JP2007064905A - Method of detecting foreign matter in container, and device therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance a processing capacity per unit time, and to detect a minute foreign matter without spending much time. <P>SOLUTION: A device for detecting a foreign matter in a container is provided, which detects the foreign matter mixed in a container from an image obtained by photographing the container 1 being transparent and enclosing a liquid, by using a photographing means. The device comprises: a plurality of photographing means 37a-37d arranged so as to correspond to regions which are obtained by dividing an extent to be photographed of the container 1 into an arbitrary number of ones in lengthwise and crosswise directions; and an image processing means 60 which executes an image processing of image data obtained by respective photographing means about the divided regions of the container, and detects the foreign matter mixed in the container. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an in-container foreign matter detection method and apparatus for detecting foreign matter mixed in a container from an image of a transparent container filled with a liquid obtained by an imaging means.

  Foreign matter is rarely mixed in containers that are sealed with drinking water, etc., but when looking at foreign matters mixed in the container, the main thing is the debris of the container material at the stage of molding and manufacturing the container. It is a part or part fragment of a device that fills the liquid of the contents. Since foreign matter may cause adverse effects on the human body, it is necessary to reliably find and remove the foreign matter regardless of the mixing frequency.

  The conventional 100% inspection of foreign object detection relies on human visual inspection. However, there is a possibility that foreign object detection may be overlooked, and automation of the inspection is required. In view of this, various devices have been proposed for irradiating a transparent container with a change in container thickness with illumination light, and detecting foreign matter mixed in the container by image processing from the image of the container obtained by the imaging means. ing.

  As a conventional technique for detecting foreign matter inside a container that is sequentially transported on a transport path using an imaging means, there is one described in Patent Document 1 below.

JP 2004-28930 A

  When video (image) processing is performed in the foreign matter detection control unit using a CCD (charge coupled device) camera as an imaging means, a series of operation times related to video information are (1) exposure time for accumulating charges in each pixel of the CCD. t1, (2) Read time t2, (3) Camera in which the camera controller reads the charge magnitude and position data as image data from each pixel of the CCD and temporarily stores them in the built-in memory until they are transferred to the image processing device Data transfer time t3 for storing the image data temporarily stored in the built-in memory of the controller in the storage area of the image processing apparatus or the like. (4) The image processing apparatus uses the image data in the storage area for image processing. The four items of image processing time t4 for performing various operations occupy most of the time. Usually, the above (1) and (2) are combined to capture the exposure time and the exposure time. It is called imaging to be read.

  When image processing is performed for one container, a total time T obtained by adding the exposure time t1, the reading time t2, the data transfer time t3, and the image processing time t4 is necessary. In the meantime, the image processing of the next transported container is limited.

  That is, during exposure to the CCD camera, charges are accumulated in the device according to the light intensity, and during this time, the current light quantity data is captured, and the next exposure can be made to avoid data confusion. In addition, reading cannot be performed until the exposure is completed.

  When the exposure is completed, it becomes a reading time for sequentially taking out the charge amount of each element. During the readout time, the next video cannot be exposed to avoid data confusion. That is, during the exposure time of the CCD camera, the next image cannot be exposed or the previous image cannot be read.

  For this reason, if the containers next to each other are in contact with each other or transported in a state where the distance between the containers is small, there is a possibility that the next video will be exposed before the processing of the previous video is completed. In order to ensure execution, it is necessary to reduce the number of treatments per unit time by installing a device such as a timing screw to provide a means for securing a certain amount of container spacing or reducing the container transport speed. .

  This problem appears more prominently as the amount of data increases as a CCD camera with a larger number of pixels is used to detect smaller foreign matter mixed in the container, and the number of processes per unit time must be reduced. In other words, the processing capacity for detecting foreign matter is reduced.

  Therefore, an object of the present invention is to provide a container foreign matter detection method and apparatus having a high processing capacity per unit time.

  It is another object of the present invention to provide a container foreign matter detection method and apparatus capable of detecting even a small foreign matter without taking time.

  A feature of the container foreign matter detection method of the present invention that achieves the above object is that the container foreign matter detection method detects foreign matter mixed in the container from the image of the transparent container filled with the liquid obtained by the imaging means. The image pickup range of the container is divided into an arbitrary number in each of the vertical and horizontal directions, and image pickup means corresponding to the division number is installed, and image processing is performed on the image data of each divided region of the container obtained by each image pickup means The object is to perform image processing by means to detect foreign matter mixed in the container.

