the inspection device 200.

[0020] The display device 300 is a display device such as an LCD (Liquid Crystal Display). The display device 300 is connected to the inspection device 200 by wire or wireless connection. The display device 300 is configured to display the inspection results of the container 400 performed by the inspection device 200.

[0021] The inspection device 200 is an information processing device that performs image processing on time-series images obtained by the camera device 130 to inspect the presence and type of foreign matter in the liquid sealed in the container 400. The inspection device 200 is connected to the gripping device 110, the camera device 130, and the display device 300 by wire or wireless.

[0022] Figure 2 is a block diagram showing an example of the inspection device 200. Referring to Figure 2, the inspection device 200 includes a communication I / F unit 210, an operation input unit 220, a storage unit 230, and an arithmetic processing unit 240.

[0023] The communication interface unit 210 consists of a data communication circuit and is configured to communicate data with the gripping device 110, camera device 130, display device 300, and other external devices (not shown) via wired or wireless means. The operation input unit 220 consists of an operation input device such as a keyboard or mouse and is configured to detect operator operations and output them to the calculation processing unit 240.

[0024] The storage unit 230 consists of one or more storage devices of one or more types, such as a hard disk or memory, and is configured to store processing information and programs 231 necessary for various processes in the arithmetic processing unit 240. The programs 231 are programs that realize various processing processes when read and executed by the arithmetic processing unit 240, and are pre-read from external devices or recording media (not shown) via data input / output functions such as the communication I / F unit 210 and stored in the storage unit 230. The main processing information stored in the storage unit 230 includes image information 232, tracking information 233, inspection result information 234, and foreign matter contamination factor information 236.

[0025] Image information 232 includes a time-series of images obtained by continuously photographing the liquid in container 400 with the camera device 130. If suspended particles are present in the liquid in container 400, the image information 232 will show images of the suspended particles.

[0026] Figure 3 shows an example of the configuration of image information 232. In this example, image information 232 consists of entries that are a set of container ID 2321, capture time 2322, and frame image 2323. The container ID 2321 item is set to an ID that uniquely identifies container 400. Possible container IDs for container ID 2321 include a serial number assigned to container 400, a barcode attached to container 400, or object fingerprint information taken from the rubber stopper 401 of container 400. The capture time 2322 and frame image 2323 items are set to the capture time and frame image, respectively. The capture time 2322 is set to an accuracy (e.g., in milliseconds) that allows it to be distinguished from other frame images with the same container ID. The capture time 2322 may be, for example, the elapsed time from the time when the rotation, tilting, or oscillating of container 400 stopped. In the example in Figure 3, a container ID 2321 is associated with each frame image 2323, but it is also possible to associate a container ID 2321 with each group of multiple frame images 2323.

[0027] The tracking information 233 includes time-series data representing the movement trajectory of floating objects detected and tracked in the liquid within the container 400. Figure 4 shows an example of the configuration of the tracking information 233. In this example, the tracking information 233 consists of entries for container ID 2331, and a pair of tracking ID 2332 and pointer 2333. The container ID 2331 entry is set with an ID that uniquely identifies container 400. An entry consisting of a pair of tracking ID 2332 and pointer 2333 is provided for each floating object being tracked. The tracking ID 2332 item is set with an ID to distinguish the floating object being tracked from other floating objects in the same container 400. The pointer 2333 item is set with a pointer to the movement trajectory information 2334 of the floating object being tracked.

[0028] The movement trajectory information 2334 consists of entries that are pairs of time 23341, position information 23342, size 23343, brightness distribution 23344, and shape 23345. The items of time 23341, position information 23342, size 23343, brightness distribution 23344, and shape 23345 are set to the time of capture, the coordinate values ​​indicating the position of the tracked floating object at that time, the size of the floating object, the brightness distribution within the floating object's area, and the shape of the floating object. The time of capture set for time 23341 is the time of capture 2322 of the frame image. The coordinate values ​​may be, for example, coordinate values ​​in a predetermined coordinate system. The predetermined coordinate system may be the camera coordinate system centered on the camera, or the world coordinate system centered on a certain position in real space. The entries of the movement trajectory information 2334 are arranged in the order of time 23341. The time 23341 in the first entry is the start time of tracking. The time 23341 in the last entry is the end time of tracking. The time 23341 in entries other than the first and last entries is the intermediate time of tracking.

[0029] The inspection result information 234 contains information corresponding to the inspection results of the container 400. Figure 5 shows an example of the configuration of the inspection result information 234. In this example, the inspection result information 234 consists of the following entries: container ID 2341, inspection result 2342, number of foreign objects detected 2343, number of bubbles detected 2344, a pair of detected foreign object ID 2345 and pointer 2346, and a pair of detected bubble ID 2347 and pointer 2348. The container ID 2341 entry is set with an ID that uniquely identifies the container 400 being inspected. The inspection result 2342 entry is set with either OK (inspection passed) or NG (inspection failed). The number of foreign objects detected 2343 entry is set with the total number of foreign objects detected and / or the total number of foreign objects of each type. The number of bubbles detected 2344 entry is set with the total number of bubbles detected.

[0030] An entry for each detected foreign object is created, consisting of a detected foreign object ID 2345 and a pointer 2346. The field for detected foreign object ID 2345 is set with an ID to distinguish the detected foreign object from other foreign objects in the same container 400. The field for pointer 2346 is set with a pointer to the detected foreign object information 2349 for the detected foreign object.

