JP5876697B2 - Nozzle device - Google Patents

Description

  The present invention relates to a nozzle device, and more particularly to a technique for imaging a nozzle and evaluating a nozzle state from a captured image.

  A nozzle device is a device that performs suction and discharge of liquid using a nozzle. A dispensing device, which is a type of nozzle device, dispenses samples (specimens) such as serum and urine. In this case, for example, a nozzle including a metal nozzle base and a nozzle chip (disposable chip) made of a transparent resin attached to the metal nozzle base is used. It is conceivable to perform imaging of the nozzle in order to evaluate the situation inside the nozzle after suction (or after discharge). In that case, a backlight is installed on the opposite side of the imaging device via the nozzle, and a silhouette image of the nozzle is acquired by the imaging device.

  There are two methods for providing the backlight. The first method is a method in which a large area type flat panel backlight is used as it is as a background. In this case, when paying attention to the left and right edge parts (thickness equivalent parts as viewed in cross section) of the nozzle, in general, in the air part above the liquid surface, dark parts (dark streaks or shades extending vertically) are present in the edge part. However, such a shadow does not occur in the liquid portion below the liquid level (although this condition is generally observed, such a tendency is recognized). Therefore, it becomes possible to distinguish the air portion and the liquid portion using this phenomenon. For example, when the luminance distribution in the orthogonal direction is observed at each position in the nozzle axis direction, the liquid level can be specified by utilizing the difference between the luminance distribution in the air portion and the luminance distribution in the liquid portion. However, when a large-area type backlight is used, the entire back surface of the nozzle shines (because reflection and scattering are complicated in each part of the nozzle), which is disadvantageous in terms of contrast, and the luminance distribution of the air portion There are cases where it is difficult to emphasize the difference in the luminance distribution between the liquid and the liquid part or the liquid surface.

  The second method is a method using a slit. That is, for example, a mask is applied to a large area type flat backlight to form a center slit of about the nozzle width, and only light from the center slit is given to the nozzle back side. In this case, since the optical path is simplified, it is possible to enhance the luminance difference, that is, the contrast between the air portion and the liquid portion. However, depending on the liquid and other conditions, it has been confirmed that the shadow generated in the edge portion described above comes out not only in the air portion but also in the liquid portion. In that case, shadows appear on both the right and left sides of the liquid portion. If shadows appear in both the air part and the liquid part, it is difficult to apply a method of measuring the difference between the air part and the liquid part using the presence or absence of the shadow. Patent Document 1 discloses the use of a backlight having a striped pattern.

  The present inventor has also experimented with a third method different from the first and second methods described above. This method is a method of masking only one side of a nozzle in a large area type backlight. In this case, it has been confirmed that the air portion in the nozzle is shaded in the nozzle edge portion as in the first and second methods. On the other hand, regarding the liquid part in the nozzle, an interesting phenomenon has been confirmed in which the shadow appears only on the side opposite to the mask side (light emission side) (or tends to appear). When the masking side is changed, the shadow position of the liquid portion is also changed, and it is confirmed that a shadow is generated on the mask side. In the air part of the nozzle, scattering occurs strongly on the light incident side, so the amount of transmission is relatively small. As a result, a large amount of light does not reach the exit side, which appears dark. On the other hand, in the liquid part of the nozzle, the light incident side The reason is that the scattering caused by the light is relatively small, and the amount of light passing through the liquid portion is increased to increase the luminance on the exit side.

International Publication No. 2009/041683

  An object of the present invention is to make it possible to emphasize a difference in brightness between an air portion and a liquid portion during optical observation of a transparent nozzle. Alternatively, it is to increase the analysis accuracy of the nozzle state.

  A nozzle device according to the present invention is a nozzle having transparency for sucking and discharging liquid, an imaging device provided on the front side of the nozzle, and a device provided on the back side of the nozzle, wherein the imaging device A backlight device capable of forming a one-side light emission state that emits light from one side of the nozzle and does not emit light from the other side of the nozzle, and means for analyzing the nozzle state based on an image acquired by the imaging device And image analysis means for analyzing the nozzle state using the one-side light emission state image acquired in the one-side light emission state.