  Further, the foreign object detection device in the container that achieves the above object is characterized in that the foreign object in the container that detects the foreign material mixed in the container from the image of the transparent container filled with the liquid obtained by the imaging means. In the detection device, a plurality of imaging means are installed so as to correspond to each area obtained by dividing the imaging range of the container in an arbitrary number in the vertical and horizontal directions, and the image data of each divided area of the container obtained by each imaging means The image processing means for detecting the foreign matter mixed in the container after processing is provided.

  According to the present invention, it is possible to process exposure and reading partially in parallel in each image pickup means, so that the processing time can be reduced as a whole, and the processing capability is enhanced.

  Also, even if the number of pixels per container increases, it is possible to detect small foreign matters without increasing the processing time as a whole by processing exposure and reading partially in parallel in each imaging means. Can do.

  Hereinafter, embodiments shown in the drawings will be described. In addition, the same code | symbol is attached | subjected to the same thing and equivalent in each figure, and the overlapping description is abbreviate | omitted.

  In FIGS. 1 and 2 showing the first embodiment, 10 is a container alignment unit, 11 is an inlet transfer conveyor, 12 is a transfer stop plate, and 13 is a container alignment grip conveyor.

  The transparent PET container 1 is sequentially and continuously conveyed from the right side to the left side in the drawings on the entrance conveyance conveyor 11 in which the part on which the container 1 is mounted is made of resin or rubber. The container 1 is already filled with a liquid which is mainly a medicine or a beverage, and is further sealed with a container lid 2.

  The container 1 and the contents (liquid filled and sealed in the container) are not limited to colorless and transparent ones, and even if they are colored and transparent or opaque in general ambient light, the degree of light transmission Accordingly, it can be set as a target for foreign object detection.

  Normally, foreign matter detection is performed after sealing with the container lid 2, and in the step of detecting foreign matter, there is no printed matter that becomes an optical obstacle on the outer surface of the container 1. In many cases, a printed matter or the like is attached only to the container 1 determined to be.

  As shown in FIG. 3, the foreign matter mixed in the container 1 is divided into a precipitated foreign matter 3a that settles at the bottom of the container, a floating foreign matter 3b that floats in the liquid, and a floating foreign matter 3c that floats on the liquid surface. Less than precipitated foreign matter 3a and floating foreign matter 3b. In many cases, the precipitated foreign matter 3a is smaller than the floating foreign matter 3b and the floating foreign matter 3c.

  3A is a longitudinal sectional view of the container 1, FIG. 3B is a bottom view of the container 1 viewed from the bottom side, and FIG. 3C is an enlarged view of the bottom of the container 1 on which foreign matter has settled. It is a partial longitudinal cross-sectional view shown.

  Returning to FIGS. 1 and 2, the container 1 moving on the entrance transport conveyor 11 is transported while being sandwiched from both sides by the gripper 14 of the container alignment grip conveyor 13 in the container alignment unit 10. In the container alignment grip conveyor 13 that is divided into the left and right sides (in FIG. 1, both the upper and lower sides in the figure), the motors installed in the container alignment grip conveyors 13 are rotationally driven by an inverter.

  As shown in FIG. 4 (a), the gripper 14 is made of rubber and has a hollow kamaboko shape. Only by managing the gaps on both sides facing each other, the difference in the shape of the container, such as a round shape or a square shape, It can be inserted with or without undulations.

  Depending on the type of container to be handled, even a container having a large side undulation or a container that is not line-symmetric can be accommodated up to a certain range by deformation of the gripper 14 because the inside is hollow. Further, for such a container, a saw-toothed gripper 15 made of sponge as shown in FIG. 4B may be used.

  1 and 2, the container alignment grip conveyor 13 on both the left and right sides for sandwiching the container 1 has a structure that can be slid on a straight line with a single ball screw having a right screw and a left screw. . A rotation handle is attached to one end of the ball screw, the rotation of the rotation handle in the forward rotation direction reduces the gap between the container alignment grip conveyors 13 on the left and right sides, and the rotation of the rotation handle in the reverse rotation direction increases the gap. Corresponding to different container types can be performed very simply. If the conveyance guides are also fixed before and after the container alignment grip conveyor 13 on both the left and right sides, the guide interval of the inlet conveyance conveyor 11 is changed simultaneously with the change of the gap of the container alignment grip conveyor 13, and the setup change is further simplified. it can.

