JP7310453B2 - inspection equipment - Google Patents

Description

The present invention relates to an inspection device.

An inspection device for inspecting the appearance of metal cans is known (see Patent Document 1, for example). The inspection apparatus described in Patent Literature 1 includes a CCD camera that captures an image of a metal can to be inspected, and an image processing device that processes the image of the metal can captured by the CCD camera. The inspection device described in Patent Literature 1 determines whether the appearance of a metal can is good or bad based on image processing by an image processing device.

JP-A-04-121647

However, in the case of the inspection apparatus described in Patent Document 1, one CCD camera can only acquire images from one direction. There was a problem that the CCD cameras had to be arranged in the same number of directions as the images to be picked up, which made the device configuration complicated.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an inspection apparatus that can determine the suitability of a combination of a lidded container and a lid body with a simple configuration.

One aspect of the inspection apparatus of the present invention includes a container having a bottomed cylindrical shape and having a central axis along the vertical axis direction, and a lid attached to an upper opening of the container and covering the upper opening. a first image of the outer surface facing the direction intersecting the central axis of the container; and a second image of the upper surface facing the vertically upward direction of the lid. and a first feature point that enables identification of information on the product attached to the container from the first image, and the lid from the second image. a detection unit for detecting a second feature point that enables identification of information about the product attached to the body; a judging unit for judging appropriateness of combination with the information on the product attached to the body.

ADVANTAGE OF THE INVENTION According to one aspect of the inspection apparatus of this invention, the suitability of the combination of the container and cover body in a container with a lid|cover can be judged by simple structure.

FIG. 1 is a schematic side view showing a first embodiment of an inspection apparatus of the invention. FIG. 2 is a view (top view) seen from the direction of arrow A in FIG. FIG. 3 is a block diagram of the inspection device shown in FIG. FIG. 4 is an example of a first image and a second image captured by an imaging unit included in the inspection apparatus illustrated in FIG. 1 . FIG. 5 is an example of a calibration curve stored in a storage unit provided in the inspection apparatus shown in FIG. FIG. 6 is a flow chart showing a control program in the inspection apparatus shown in FIG. FIG. 7 is a schematic side view showing another example of a container that can be inspected by the inspection apparatus of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION An inspection apparatus of the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.
<First embodiment>
FIG. 1 is a schematic side view showing a first embodiment of an inspection apparatus of the invention. FIG. 2 is a view (top view) seen from the direction of arrow A in FIG. FIG. 3 is a block diagram of the inspection device shown in FIG. FIG. 4 is an example of a first image and a second image captured by an imaging unit included in the inspection apparatus illustrated in FIG. 1 . FIG. 5 is an example of a calibration curve stored in a storage unit provided in the inspection apparatus shown in FIG. FIG. 6 is a flow chart showing a control program in the inspection apparatus shown in FIG. For convenience of explanation, the upper side in FIG. 1 is hereinafter referred to as "upper (or upper)", and the lower side as "lower (or lower)". In addition, "upper" and "lower" are simply names for explaining the relative positional relationship of each part, and the actual arrangement relationship etc. is not the arrangement relationship etc. indicated by these names. may In the drawing, the X-axis direction is the transport direction of the lidded container 10, the Y-axis direction is the width direction of the endless belt, and the Z-axis direction is the vertical direction.

An inspection apparatus 1 shown in FIG. 1 is an apparatus used in an inspection process for inspecting the appearance of a lidded container 10 that is an object to be inspected. The inspection apparatus 1 includes an imaging unit 2 that captures an image of the lidded container 10 , an optical component 3 arranged below the imaging unit 2 , and an illumination unit 6 arranged below the optical component 3 .

Moreover, as shown in FIGS. 1 and 2, in the inspection process, the inspection apparatus 1 is used together with a conveying apparatus 13 that conveys the lidded container 10 .
As shown in FIG. 3 , the inspection apparatus 1 includes a control section 7 electrically connected to the imaging section 2 and the illumination section 6 and a notification section 8 electrically connected to the control section 7 . The control unit 7 can control operations of the imaging unit 2 , the illumination unit 6 , and the notification unit 8 . The electrical connection method is not particularly limited, and examples thereof include a wired method and a wireless method.

