Inspection apparatus, inspection system, control device, 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

Inspection device, inspection system, control device, inspection method, and program

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

[0002] 2. Description of the Related Art Techniques for detecting an object to be observed, such as a foreign substance, present in a liquid contained in a container are known.

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

[0004] Japanese Patent Application Laid-Open No. 2020-118458

[0005] As described in Patent Document 1, when an illumination light source is placed on the opposite side of the container from the camera, which is the imaging device, it is possible to observe the entire outline of an object, such as an opaque foreign object like a hair fragment. However, it is difficult to observe the entire outline of an object, such as a scratch formed on the container, a foreign object such as a glass fragment that transmits light, or an elongated foreign object like a piece of fiber. For this reason, the inspection device of Patent Document 1 may have difficulty detecting the outline of the object to be observed.

[0006] An object of the present invention is to provide an inspection device, an inspection system, a control device, an inspection method, and a program that solve any of the above-mentioned problems.

[0007] The inspection device of the first aspect comprises a gripping device that grips a container filled with liquid, a first lighting unit that irradiates light onto the liquid from one longitudinal end of the container, and a first lighting control unit that can control the angle of incidence of the light irradiated by the first lighting unit onto the liquid to any angle, wherein the first lighting unit and the first lighting control unit are installed in the same direction as an imaging device that acquires image data showing the appearance of the liquid as viewed from the container, and the angle of incidence of the light irradiated by the first lighting 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 aspect comprises a first command means for sending a command to a first lighting control unit so as to continuously control the angle of incidence of light irradiated by the first lighting unit onto the liquid to any angle, based on the angle at which the brightness inside the container is most uniform, from one end side of the longitudinal direction of the container filled with the liquid, and an image processing means for acquiring image data showing the state of the liquid, and the first lighting unit and the first lighting control unit are installed in the same direction as the imaging device that acquires the image data when viewed from the container.

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

[0010] A fourth aspect of the program causes a computer to continuously control the angle of incidence of light irradiated by a first lighting unit onto the liquid from one end of a container filled with liquid in the longitudinal direction, based on the angle at which the brightness inside the container is most uniform, to any angle using a first lighting control unit, and acquire image data showing the appearance of the liquid, wherein the first lighting unit and the first lighting control unit are installed in the same direction as the imaging device that acquires the image data when viewed from the container.

[0011] According to the above aspect, it is easy to detect the outer shape of the object to be observed.

[0012] FIG. 1 is a side view showing a configuration example of an inspection system according to a first embodiment of the present disclosure. FIG. 2 is a front view showing a configuration example of an inspection system according to the first embodiment of the present disclosure. FIG. 3 is a front view showing an angle of illumination controlled by the inspection system according to the first embodiment of the present disclosure. FIG. 4 is a block diagram showing a control device according to the first embodiment of the present disclosure. FIG. 5 is a flowchart showing an operation example of the inspection system according to the first embodiment of the present disclosure. FIG. 6 is a block diagram showing a control device according to a second embodiment of the present disclosure. FIG. 7 is a flowchart showing an operation example of the inspection system according to the second embodiment of the present disclosure. FIG. 8 is a graph showing an example of control of an illumination angle. FIG. 9 is a diagram showing an example of a contour extraction algorithm when an observed object continues to float in the same position. FIG. 10 is a diagram showing an example of a contour extraction algorithm when an observed object continues to move. FIG. 11 is a side view showing an inspection device according to an embodiment with a minimum configuration of the present disclosure. FIG. 12 is a block diagram showing a control device according to an embodiment with a minimum configuration of the present disclosure. FIG. 13 is a flowchart showing an inspection method according to an embodiment with a minimum configuration of the present disclosure.

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

[0014] First Embodiment An inspection system according to a first embodiment will be described with reference to FIGS. 1 to 5. FIG.

[0015] (Configuration Description) In this embodiment, an inspection system 100 is described that acquires image data from which an outline can be extracted when detecting foreign matter contained inside a container filled with a liquid such as water or medicine. 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 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 are capable of controlling the angle of incidence on the container 200. In this embodiment, a syringe is used as the container. The container 200 may be another translucent container such as a glass bottle or a PET bottle.

[0016] 1 and 2, an inspection system 100 includes, for example, an inspection device 110, a camera 300 which is an imaging device, and a determination device 560.