Further, when it is desired to stop the conveyance of the container 1 into the foreign object detection device due to the convenience of conveyance of the entire production line, a conveyance stop plate 12 provided on the side of the inlet conveyance conveyor 11 is provided on the inlet conveyance conveyor 11. The container 1 is forcibly stopped by inserting the container 1 across the container.
Next, the function of the container alignment unit 10 will be described with reference to FIG.

  The speed V2 of the container alignment grip conveyor 13 is smaller than the speed V1 of the entrance transport conveyor 11.

  If the container 1 is conveyed at the speed V1 of the inlet conveyor 11 in the state in which the conveyance stop plate 12 is retracted, the container 1 is sandwiched by the container alignment grip conveyor 13 and decelerated to the speed V2 to move. Since the speed is different from that of the conveyor 11, the container 1 is conveyed while the bottom surface slides with respect to the inlet conveyor 11. When the container 1 is released from the container alignment grip conveyor 13 at the downstream end of the container alignment grip conveyor 13, the speed is increased again to the speed V1 of the inlet transport conveyor 11.

  The container 1 that was at various intervals up to the position where it enters the container alignment grip conveyor 13 is temporarily clogged in the section sandwiched between the container alignment grip conveyor 13, and the container interval decreases to P1. Next, when the container alignment grip conveyor 13 is released, the desired interval P2, which is the final interval, is reached.

  Therefore, the container interval P2 can be adjusted by the relative speed difference between the speed V1 and the speed V2, and the container interval P2 can be increased as the speed V2 is smaller than the speed V1.

  The container 1 in which the container interval P <b> 2 is secured in the container aligning unit 10 reaches the floating foreign substance inspection unit 20 on the inlet transport conveyor 11. An illumination light source 21 (see FIG. 2) is installed at a location corresponding to the floating foreign matter inspection unit 20 of the apparatus base F.

  In FIG. 5 showing the configuration of the floating foreign matter inspection unit 20, the light from the illumination light source 21 having a halogen lamp is irradiated to the side of the container 1 from the illumination light irradiation means 23 via the light guide 22. As the illumination light source 21, a fluorescent lamp, LED, EL, incandescent lamp, metal halide lamp, infrared lamp, ultraviolet lamp, and other surface-emitting illumination devices can be used in addition to the halogen lamp.

  The inside of the light guide 22 is in a state where several hundred optical fibers are bundled, and the optical fibers are divided by the illumination light irradiating means 23, and the tips of the optical fibers are linearly arranged and fixed. Since the light has a constant spread angle at the tip of the optical fiber, the transmission light 24 becomes rectangular transmission light that gradually spreads from a straight line as the distance to the illumination light irradiation means 23 increases.

  On the side opposite to the container 1, a plurality of imaging cameras (imaging means) 25 composed of a CCD for imaging the container 1 are arranged. In FIG. 5, two units are arranged.

  The container detection sensor 26 detects that the container 1 has arrived at the floating foreign object detection unit 20, and based on the detection result, the foreign object detection control device 60 in FIG. 7 performs imaging as a new image, control of data transfer, image processing, and the like. To do. As the container detection sensor 26, in addition to the illustrated reflected light type, a light transmission type or ultrasonic type may be used.

  The imaging camera 25 calculates the size of a foreign object to be recognized from the width of the field of view, and determines the number of installations in consideration of the resolution of the camera. That is, the aspect ratio of the image element in the camera is about vertical: horizontal = 3: 4, the container 1 is vertically long and has a large aspect ratio, and the entire image of the container 1 can be captured with high definition in the field of view of one imaging camera. Can not. Therefore, in the floating foreign matter detection unit of FIG. 5, two imaging cameras are installed so that the upper half and the lower half of the container 1 are divided and imaged.

  In this case, the image of the container 1 in which the upper half and the lower half are separately imaged is subjected to composition processing by the foreign object detection control device 60 (see FIG. 7) after imaging as described later, and a boundary line is discriminated to form one image. It is said.

  The imaging camera 25 uses a CCD camera with a small number of pixels because the floating foreign matter in the container 1 is often larger than the precipitated foreign matter and is easy to pick up images.