[0031] An entry for each detected bubble is created, consisting of a detected bubble ID 2347 and a pointer 2348. The detected bubble ID 2347 field contains an ID to distinguish the detected bubble from other bubbles in the same container 400. The pointer 2348 field contains a pointer to the detected bubble information 2350 for the detected bubble.

[0032] The detected foreign object information 2349 consists of the following entries: a pair of tracking ID 23491 and pointer 23492, foreign object type 23493, movement trajectory still image 23494, and movement trajectory video 23495. The tracking ID 23491 field is set to the tracking ID 2332 of the detected foreign object. The pointer 23492 field is set to a pointer to the movement trajectory information 2334 of the detected foreign object. The foreign object type 23493 entry is set to the type of foreign object that was determined. In addition to the type of foreign object, the foreign object type 23493 entry may also include a probability of the determination result. The probability of the determination result is an indicator of the likelihood of the determination result.

[0033] The entry for movement trajectory still image 23494 contains at least one still image that visualizes the movement trajectory information 2334 of the detected foreign object. Figure 6 is a schematic diagram showing an example of a movement trajectory still image 23494. In this example, the movement trajectory still image 23494 is a composite image created by superimposing the background image 234941 and the movement trajectory image 234942.

[0034] The background image 234941 may be, for example, the most reliable frame image in which the detected foreign object was determined to be a specific type of foreign object rather than an air bubble. However, the background image 234941 may also be any other frame image, for example, any frame image in which the detected foreign object is visible.

[0035] The movement trajectory image 234942 is composed of lines that represent the movement trajectory of the foreign object. In the example in Figure 6, dashed lines are used, but solid lines may also be used. In addition, arrows are added to the movement trajectory image 234942 to indicate the direction of movement of the foreign object. However, the manner in which the direction of movement of the foreign object is indicated is not limited to arrows. For example, the method of movement of the foreign object may be indicated by changing the line type, width, color, etc. of the line representing the movement trajectory of the foreign object according to the passage of movement time. Furthermore, the display form of the movement trajectory image 234942 may be changed according to the movement speed of the foreign object. For example, the movement speed of the foreign object may be indicated by changing the line type, width, color, etc. of the line according to the movement speed of the foreign object.

[0036] Furthermore, the still image of the movement trajectory 23494 includes a display field 234943 that shows the type of foreign object. The display field 234943 displays the type of foreign object set in foreign object type 23493, for example, as text. In addition, the still image of the movement trajectory 23494 includes an index 234944 that indicates the location that serves as the basis for determining the foreign object. In Figure 6, the index 234944 is a rectangle surrounding the location that serves as the basis for determining the foreign object, but is not limited to that. The location that serves as the basis for determining the foreign object refers to the location in the movement trajectory information where it is determined that the foreign object is not a bubble, but a specific type of foreign object. For example, metal pieces such as stainless steel pieces have a high specific gravity, so they are less affected by the movement of the liquid, and a movement trajectory of almost straight-line falling is obtained. Therefore, the location where it falls in a straight line becomes the location that serves as the basis for determining that it is a metal piece. Also, for foreign objects with a lower specific gravity compared to metal pieces, such as rubber pieces, the location where it has sunk to a position lower than its position at the start of tracking may become the location that serves as the basis for determining the foreign object.

[0037] Referring again to Figure 5, the entry for movement trajectory video 23495 is set to a video that visualizes the movement trajectory information 2334 of the detected foreign object.

[0038] The detected bubble information 2350 consists of the following entries: a pair of tracking ID 23501 and pointer 23502, a judgment result 23503, a still image of the movement trajectory 23504, and a video of the movement trajectory 23505. The tracking ID 23501 field is set to the tracking ID 2332 of the detected bubble. The pointer 23502 field is set to a pointer to the movement trajectory information 2334 of the detected bubble. The judgment result 23503 entry is set to the text indicating that the judgment result is "bubble". The judgment result 23503 entry may also have a probability of the judgment result set.

[0039] The entry for movement trajectory still image 23504 contains at least one still image that visualizes the movement trajectory information 2334 of the detected bubble. The entry for movement trajectory video 23505 contains a video that visualizes the movement trajectory information 2334 of the detected bubble.

[0040] Referring again to Figure 2, the foreign matter contamination factor information 236 contains information about the factors that led to the contamination of the container 400 with foreign matter. Figure 7 shows an example of the foreign matter contamination factor information 236. In this example, the foreign matter contamination factor information 236 consists of multiple entries 2361, each entry 2361 consisting of a pair of foreign matter type 23611 and factor 23612. The foreign matter type 23611 item includes, for example, hair / fiber fragments, plastic fragments, rubber fragments, glass fragments, and metal fragments. The factor 23612 is set to, for example, "person" for hair / fiber fragments, "container" for plastic fragments and glass fragments, "container stopper" for rubber fragments, and "manufacturing equipment" for metal fragments. This indicates, for example, that metal fragments are foreign matter originating from manufacturing equipment.