Before describing each part constituting the inspection apparatus 1, the lidded container 10 will be described.
As shown in FIG. 1, the lidded container 10 has a bottomed cylindrical container 101 and a lid 108 attached to the container 101 .
The container 101 has an upper opening 104 that opens toward the imaging unit 2 side, that is, upward, and a bottom 102 on the side opposite to the upper opening 104 . The container 101 is arranged on the endless belt 132 of the conveying device 13 with the central axis O ₁₀₁ along the vertical axis OZ direction. Note that the container 101 may be a glass container or a resin container. In addition, although the contents stored in the container 101 are not particularly limited, for example, jelly is used in the present embodiment.

A first characteristic point 11 that enables identification of information related to the product "jelly" is attached to an outer surface 105 facing in a direction perpendicular to (intersecting) the central axis O ₁₀₁ of the container 101 . Although not particularly limited, the first feature points 11 are, for example, the code 11A, the code 11B, and the code 11C in this embodiment. Codes 11A to 11C each have a light color portion 111 having a light color and a dark color portion 112 having a dark color. Both the light color portion 111 and the dark color portion 112 may be chromatic or achromatic.

In this embodiment, when the container 101 is viewed from the side, the light-colored portions 111 and the dark-colored portions 112 are arranged in three rows and three columns. For example, when the type of jelly is orange-flavored jelly, the first feature point 11 has a dark color portion 112 in the first row and first column, a light color portion 111 in the first row and second column, and a dark color portion in the first row and third column. 112, 2nd row 1st column dark color portion 112, 2nd row 2nd column dark color portion 112, 2nd row 3rd column light color portion 111, 3rd row 1st column light color portion 111, 3rd row 2nd column The light color portion 111, the 3rd row, 3rd column is the code 11A that becomes the dark color portion 112 (see FIGS. 1, 4, and 5). When the type of jelly is strawberry-flavored jelly, the first feature point 11 has a light-colored portion 111 in the first row and first column, a dark-colored portion 112 in the first row and second column, and a light-colored portion 111 in the first row and third column. , 2nd row 1st column dark color part 112, 2nd row 2nd column dark color part 112, 2nd row 3rd column light color part 111, 3rd row 1st column light color part 111, 3rd row 2nd column dark color The light color portion 111 is code 11B in the color portion 112, row 3, column 3 (see FIG. 5). Further, when the type of jelly is blueberry-flavored jelly, the first feature points 11 are light-colored portions 111 in the first row and the first column, light-colored portions 111 in the first row and the second column, and dark-colored portions 112 in the first row and the third column. , 2nd row 1st column dark color portion 112, 2nd row 2nd column light color portion 111, 2nd row 3rd column dark color portion 112, 3rd row 1st column dark color portion 112, 3rd row 2nd column The code 11C corresponding to the light color portion 111 and the dark color portion 112 in the third row and the third column (see FIG. 5). In addition, each of the codes 11A to 11C only needs to have the light-colored portion 111 and the dark-colored portion 112 arranged in a matrix. It can have rows and n columns (where m and n are both positive integers).

The lid 108 is made of a sheet material that covers and seals the upper opening 104 . Lid 108 is detachably attached to the edge of upper opening 104 of container 101 . Due to the peelable attachment, when eating the jelly in the container 101, the lid 108 can be peeled off and the jelly can be scooped out from the upper opening 104 using, for example, a spoon.

As shown in FIG. 2, the upper surface 109 facing the vertical upper side of the lid 108, ie, the positive side in the Z-axis direction, is provided with a second characteristic point 12 that enables identification of information related to the product "jelly". The second feature points 12 are not particularly limited, but in the present embodiment, for example, they are a pattern 12A, a pattern 12B, and a pattern 12C as figures related to the product "jelly". The patterns 12A to 12C each include, for example, characters, symbols (codes), figures, patterns, colors, and the like. Moreover, the patterns 12A to 12C may be chromatic or achromatic, regardless of whether they are designed or aesthetically pleasing. For example, if the type of jelly is orange-flavored jelly, the second feature point 12 is a pattern 12A having Gothic characters "Jelly" (see FIG. 5). If the type of jelly is strawberry-flavored jelly, the second characteristic point 12 is a pattern 12B having the characters "Jelly" in Mincho font (see FIG. 5). When the type of jelly is blueberry-flavored jelly, the second feature point 12 is a pattern 12C having the underlined characters "Jelly" in italic Gothic font (see FIG. 5).