  According to the above configuration, the entire back side of the nozzle does not emit light, but a state in which the light emitting region (or light emission distribution) is unevenly distributed to the right or left (one side light emitting state) is formed. That is, different illumination states are formed on one side (for example, the right side) and the other side (for example, the left side) of the nozzle. In the nozzle, the liquid portion and the air portion have different refractive indexes, transmission / scattering characteristics, and the like, so that the different illumination states as described above make a difference in silhouette images between the liquid portion and the air portion. Therefore, it is possible to analyze the nozzle state with high accuracy using this. In the analysis, it is desirable to use the right half or the left half (half image) of the nozzle image. Image analysis may be performed after combining or synthesizing a plurality of half-images acquired in a plurality of different light emission states. The backlight device may have a light emitting surface that forms one side light emitting state, or the one side light emitting state may be formed using a shutter or a mask that covers a part of the light emitting surface. The one side light emission state is a state where at least one side of the nozzle emits light. At this time, it is desirable to emit light immediately behind the nozzle, but it is not necessary to emit light. In any case, it is desirable that the amount of light is unevenly distributed in the left-right direction.

  Desirably, the said image analysis means makes any one side of a nozzle center line the analysis object among the nozzle images contained in the said one side light emission state image. Particularly preferably, the image analysis means sets the other side of the nozzle center line as an analysis target in the nozzle images included in the one-side light emission state image. According to an experimental study, in the one-side light emitting state, a dark portion occurs along the edge portion that is the other side of the nozzle center line in the liquid portion, and the opposite edge portion (on one side) It has been confirmed that the dark part up to that point does not occur and it tends to be brighter. In the air portion, on the contrary, one side is a bright portion and the other side is a dark portion. Therefore, in order to make good use of the luminance difference, it is desirable to use half of the nozzle image. In that case, it is desirable to observe the luminance distribution on the horizontal line at each height.

  Desirably, the light emitting surface of the backlight device is a central portion corresponding to the back of the nozzle as viewed from the imaging device, one side portion that is one side of the central portion, and the other side portion that is the other side of the central portion. The one side light emission state is a state where the central portion and the one side portion are caused to emit light. Preferably, the central portion includes the entire nozzle as viewed from the imaging device.

  The nozzle device according to the present invention includes a transparent nozzle for sucking and discharging liquid, an imaging device provided on the front side of the nozzle, a backlight device provided on the back side of the nozzle, and the backlight. Means for controlling the operation of the light emitting surface in the device, wherein one side of the light emitting surface emits light from one side of the nozzle as viewed from the imaging device and does not emit light from the other side of the nozzle; and Control means for selectively forming the other side light emission state in which one side of the nozzle is not lit when viewed from the imaging device within the light emitting surface and the other side of the nozzle is lit, and acquired by the imaging device A means for analyzing the nozzle state based on the obtained image, the one side emission state image acquired in the one side emission state and the other acquired in the other side emission state Including an image analyzing means for analyzing the nozzle state using the light-emitting state image.

  According to the above configuration, since both the one-side light emission state image and the other-side light emission state image can be used, more accurate analysis can be performed. Preferably, an image processing unit that generates a composite image by combining the one-side light emission state image and the other-side light emission state image, and the image analysis unit analyzes the nozzle state based on the composite image. If the luminance distribution is referred to based on the composite image, the difference between the liquid portion and the air portion can be more emphasized. In the image synthesis, half images may be actually connected, but may be virtually connected in terms of calculation, that is, analysis. However, for user confirmation, it is desirable to display the composite image after actually connecting them.

  Preferably, the image processing unit cuts out a first half image corresponding to the other side of the nozzle center line in the nozzle image included therein from the one side light emission state image, and the other side light emission state image. The second half image corresponding to one side of the nozzle center line in the nozzle image included therein, and the first half image and the second half image with the nozzle center line as a boundary. Means for generating the combined image by coupling. For example, it is possible to generate a nozzle outline using a method such as threshold processing or edge detection for a nozzle image, specify the nozzle center axis based on it, and specify the upper and lower ends of the nozzle Is possible. If such information can be specified, it is easy to cut out the image of the nozzle half from the original image. The polarity (light emission side) is taken into consideration when cutting out.

Desirably, the image analysis means generates a profile by observing a variation in luminance in a direction crossing the nozzle center line in each position of the synthesized image, and a liquid portion based on the profile. And means for detecting a level of a liquid level that forms a boundary surface of the air portion. The variation in luminance may be information indicating deviation, variance, and the like. The distribution of the integrated light quantity may be obtained.