  In FIG. 2, the container 1 reaches the tip of the grip conveyor 31 of the precipitated foreign matter inspection unit 30 after passing through the floating foreign matter inspection unit 20. The container 1 is transported while being sandwiched between grippers 32 attached to the precipitated foreign matter inspection unit grip conveyor 31 in a state where the container interval P2 is secured.

  The structure of the settled foreign matter inspection unit grip conveyor 31 is the same as that of the container alignment grip conveyor 13, and can be transported while sandwiching both side surfaces of the container 1. The left and right clearances are similarly adjusted with a rotating handle attached to a common ball screw.

There is no conveyor corresponding to the inlet transport conveyor 11 in the container alignment unit 10 in the region where the precipitated foreign matter inspection unit grip conveyor 31 sandwiches both side surfaces of the container 1, and the bottom of the container 1 is in an open state.
The structure of the precipitated foreign matter inspection unit 30 is shown in FIG.

  The gripper 32 is made of the sponge shown in FIG. 4B and has a sawtooth shape. In the precipitated foreign matter detection unit 30 in FIG. 6, one illumination light irradiation means 33 is installed in the conveyance direction of the container 1.

  A gripper 32 is provided on a side surface of the container 1, and light from an illumination light source 34 (see FIG. 2) having a halogen lamp installed on the apparatus base F is transmitted from the illumination light irradiation means 33 through the light guide 35 to the container 1. Is irradiated from above. What is necessary is just to use the same thing as the case of the floating foreign material inspection part 10 as the illumination light source 34. FIG.

  The tip of the optical fiber in the light guide 35 is fixed in a ring shape directly above the container 1 with the illumination light irradiation means 33 facing directly below. As in the case of floating foreign substance inspection, light has a certain spread angle at the tip of the optical fiber. For this reason, as the distance from the illumination light irradiation means 33 increases, in the case of the precipitated foreign matter inspection, the transmitted illumination light 36 gradually changes from a ring shape to a circular shape. At this time, since the tip of the optical fiber is arranged in a ring shape in the illumination light irradiation means 33, the shadow of the container lid 2, which may be an opaque material, is not projected on the bottom side of the container 1. It will not be an obstacle. In order to further avoid the influence of the shadow of the container lid 2 being projected on the bottom side of the container 1, the ring-shaped arrangement diameter in the illumination light irradiation means 33 is preferably made larger than that of the container lid 2.

  Below the settled foreign matter inspection section grip conveyor 31, the imaging cameras 37a, 37b, 37c, and 37d made of a CCD that images the bottom of the container 1 are arranged in one place for imaging. 6 is an example in which the entire bottom portion of the container 1 is imaged as four parts vertically and horizontally by four imaging cameras 37a to 37d. Each of the imaging cameras 37a to 37d captures the illumination light 36 emitted from the illumination light irradiation means 33 and transmitted through the container 1 from above.

  The imaging of the container 1 by the four imaging cameras 37a to 37d is different from the imaging of the container 1 by the two imaging cameras 25 in the form of camera division. As described above, in the case of the two imaging cameras 25, since the aspect ratio of the side surface of the container 1 is large, the two imaging cameras 25 are used. However, in the case of the four imaging cameras 37a to 37d, the shape of the bottom of the container is used. Is circular and has an aspect ratio of 1: 1, which is close to the aspect ratio (3: 4 = 0.75: 1) of the image element, so that the bottom of the container 1 can be imaged with one camera. Although it is possible to obtain high-definition images and to speed up image processing using a camera with a small number of pixels, the imaging shape captured by the imaging cameras 37a to 37d captures the entire bottom image of the container 1. It has a field of view that is similar to the shape of the field of view. For this reason, the field of view for capturing the entire image of the bottom of the container 1 is divided into two equal parts in the vertical and horizontal directions to form four regions, and each region is imaged by the imaging cameras 37a to 37d.

  Since it is often required to detect even a small amount of precipitated foreign matter, each of the imaging cameras 37a to 37d has a higher number of pixels (four times or more) than the imaging camera 25 for detecting floating foreign matters. Yes.

  The container 1 sequentially passes above the imaging cameras 37a to 37d. The container detection sensor 38 detects that the container 1 has passed over the imaging cameras 37a to 37d or has arrived on the imaging cameras 37a to 37d.

  The floating foreign substance inspection unit 10, the precipitating foreign substance inspection unit 20 and the periphery thereof are surrounded by a light shielding cover (not shown) to block light from the surroundings which is an optical disturbance to the container 1 and the imaging cameras 25 and 37a to 37d, and is stable. It is possible to detect the foreign matter.