[0041] The arithmetic processing unit 240 has a microprocessor such as an MPU and its peripheral circuits, and is configured to realize various processing functions by having the hardware and program 231 cooperate by reading and executing the program 231 from the storage unit 230. The main processing functions realized by the arithmetic processing unit 240 are the acquisition unit 241, the detection unit 242, and the display control unit 243.

[0042] The acquisition unit 241 is configured to control the gripping device 110 and the camera device 130 to acquire image information 232 that captures images of floating particles present in the liquid sealed in the container 400. The acquisition unit 241 is also configured to analyze the image information 232 to acquire tracking information 233, which includes time-series data representing the movement trajectory of the floating particles.

[0043] The detection unit 242 is configured to detect whether or not foreign matter is present in the liquid in the container 400 based on the tracking information 233 acquired by the acquisition unit 241, and to further detect the type of foreign matter present. The detection unit 242 is also configured to create inspection result information 234 based on the detection result and store it in the storage unit 230.

[0044] The display control unit 243 is configured to output the inspection result information 234 to the display device 300 as quickly as possible once the inspection result information 234 is created by the detection unit 242.

[0045] Next, the overall operation of the inspection system 100 according to this embodiment will be described.

[0046] Figure 8 is a flowchart illustrating an example of the operation of the inspection system 100 from the start to the end of inspection for one container 400. Referring to Figure 8, first, the acquisition unit 241 induces the flow of liquid in the container 400 (step S1). For example, the acquisition unit 241 rotates, tilts, and shakes the container 400 with the gripping device 110, and then stops it in an upright position. Next, the acquisition unit 241 acquires a time-series image of the liquid in the container 400 over a predetermined time period at a predetermined frame rate by continuously imaging the liquid in the container 400 with the camera device 130 under transmitted illumination by the illumination device 120 (step S2). The time-series image acquired from the camera device 130 by the acquisition unit 241 is stored in the storage unit 230 as image information 232. As illustrated in Figure 3, the image information 232 consists of entries consisting of a container ID 2321, a shooting time 2322, and a frame image 2323.

[0047] Next, the detection unit 242 detects floating objects present in the liquid within the time-series images included in the image information 232 (step S3). Next, the detection unit 242 tracks the detected floating objects within the time-series images included in the image information 232 (step S4). The detection unit 242 stores the tracking results for each tracked floating object as tracking information 233 in the storage unit 230. As illustrated in Figure 4, the tracking information 233 includes movement trajectory information 2334 for each floating object to be tracked. The multiple entries in the movement trajectory information 2334 are arranged in chronological order of time 23341, and each entry has location information 23342, size 23343, brightness distribution 23344, and shape 23345 of the floating object to be tracked.

[0048] Next, the detection unit 242 determines whether each floating object identified by the tracking ID 2332 included in the tracking information 233 is a foreign object or a bubble based on the movement trajectory information 2334 of the floating object, and further determines the type of foreign object (step S5). Next, the detection unit 242 creates inspection result information 234 that records the determination result for each floating object and stores it in the storage unit 230 (step S6). The inspection result information 234 includes, as illustrated in Figure 5, the container ID 2341, the inspection result 2342, the number of foreign objects detected 2343, the number of bubbles detected 2344, detected foreign object information 2349 for each detected foreign object, and detected bubble information 2350 for each detected bubble. The detected foreign object information 2349 also includes the type of foreign object 23493, a still image of the movement trajectory 23494, a video of the movement trajectory 23495, etc. Furthermore, the detected bubble information 2350 includes the judgment result (bubble) 23503, a still image of the movement trajectory 23504, a video of the movement trajectory 23505, and so on.

[0049] Next, the display control unit 243 outputs the inspection result information 234 of the container 400 to the display device 300 (step S7).

[0050] Next, the acquisition unit 241, the detection unit 242, and the display control unit 243 will be described in detail.

[0051] First, let me explain the details of the acquisition unit 241.

[0052] First, the acquisition unit 241 rotates, tilts, and swings the container 400 to be inspected by activating the gripping device 110, which is holding the container 400 in an upright position. Next, after a certain period of time has elapsed since activation, the acquisition unit 241 stops the gripping device 110, thereby bringing the container 400 to a stationary position. By tilting, swinging, and rotating the container 400 for a certain period of time and then bringing it to a stationary position, a state is obtained in which the liquid inside the stationary container 400 flows due to inertia. Next, the acquisition unit 241 starts the operation of continuously photographing the liquid inside the container 400 at a predetermined frame rate using the camera device 130 under transmitted illumination from the illumination device 120. That is, if the time Ts is the time when the container 400 comes to a stationary position after being rotated, tilted, and swung, the acquisition unit 241 starts the above-mentioned photography operation from time Ts.

[0053] Furthermore, the acquisition unit 241 continuously photographs the liquid in the container 400 with the camera device 130 from time Ts until time Te, which is the time when a predetermined time Tw has elapsed. The predetermined time Tw may be set to be longer than, for example, the time required to obtain a movement trajectory in which all the air bubbles move upwards in the container 400 and can no longer be considered to move downwards, assuming that all the air bubbles floating in the liquid are air bubbles (hereinafter referred to as the minimum shooting time). The minimum shooting time may be determined in advance by experimentation or the like and fixed in the acquisition unit 241. The acquisition unit 241 may immediately stop shooting with the camera device 130 when time Te is reached, or it may continue shooting with the camera device 130.