  By analyzing the image, the liquid level may be specified, or bubbles, foreign matters, etc. may be specified. In the latter case, a composite image without shadows on both sides of the liquid portion may be generated, and the presence or absence of bubbles or the like may be determined for the liquid portion. Alternatively, a synthetic image without shadows on both sides of the air portion may be generated, and the presence or absence of a droplet or the like may be determined for the air portion. According to such a configuration, the vicinity of the inner surface of the nozzle can be observed or diagnosed without being obstructed.

  According to the present invention, when optically observing a transparent nozzle, it is possible to emphasize the difference in brightness between the air portion and the liquid portion. Or the analysis accuracy of a nozzle state can be improved.

It is a block diagram which shows suitable embodiment of the nozzle apparatus which concerns on this invention. It is a figure which shows the nozzle imaged on various proving conditions as a reference example. It is a figure which shows the state which brought the nozzle close to the backlight surface. It is a figure which shows the state which kept the nozzle away from the backlight surface. It is a figure which shows a 1st mask process. It is a figure which shows a 2nd mask process. It is a figure which shows the case where the mask area | region set to the one side of a nozzle is increased in steps. It is a figure which shows the case where the mask area | region set to the one side of a nozzle is increased in steps. It is a schematic diagram showing the state shown to (A6) of FIG. It is a figure which shows the analysis result with respect to a half image. It is a figure for demonstrating the production | generation of another half image. It is a figure for demonstrating the synthesized image produced | generated by the synthesis | combination of two half images. 3 is a flowchart showing a first operation example of the apparatus shown in FIG. 1. 6 is a flowchart showing a second operation example of the apparatus shown in FIG. 1.

  FIG. 1 shows a preferred embodiment of a nozzle device according to the present invention, and FIG. 1 is a conceptual diagram showing the overall configuration thereof. The nozzle device according to the present embodiment is configured as a dispensing device. Of course, the nozzle device may be an analyzer or other device.

  The dispensing device is a device that sucks a parent sample from a parent sample tube and dispenses it into a plurality of child sample tubes. Here, the parent sample is, for example, blood or urine collected from a human body. Of course, the reagent may be dispensed, or other liquids such as distilled water may be dispensed.

  The transport mechanism 10 is a mechanism that freely transports the nozzle 18 in three dimensions. The transport mechanism 10 includes a rail 12 extending in the X direction and a rail 14 extending in the Y direction. Reference numeral 16 denotes a unit that conveys the nozzle 18 in the vertical direction, that is, in the Z direction. In this embodiment, the nozzle 18 includes a nozzle base (tip fitting) and a nozzle tip attached to the nozzle base. A pump is connected to the nozzle 18 via an air tube. Liquid can be sucked and discharged by increasing or decreasing the pressure in the pipe with a pump. Although one nozzle 18 is shown in FIG. 1, a so-called multiple nozzle may be used.

  The parent sample section 20 is a section in which, for example, one or a plurality of parent sample racks are mounted. One or a plurality of parent sample tubes are held on the parent sample rack. Each parent sample tube is, for example, a blood collection tube or a test tube. The child sample section 22 is a section in which a plurality of child sample racks are arranged. One or a plurality of child sample tubes are held on each child sample rack. Each child sample tube is, for example, a test tube or a vial. The parent sample rack and the child sample rack may be transported by a transport mechanism such as a belt conveyor. In FIG. 1, a tip supply unit holding a new nozzle tip and a tip remover for removing the nozzle tip are not shown.

  In the configuration example shown in FIG. 1, an imaging section 24 is provided between the parent sample section 20 and the child sample section 22. Specifically, the imaging section 24 includes an imaging camera 26 and a backlight unit 28. When the nozzle 18 is positioned at the imaging position, the camera 26 is positioned on the front side, and the backlight unit 28 is positioned on the back side of the nozzle 18. The camera 26 is an imaging device made up of, for example, a CCD, and the backlight unit 28 is a planar unit in the present embodiment, which specifically includes a backlight 30 and a shutter mechanism 32 mounted on the front side thereof. Consists of. The shutter mechanism 32 is a unit that can selectively generate one side light emission state and the other side light emission state, which will be described later. Of course, it can be configured as a unit capable of generating a predetermined mask pattern.