  Here, the foreign object detection control device (image processing means described in the above claims) 60 will be described with reference to FIG.

  The detection results of the container detection sensors 26 and 38 in the floating foreign matter inspection unit 10 and the sedimentary foreign matter inspection unit 20 are grasped by the main computing unit 62 via the I / O interface 61, and are detected by the shutter signal control unit 63 and the camera controller 64. This is reflected in the shutter signals of the imaging cameras 25 and 37a to 37d.

  Based on the shutter signal, the imaging camera 25, 37 a to 37 d captures an image of the container 1, temporarily stores it in the image data storage unit 66 that performs image processing from the camera controller 64 via the camera interface 65, and Image processing for extracting foreign matter is performed on the image processing program.

  The camera controller 64 includes a plurality of AD conversion circuits corresponding to the imaging cameras 25 and 37a to 37d and a memory circuit that writes and reads data to and from the memory.

  In addition to the image processing program, the main computing unit 62 includes an imaging processing program for obtaining image data obtained by the imaging cameras 25 and 37a to 37d in accordance with the container detection results from the container detection sensors 26 and 38. The image processing program is based on a known technique, and the imaging processing program is based on sequence control as will be described below, so detailed description of both programs will be omitted.

  The captured image and the video that has already been processed are displayed on the image monitor 67. The start, stop, error, etc. of the apparatus are managed by the operation switch 68 and the display lamp 69, and the operation status management of the entire apparatus including the management and image processing of the video is performed by the main arithmetic unit 62 and the main storage unit 70. I'm in charge. The operating status of the entire apparatus is displayed on the monitor 71.

  FIG. 8 shows an example of an image (image) of the container 1 containing floating foreign substances inside, and FIG. 8A shows two images before image processing by the image processing program of the main computing unit 62 shown in FIG. FIG. 8B shows binary images M21 and M22 composed of white and black after image processing is performed by the image processing program of the main computing unit 62. is there.

  In FIG. 8, the boundaries between the gray images M <b> 11 and M <b> 12 and the binary images M <b> 21 and M <b> 22 are indicated by a one-dot chain line, but the one-dot chain line is not displayed on the image monitor 67.

  In the grayscale images M11 and M12 of the floating foreign matter, dark portions are generated due to the influence of the container undulations on the side wall portion of the container 1 as vertical and horizontal lines within the container range. By performing image processing with the undulation pattern in the dark part as much as possible with illumination light, the outline of the container 1 and its peripheral part are divided into black and white like the binary images M21 and M22 in FIG. Search for the presence or absence of black objects in the area.

  The black object is an image of the floating foreign matter 3b. In the binary images M21 and M22, the inspection result is shown as a defective container if the foreign object image R1 is present, and as a non-defective container if not, the main storage unit 70 shown in FIG. Manage with.

  FIG. 9 shows an example of an image obtained by imaging the containers containing the precipitated foreign matter 3a with the imaging cameras 37a to 37d. 8A shows grayscale images N11 to N14 before image processing by the image processing program of the main computing unit 62 shown in FIG. 7, and FIG. 8B shows images by the image processing program of the main computing unit 62. It is the binary images N21-N24 which consist of white and black after processing. In FIG. 9, the alternate long and short dash line is a boundary between the gray images N11 to N14 and the binary images N21 to N24, but is not displayed on the image monitor 67.

  Also in the case of the precipitated foreign matter, dark portions are generated in the grayscale images N11 to N14 of the precipitated foreign matter 3a due to the influence of the container undulations at the bottom of the container 1 as radial lines within the container range. By removing the undulating pattern in the dark portion with the illumination light and performing image processing, the outline of the container and its peripheral part are divided into black and white as shown in the binary images N21 to N24 in FIG. Search for the presence of an object.

  The black object is the foreign object image R2. In the binary images N21 to N24, the inspection result is shown in FIG. 7 together with the floating foreign object as a defective container if the foreign object image R2 is present and as a non-defective container if not. Managed by the storage unit 70.

  Returning to FIG. 1, when the floating and sediment foreign body detection inspection is completed, the container evacuation unit 80 sorts according to the inspection result managed by the main storage unit 70 shown in FIG. 7.

  If it is a defective container, it will be discharged | emitted from a normal manufacturing line by pushing out the container 1 to the container discharge conveyor 83 side by the container extrusion unit 82 from the side of the exit conveyance conveyor 81. FIG. Instead of the container push-out unit 82, a means for adding a defect identification mark as a mark to a conspicuous position of the container 1 may be provided so that the container 1 can be discharged in a subsequent process.

  Next, an imaging processing program provided in the main computing unit 62 will be described.

  Regarding the imaging processing program in the main computing unit 62, processing time when foreign matter detection is performed with one imaging camera for one container, and foreign matter detection is performed with four imaging cameras with one quarter of the number of pixels per container. This will be described while comparing the processing times. In both cases, since the amount of data per container is the same, the size of the foreign matter that can be recognized does not change.

  As shown in FIG. 10, as a series of processing time for obtaining image data of one container with one imaging camera, first, an exposure time t1 for accumulating charges in the imaging camera is first taken. Secondly, it takes a read time t2 to read and temporarily store image data (charge magnitude and position data) from each element.

  Next, a data transfer time t3 for storing the image data in the image data storage unit 66 is required, and finally an image processing time t4 for performing various calculations using the image data in the storage area is required.

  Since it cannot be executed simultaneously at each time, the total time T0 of the above four items becomes the total time T0 necessary for processing the image of one container.

  In the case of the single imaging camera of FIG. 10, the exposure time t1 to the image processing time t4 are all repeated until the next process starts as soon as the previous process ends. That is, the video processing of the second container starts after the waiting time δ1 has elapsed after all the video processing of the first container has been completed.

Therefore, the processing time T1 per container is
T1 = (T0 + δ1)
= (T1 + t2 + t3 + t4 + δ1) (1)
It will take time. The necessity of this waiting time δ1 will be described later.

  In the case of using four imaging cameras according to the present invention, when four imaging cameras are connected to one foreign object detection control device 60, and when each of the four imaging cameras is connected to an individual foreign object detection control device 60, The following two methods can be taken.

  The main computing unit 62 of the foreign object detection control device 60 is provided with a computation processing unit corresponding to the image data of each of the imaging cameras 37a to 37d, and simultaneously performs image processing on the image data of each of the imaging cameras 37a to 37d. It was supposed to be possible.

  The processing time in the former is shown in FIG. 11, and the processing time in the latter is shown in FIG.

  In FIGS. 11 and 12, it is assumed that one container is transported on the transport conveyor at the same speed as compared with the example of FIG.

  In the example of FIG. 11, although the storage area of the foreign object detection control device 60 is common, a camera controller is provided for each imaging camera, so that exposure and reading by each of the imaging cameras 37a to 37d can be executed simultaneously. The exposure time and readout time of each imaging camera 37a to 37d are displayed as t1a to t1d and t2a to t2d, respectively.

  Since the subsequent image data storage unit 66 is used in common, the image data transfer time t3a at the imaging camera 37a, the image data transfer time t3b at the imaging camera 37b, the image data transfer time t3c at the imaging camera 37c, and the image from the imaging camera 37d Data transfer time t3d is required individually.

  Further, the image processing of the image data can be performed simultaneously for each image data in the main computing unit of the foreign object detection control device 60, and each of them is indicated by image processing times t4a to t4d.

As processing time T2 per container, exposure times t1a to t1d, readout times t2a to t2d, and image processing times t4a to t4d in the respective imaging cameras 37a to 37d are equal to each other at times t1a, t2a, and t4a. As shown
T2 = t1a + t2a + t3a + t3b + t3c + t3d + t4a + δ2 (2)
It will take a long time.

Since each imaging camera 37a to 37d has a ¼ pixel number in the example of FIG.
t1a = (t1) / 4
t2a = (t2) / 4
t3a + t3b + t3c + t3d = t3
t4a = (t4) / 4 (3)
And can
T2 = (t1) / 4 + (t2) / 4 + t3 + (t4) / 4 + δ2 (4)
It becomes.

If the processing time T1 is equal to the processing time T2, the margin time δ2 is
δ2 = (3/4) × (t1 + t2 + t4) (5)
Can only have long.

  In the example of FIG. 12, four imaging cameras are connected to the individual foreign object detection control devices 60, so that the image data obtained by the imaging cameras 37 a to 37 d is transferred by the camera controller 64 in each foreign object detection control device 60. The image data storage unit 66 is executed simultaneously.