Moreover, in the inspection device 1, the combination of the first feature points 11 and the second feature points 12 in the case of orange-flavored jelly, and the combination of the first feature points 11 and the second feature points 12 in the case of strawberry-flavored jelly. The combination and the combination of the first characteristic points 11 and the second characteristic points 12 in the case of blueberry-flavored jelly are stored in advance in the storage section 9 of the control section 7 . In the present embodiment, the storage unit 9 stores the relationship between the first feature points 11 and the second feature points 12 when the combination is appropriate as a registered image IM0 shown in FIG. 5 as a calibration curve.

The lidded container 10 is transported toward the positive side in the X-axis direction by the transport device 13 . The conveying device 13 is a belt conveyor having a plurality of rollers 131 arranged at intervals along the X-axis direction and an endless belt 132 looped around each roller 131 . In the conveying device 13, in a state where a plurality of containers with lids 10 are arranged on an endless belt 132, each roller 131 rotates around a rotation axis parallel to the Y-axis direction, whereby the containers with lids 10 are collectively transported. can be transported

Next, each part constituting the inspection apparatus 1 will be described. As described above, the inspection apparatus 1 includes the imaging section 2, the optical component 3, the illumination section 6, the notification section 8, and the control section .
As shown in FIG. 1, the imaging unit 2 is arranged and fixed above the lidded container 10 . The imaging direction of the imaging unit 2 faces downward. With the imaging direction facing downward, the imaging unit 2 can capture an image of the lidded container 10 while the lidded container 10 passes vertically below the imaging unit 2 . In this embodiment, the images captured by the imaging unit 2 include a first image IM1 and a second image IM2 shown in FIG. Also, the first image IM1 and the second image IM2 are respectively grayscale images.
The imaging unit 2 is not particularly limited, and examples thereof include a CCD (Charge Coupled Device) camera, a CMOS (Complementary metal-oxide-semiconductor) camera, and the like.

An optical component 3 is arranged between the imaging unit 2 and a lidded container 10 positioned vertically below the imaging unit 2 . The optical component 3 is a lens 3A that adjusts the incident angle of the reflected light RL reflected by the lidded container 10 to the imaging section 2 . The first image IM1 of the outer surface 105 of the container 101 and the second image IM2 of the upper surface 109 of the lid 108 can be collectively captured by the lens 3A.

The lens 3A includes a convex lens having a flat surface 31 having a normal _O31 along the vertical axis OZ and an inclined surface 32 provided over the entire circumference of the flat surface 31 and inclined with respect to the flat surface 31 . In this embodiment, a pair of flat surfaces 31 are provided vertically, and a pair of inclined surfaces 32 are also provided vertically.
Of the reflected light RL, the reflected light RL1 reflected by the outer surface 105 of the container 101 is refracted in order by the respective inclined surfaces 32 and received by the imaging section 2 . As a result, a first image IM1 is obtained as a side view image. As shown in FIG. 4, the first image IM1 has an annular shape.

Among the reflected light RL, the reflected light RL2 reflected by the upper surface 109 of the lid body 108 is transmitted through each plane 31 in order and received by the imaging unit 2 . Thereby, the second image IM2 as a planar view image is obtained. As shown in FIG. 4, the second image IM2 is positioned inside the first image IM1 and has a circular shape concentric with the first image IM1.

By using a lens 3A having a simple configuration, which is a convex lens, two types of images captured in different directions with respect to the lidded container 10, that is, a first image IM1 and a second image IM2, can be collectively captured by one imaging unit 2. It can be imaged. Conventionally, an imaging unit for capturing the first image IM1 and an imaging unit for capturing the second image IM2 were required. In addition, since only one imaging unit 2 is required, the manufacturing cost of the inspection device 1 can be reduced compared to the conventional one, and the overall size of the inspection device 1 can be reduced.

In addition, when imaging the lidded container 10, the imaging condition is determined by the positional relationship between the lidded container 10 and one imaging unit 2, so the production line in the factory where the product is manufactured is the inspection object. Reproducibility of imaging quality is high at the time of setup change due to product replacement.
In addition, since the overall size of the inspection device 1 can be reduced, as many inspection devices 1 as possible can be installed in a factory where products are manufactured. As a result, the production quantity of products per unit site area is improved.

As shown in FIG. 2 , on the endless belt 132 , the lidded containers 10 may be shifted in the width direction of the endless belt 132 , that is, in the Y-axis direction. Also, the imaging range of the imaging unit 2 in the Y-axis direction is set larger than the width of the endless belt 132 . Even if the center of the imaging and the center of the lidded container 10 are misaligned, as long as the lidded containers 10 are sequentially positioned vertically below the imaging unit 2, the first image IM1 of each lidded container 10 and the A second image IM2 can be captured.

1 and 2, on the endless belt 132, the orientations of the first feature points 11 and the second feature points 12 differ between the lidded containers 10 (hereinafter referred to as "feature points "anisotropic state"). Even in the feature point anisotropic state, the first image IM1 and the second image IM2 of each lidded container 10 can be captured as long as each lidded container 10 is positioned vertically below the imaging unit 2 in order. can be done. Then, as shown in FIG. 4, each first image IM1 includes (is reflected in) a first feature point 11, and each second image IM2 includes (is reflected in) a second feature point 12 (see FIG. 4). loaded). Note that the feature point anisotropic state can also include a state in which the orientation of the first feature point 11 and the orientation of the second feature point 12 are different for each lidded container 10 .

Between the optical component 3 and the lidded container 10 positioned vertically below the optical component 3 , an illumination unit 6 is arranged to illuminate the lidded container 10 when the imaging unit 2 captures an image. Accordingly, the first image IM1 and the second image IM2 can be clearly captured.
In this embodiment, the illumination unit 6 has an annular ring illumination 61 having a center line _O6 along the vertical axis OZ. Thereby, the illumination part 6 can be made into a simple structure. In addition, the lidded container 10 can be illuminated sufficiently to capture the first image IM1 and the second image IM2 clearly.

In addition, the illumination unit 6 is not limited to the configuration having the ring illumination 61, and depending on the type of the lidded container 10 and the arrangement position of the lidded container 10, for example, the illumination unit 6 has a configuration different from the ring illumination 61 such as line illumination. may
Further, for example, if the inspection device 1 is installed in a room where the lighting equipment can be used for illumination or natural light, the illumination unit 6 can be omitted.

As described above, the lidded container 10 is a product in which the lid 108 is attached to the container 101 containing jelly, that is, the container 101 and the lid 108 are combined. The attachment of the lid 108 to the container 101 is performed in the attachment process prior to the inspection process. As for the combination of the container 101 and the lid 108 in the mounting process, the first characteristic points 11 attached to the container 101 and the second characteristic points 12 attached to the lid 108 are determined according to the type of jelly. Appropriately, it should be the same as the registered image IM0 shown in FIG.

However, there are cases where the combination of container 101 and lid 108 is inappropriate. An example of an unsuitable case is the lidded container 10 located on the left side in FIGS. The case where it becomes a cover body is mentioned. It is not preferable to sell the lidded container 10 in which the combination of the container 101 and the lid 108 is inappropriate. 1 and 2, the container 101 is for orange-flavored jelly, and the lid 108 is also for orange-flavored jelly. Therefore, the combination of the container 101 and the lid 108 is appropriate.

Therefore, in the inspection process, the inspection apparatus 1 is configured to determine whether the combination of the container 101 and the lid 108 in the lidded container 10 is appropriate. The configuration and action for determining suitability will be described below.
As shown in FIG. 3 , the control unit 7 has a detection unit 4 , a determination unit 5 and a storage unit 9 . The control unit 7 incorporates a CPU (Central Processing Unit) and functions as the detection unit 4 and the determination unit 5 . Further, the control unit 7 incorporates various types of memory and functions as the storage unit 9 .

The detection unit 4 detects first feature points 11 from the first image IM1 and detects second feature points 12 from the second image IM2.
The method for detecting the first feature points 11 is not particularly limited. For example, the first image IM1 is binarized to extract the light color portions 111 and the dark color portions 112 arranged in a matrix. and the first feature point 11 is used. Then, the detection unit 4 recognizes the detected first feature point 11 as one of the codes 11A to 11C.

A method for detecting the second feature point 12 is not particularly limited. 12 is a method of extracting edges by template matching. Then, the detection unit 4 recognizes the detected second feature point 12 as one of the patterns 12A to 12C.
If the first feature point 11 and the second feature point 12 are vertically inverted in the image, the detection unit 4 can convert the vertical orientation of each feature point into a correct (appropriate) orientation. .

As described above, the detection unit 4 detects the codes 11A to 11C as the first feature points 11, and detects at least part of the patterns 12A to 12C (the character "jelly") as the second feature points 12. can do. Thereby, the first feature point 11 and the second feature point 12 can be detected accurately.

Based on the detection result of the detection unit 4, the determination unit 5 determines the combination of the container 101 and the lid 108 in the lidded container 10, that is, the information on the product attached to the container 101 and the information attached to the lid 108. Judging the appropriateness of combination with product information. The registration image IM0 stored in the storage unit 9 is used for the suitability determination by the determination unit 5 .
For example, the lidded container 10 located in the center of the three lidded containers 10 in FIGS. 1 and 2 includes a container 101 having a code 11A and a lid body 108 having a pattern 12A. The detection unit 4 detects the code 11A as the first feature point 11 and detects the pattern 12A as the second feature point 12. FIG. The determination unit 5 then compares the detection result of the detection unit 4 with the registered image IM0 stored in the storage unit 9 . Since the combination of the code 11A and the pattern 12A detected by the detection unit 4 is present in the registered image IM0, that is, is the same as the registered image IM0, the determination unit 5 determines that the combination of the container 101 and the lid 108 is appropriate. is determined to be

On the other hand, the lidded container 10 located on the left side of the three lidded containers 10 in FIGS. 1 and 2 includes a container 101 having a code 11A and a lid body 108 having a pattern 12B. The detection unit 4 detects the code 11A as the first feature point 11 and the pattern 12B as the second feature point 12. FIG. The determination unit 5 then compares the detection result of the detection unit 4 with the registered image IM0 stored in the storage unit 9 . Since the combination of the code 11A and the pattern 12B detected by the detection unit 4 does not exist in the registration image IM0, the determination unit 5 determines that the combination of the container 101 and the lid 108 is inappropriate.
As described above, the inspection apparatus 1 has a simple configuration in which the detection result of the detection unit 4 is compared with the registered image IM0 stored in the storage unit 9, and the container 101 and the lid 108 of the lidded container 10 are detected. It is possible to judge the suitability of the combination with

As described above, the storage unit 9 pre-stores the relationship between the first feature points 11 and the second feature points 12 when the combination is appropriate as the registered image IM0 as the calibration curve. As a result, it is possible to quickly determine whether the combination of the container 101 and the lid 108 in the lidded container 10 is appropriate.

Also, the control unit 7 is electrically connected to the notification unit 8 . A notification unit 8 notifies the determination result of the determination unit 5 . The notification method is not particularly limited, and includes, for example, notification by sound, notification by light emission, notification by combining sound and light emission, and the like.

Next, a control program for judging the suitability of the combination of the container 101 and the lid 108 and notifying the result of the suitability judgment will be described with reference to the flowchart shown in FIG. The control program is pre-stored in the storage unit 9 and executed by the control unit 7 .
First, the illumination unit 6 is operated to illuminate the lidded container 10 (step S101). Then, while the lidded container 10 is being illuminated by the illumination unit 6, the imaging unit 2 is operated to capture an image of the lidded container 10 (step S102). As a result, a first image IM1 and a second image IM2 are obtained.

Next, as described above, the detection unit 4 detects the first feature points 11 from the first image IM1 and detects the second feature points 12 from the second image IM2 (steps S103 and S104).
Next, whether the combination of the first feature point 11 detected in step S103 and the second feature point 12 detected in step S104 is the same as the combination in the registered image IM0, that is, whether it is correct or not. (step S105).

As a result of the judgment in step S105, if correct, the suitability judgment of the combination of the container 101 and the lid body 108 is made "good" (step S106). After step S106, the notification unit 8 notifies that the suitability judgment is "good" (step S107).
On the other hand, as a result of the judgment in step S105, if it is not correct, the suitability judgment of the combination of the container 101 and the lid body 108 is made "no" (step S108). After step S108, the notifying unit 8 notifies that the suitability determination is "no" (step S109).

Then, when the suitability judgment is "good", the lidded container 10 can be distributed as a product. On the other hand, if the suitability determination is "no", the lidded container 10 can be reinspected or discarded.
Note that the execution order of steps S103 and S104 may be reversed.

<Second embodiment>
FIG. 7 is a schematic side view showing another example of a container that can be inspected by the inspection apparatus of the present invention.
The second embodiment of the inspection apparatus of the present invention will be described below with reference to FIG. 7, but the description will focus on the differences from the above-described embodiment, and the description of the same items will be omitted.
This embodiment is the same as the first embodiment, except that the outer shape of the lidded container as the inspection object is different.

As shown in FIG. 7, the container 101 in this embodiment has a lower height and a larger outer diameter than the container 101 in the first embodiment. Also, the first feature point 11 attached to the outer surface 105 of the container 101 is arranged at a position lower than the bottom portion 102 of the container 101 . The first feature point 11 has dark color portions 112 spaced apart along the X-axis direction. The shape of each dark-colored portion 112 when viewed from the side is a quadrangle, but is not limited to this. Also, the gaps between adjacent dark color portions 112 function as light color portions 111 .
Also, the lid 108 is made of a plate material and arranged in a state of being fitted in the inner peripheral portion of the container 101 . Thereby, when eating the jelly in the container 101, the lid 108 can be pulled out from the container 101 and separated.

Although the inspection apparatus of the present invention has been described above with reference to the illustrated embodiments, the present invention is not limited to this, and each part constituting the inspection apparatus may be of any configuration capable of exhibiting similar functions. can be replaced with Moreover, arbitrary components may be added.
Further, the inspection apparatus of the present invention may be a combination of any two or more configurations (features) of the above embodiments.

The storage unit 9 also stores the relationship between the first feature points 11 and the second feature points 12 when the combination is appropriate as a calibration curve. Although the calibration curve is the registered image IM0 shown in FIG. 5 in this embodiment, it is not limited to the registered image IM0, and may be, for example, a graph, a table, or numerical values.

In the lidded container 10, the codes 11A to 11B are attached to the container 101, and the patterns 12A to 12C are attached to the lid 108. As the first characteristic point 11, the patterns 12A to 12C 101, and codes 11A to 11B may be attached to the lid 108 as the second characteristic points 12. FIG.

DESCRIPTION OF SYMBOLS 1... Inspection apparatus, 2... Imaging part, 3... Optical component, 3A... Lens, 31... Plane surface, 32... Inclined surface, 4... Detection part, 5... Judgment part, 6... Illumination part, 61... Ring illumination, 7... Control part 8... Notification part 9... Storage part 10... Container with lid 101... Container 102... Bottom part 104... Upper opening part 105... Outside surface 108... Lid body 109... Upper surface 11... Third 1 feature point, 11A... code, 11B... code, 11C... code, 111... light color part, 112... dark color part, 12... second feature point, 12A... pattern, 12B... pattern, 12C... pattern, 13... conveying device , 131... roller, 132... endless belt, IM0... registered image, IM1... first image, IM2... second image, _O31 ... normal line, _O6 ... central axis, _O101 ... central axis, OZ... vertical axis, RL...reflected light RL1...reflected light RL2...reflected light S101 to S109...steps

Claims (8)

A container with a lid, which has a cylindrical shape with a bottom and whose central axis is arranged along the vertical axis, and a lid attached to an upper opening of the container to cover the upper opening, is vertically upwardly mounted. an imaging unit that captures images from
an optical component capable of collectively capturing a first image of the outer surface facing the direction intersecting the central axis of the container and a second image of the upper surface facing the vertically upward direction of the lid;
From the first image, a first characteristic point that enables identification of information about the product attached to the container is detected, and from the second image, information about the product attached to the lid is identifiable. a detection unit that detects the second feature point;
a judgment unit for judging appropriateness of a combination of product information attached to the lidded container and product information attached to the lid based on the detection result of the detection unit. An inspection device characterized by: The detection unit detects, as the first feature point, a code attached to the outer surface and in which a light color portion having a light color and a dark color portion having a dark color are arranged in a matrix. 2. The inspection apparatus according to claim 1, wherein at least a portion of the product-related drawing attached to the upper surface and attached to the lid body is detected as a point. A storage unit that stores in advance a relationship between the first feature point and the second feature point when the combination is suitable,
The inspection apparatus according to claim 1 or 2, wherein the determination unit determines that the combination is suitable when the detection result is the same as the relationship. The inspection apparatus according to claim 3, wherein the storage unit stores the relationship as a calibration curve. The inspection apparatus according to any one of claims 1 to 4, wherein the optical component has a lens. 6. The inspection apparatus according to claim 5, wherein the lens comprises a convex lens having a plane normal to a line along a vertical axis and an inclined surface provided along the entire circumference of the plane and inclined with respect to the plane. . The inspection apparatus according to any one of claims 1 to 6, further comprising an illumination unit that illuminates the lidded container. 8. The inspection apparatus according to claim 7, wherein the illumination unit has ring illumination having a center line along a vertical axis.

Images