  The control unit 34 controls the operation of each component shown in FIG. In the present embodiment, the control unit 34 includes an image processing unit 38, an image analysis unit 40, and an illumination control unit 36. The illumination control unit 36 controls the operation of the backlight unit 28 described above, and specifically controls the on / off control of the backlight 30 and the operation of the shutter mechanism 32. The illumination control unit 36 controls the operation of the shutter mechanism 32 so that a desired mask pattern can be constructed.

  The image processing unit 38 has a function of performing a process of cutting out half of the nozzles in the nozzle image (nozzle image) in the present embodiment. The image processing unit 38 has a function of generating a composite image by connecting the right half image of the nozzle and the left half image of the nozzle as necessary. The image analysis unit 40 is a module that analyzes a nozzle state based on a nozzle image, particularly a half image or a composite image. Have. Of course, air bubbles, foreign matter, etc. may be specified. In the present embodiment, the image analysis unit 40 has a function of generating a profile representing the analysis result of the nozzle along the axial direction of the nozzle, that is, the vertical direction, and the boundary surface is specified by referring to the profile. Is done. Here, the profile represents a luminance distribution in the horizontal direction, and specifically, a luminance variation deviation and variance are analyzed. Of course, various analysis methods are available.

  FIG. 2 shows a plurality of nozzle images as a reference example. In FIG. 2, A1, B1, C1, and D1 indicate states before liquid suction, that is, the nozzles are all air layers. A2, B2, C2, and D2 are images showing the nozzles after sucking the liquid. A1 and A2 are imaged according to the first condition, B1 and B2 are imaged according to the second condition, C1 and C2 are imaged according to the third condition, and D1 and D2 are imaged according to the fourth condition Yes.

  Specifically, FIG. 3 shows the positional relationship under the first condition. The nozzle 18 includes a nozzle base 42 and a nozzle chip 44 that is detachably attached thereto. The nozzle chip 44 is formed of a resin member having transparency. A camera 26 is provided on the front side of the nozzle 18, that is, the imaging side, and a backlight unit 28 is provided on the back side, that is, the rear side of the nozzle 18. Under the first condition, as shown in FIG. 3, the nozzle 18 is positioned in the vicinity of the backlight unit 28. Here, L1 is 30 mm, for example, and L2 is 165 mm, for example. Each numerical value appearing in the present specification is merely an example. Under the first condition, the mask process, that is, the shutter function is not executed, and the entire light emitting surface of the backlight unit is in the light emitting state. Images captured under the first condition described above are indicated by A1 and A2 in FIG. S indicates a boundary surface between the liquid portion R and the gas portion Q, that is, a liquid surface. Reference numeral 100 indicates a horizontal line, which represents a position to analyze the luminance distribution. The luminance distribution is analyzed at each position while scanning such a line 100 in the Z direction. As a result of the analysis, the entire backlight shines under the first condition, and the nozzle is positioned at a position close to the backlight. Therefore, there is not much difference in luminance between the gas portion Q and the liquid portion R, and the liquid level. It becomes difficult to specify S.

  FIG. 4 shows another setting example of the nozzle 18. As illustrated, the nozzle 18 is positioned relatively far from the backlight unit 28. Here, L3 is 105 mm, for example, and L4 is 165 mm, for example. Even in the second condition, the entire backlight unit is in a light emitting state with uniform luminance.

  Images taken under the second condition as described above are indicated by B1 and B2 in FIG. As a result of moving the nozzle slightly away from the light emitting surface, the luminance difference between the liquid portion R and the gas portion Q is slightly large, that is, an increase in contrast is recognized. Reference numeral 102 denotes a thick portion, which is expressed as a black portion such as a marginal portion. However, there are aspects in which such an image does not have sufficient contrast.

  In the third condition, a mask as shown in FIG. 5 is used under the setting shown in FIG. Specifically, FIG. 5A shows a light emitting surface 46 of the backlight. Here, L5 is 180 mm, and L6 is 150 mm, for example. On the other hand, masks 48 are provided on the right and left sides of the light emitting surface 46 by the function of the shutter unit. The remaining part is the light emitting area 50 viewed from the imaging side. Here, L7 is 25 mm, for example, and L8 is 17 mm, for example. L6 is 150 mm as described above.