  Similarly to the example of FIG. 11, the exposure for imaging can be performed simultaneously by the imaging cameras 37a to 37d. Since the camera controller 64 includes a plurality of AD conversion circuits and memory circuits, reading can be performed simultaneously. After that, since the foreign object detection control device is connected to each imaging camera, image processing of image data can be performed simultaneously.

  Assuming that each imaging camera has a ¼ pixel number in the example of FIG. 10, each time from exposure to image processing can be displayed as follows.

t1a = t1b = t1c = t1d = (t1) / 4
t2a = t2b = t2c = t2d = (t2) / 4
t3a = t3b = t3c = t3d = (t3) / 4
t4a = t4b = t4c = t4d = (t4) / 4 (6)
Then, as processing time T3 per container,
T3 = t1a + t2a + t3a + t4a + δ3
= ((T1 + t2 + t3 + t4) / 4) + δ3 (7)
It will take a long time.

Therefore, assuming that the processing time T1 and the processing time T3 are equal, in this case, the margin time δ3 is less than the processing time T1 in FIG.
δ3 = (3/4) × (t1 + t2 + t3 + t4) (8)
Can only have a lot.

  In both the examples of FIGS. 11 and 12, long margin times δ2 and δ3 can be obtained by using four imaging cameras.

  Although the container 1 is transported at the same speed, the interval varies from several millimeters to several tens of millimeters. If a variation occurs in a state where there is no allowance time, a timing at which the subsequent container should be imaged during image processing of the preceding container occurs, normal imaging cannot be performed, and the corresponding container passes without being inspected. That is, no inspection is a serious situation.

  In order to avoid this problem, as shown in FIG. 10, a waiting time δ1 until the next imaging is required between the processing time T0 of the preceding container and the processing time T0 of the succeeding container, resulting in a dead time. .

  On the other hand, the margin times δ2 and δ3 obtained in the present invention absorb variations in container spacing if the conveyance speed is the same, and inspection is possible even when adjacent containers are in contact with each other if there is a sufficient margin time. become able to. In other words, the alignment mechanism for creating the container interval can be simplified or roughly controlled, and the inspection can be performed in a state where the restriction on the container interval is relaxed. This greatly improves the reliability of the inspection apparatus system. If the margin time is set short, the number of lines that can be processed within a unit time increases. In addition, since more image data can be transferred and taken in and time for image processing can be taken, it is possible to detect a smaller foreign object using an imaging camera having a larger number of pixels.

  11 and 12, the number of imaging cameras is four. However, more imaging cameras are installed, and, for example, nine imaging cameras 37 are imaged in one place as in the example of FIG. The imaging cameras 37 are arranged side by side, and each imaging camera 37 images each area (9 areas) obtained by dividing the imaging range of the container 1 into three in the vertical and horizontal directions with a visual field similar to the shape of the visual field capturing the entire image of the container 1. It is.

  The processing time per container is shortened by the number of installed imaging cameras, and the margin time can be increased.

  Next, a second embodiment as another example for shortening the processing time will be described with reference to FIG.

  In this embodiment, four imaging cameras 37a to 37d and light guides 35 corresponding to the imaging cameras 37a to 37d, illumination light irradiation means 33, container detection sensor 38, etc. The imaging cameras 37a to 37d are installed in the transport direction, and sequentially capture each region similar to the whole image when the whole image of the bottom of one container 1 is divided into four vertically and horizontally.

  Therefore, each imaging camera 37a to 37d executes imaging according to the container detection by the container detection sensor 38 when one container 1 moves to a position where each imaging camera 37a to 37d is installed, When imaging with the fourth imaging camera is completed, all imaging for one container 1 is completed, and the grayscale images N11 to N14 shown in FIG. 9A are obtained by the imaging cameras 37a to 37d. It will be.

  In the first embodiment shown in FIGS. 1 and 2, since only one set of light guide, illumination light irradiation means, illumination light, and the like is installed for a plurality of imaging cameras, adjustment of illumination for each imaging camera is performed. Is difficult. In this embodiment, adjustment is easy because a light guide, illumination light irradiation means, and the like are installed for each imaging camera.

  In addition, as each container 1 moves onto each imaging camera 37a to 37d, each imaging camera 37a to 37d simultaneously images each of the divided areas of the four containers 1, thereby the case of the first embodiment. Similarly, the exposure time t1 and the reading time t2 can be reduced, and the foreign substance detection control device can be individually installed for each camera, so that the data transfer time t3 and the image processing time t4 can be reduced.