[0054] The acquisition unit 241 adds the shooting time and container ID to each of the time-series frame images acquired from the camera device 130 and stores them in the storage unit 230 as image information 232.

[0055] Next, when the acquisition unit 241 acquires a time-series of frame images for a predetermined duration, it detects the shadows of suspended particles in the liquid inside the container 400 from each of these frame images. For example, the acquisition unit 241 detects the shadows of suspended particles in the liquid by the method described below. However, the acquisition unit 241 may detect the shadows of suspended particles in the liquid by a method other than that described below.

[0056] First, the acquisition unit 241 performs a binarization process on each of the frame images to create a binarized frame image. Next, the acquisition unit 241 detects the shadows of floating objects from each of the binarized frame images as follows.

[0057] The acquisition unit 241 first sets the binarized frame image to be used for detecting shadows of floating objects as the binarized frame image of interest. Next, it generates a difference image between the binarized frame image of interest and a binarized frame image taken at a later time of Δt. Here, Δt is set to a time such that the same floating object partially overlaps in the two images, or if they do not overlap, they appear in very close proximity. Therefore, the time difference Δt is determined according to the properties and flow state of the liquid and foreign matter. In the difference image, the image portions that match in the two binarized frame images are erased, and only the differing image portions remain. As a result, contours and scratches of the container 400 that appear in the same position in the two binarized frame images are erased, and only the shadows of floating objects remain. The acquisition unit 241 detects the shadows in the binarized frame image of interest that correspond to the locations where shadows appear in the difference image as shadows of floating objects present in the binarized frame image of interest.

[0058] The acquisition unit 241 tracks the detected floating objects in a time-series image and creates tracking information 233 according to the tracking results. First, the acquisition unit 241 initializes the tracking information 233. In this initialization, the container ID of container 400 is set in the container ID 2331 entry in Figure 4. Next, the acquisition unit 241 tracks the floating objects in the time-series image using the method described below, and according to the tracking results, creates an entry for each floating object consisting of a pair of tracking ID 2332 and pointer 2333 in Figure 4, and movement trajectory information 2334.

[0059] First, the acquisition unit 241 focuses on the binarized frame image with the earliest capture time among the time series of binarized frame images created above. Next, the acquisition unit 241 assigns a unique tracking ID to each floating object detected in the binarized frame image of interest. Then, for each detected floating object, the acquisition unit 241 sets the tracking ID assigned to the floating object detected in the binarized frame image of interest in the item of tracking ID 2332 in Figure 4, sets the capture time of the binarized frame image of interest in the item of time 23341, which is the first entry of the movement trajectory information 2334 indicated by the corresponding pointer 2333, and sets the coordinate values, size, brightness distribution, and shape of the floating object in the binarized frame image of interest in the items of position information 23342, size 23343, brightness distribution 23344, and shape 23345.

[0060] Next, the acquisition unit 241 shifts its attention to a binarized frame image that is one frame later than the binarized frame image of interest. Next, the acquisition unit 241 focuses on one of the floating objects detected in the binarized frame image of interest. Next, the acquisition unit 241 compares the position of the floating object of interest with the position of a floating object detected in the binarized frame image that is one frame earlier (hereinafter referred to as the preceding binarized frame image), and if a floating object exists within a predetermined threshold distance from the floating object of interest, it determines that the floating object of interest and the floating object that existed within the threshold distance are the same floating object. In this case, the acquisition unit 241 assigns the tracking ID that has been assigned to the floating object determined to be the same floating object to the floating object of interest. Then, the acquisition unit 241 secures a new entry in the movement trajectory information 2334 pointed to by the pointer 2333 of the entry in the tracking information 233 to which the assigned tracking ID 2332 is set, and sets the time 23341, position information 23342, size 23343, brightness distribution 23344, and shape 23345 of the secured entry, along with the time of capture of the binarized frame image of interest, the coordinates, size, brightness distribution, and shape of the floating object of interest.

[0061] On the other hand, if the acquisition unit 241 finds that no floating object exists within a threshold distance from the floating object of interest in the preceding binarized frame image, it determines that the floating object of interest is a new floating object and assigns it a new tracking ID. Next, the acquisition unit 241 sets the tracking ID assigned to the floating object of interest in the tracking ID 2332 item in Figure 4 of the newly acquired entry, sets the time of capture of the binarized frame image of interest in the time item 23341 of the first entry of the movement trajectory information 2334 indicated by the corresponding pointer 2333, and sets the coordinate values, size, brightness distribution, and shape of the floating object of interest in the position information 23342, size 23343, brightness distribution 23344, and shape 23345 items.

[0062] When the acquisition unit 241 finishes processing the object under focus, it shifts its focus to the next object detected in the binarized frame image under focus and repeats the same processing as described above. Then, when the acquisition unit 241 has finished focusing on all the objects detected in the binarized frame image under focus, it shifts its focus to the frame image one frame later and repeats the same processing as described above. Finally, when the acquisition unit 241 has finished focusing on the last frame image in the image information 232, it terminates the tracking process.

[0063] In the above description, the acquisition unit 241 performed tracking based on the distance between floating objects in two adjacent frame images. However, the acquisition unit 241 may also perform tracking based on the distance between floating objects in two adjacent frame images separated by n frames (where n is a positive integer greater than or equal to 1). Alternatively, the acquisition unit 241 may perform tracking by comprehensively considering the tracking results obtained by tracking based on the distance between floating objects in two adjacent frame images separated by m frames (where m is a positive integer greater than or equal to 0) and the tracking results obtained by tracking based on the distance between floating objects in two adjacent frame images separated by m+j frames (where j is a positive integer greater than or equal to 1).

[0064] Next, we will explain the details of the detection unit 242.

[0065] The detection unit 242 reads tracking information 233 from the storage unit 230 and identifies the type (class) of floating object based on the movement trajectory information 2334 of the floating object contained in the tracking information 2333. The number of identification classes can be a total of 7 classes, for example, bubble class, hair / fiber class, plastic piece class, rubber piece class, glass piece class, metal piece class, and other class, but is not limited to this, and any two or more classes are acceptable. For example, the detection unit 242 identifies the class of each floating object by utilizing the fact that the characteristics of the movement trajectory of the floating object and the characteristics of the appearance of the floating object (shape, brightness distribution, size), which are recognized from the movement trajectory information 2334 of the floating object, differ between bubbles and foreign objects, and also differ depending on the type of foreign object.

[0066] For example, there are differences in the characteristics of the movement trajectories between bubbles and foreign objects. Bubbles, which have a significantly lower specific gravity than liquids, tend to move strongly in the anti-gravity direction within the liquid. In contrast, foreign objects, which have a higher specific gravity than bubbles, do not tend to move strongly in the anti-gravity direction within the liquid, and this tendency becomes more pronounced as the specific gravity increases. For example, hair and fiber fragments tend to float in the liquid because the difference in specific gravity between them and the liquid is not large. Plastic fragments, though not as much as bubbles, have a lower specific gravity than the liquid, so they tend to float near the liquid surface. Rubber fragments, glass fragments, and metal fragments have a higher specific gravity than the liquid, so they tend to float or remain near the bottom.

[0067] Furthermore, there are the following differences in appearance between bubbles and foreign objects: Bubbles tend to have hollow shapes such as rings or donuts, while foreign objects do not. Also, hair and fiber fragments are often elongated in shape. Glass fragments tend to have a large difference in brightness within the detection area (floating object area), while metal fragments have almost no difference in brightness within the detection area.

[0068] There are various possible methods by which the detection unit 242 identifies the class of a floating object based on the floating object's movement trajectory information 2334. For example, the detection unit 242 may be configured to input the floating object's movement trajectory information 2334 into a pre-trained machine learning model that has been trained to estimate the class of a floating object from its movement trajectory information, obtain the identification class and identification score of the floating object from the machine learning model, and determine the identification class with the highest identification score as the identification class of the floating object. The machine learning model can be pre-generated, for example, by machine learning using a machine learning algorithm such as a neural network, with pairs of floating object movement trajectory information and correct labels representing the class of that floating object as training data. However, the method by which the detection unit 242 identifies the class of a floating object based on the floating object's movement trajectory information 2334 is not limited to the above, and a rule-based model may also be used.

[0069] The detection unit 242 creates inspection result information 234 according to the judgment result for each floating object movement trajectory information 2334 and stores it in the storage unit 230. For example, the detection unit 242 first creates initialized inspection result information 234 in the storage unit 230 and sets the container ID 2331 of the tracking information 233 in the container ID 2341 entry of the inspection result information 234. Next, the detection unit 242 counts the total number of floating objects determined to be foreign objects. If the count is 0, it sets OK (inspection passed) in the inspection result 2342 entry of the inspection result information 234 and sets the value to 0 in the foreign object detection count 2343 entry. Also, if the total number of floating objects determined to be foreign objects is 1 or more, the detection unit 242 sets NG (inspection failed) in the inspection result 2342 entry of the inspection result information 234 and sets the total number of floating objects determined to be foreign objects in the foreign object detection count 2343 entry. Next, the detection unit 242 counts the total number of floating objects determined to be bubbles and sets the count value as the entry for bubble detection count 2344 in the inspection result information 234.

[0070] Next, the detection unit 242 creates an entry in the inspection result information 234 for each floating object determined to be a foreign object, consisting of a detected foreign object ID 2345 and a pointer 2346, and detected foreign object information 2349 indicated by the pointer 2346. The detection unit 242 also sets an ID, such as a serial number, in the item for detected foreign object ID 2345 to distinguish the foreign object detected from other foreign objects in the container 400 being inspected, which is identified by the container ID 2341. The detection unit 242 also sets the tracking ID 2332, which was assigned in the tracking information 233 for the floating object determined to be a foreign object, in the item for tracking ID 23491 in the detected foreign object information 2349. The detection unit 242 also sets a pointer to the movement trajectory information 2334 in the item for pointer 23492. The detection unit 242 also sets the type of the determined foreign object in the entry for foreign object type 23493. Furthermore, the detection unit 242 sets a still image that visualizes the movement trajectory information 2334 of the detected foreign object in the entry for movement trajectory still image 23494. Also, the detection unit 242 sets a video that visualizes the movement trajectory information 2334 of the detected foreign object in the entry for movement trajectory video 23495.

[0071] Next, the detection unit 242 creates an entry in the inspection result information 234 for each floating object determined to be a bubble, consisting of a detected bubble ID 2347 and a pointer 2348, and detected bubble information 2350 indicated by the pointer 2348. The detection unit 242 also sets an ID, such as a serial number, in the detected bubble ID 2347 field to distinguish the bubble detected from the container 400 under inspection, identified by container ID 2341, from other bubbles. The detection unit 242 also sets the tracking ID 23501 field in the detected bubble information 2350 to the tracking ID 2332 assigned in the tracking information 233 for the floating object determined to be a bubble. The detection unit 242 also sets a pointer to the movement trajectory information 2334 in the pointer 23502 field. Finally, the detection unit 242 sets the text indicating that it is a bubble in the judgment result (bubble) 23503 entry. Furthermore, the detection unit 242 sets a still image that visualizes the movement trajectory information 2334 in the entry for the movement trajectory still image 23504. Also, the detection unit 242 sets a video that visualizes the movement trajectory information 2334 in the entry for the movement trajectory video 23505.

[0072] Next, the display control unit 243 will be described in detail.

[0073] The display control unit 243 controls the output of inspection result information 234 to the display device 300. As soon as the detection unit 242 generates inspection result information 234 for the container 400 to be inspected, the display control unit 243 reads the inspection result information 234 from the storage unit 230. Next, the display control unit 243 creates an inspection result display screen based on the read inspection result information 234. Next, the display control unit 243 displays the created inspection result display screen on the display device 300.

[0074] Figure 9 shows an example of the inspection result display screen 1000 displayed on the display device 300. In this example, the display control unit 243 displays the progress indicator 1001, the foreign object presence indicator 1002, the cumulative indicator 1003, and the movement trajectory still image 1004 on the inspection result display screen. The progress indicator 1001 indicates whether the inspection device 200 is in the state where the containers 400 to be inspected have been loaded into the inspection device 200, the loaded containers 400 are being inspected by the inspection device 200, or the inspection device 200 is unloading the containers 400 that have finished being inspected. The foreign object presence indicator 1002 indicates whether at least one foreign object has been detected in the containers 400 being inspected. The cumulative indicator 1003 displays the total number of containers that did not contain foreign objects and the total number of containers that did contain foreign objects among all containers 400 that have been inspected up to this point. The movement trajectory still image 1004 displays the movement trajectory still image described with reference to Figure 6.

[0075] Furthermore, when the operator clicks or otherwise selects a display field 234943, which displays the type of foreign object shown in the motion trajectory still image 1004 of the inspection result display screen 1000, via the operation input unit 220, the display control unit 243 acquires the factor set in the foreign object contamination factor information 236 corresponding to the type of foreign object displayed in the display field 234943 and displays it on the screen of the display device 300. This allows the operator of the inspection device 200 to immediately recognize the factor of foreign object contamination.

[0076] Furthermore, when an indicator 234944, which indicates the location that serves as the basis for determining a foreign object displayed in the still image 1004 of the movement trajectory on the inspection result display screen 1000, is specified by the operator via the operation input unit 220 by clicking or other means, the display control unit 243 reads the movement trajectory video 23495 of the detected foreign object information 2349 that holds the still image 1004 of the movement trajectory from the storage unit 230, plays back the read movement trajectory video 23495, and displays it on the screen of the display device 300. At this time, the display control unit 243 may play back and display only the movement trajectory video 23495, or it may synthesize the movement trajectory videos of all foreign objects detected from the same container 400 and display them on the screen of the display device 300, or it may synthesize the movement trajectory videos of all foreign objects and air bubbles detected from the same container 400 and display them on the screen of the display device 300.

[0077] As described above, according to this embodiment, the inspection device 200 includes a detection unit 242 that detects foreign matter present in the liquid and its type from a plurality of images obtained by continuously photographing the container 400 containing the liquid, and a display control unit 243 that displays the detected type of foreign matter on the display device 300. Therefore, the operator of the inspection device 200 can immediately recognize not only that foreign matter has been mixed into the liquid in the container 400, but also the type of that foreign matter. As a result, the route of foreign matter contamination can be identified more easily and quickly compared to the case where the type of foreign matter is not displayed.

[0078] Next, a modified example of this embodiment will be described.

[0079] <Example 1> In the above embodiment, the acquisition unit 241 rotates, tilts, and shakes the container 400 with the gripping device 110, then stops it in an upright position, and acquires image information 232 by continuously imaging the liquid inside the stationary container 400 with the camera device 130. However, foreign objects such as metal fragments with a high specific gravity may not float even when the container 400 is shaken, as they may only move along the bottom surface. Also, when the container 400 is stopped, the metal fragments that were moving along the bottom surface stop moving and may be mistaken for scratches on the container and not detected. Therefore, the acquisition unit 241 may be configured to acquire image information 232 by continuously imaging the liquid near the bottom surface inside the container 400 with the camera device 130 while the container 400 is being rotated by the gripping device 110. Furthermore, the detection unit 242 may be configured to detect foreign objects moving along the bottom surface of the container 400 based on a series of images acquired while the container 400 is rotating. Furthermore, the display control unit 243 may display the movement trajectory and image patch of the foreign object detected on the bottom surface of the container 400, as well as the type of foreign object, on the screen of the display device 300. The details are described below.

[0080] First, the acquisition unit 241 holds the container 400 in an upright position using the gripping device 110 so that its central axis is parallel to the direction of gravity. At this time, the rotation angle of the container 400 around its central axis is set to 0°, as shown in Figure 10. Next, the acquisition unit 241 uses the gripping device 110 to rotate the container 400 in one direction from 0° to 360° around its central axis at a constant rotational speed, as shown in Figure 10, while continuously photographing the liquid near the bottom surface of the container 400 with the camera device 130. As a result, images of the area near the bottom surface of the container 400 are obtained at predetermined angle intervals. The group of images obtained at this time is called the first group of images.

[0081] Next, the acquisition unit 241 uses the gripping device 110 to oscillate and tilt the container 400, as shown in Figure 10, and then holds it upright for a certain period of time. This causes the liquid inside the container 400 to flow, and accordingly, lighter foreign objects float in the liquid. However, foreign objects with a higher specific gravity, such as metal pieces, do not necessarily float, as they only move along the bottom surface of the container 400 even during the oscillating motion.

[0082] Next, the acquisition unit 241 uses the gripping device 110 to rotate the container 400 in the opposite direction from 360° to 0° around its central axis at a constant rotational speed, as shown in Figure 10, while the camera device 130 continuously photographs the liquid near the bottom of the container 400. This obtains images of the area near the bottom of the container 400 at predetermined angle intervals. The group of images obtained at this time is called the second group of images.

[0083] The detection unit 242 acquires a difference image between each image in the second image group acquired by the acquisition unit 241 and the images in the first image group taken at the same angle, and detects foreign objects present on the bottom surface of the container 400 based on this difference image. For example, scratches on the bottom surface of the container 400 are captured in the same position in the two images taken at the same angle, so they do not appear in the difference image. On the other hand, foreign objects present on the bottom surface of the container move from their original position to another position due to the shaking of the container 400, so shadows appear in the difference image. The acquisition unit 241 detects the shadows that appear in the difference image as foreign objects.

[0084] Furthermore, the detection unit 242 acquires the shape, brightness distribution, size, etc., of the foreign object from the shadowed image (image patch) that appears in the difference image. In addition, the detection unit 242 calculates the movement trajectory of the foreign object, which shows the relative movement of the foreign object to the container 400, from the time series of the difference image. Then, the detection unit 242 determines the type of foreign object from at least one of the shape, brightness distribution, size, and movement trajectory of the foreign object. For example, the detection unit 242 determines that it is a glass fragment if the brightness difference within the shadowed area is large, and determines that it is a metal fragment if the brightness difference is almost negligible.

[0085] The display control unit 243 is configured to display on the screen of the display device 300 the presence or absence of foreign matter detected on the bottom surface of the container 400 and the type of foreign matter.

[0086] <Modification 2> An embodiment combining the above embodiment and the above modification 1 may also be used. That is, the oscillation period shown in Figure 10 is the period during which the acquisition unit 241 oscillates and tilts the container 400 for a certain period of time, similar to step S1 in Figure 8. Also, the stationary period shown in Figure 10 is the period during which the acquisition unit 241 continuously photographs the stationary container 400 with the camera device 130, similar to step S2 in Figure 8.

[0087] <Variation 3> In the above embodiment, the types of foreign matter were classified by material, such as hair fragments / fiber fragments, plastic fragments, rubber fragments, glass fragments, and metal fragments. However, the types of foreign matter may be defined by means other than material. For example, based on the specific gravity of the liquid in the container 400, foreign matter may be classified into floating foreign matter (lighter than the liquid's specific gravity), sinking foreign matter (heavier than the liquid's specific gravity), and floating foreign matter (similar in specific gravity to the liquid's specific gravity).

[0088] [Second Embodiment] Next, a second embodiment of the present invention will be described with reference to Figure 11.

[0089] Referring to Figure 11, the foreign object inspection device 1 according to this embodiment comprises a detection means 2 and a display control means 3.

[0090] The detection means 2 is configured to detect foreign matter present in a liquid and its type from multiple images obtained by continuously photographing a container filled with liquid. The detection means 2 can be configured similarly to, for example, the detection unit 242 in Figure 2, but is not limited thereto.

[0091] The display control means 3 is configured to output the type of foreign object detected by the detection means 2 to the display device. The display control means 3 can be configured similarly to, for example, the display control unit 243 in Figure 2, but is not limited thereto.

[0092] The foreign object inspection device 1, configured as described above, functions as follows: The detection means 2 detects foreign objects present in the liquid and their types from multiple images obtained by continuously photographing a container filled with liquid. Next, the display control means 3 outputs the type of foreign object detected by the detection means 2 to the display device.

[0093] With a foreign object inspection device configured and operating as described above, the type of foreign object detected is displayed on the display screen, allowing the type of foreign object to be recognized.

[0094] 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 configuration 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]

[0095] This invention can be used in the field of detecting foreign substances and their types in liquids such as drugs and pharmaceuticals sealed in containers.

[0096] Some or all of the above embodiments may also be described as follows, but are not limited to the following: [Note 1] A detection means for detecting foreign matter present in a liquid and its type from multiple images obtained by continuously photographing a container filled with liquid, A display control means that outputs the type of foreign object detected to a display device, A foreign object inspection device equipped with the following features. [Note 2] The display control means further outputs the movement trajectory image of the foreign object as a still image to the display device. The foreign object inspection device described in Appendix 1. [Note 3] The display control means further outputs an index to the possession device indicating the location in the movement trajectory image that serves as the basis for detecting the foreign object. The foreign object inspection device described in Appendix 2. [Note 4] The display control means further outputs a video of the foreign object's movement trajectory to the display device when the indicator is specified. The foreign object inspection device described in Appendix 3. [Note 5] The display control means further outputs to the display device information regarding the cause of the foreign matter contamination. A foreign object inspection device as described in any of the appendices 1 to 4. [Note 6] The display control means further outputs the type of foreign matter floating in the liquid of the container to the display device. A foreign object inspection device as described in any of the appendices 1 to 5. [Note 7] The display control means further outputs the type of foreign matter present on the bottom surface of the container to the display device. A foreign object inspection device as described in any of the appendices 1 to 6. [Note 8] By continuously photographing a container filled with liquid and obtaining multiple images, the foreign matter present in the liquid and its type are detected. The type of foreign object detected is output to the display device. Foreign object inspection methods. [Note 9] The aforementioned display further outputs a still image of the movement trajectory of the foreign object to the display device. The foreign object inspection method described in Appendix 8. [Note 10] The display further outputs an index to the display device indicating the location in the movement trajectory image that serves as the basis for detecting the foreign object. The foreign object inspection method described in Appendix 9. [Note 11] In the aforementioned display, if the indicator is specified, the movement trajectory image of the foreign object is output as a video to the display device. The foreign object inspection method described in Appendix 10. [Note 12] The display further outputs information regarding the cause of the foreign matter contamination to the display device. A method for inspecting foreign objects as described in any of the appendices 8 to 11. [Note 13] The display further outputs to the display device the type of foreign matter floating in the liquid in the container. A method for inspecting foreign objects as described in any of the appendices 8 to 12. [Note 14] The display further outputs the type of foreign matter present on the bottom surface of the container to the display device. A method for inspecting foreign objects as described in any of the appendices 8 to 13. [Note 15] On the computer, A process for detecting foreign matter present in a liquid and its type from multiple images obtained by continuously photographing a container filled with liquid, The process involves outputting the type of foreign object detected to a display device, A computer-readable recording medium containing a program for performing a certain action. [Explanation of Symbols]

[0097] 100 Inspection Systems 110 Gripping device 120 Lighting devices 130 Camera equipment 200 Inspection Equipment 300 display device 400 containers 401 Rubber stopper

Claims

1. Acquisition means that acquires a first group of images by continuously photographing the liquid near the bottom of a container while rotating it in the forward direction around its central axis in an upright position, and then shaking and tilting the container, and then keeping it still in an upright position for a certain period of time, and then rotating the container in the reverse direction around its central axis in an upright position, and continuously photographing the liquid near the bottom of the container, and acquires a second group of images. A detection means for which a difference image is acquired for each pair of images from the first group of images and the second group of images obtained by taking images at the same rotational position, and for detecting foreign matter present in the liquid and its type from the difference image, A display control means that outputs the type of foreign object detected to a display device, A foreign object inspection device equipped with the following features.

2. The display control means further outputs the movement trajectory image of the foreign object as a still image to the display device. The foreign object inspection apparatus according to claim 1.

3. The display control means further outputs an index to the display device indicating the location in the movement trajectory image that serves as the basis for detecting the foreign object. The foreign object inspection apparatus according to claim 2.

4. The display control means further outputs a video of the foreign object's movement trajectory to the display device when the indicator is specified. The foreign object inspection apparatus according to claim 3.

5. The display control means further outputs to the display device information regarding the cause of the foreign matter contamination. A foreign object inspection apparatus according to any one of claims 1 to 4.

6. The display control means further outputs the type of foreign matter floating in the liquid of the container to the display device. A foreign object inspection apparatus according to any one of claims 1 to 5.

7. The computer acquires a group of images as a first image set by continuously photographing the liquid near the bottom of a container while rotating the container in the forward direction around its central axis in an upright position. Next, the computer shakes and tilts the container, then keeps it still in an upright position for a certain period of time. Next, it acquires a group of images as a second image set by continuously photographing the liquid near the bottom of the container while rotating the container in the reverse direction around its central axis in an upright position. The computer acquires a difference image for each pair of images from the first and second image groups obtained by taking images at the same rotational position, and detects the foreign matter present in the liquid and its type from the difference image. The computer outputs the type of foreign object detected to the display device. Foreign object inspection methods.

8. The output further outputs a still image of the movement trajectory of the foreign object to the display device. The method for inspecting foreign matter according to claim 7.

9. On the computer, The process involves first acquiring a group of images as a first image set by continuously photographing the liquid near the bottom of a container while rotating it in the forward direction around its central axis in an upright position; secondly, acquiring a group of images as a second image set by continuously photographing the liquid near the bottom of a container while rotating it in the reverse direction around its central axis in an upright position; and thirdly, acquiring a group of images as a second image set by continuously photographing the liquid near the bottom of a container while rotating it in the reverse direction around its central axis in an upright position. A process to obtain a difference image for each pair of images from the first and second image groups obtained by taking images at the same rotational position, and to detect foreign matter present in the liquid and its type from the difference image, The process involves outputting the type of foreign object detected to a display device, A program to perform that action.

Images