  When the nozzle is imaged under the third condition as described above, images as indicated by C1 and C2 in FIG. 2 are obtained. The contrast between the liquid portion R and the gas portion Q is increased, and the boundary surface S is expressed relatively clearly. However, depending on the type of liquid and the imaging conditions, black streaks or dark portions occur in the edge portion of the liquid portion R as indicated by reference numeral 106. When such a dark part 106 appears relatively strongly, it becomes difficult to use the presence or absence of the dark part as a discrimination criterion between the gas part Q and the liquid part R. Incidentally, reference numeral 104 denotes a black streak on the edge generated in the gas portion Q, that is, a dark portion.

  In the fourth condition, the setting condition shown in FIG. 4 is adopted, and then the mask shown in FIG. 6 is used. (A) shows the light emitting surface 52. L9 is 150 mm and L10 is 180 mm. In (B), the mask 54 is put on by the shutter unit, and the remaining area is the light emitting area 56. L11 is 100 mm, for example, and L12 is 70 mm, for example. In FIG. 5B and FIG. 6B, the lower side is smaller than the upper side of the light emitting region in accordance with the outer shape of the nozzle. However, it may be a simple rectangular slit.

  Images taken under the fourth condition are shown in (D1) and (D2) in FIG. As in the case of application of the third condition, an increase in contrast is observed. That is, a black streak as indicated by reference numeral 108 appears remarkably in the gas portion Q. However, even in the liquid portion R, black streaks or dark portions may occur in the edge portion as indicated by reference numeral 110 depending on conditions. Therefore, if the boundary surface S is specified based on whether or not the dark portion is generated in the liquid portion R and the gas portion Q, the discrimination accuracy becomes a problem. In any case, conventionally, illumination conditions or mask conditions that are symmetrical with respect to the nozzle center axis are used, and illumination conditions in which the amount of light or the amount of mask is unevenly distributed are not employed.

  FIGS. 7 and 8 show the imaging results in the case of using the unevenly distributed mask region. 7 and 8, (A1) is not masked, that is, the entire region indicated by reference numeral 55 is a light emitting region. In this case, insufficient contrast is pointed out between the liquid portion and the gas portion. In the image shown in (A2), the area indicated by reference numeral 56 is a mask area, and the area indicated by reference numeral 58 is an illumination area. A slight increase in contrast is observed. Black streaks are observed on the mask side in the gas portion. As shown in (A3), when the mask area 56A is made larger, that is, when the light emitting area 58A is made smaller, the contrast is further enhanced, and the above-described black stripes are more prominently generated. .

  FIG. 8 shows the imaging result when the mask area is further increased stepwise. Reference numerals 56B, 56C, and 56D denote mask areas, and reference numerals 58B, 58C, and 58D denote light-emitting areas. As the mask area increases, contrast enhancement is recognized, while black stripes appear more remarkably on the mask side in the gas portion. It should be noted that black streaks are generated on the non-mask side in the liquid portion. In (A6), a black streak (dark part on the edge) is clearly generated on the non-mask side, that is, the illumination side in the liquid part. On the mask side in the liquid part, although a slight decrease in luminance is observed in the thick part, it is relatively bright. Light from the illumination side reaches the exit side without much scattering, and the non-mask side is rather bright when viewed from the imaging side. In contrast, it is presumed that light does not reach the non-mask side of the gas portion so much that black streaks are generated there. FIG. 9 shows a schematic diagram of the image shown in (A6) of FIG. Reference numeral 60 represents a backlight surface, reference numeral 56D represents a mask area, and reference numeral 58D represents an illumination area. Reference numeral 18A denotes a nozzle image (nozzle image). It is roughly divided into a liquid portion 64 and a gas portion 62. In the gas portion 62, black stripes 66 are generated on the mask side, and such black stripes are not generated on the non-mask side. In the liquid portion 64, conversely, black streaks 68 are generated on the non-mask side, and such black streaks are not generated on the mask side as indicated by reference numeral 69. Incidentally, if W1 is a backlight region in the horizontal direction, W2 indicates the width of the light emitting region, and W3 indicates the width of the mask region. Here, W4 indicates the distance from the nozzle center line to the end of the mask region 56D. In the example shown in FIG. 9, when the entire backlight region is composed of a central portion corresponding to a portion directly behind the nozzle, a right portion thereof, and a left portion thereof, the illumination region is divided into the central portion and its portion. It consists of two parts on one side. The remaining part is a mask area. According to such a configuration, it is possible to prevent the black streaks described above from occurring on the same side in the liquid portion and the gas portion while obtaining the same contrast enhancement effect as the slit. The nozzle apparatus according to the present embodiment analyzes the nozzle state using the above-described unique phenomenon.