[0017] The inspection device 110 is a device that rotates the container 200 filled with a liquid 210 while gripping both ends of the container 200. For example, the inspection device 110 can rotate the container 200 about a first rotation axis, which is a central axis AXC that passes through the longitudinal direction of the container 200, and a second rotation axis, which is a central axis that passes 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 perpendicular to each other with the center of the container 200 being gripped. In this way, the inspection device 110 has a two-axis rotation means.

[0018] Referring to Figures 1 and 2, the inspection device 110 has a gripping device 500, a first motor 530, a second motor 540, a first lighting unit 400, a first lighting control unit 405, a second lighting unit 410, a second lighting 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 response to the rotation of a first motor 530 and a second motor 540, which function as rotation means. The gripping device 500 also includes a first gripping unit 505 and a second gripping unit 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 about a first rotation axis. A flat plate portion that connects the first gripping unit 505 and the second gripping unit 510 is connected to a second motor 540 that rotates about a second rotation axis. The first motor 530 and the second motor 540 rotate in response to power supplied from an external source, and the gripping device 500 rotates about the first rotation axis by the rotation of the first motor 530 and about the second rotation axis by 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 side of the container 200 in the longitudinal direction. The first illumination unit 400 can control the angle of incidence with respect to the liquid 210 using a first illumination control unit 405. For example, the first illumination unit 400 has a rectangular or circular shape and can emit light from a surface. For example, the first illumination unit 400 is installed in the same direction as the side of the container 200 on which the camera 300 is installed. With this configuration, it can be said that the camera 300 is installed so as to observe the reflection of light from the first illumination unit 400.

[0022] The first lighting control unit 405 can control the angle of incidence of light irradiated by the first lighting unit 400 onto the container 200 to any angle. Referring to FIG. 3 , the first lighting control unit 405 can continuously control the angle of incidence of light from the first lighting unit 400 onto the liquid 210 to any angle within the range of θ±a, based on the angle θ at which the brightness inside the container 200 is most uniform. Furthermore, if the reflection of the container 200 is strong due to the shape of the container, the angle of incidence of light may be set within an asymmetric range based on the angle θ. The angle of incidence refers to, for example, the angle of incidence of light relative to the central axis AXC when viewed from the camera 300 side. FIG. 3 illustrates a 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 side in the longitudinal direction of the container 200. For example, the second illumination unit 410 has a rectangular or circular shape, and is capable of surface emission. For example, the second illumination unit 410 can control the angle of incidence with respect to the liquid 210 by a 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, as viewed from the container 200. With this configuration, it can be said that the camera 300 is installed so as to observe the reflection of light from the second illumination unit 410.

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

[0025] The angles a and b are controllable within a range in which the illumination light from the first illumination unit 400 and the second illumination unit 410 is reflected inside 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 values. For example, the angles may be between -20 degrees and +20 degrees, or between -30 degrees and +30 degrees.

[0026] The control device 550 is an information processing device that controls the rotation speed of the first motor 530, the rotation 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, as hardware configuration, a calculation device 551 such as a CPU (Central Processing Unit), a storage device 552, and a communication interface 553, and controls the rotation speed of the first motor 530, the rotation 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 by the calculation device 551 executing a program stored in the storage device 552, etc. In other words, for example, the control device 550 issues predetermined instructions to the first motor 530, the second motor 540, the first lighting control unit 405, and the second lighting control unit 415 to realize rotation control in accordance with a predetermined program in response to a start instruction from an external device connected to the control device 550 or a start instruction input to the control device 550. The communication interface 553 is a connection interface for connecting to other devices via wire or wirelessly so that communication is possible.

[0027] 4, the control device 550 functionally includes a first command means 555, a second command means 556, and an image processing means 557. In this embodiment, the arithmetic device 551 performs various functions by operating in accordance with a program prepared in advance.

[0028] The first command means 555 sends a command to the first lighting control unit 405 so as to continuously control the angle of incidence of light irradiated by the first lighting unit 400 on the liquid 210 to any 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 so as to control the rotation 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 so as to continuously control the angle of incidence of light irradiated by the second illumination unit 410 on the liquid 210 to any angle. The second command means 556 sends commands to the second motor 540 and the second illumination control unit 415 via the communication interface 553 so as to control the rotation speed of the second motor 540 and the angle of the second illumination control unit 415.

[0030] By combining the commands of the first command means 555 and the second command means 556, the control device 550 can control the first lighting unit 400, the first lighting control unit 405, the second lighting unit 410, and the second lighting control unit 415 so that light is irradiated onto the liquid 210 from a position tilted by an arbitrary value with respect to the reference angle θ in a vertical direction perpendicular to the central axis AXC.

[0031] For example, by combining a command from the first command means 555 and a command from the second command means 556, 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 the first illumination unit 400 and the second illumination unit 410 irradiate the liquid 210 with light continuously from −20 degrees to +20 degrees with respect to the reference angle θ. At this time, the camera 300 acquires image data showing the state of the observation object in the liquid 210 during light irradiation.

[0032] The image processing means 557 distinguishes between observation objects that move and those that remain stationary over a certain period of time from the image data and outputs the distinguished results. The image processing means 557 extracts a contour that is close to the original outer shape of the observation object from the image data according to the amount of movement of the observation object.

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

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

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

[0036] The container 200 is a translucent container such as a syringe, a glass bottle, or a PET bottle. As described above, when the liquid 210 to be filled inside has a high viscosity, it is expected that a syringe will be used as the container 200. The inside of the container 200 is filled with the liquid 210, such as water or a medicine. The container 200 may have scratches or dirt attached thereto. Furthermore, foreign matter may be present inside the container 200. Examples of foreign matter that may be present include pieces of rubber, hair, pieces of fiber, soot, pieces of glass, pieces of plastic, and the like.

[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 when an external determination device that performs foreign matter determination determines whether a foreign matter exists. In this embodiment, there are no particular limitations on the algorithm used by the determination device 560 when performing foreign matter determination, etc.

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

[0039] First, the container 200 is placed on the gripping device 500 so that it can rotate about the first and second axes (ST01: gripping step). Next, the camera 300 begins capturing images in response to a command from the control device 550. Next, the rotation speeds of the first motor 530 and the second motor 540 are controlled in response to a command from the control device 550, and the container remains stationary or rotates while the camera 300 continues capturing images (ST02: rotation step). Next, while the container 200 remains stationary, the angle of the first lighting control unit 405 and the angle of the second lighting control unit 415 are controlled in response to a command from the control device 550 (ST03: incident angle control step). Furthermore, a contour approximating the original outline of any bubbles or foreign objects in the container 200 is extracted from the continuous image data captured by the camera 300 within the control device 550 (ST04: image processing step). If the rotation of the container 200 is resumed, the angle of the first illumination control unit 405 and the angle of the second illumination control unit 415 are controlled again at the next time the container 200 comes to a standstill. Finally, the rotation of the container 200 and the image capturing by the camera 300 are completed, and the determination device 560 determines whether or not there is a foreign object based on the contour extraction results and image data in the control device 550, statistics during the tracking process, etc. (ST05: foreign object determination step).

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

[0041] First, there are two types of container rotations performed by the inspection device 110: a first axis and a second axis. When foreign matter may be present at both ends of the container 200 in the longitudinal direction, the container is rotated by 90 degrees or more along the first axis, and gravity or air bubbles contained therein are used to move the foreign matter into the observation range of the camera 300. When foreign matter may be present at both ends of the container 200 in the lateral direction, the container is rotated by 90 to 180 degrees along the second axis, and gravity or air bubbles contained therein are used to move the foreign matter into the observation range of the camera 300.

[0042] By arbitrarily combining these two types of rotation and providing a rest period for each container rotation, the camera 300 observes the foreign matter during a series of rest oscillations and acquires continuous images of the behavior or outer shape of the foreign matter. 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 between the container 200, the first illumination unit 400, and the second illumination unit 410 or an angle that is not affected by reflected light, in order to prevent reflection from the container to the camera 300.

[0043] (Operations and Effects) Next, operations 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 the light irradiated by the first illumination unit 400 and the second illumination unit 410 onto the container 200, and simultaneously capture images of the changing locations where the light is reflected on the surface of the same observation object, such as a foreign substance or an air bubble, so that the contour of the observation object can be extracted. Therefore, the inspection device 110 of this embodiment can easily detect the outer shape of the observation object.

[0045] As a comparative example, a method that simply shines light onto the object to be observed and observes the reflected light can capture images of even translucent foreign objects such as glass fragments, and since the reflected light is only reflected by a portion of the object to be observed, the method of the comparative example can make it difficult to detect the outer shape of the object to be observed.

[0046] As another comparative example, in the above-mentioned comparative example, if the container itself is moved to continuously change the angle of incidence of the irradiated light, information close to the outer shape of the foreign object can be obtained by observing the change in the part where the reflected light is reflected. However, by moving the container itself, the object to be observed in the liquid moves due to the influence of the liquid flow, etc., so it may be difficult to continuously observe the change in the reflected light.

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

[0048] Second Embodiment An inspection system according to a second embodiment will be described. This embodiment differs from the first embodiment in that the operation of the inspection system 100 and the function of the image processing means 557 are specified in more detail, but the other configurations are the same as those of the inspection system 100 according to the first embodiment.

[0049] (Configuration) In this embodiment, the image processing unit 557 functionally comprises a tracking unit 5571, a still section determining unit 5572, a number determining unit 5573, and a contour extracting unit 5574, as shown in FIG.

[0050] The tracking means 5571 performs tracking processing for each observation target.

[0051] The stationary section determination means 5572 determines whether or not the stationary section, which is the period during which the container 200 is stationary, has ended.

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

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

[0054] (Operation) Referring to the flowchart in Figure 7, an algorithm will be described that, in this embodiment, extracts a contour that is close to the original outline of bubbles or foreign objects in the container 200 by rocking the container 200 and controlling the lighting angles of the first lighting unit 400 and the second lighting unit 410 from continuous image data captured by the camera 300 within the control device 550.

[0055] First, an illumination angular velocity control table corresponding to the movement speed of the observed object is created (ST100: table creation step). A lookup table serving as a first example of the illumination angular velocity control table will be described. When the lookup table determines the illumination angular velocity of the angle of the first illumination control unit 405 and the angle of the second illumination control unit 415 corresponding to the movement speed of the observed object, a table associating the movement speed of the observed object with the angle of the first illumination control unit 405 and the angle of the second illumination control unit 415 is created. Next, a calculation formula serving as a second example of the illumination angular velocity control table will be described. The second example has a preset illumination angular velocity calculation formula, which is a calculation formula for determining the illumination angular velocity according to the movement speed of the observed object. This calculation formula indicates the proportional relationship between the movement speed of the observed object and the illumination angular velocity according to a preset weighting coefficient, etc.

[0056] Thereafter, the container 200 is gripped by the inspection device 110 (ST101: container gripping step), and the camera 300 starts capturing images. Fig. 8 shows an example of the operation of the static rocking 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 completed, 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 the angle θ with amplitudes of predetermined angles a and b. Note that the angular velocity of this reciprocating motion is controlled by controlling the period T.

[0058] Next, the control device 550 extracts contours of bubbles and foreign objects in the container 200 that approximate their original outlines from the continuous image data captured by the camera 300 (ST104: image processing step). In ST104, the process steps ST104-1 to ST104-4 are performed. First, the tracking means 5571 performs a binarization process, for example, on the captured continuous image data as a tracking process for each submerged observation object, and extracts the XY coordinates of each submerged observation object. Furthermore, the tracking means 5571 performs a tracking process for each submerged observation object by calculating the difference between frames (ST104-1: tracking processing step). By performing these processes, the tracking means 5571 distinguishes between observation objects that move and those that remain stationary over a certain period of time and outputs the results. In ST104, the movement speed of each observed object obtained by these tracking processes is used to perform illumination angle control and contour extraction, thereby extracting a contour that is close to the original outer shape of the observed object according to the amount of movement of the observed object.

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

[0060] After the stationary section ends, the number-of-times determination means 5573 determines whether the number of shakings is less than the preset number of times (ST104-3: number-of-times determination step). If the number-of-times determination means 5573 determines that the number of shakings is less than the preset number of times (ST104-3: YES), the process returns to ST102. If the number-of-times determination means 5573 determines that the number of shakings is not less than the preset number of times (the number of shakings is equal to or greater than the preset number of times) (ST104-2: NO), the process proceeds to ST104-4. That is, if the number of shakings is equal to or greater than the preset number at the current angles of the first and second axes, the shaking ends, and image processing begins in the contour extraction block. If the number of shakings is less than the preset number of times, the container 200 is rotated again or until the preset number of shakings is completed.

[0061] After the oscillation is completed, the contour extraction means 5574 extracts the contour of the outer shape of the observed object from the continuous image data captured by the camera 300 in the control device 550 (ST104-4: contour extraction step). Figure 9 illustrates the contour extraction block algorithm for the case where an observed object containing a foreign object, air bubbles, or the like continues to float at the same XY coordinates in the continuous image data. The reflected light from the observed object moves continuously along the outer shape of the observed 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, pixel values ​​around the observed object in the continuous image data are integrated to extract the contour from the movement of the reflected light. This method is expected to be effective for highly viscous liquids, light foreign objects, and small bubbles or foreign objects.

[0062] Figure 10 illustrates the algorithm of the contour extraction block when the XY coordinates of an observation object such as a foreign object or bubble are continuously updated due to movement such as sedimentation within continuous image data. The angle of the first illumination control unit 405 and the second illumination control unit 415 is continuously controlled for the reflected light from the observation object before the object stops moving, so the image with the clearest reflection during the movement is selected and extracted. This method is expected to be effective for heavy foreign objects, large bubbles, and foreign objects.

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

[0064] (Operations and Effects) Next, operations 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 emitted by the first illumination unit 400 and the second illumination unit 410 onto the container 200 in accordance with the moving speed of the object to be observed, and simultaneously capture images of the changing locations where the light is reflected on the surface of the same object to be observed, such as a foreign object or air bubble, so that the contour of the object to be observed can be clearly extracted by integrating or tracking the images. Therefore, the inspection device 110 of this embodiment easily detects the outer shape of the object to be observed.

[0066] <Embodiment of Minimum Configuration of Inspection Apparatus> An embodiment of the minimum configuration of the inspection apparatus will be described.

[0067] (Configuration) As shown in FIG. 11 , the inspection device 110 includes 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 the liquid with light from one longitudinal end of the container 200. The first illumination control unit 405 can control the angle of incidence of the light irradiated by the first illumination unit 400 onto the liquid to any angle. The first illumination unit 400 and the first illumination control unit 405 are installed in the same direction as an imaging device that acquires image data showing the appearance of the liquid as seen from the container. The inspection device 110 can continuously control the angle of incidence of the light irradiated by the first illumination unit to any angle, based on the angle at which the brightness inside the container is most uniform.

[0068] (Functions and Effects) In the present embodiment, the inspection device 110 can control the angle of incidence on the container of the light irradiated by the first illumination unit 400. Therefore, the inspection device 110 of the present embodiment can easily detect the outer shape of the object to be observed.

[0069] <Embodiment of Minimum Configuration of Control Device> An embodiment of the minimum configuration of the control device will be described.

[0070] (Configuration) As shown in Fig. 12, the control device 550 includes a first command means 555 and an image processing means 557. The first command means sends a command to the first lighting control unit to continuously control the angle of incidence of light emitted by the first lighting unit onto the liquid, from one longitudinal end of the container filled with liquid, to any angle, based on the angle at which the brightness inside the container is most uniform. The image processing means 557 acquires image data showing the appearance of the liquid. The first lighting unit and the first lighting control unit are installed in the same direction as the imaging device that acquires image data showing the appearance of the liquid as seen from the container.

[0071] (Functions 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 outer shape of the object to be observed.

[0072] <Embodiment of Minimum Configuration of Inspection Method> An embodiment of the minimum configuration of the inspection method will be described.

[0073] 13 , in the inspection method, the angle of incidence of light emitted from a first illumination unit onto the liquid is continuously controlled to any angle by a first illumination control unit, based on the angle at which the brightness inside the container is most uniform from one longitudinal end of the container filled with the liquid (ST201). Also, in the inspection method, image data showing the appearance of the liquid is acquired (ST202). Also, in the inspection method, 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 appearance of the liquid as seen from the container.

[0074] (Functions and Effects) In the inspection method of the present embodiment, the angle of incidence of the light irradiated by the first illumination unit onto the container can be controlled, which makes it easy to detect the outer shape of the object to be observed.

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

[0076] The above-mentioned program may be a program for realizing some of the above-mentioned functions, or may be a so-called differential file (differential program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0077] Although the present invention has been described above with reference to the above-mentioned embodiment, the present invention is not limited to the above-mentioned embodiment. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0078] According to the above-described aspect, it is easy to detect the outer shape of the object to be observed.

[0079] REFERENCE SIGNS LIST 100 Inspection system 110 Inspection device 200 Container 210 Liquid 300 Camera (imaging device) 400 First lighting unit 405 First lighting control unit 410 Second lighting unit 415 Second lighting control unit 500 Grip device 505 First gripping unit 510 Second gripping unit 530 First motor 540 Second motor 550 Control device 551 Arithmetic unit 552 Storage device 553 Communication interface 555 First command means 556 Second command means 557 Image processing means 560 Determination device 5571 Tracking means 5572 Stationary section determination means 5573 Number of times determination means 5574 Contour extraction means AXC Central axis

Claims

1. A gripping device for gripping a container filled with liquid; a first illumination unit that irradiates light onto the liquid from one end side of the container in the longitudinal direction; a first illumination control unit capable of controlling an incident angle of light emitted by the first illumination unit to the liquid to an arbitrary angle; having 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 a state of the liquid as viewed from the container, 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. Inspection equipment.

2. a second illumination unit that irradiates light onto the liquid from the other end side of the container in the longitudinal direction; a second illumination control unit capable of controlling an incident angle of light emitted by the second illumination unit to the liquid to an arbitrary angle; and the second illumination unit and the second illumination control unit are installed in the same direction as the imaging device when viewed from the container, The incident angle of the light irradiated by the second illumination unit can be continuously controlled to any angle based on the angle at which the brightness inside the container is most uniform.

2. The inspection device according to claim 1.

3. The present invention further includes a control device for controlling the first illumination unit and the first illumination control unit so that light is irradiated onto the liquid from a position tilted by an arbitrary value with respect to the reference in a vertical direction perpendicular to a central axis passing through the center of the container.

3. The inspection device according to claim 1 or 2.

4. The first illumination unit irradiates the liquid with light continuously within a range of −20 degrees to +20 degrees with respect to the reference, The imaging device acquires image data showing the state of an observation target in the liquid while being irradiated with light.

3. The inspection device according to claim 1 or 2.

5. The image processing means further includes an image processing unit for discriminating between the observation object moving during a certain period of time and the observation object stationary from the image data and outputting the discrimination result.

5. The inspection apparatus according to claim 4.

6. The inspection device according to claim 5 ; A determination device; Equipped with The image processing means extracts a contour that is close to an original outer shape of the observed object from the image data in accordance with the amount of movement of the observed object, The determination device determines whether or not a foreign object is present based on the extracted contour. Inspection system.

7. a first command means for sending a command to a first lighting control unit so as to continuously control the angle of incidence of light irradiated by a first lighting unit onto the liquid, based on an angle at which the brightness inside the container is most uniform, from one end side of a longitudinal direction of the container filled with the liquid to the liquid, to an arbitrary angle; and an image processing means for acquiring image data showing the appearance of the liquid, The first illumination unit and the first illumination control unit are installed in the same direction as an imaging device that acquires the image data when viewed from the container. Control device.

8. a second command means for commanding the second lighting control unit to continuously control the angle of incidence of the light irradiated by the second lighting unit onto the liquid from the other end side of the longitudinal direction of the container to any angle based on the angle at which the brightness inside the container is most uniform; The second illumination unit and the second illumination control unit are installed in the same direction as the imaging device when viewed from the container. The control device according to claim 7.

9. a first lighting control unit controls an incident angle of light irradiated by a first lighting unit onto the liquid, based on an angle at which brightness in the container is most uniform, from one end side of a longitudinal direction of the container filled with the liquid, to any angle continuously; Acquiring 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 an imaging device that acquires the image data when viewed from the container. Testing method.

10. On the computer, a first lighting control unit continuously controls an incident angle of light irradiated by a first lighting unit onto the liquid to any angle based on an angle at which brightness in the container is most uniform from one end side of a longitudinal direction of the container filled with the liquid; Acquire image data showing the state of the liquid Let it be carried out, The first illumination unit and the first illumination control unit are installed in the same direction as an imaging device that acquires the image data when viewed from the container. program.