  The reduced time can be used as a margin time to flexibly cope with variations in container intervals, and the reliability of the inspection apparatus system can be improved.

  The margin time generated in proportion to the number of imaging cameras installed may be shorter than the actual time depending on the conveyance state determined by the alignment mechanism that creates the container interval. The processing time can be reduced by shortening the margin time, and the processing speed of the production line can be improved by shortening the inspection time.

It is a schematic top view which shows the foreign material detection apparatus in a container provided with the four imaging cameras which are one Embodiment of this invention. It is a schematic front view of the foreign substance detection apparatus in a container shown in FIG. It is a figure which shows the presence state of the foreign material in a container. It is a figure which shows the gripper in the container alignment part of the foreign material detection apparatus in a container shown in FIG. It is a figure which shows the floating foreign material inspection part of the foreign material detection apparatus in a container shown in FIG. It is a figure which shows the deposit foreign material inspection part of the foreign material detection apparatus in a container shown in FIG. It is a figure which shows the foreign material detection control apparatus of the foreign material detection apparatus in a container shown in FIG. It is a figure which shows the image after the imaging and image processing which were obtained in the floating foreign material inspection part shown in FIG. It is a figure which shows the image after the imaging and image processing which were obtained in the precipitation foreign material inspection part shown in FIG. It is a figure explaining the timing which images one container with one imaging camera. It is a figure explaining the time passage of the example of imaging one container with four imaging cameras by the foreign substance detection control apparatus shown in FIG. It is a figure explaining the time passage of the example which images one container with four imaging cameras by the modification of the foreign material detection control apparatus shown in FIG. It is the schematic which shows the precipitation foreign material inspection part which becomes another embodiment of this invention provided with nine imaging cameras. It is the schematic which shows the precipitation foreign material inspection part which becomes another embodiment of this invention provided with four imaging cameras.

Explanation of symbols

1 ... Container
30 ... Precipitation foreign matter inspection section
31 ... Precipitated foreign matter inspection section grip conveyor
32 ... Gripper
33. Illumination light irradiation means
35 ... Light guide
36: Transmitted illumination light
37a to 37d ... Imaging camera
38 ... Container detection sensor

Claims (9)

In the container foreign matter detection method for detecting foreign matter mixed in the container from the image of the transparent container filled with the liquid obtained by the imaging means,
The imaging range of the container is divided into an arbitrary number in each of the vertical and horizontal directions, and imaging means corresponding to the number of divisions is installed, and image processing means for the image data of each divided area of the container obtained by each imaging means A foreign matter detection method in a container, wherein image processing is performed to detect foreign matter mixed in the container.   In the container foreign matter detection method according to claim 1, each imaging unit includes each region obtained by dividing the imaging range of the container into an arbitrary number in the vertical and horizontal directions with a visual field similar to the shape of the visual field capturing the entire image of the container. An in-container foreign object detection method characterized in that imaging is performed.   3. The foreign matter detection method in a container according to claim 2, wherein each of the image pickup means is installed side by side at a place where the container is picked up, and the image pickup means performs image pickup simultaneously.   In the container foreign matter detection method according to claim 2, each imaging unit is individually installed in a direction in which the container is transported, and imaging is performed when the container moves to a position where each imaging unit is installed. A method for detecting foreign matter in a container.   In the container foreign matter detection method according to claim 2, exposure and reading are simultaneously performed on image data in each imaging unit, and then image processing on the image data in each imaging unit is simultaneously performed in the image processing unit. A method for detecting foreign matter in a container.   7. The foreign matter detection method in a container according to claim 6, wherein the image data in each imaging means is simultaneously transferred to the image processing means. In the container foreign matter detection device for detecting foreign matter mixed in the container from the image of the transparent container filled with the liquid obtained by the imaging means,
A plurality of imaging means are installed so as to correspond to each area obtained by dividing the imaging range of the container in any number in the vertical and horizontal directions, and image processing is performed on the image data of each divided area of the container obtained by each imaging means. An in-container foreign matter detection apparatus comprising an image processing means for detecting foreign matter mixed in a container.   8. The container foreign matter detection device according to claim 7, wherein a common image processing means is installed for each imaging means. 8. The foreign substance detection apparatus in a container according to claim 7, wherein the image processing means is individually installed corresponding to each imaging means.

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