  FIG. 10 shows a half image 70 cut out from an image representing a nozzle. The half image 70 is an image corresponding to the right side or the left side from the center line of the nozzle. In FIG. 10, the background portion is ignored. Of course, you may make it handle an image including a background part. A profile 72 is obtained by observing the luminance distribution at each scanning position while scanning the observation line indicated by reference numeral 100 and plotting the luminance variation D at that time. The variation in luminance D greatly fluctuates from the liquid level S along the Z-axis direction, that is, the vertical direction. The profile 72 shown in FIG. 10 is an example and is used for explaining the invention. As is apparent from the above description, the black stripe 66 described above is remarkably generated in the gas portion, that is, immediately below that, that is, Since such black streaks do not occur on the mask side in the liquid portion, the liquid level S can be specified by skillfully using the presence or absence of black streaks if the half image 70 is an analysis target.

  Incidentally, the generation of the half image 70 can be performed as follows, for example. First, the original image is secondarily converted by a threshold value process or the like, and then edge detection is performed to extract the outer shape of the nozzle. If the outline is extracted, it is easy to specify the center line 71 therefrom using a known technique, and the image can be divided into two with reference to such center line 71. In that case, only the nozzle portion may be divided into two, or the entire image may be divided into two. In specifying the center line, it is desirable to further specify the upper end and lower end of the nozzle. If such two points are specified, it is possible to specify the range in which the profile is formed.

  As described above, it is possible to specify a boundary surface using a half image, and it is also possible to specify, for example, a bubble other than the boundary surface, but one half image and the other half image It is possible to perform a more accurate analysis if the analysis is performed in combination. This will be described below.

  FIG. 11 shows a result of imaging after mask processing is performed on the opposite side. That is, in the case where the above-described mask processing forms one side light emission state, an image captured in the other side light emission state is shown in FIG. In the nozzle image 18 </ b> B, in the gas portion 73, black stripes 74 are generated on the mask side, and such black stripes are not generated on the non-mask side 76. In the gas portion 78, black stripes are not generated on the mask side 82, and such black stripes are generated on the non-mask side 80. A half image 84 is obtained by processing this image and cutting out the other half. It has black streaks 74 in the gas portion described above.

  FIG. 12 conceptually shows the image composition process. It is possible to generate the composite image 86 by connecting the half image 70 generated in the one side light emission state and the half image 84 generated in the other side light emission state. Such a composite image includes black streaks 66 and 74, while no black streaks are included on either side of the liquid portion. Therefore, if the above-described profile is generated based on such an image, a profile 88 shown in FIG. 12 can be acquired. There is a large difference in luminance variation T between the liquid portion and the gas portion, and it is possible to further increase the accuracy of specifying the liquid level.

  Incidentally, the one-side mask state is, for example, the state shown in FIG. 8A6, and the other-side light-emitting state can be formed by inverting it left and right.

  FIG. 13 is a flowchart showing a first operation example of the apparatus shown in FIG. In S10, the position at which the nozzle is positioned between the backlight unit and the camera is set. In S12, the nozzle is actually positioned in front of the camera. In S14, a mask pattern is set under the control of the control unit. In this case, a pattern covering the right side or the left side is generated. In S16, imaging is executed, and in S18, a process of cutting out a half image from the imaging result is executed. In S20, a profile is generated based on such a half image, and the liquid level is specified from the level difference of the profile. An analysis other than the liquid level may be performed.

  FIG. 14 is a flowchart showing a second operation example of the apparatus shown in FIG. In S30, a distance is set in the same manner as in S10. In S32, a mask pattern is set in S34 in which nozzle positioning is performed in the same manner as in S12. For example, a one-side light emission state is first formed. After that, imaging is executed in S36. In S38, it is determined whether or not both the one-side light emission state image and the other-side light emission state image have been acquired. If both are not acquired, the mask pattern is inverted in S34 and then imaged in S36. Is executed. In S40, a half image is generated based on each image, and in S42, a composite image is generated by connecting the two half images to the left and right. In S44, a profile is generated based on the composite image, and the liquid level and the like are detected from the profile.

  As described above, according to the above method, by using the unevenly distributed mask pattern, a black streak is positively generated only on one side in the liquid portion, and conversely, the other side edge portion is in a bright state. Thus, by using only half of the nozzle as an analysis target, the presence or absence of black streak occurs in the liquid portion and the gas portion, and the liquid level can be identified with high accuracy using such a phenomenon. In addition, if the right half image and the left half image are combined, the above-described action can be used twice, so that it is possible to specify with higher accuracy. In the above-described embodiment, the mask of 1 or 0 is used. However, a mask that varies the light amount distribution in an analog manner may be used. However, the white or black mask process provides an advantage that black stripes can be displayed more prominently. Incidentally, in the above-described embodiment, the half image obtained by dividing the nozzle into two parts is used. However, the liquid level can be specified if the image processing focuses on at least the edge portion.

  10 transport mechanism, 18 nozzles, 24 imaging section, 26 camera, 28 backlight unit, 30 backlight, 32 shutter unit, 36 illumination control unit, 38 image processing unit, 40 image analysis unit.

Claims (7)

A transparent nozzle for sucking and discharging liquid;
An imaging device provided on the front side of the nozzle;
A backlight device capable of forming a one-side emission state that emits light from one side of the nozzle and does not emit light from the other side of the nozzle as viewed from the imaging device, the device provided on the back side of the nozzle;
Means for analyzing a nozzle state based on an image acquired by the imaging device, and an image analyzing unit for analyzing the nozzle state using the one side emission state image acquired in the one side emission state;
Only including,
The image analysis means includes
Means for cutting out a half image including any one side of the nozzle center line among the nozzle images included therein from the one side emission state image;
Means for identifying the liquid level in the nozzle based on the half-image;
A nozzle device comprising: The apparatus of claim 1.
The means for cutting out the half image is:
Means for extracting an outer shape of the nozzle image included in the one side emission image;
Means for identifying the nozzle centerline based on the outer shape;
A nozzle device comprising: The apparatus of claim 1 .
It said means for cutting the semi-images, cut out the other side of the nozzle center line within the nozzle image included in the one side emission state image,
A nozzle device characterized by that. The apparatus of claim 1 .
The light emitting surface of the backlight device is composed of a central portion corresponding to the back of the nozzle when viewed from the imaging device, one side portion that is one side of the central portion, and the other side portion that is the other side of the central portion. ,
The one side light emission state is a state where the central portion and the one side portion are caused to emit light,
A nozzle device characterized by that. The apparatus of claim 4.
The central portion is a portion including the entire nozzle as viewed from the imaging device.
A nozzle device characterized by that. A transparent nozzle for sucking and discharging liquid;
An imaging device provided on the front side of the nozzle;
A backlight device provided on the back side of the nozzle;
A means for controlling the operation of the light emitting surface in the backlight device, wherein one side of the light emitting surface emits light from one side of the nozzle as viewed from the imaging device and does not emit light from the other side of the nozzle. And a control means for selectively forming a light emission state on the other side of the light emitting surface that does not emit light on one side of the nozzle as viewed from the imaging device and emits light on the other side of the nozzle;
A means for analyzing a nozzle state based on an image acquired by the imaging device, the one side light emission state image acquired in the one side light emission state and the other side light emission state image acquired in the other side light emission state Image analysis means for analyzing the nozzle state using
Only including,
The image analysis means includes
Means for cutting out a first half image corresponding to the other side of the nozzle center line from the one side emission state image, among the nozzle images included therein;
Means for cutting out a second half image corresponding to one side of the nozzle center line in the nozzle image included therein from the other side emission state image;
Means for connecting the first half image and the second half image with the nozzle center line as a boundary to generate a composite image;
Including
A nozzle device characterized in that a nozzle state is analyzed based on the composite image . The apparatus of claim 6 .
The image analysis means includes
Means for observing variations in luminance in the direction crossing the nozzle center line in the composite image and generating a profile;
Means for detecting a level of a liquid surface forming an interface between the liquid portion and the air portion based on the profile;
A nozzle device comprising: