WO2023105724A1 - 異物検査装置 - Google Patents

異物検査装置 Download PDF

Info

Publication number
WO2023105724A1
WO2023105724A1 PCT/JP2021/045388 JP2021045388W WO2023105724A1 WO 2023105724 A1 WO2023105724 A1 WO 2023105724A1 JP 2021045388 W JP2021045388 W JP 2021045388W WO 2023105724 A1 WO2023105724 A1 WO 2023105724A1
Authority
WO
WIPO (PCT)
Prior art keywords
dimensional data
liquid surface
foreign matter
change
luminance value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/045388
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
尚司 谷内田
真弘 山口
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp filed Critical NEC Corp
Priority to EP21967220.1A priority Critical patent/EP4446730A4/en
Priority to US18/712,364 priority patent/US20250003891A1/en
Priority to PCT/JP2021/045388 priority patent/WO2023105724A1/ja
Priority to JP2023565815A priority patent/JP7639938B2/ja
Publication of WO2023105724A1 publication Critical patent/WO2023105724A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G01N21/9018—Dirt detection in containers
    • G01N21/9027—Dirt detection in containers in containers after filling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G01N21/9036—Investigating the presence of flaws or contamination in a container or its contents using arrays of emitters or receivers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects

Definitions

  • the present invention relates to a foreign matter inspection device for inspecting the presence or absence of foreign matter floating on a liquid surface, an information processing method, and a recording medium.
  • Patent Document 3 describes an example of a device that inspects the presence or absence of foreign matter floating on the liquid surface.
  • illumination light is irradiated from below the transparent container toward the back side of the liquid surface, and the path of the light reflected on the back side of the liquid surface is The back side of the liquid surface is photographed by the imaging means arranged above, and whether or not there is a foreign substance on the liquid surface is determined based on the photographed image.
  • the liquid surface is a perfect plane, the liquid surface is photographed as a uniform white area, and foreign matter floating on the liquid surface is photographed as a blackish image according to its reflection coefficient. be.
  • An object of the present invention is to provide a foreign matter inspection device that solves the above problems.
  • a foreign matter inspection device includes: A transparent container containing a transparent liquid and rotated around a central axis at a predetermined speed to form a paraboloid of revolution liquid surface is photographed from the side of the transparent container under transmitted illumination.
  • Acquisition means for acquiring an image near the surface of the paraboloid of revolution; Obtaining luminance values of pixels along a line extending in a direction parallel to the central axis in the image to generate one-dimensional data about luminance values, and adjusting spatial luminance value changes in the one-dimensional data
  • Determination means for determining whether there is a foreign substance on the liquid surface based on is configured to include
  • a foreign matter inspection method includes: A transparent container containing a transparent liquid and rotated around a central axis at a predetermined speed to form a paraboloid of revolution liquid surface is photographed from the side of the transparent container under transmitted illumination. Further, acquiring an image near the liquid surface of the paraboloid of revolution, Obtaining luminance values of pixels along a line extending in a direction parallel to the central axis in the image to generate one-dimensional data about luminance values; It is configured to determine whether or not there is a foreign substance on the liquid surface based on the spatial change in brightness value in the one-dimensional data.
  • a computer-readable recording medium includes: to the computer, A transparent container containing a transparent liquid and rotated around a central axis at a predetermined speed to form a paraboloid of revolution liquid surface is photographed from the side of the transparent container under transmitted illumination. Further, a process of acquiring an image near the liquid surface of the paraboloid of revolution; a process of acquiring luminance values of pixels along a line extending in a direction parallel to the central axis in the image to generate one-dimensional data about the luminance values; a process of determining whether there is a foreign substance on the liquid surface based on a change in spatial luminance value in the one-dimensional data; It is configured to record a program for causing the
  • the present invention can stably determine that there is no foreign matter on the liquid surface.
  • FIG. 10 is a schematic diagram of an image of the vicinity of a liquid surface of a paraboloid of revolution without foreign matter and air bubbles, and one-dimensional data of luminance values created by acquiring luminance values of pixels along the central axis. It is a schematic diagram of the image which image
  • FIG. 10 is a schematic diagram of an image of the vicinity of a liquid surface of a paraboloid of revolution with a foreign substance, and one-dimensional data of luminance values created by acquiring luminance values of pixels along the central axis; FIG.
  • FIG. 10 is a schematic diagram of an image of the vicinity of a liquid surface of a paraboloid of revolution with bubbles, and one-dimensional data of brightness values created by acquiring brightness values of pixels along the central axis.
  • 1 is a block diagram of an inspection system to which a foreign matter inspection device according to a first embodiment of the present invention is applied;
  • FIG. 1 is a block diagram of a foreign matter inspection device according to a first embodiment of the present invention;
  • FIG. 4 is a diagram showing a configuration example of image information according to the first embodiment of the present invention;
  • FIG. It is a figure which shows the structural example of the inspection result information in the 1st Embodiment of this invention.
  • FIG. 4 is a flow chart showing an example of the operation of the foreign matter inspection device according to the first embodiment of the present invention
  • 4 is a flow chart showing an example of processing of a determination unit in the foreign substance inspection apparatus according to the first embodiment of the present invention
  • It is a figure which shows the format example of the control table which the determination part in the foreign material inspection apparatus in the 1st Embodiment of this invention uses.
  • FIG. 4 is a diagram showing an example of a plurality of luminance measurement lines set on a grayscale image obtained by imaging a container to be inspected in the first embodiment of the present invention;
  • FIG. 4 is a schematic diagram showing an example of a method for calculating a floating object candidate region by a determination unit in the foreign matter inspection apparatus according to the first embodiment of the present invention. It is a block diagram of a foreign matter inspection device according to a second embodiment of the present invention.
  • the high brightness region 5 has a brightness value sufficiently higher than that of the low brightness region 4 and slightly lower than that of the air layer 2 and the liquid layer 3 . It is considered that the low luminance area 4 is formed because the inclination of the liquid surface becomes steeper toward the upper side of the paraboloid of revolution. By detecting such a low luminance region 4, the liquid level in the container can be stably detected.
  • the paraboloid of revolution liquid surface is not formed.
  • the image 1 of the transparent container photographed under the same conditions as in FIG. 1 is, for example, an image schematically shown in FIG. Referring to FIG. 2, the projected image of the liquid surface becomes only the high brightness area 5, and the low brightness area 4 as shown in FIG. 1 disappears. Since the brightness value of the high-brightness region 5 is close to that of the liquid layer 3, it is difficult to stably detect the liquid level in the container based on the high-brightness region 5.
  • the transparent container containing the transparent liquid is rotated around the central axis at a predetermined speed to form a liquid surface in the shape of a paraboloid of revolution.
  • the transparent container in which the paraboloid of revolution is formed is photographed from the side under transmitted illumination to obtain an image of the vicinity of the liquid surface of the paraboloid of revolution.
  • the liquid surface is detected by detecting a low-luminance area 4 having a predetermined luminance value or less from the image. This makes it possible to stably detect the liquid level in the container.
  • an image 1 of the transparent container photographed under the same conditions as in FIG. 1 is an image schematically shown in FIG. 4, for example.
  • a bubble region 7 corresponding to bubbles is formed inside the low luminance region 4, at the lower end of the high luminance region 5, and the like.
  • the bubble region 7 is composed of a thin or thick line-shaped outline and a hollow part in the outline, and has a shape such as a ring shape or a donut shape.
  • the brightness of the contour portion is low, and the brightness of the hollow portion is high.
  • the brightness values of pixels are acquired along a line extending in a direction parallel to the central axis of the container in the image of the liquid surface in the shape of a paraboloid of revolution as described above, and one-dimensional data about the brightness values are obtained. is generated, and it is determined whether or not there is a foreign substance on the liquid surface based on the spatial change in luminance value in this one-dimensional data.
  • 1, 3, and 4 show one-dimensional data 8 about the luminance values of pixels obtained along the central axis of the container in the images of the liquid surface in the form of a paraboloid of revolution shown schematically in them. are listed together. Looking at the change in the luminance value in the direction from the air layer 2 to the liquid layer 3 with respect to the one-dimensional data 8 in FIG. After that, the luminance value reaches the luminance value of the liquid layer 3 without decreasing even once. On the other hand, referring to the one-dimensional data 8 in FIG. 3 in which the plastic pieces are floating on the liquid surface, the luminance value decreases at the upper edge of the foreign matter region 6 corresponding to the plastic piece, and the luminance decreases at the lower edge. value is rising.
  • the low-luminance region 4 is divided by the high-luminance hollow part, and the luminance value is declining.
  • the luminance value decreases and rises at short intervals due to the high-luminance contour portion.
  • the feature of the spatial change in brightness value of the one-dimensional data 8 as shown in FIG. is determined that there is no foreign matter on the liquid surface for an image obtained by obtaining one-dimensional data having a feature of spatial luminance value change that matches the reference feature.
  • the present embodiment is applied to a change pattern having a feature of spatial luminance value change that does not match the reference feature, i.e., an image having features such as those shown in the one-dimensional data 8 in FIGS. , recognize that there may be floating matter (foreign matter and/or air bubbles) on the surface of the liquid.
  • a floating matter candidate region in which a floating matter may exist is calculated based on the one-dimensional data that does not match the reference features.
  • FIG. 5 is a block diagram of an inspection system 100 to which the foreign matter inspection device according to the first embodiment of the invention is applied.
  • the inspection system 100 is a system for inspecting the presence or absence of foreign matter on the liquid surface of the liquid enclosed in the container 400 .
  • the inspection system 100 includes a grasping device 110, an illumination device 120, a camera device 130, a foreign matter inspection device 200, and a display device 300 as main components.
  • the container 400 is a transparent or translucent container having a circular cross section, such as a glass bottle or a plastic bottle.
  • the container 400 contains a liquid medicine (hereinafter referred to as a liquid medicine).
  • a liquid medicine hereinafter referred to as a liquid medicine
  • foreign substances are floating on the liquid surface of the chemical liquid stored in the container 400 .
  • the foreign matter floating on the liquid surface is, for example, plastic pieces.
  • the container 400 is, for example, a syringe pre-filled with a chemical solution.
  • the container 400 to be inspected is not limited to a syringe.
  • the container 400 may be a vial bottle or an ampoule containing a drug solution.
  • the container 400 is not limited to a container containing a chemical solution, and may be a container containing drinking water or the like.
  • the gripping device 110 is configured to grip the container 400 in an upright posture.
  • the gripping device 110 grips the syringe in an upright posture with the nozzle side up.
  • Any mechanism may be used to hold the container 400 in an upright posture.
  • the gripping mechanism may include a pedestal on which the container 400 is placed in an upright position, and a member that presses the upper surface of the top of the head 401 of the container 400 placed on the pedestal. .
  • the gripping device 110 is configured to rotate the container 400 around the central axis while gripping the container 400 .
  • a mechanism for rotating the container 400 is arbitrary.
  • the rotating mechanism may include a motor that rotates the entire gripping mechanism while gripping the container 400 .
  • the gripping device 110 is connected to the foreign matter inspection device 200 by wire or wirelessly.
  • the gripping device 110 rotates the container 400 at a predetermined speed around the central axis while holding the container 400 in an upright posture. Further, the gripping device 110 stops the operation of rotating the container 400 in response to the stop instruction from the foreign matter inspection device 200 .
  • the liquid in the container 400 flows to form a liquid surface in the shape of a paraboloid of revolution.
  • a foreign object such as a piece of plastic floats on the liquid surface of the container 400, and the container 400 is rotated to form a liquid surface in the shape of a paraboloid of revolution
  • the foreign object such as a piece of plastic will form a paraboloid of revolution. They tend to gather in the central part of the planar liquid surface.
  • bubbles existing near the liquid surface before rotation and bubbles generated near the liquid surface due to rotation move near the liquid surface in synchronization with the rotation. Therefore, the foreign matter inspection apparatus 200 checks whether or not there is floating matter on the liquid surface of the paraboloid of revolution, and if so, identifies whether the floating matter is a foreign matter or a bubble.
  • the illumination device 120 is configured to irradiate the liquid sealed in the container 400 with illumination light.
  • the illumination device 120 is, for example, a surface light source having a size corresponding to the size of the container 400 .
  • the illumination device 120 is installed on the opposite side of the container 400 to the side where the camera device 130 is installed. That is, illumination by the illumination device 120 is transmitted illumination.
  • the camera device 130 is a high-speed camera that photographs the liquid in the container 400 from the direction opposite to the side on which the lighting device 120 is installed when viewed from the container 400 .
  • the video rate of camera device 130 may be, for example, approximately 160 fps. However, the video rate of the camera device 130 may be other than the above.
  • the camera device 130 is, for example, a black-and-white camera equipped with a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary MOS) image sensor having a pixel capacity of several million pixels. Outputs a grayscale image represented by .
  • the camera device 130 may be a color camera.
  • the level of the luminance value of the grayscale image is not limited to 256 gradations, and the number of gradations may be smaller or larger.
  • the camera device 130 is connected to the foreign substance inspection device 200 by wire or wirelessly.
  • the camera device 130 transmits time-series images obtained by photographing to the foreign substance inspection apparatus 200 together with information indicating photographing times.
  • the display device 300 is a display device such as an LCD (Liquid Crystal Display).
  • the display device 300 is connected to the foreign matter inspection device 200 by wire or wirelessly.
  • the display device 300 displays the inspection result of the container 400 performed by the foreign matter inspection device 200 and the like.
  • the foreign matter inspection apparatus 200 performs image processing on the time-series images captured by the camera device 130 to inspect the presence or absence of foreign matter floating on the liquid surface of the liquid sealed in the container 400 . It is configured. Foreign matter inspection apparatus 200 is connected to gripping device 110, camera device 130, and display device 300 by wire or wirelessly.
  • FIG. 6 is a block diagram showing an example of the foreign matter inspection device 200.
  • foreign matter inspection apparatus 200 includes communication I/F section 210 , operation input section 220 , storage section 230 and arithmetic processing section 240 .
  • the communication I/F unit 210 is composed of a data communication circuit, and is configured to perform wired or wireless data communication with the gripping device 110, the camera device 130, the display device 300, and other external devices (not shown). ing.
  • the operation input unit 220 is composed of an operation input device such as a keyboard and a mouse, and is configured to detect an operator's operation and output it to the arithmetic processing unit 240 .
  • the storage unit 230 is composed of one or more types of storage devices such as hard disks and memories, and is configured to store processing information and programs 231 necessary for various processes in the arithmetic processing unit 240 .
  • the program 231 is a program that realizes various processing units by being read and executed by the arithmetic processing unit 240, and is transmitted from an external device (not shown) or a recording medium via a data input/output function such as the communication I/F unit 210. It is read in advance and stored in the storage unit 230 .
  • Main processing information stored in the storage unit 230 includes image information 232 and inspection result information 233 .
  • the image information 232 includes time-series images obtained by continuously photographing the liquid in the container 400 with the camera device 130 . If floating matter exists in the liquid in the container 400, the image information 232 shows an image of the floating matter.
  • FIG. 7 shows a configuration example of the image information 232.
  • FIG. The image information 232 in this example is composed of an entry consisting of a set of a container ID 2321 , photographing time 2322 and frame image 2323 .
  • An ID that uniquely identifies the container 400 is set in the container ID 2321 item.
  • As the container ID 2321 a serial number assigned to the container 400, a barcode attached to the container 400, fingerprint information collected from the cap of the container 400, or the like can be considered.
  • the shooting time 2322 and the frame image 2323 are set with the shooting time and the frame image.
  • the photographing time 2322 is set to a precision (for example, in units of milliseconds) that can be distinguished from other frame images with the same container ID.
  • a frame image 2323 is a grayscale image in which one pixel is 8 bits.
  • the container ID 2321 is associated with each frame image 2323, but the container ID 2321 may be associated with each group of a plurality of frame images 2323.
  • the inspection result information 233 is information on the result of inspection for the presence or absence of foreign matter in the liquid enclosed in the container 400 to be inspected.
  • FIG. 8 shows a configuration example of the inspection result information 233.
  • the inspection result information 233 in this example consists of a set of a container ID 2331 and an inspection result 2332 .
  • the entry of the container ID 2331 is set with an ID that uniquely identifies the container 400 to be inspected.
  • the entry of the inspection result 2332 is set with an inspection result of either OK (inspection passed) or NG (inspection unsuccessful).
  • An OK test result is issued, for example, when no foreign matter exists in the liquid enclosed in the container 400 specified by the container ID.
  • an NG inspection result is issued when one or more foreign objects are present.
  • the arithmetic processing unit 240 has a microprocessor such as an MPU and its peripheral circuits, and reads the program 231 from the storage unit 230 and executes it to cooperate with the hardware and the program 231. It is configured so as to realize various processing units.
  • Main processing units realized by the arithmetic processing unit 240 include an acquisition unit 241 , a determination unit 242 , and an output unit 243 .
  • the acquisition unit 241 controls the gripping device 110 to rotate the container 400 containing the transparent liquid around the central axis at a predetermined speed, thereby forming a liquid surface in the shape of a paraboloid of revolution.
  • the acquisition unit 241 controls the camera device 130 to continuously photograph the container 400 in which the liquid surface in the shape of a paraboloid of revolution is formed from the side of the container 400 under transmitted illumination by the illumination device 120.
  • the acquisition unit 241 also acquires a plurality of grayscale images near the liquid surface of the paraboloid of revolution obtained by successive imaging, and stores the images as image information 232 in the storage unit 230 .
  • the determination unit 242 reads out the image information 232 from the storage unit 230 and determines whether or not there is a foreign substance on the liquid surface for each grayscale image near the liquid surface of the paraboloid of revolution represented by the image information 232 . For example, the determining unit 242 acquires the luminance value of pixels along each of a plurality of lines extending in a direction parallel to the central axis of the container 400 in the grayscale image, and obtains one-dimensional data about the luminance value for each line. Generate. Next, the determination unit 242 determines whether there is a foreign substance on the liquid surface based on the spatial change in luminance value in the one-dimensional data for each line.
  • the determination unit 242 compares the change in spatial luminance value in the one-dimensional data with the change in luminance value when there is no floating matter on the liquid surface, and when the two match, the liquid surface It is determined that there is no foreign matter in the On the other hand, when the two do not match, the determination unit 242 calculates a floating matter candidate region in which the floating matter may exist based on the spatial change in luminance value in the one-dimensional data, Floating matter is recognized from the candidate area, and it is determined whether the recognized floating matter is a foreign substance or a bubble.
  • the determination unit 242 repeats the above processing for all grayscale images obtained from the same container 400 included in the image information 232 . Then, the determination unit 242 creates inspection result information 233 based on the determination results for all grayscale images, and stores it in the storage unit 230 .
  • the output unit 243 reads the inspection result information 233 from the storage unit 230, displays it on the screen of the display device 300 through the communication I/F unit 210, and/or outputs it to an external device (not shown).
  • FIG. 9 is a flowchart showing an example of the operation of inspecting the presence or absence of foreign matter in the liquid enclosed in the container 400 to be inspected.
  • the acquisition unit 241 controls the gripping device 110 to rotate the container 400 containing the transparent liquid around the central axis at a predetermined speed, so that the liquid surface is shaped like a paraboloid of revolution. is formed (step S1).
  • the acquisition unit 241 controls the camera device 130 to continuously photograph the container 400 in which the liquid surface in the shape of a paraboloid of revolution is formed from the side of the container 400 under transmitted illumination by the illumination device 120. By doing so, a plurality of grayscale images near the surface of the paraboloid of revolution are acquired and stored in the storage unit 230 as image information 232 (step S2).
  • the determination unit 242 reads out the image information 232 from the storage unit 230, acquires the luminance values of the pixels along a plurality of lines extending in the direction parallel to the central axis, and obtains the luminance values of the pixels for each grayscale image.
  • One-dimensional data about the value is generated for each line (step S3).
  • the determination unit 242 determines whether or not there is a foreign substance on the liquid surface based on the change in spatial luminance value in the one-dimensional data generated for each grayscale image and for each line. Inspection result information 233 representing the result is created and stored in the storage unit 230 .
  • the output unit 243 reads out the test result information 233 from the storage unit 230, displays it on the screen of the display device 300 through the communication I/F unit 210, and/or outputs it to an external device (not shown) (step S4).
  • the acquisition unit 241 first activates the gripping device 110 that grips the container 400 in an upright position, thereby rotating the container 400 around its central axis at a predetermined rotational speed of about 100 to 200 rpm. to form a liquid surface in the shape of a paraboloid of revolution in the container 400 .
  • the predetermined speed may be, for example, 100 to 200 rpm.
  • the rotational speed required to form the liquid surface in the shape of a paraboloid of revolution varies depending on the viscosity of the enclosed liquid. Therefore, it is desirable to confirm the rotation speed at which the liquid surface in the shape of a paraboloid of revolution is formed by a preliminary test. Further, when the rotational speed of the container 400 fluctuates, the liquid level in the paraboloid of revolution fluctuates. Therefore, it is desirable that the rotation speed of the container 400 is a predetermined speed and a constant speed.
  • the acquisition unit 241 continuously photographs the rotating container 400 with the camera device 130 under transmitted illumination from the illumination device 120 .
  • the frame rate of the camera device 130 is, for example, 160 fps
  • 80 grayscale images are obtained by continuous shooting for 0.5 seconds, for example.
  • the acquisition unit 241 performs image stabilization processing such as flicker removal on each of the acquired grayscale images, then cuts out an image near the liquid surface in the shape of a paraboloid of revolution, and obtains the image information 232 as image information 232 . Save in the storage unit 230 .
  • image stabilization processing such as flicker removal
  • the acquiring unit 241 acquires a plurality of grayscale images near the liquid surface of the paraboloid of revolution as schematically shown in FIGS. .
  • FIG. 10 is a flowchart showing an example of processing of the determination unit 242.
  • the determination unit 242 first initializes the control table 500 used for determination processing (step S11).
  • FIG. 11 shows a format example of the control table 500.
  • the control table 500 in this example consists of a container ID 501 and a plurality of image analysis information 502 .
  • the ID of the container 400 to be inspected (container ID 2331) is set in the container ID 501 item.
  • a plurality of pieces of image analysis information 502 are provided for the number of grayscale images obtained by imaging the container 400 to be inspected.
  • Each image analysis information 502 consists of an image ID 503, a luminance measurement line ID 504, one-dimensional data 505, a comparison result 506, a floating object candidate area 507, and presence/absence of foreign matter 508.
  • the ID of a grayscale image (for example, shooting time 2322) is set in the image ID 503 item.
  • the item of the brightness measurement line ID 504 is set with the ID of the line for measuring the brightness value of the pixel on the grayscale image.
  • the item of one-dimensional data 505 is set with one-dimensional data of luminance values of pixels acquired along a line specified by the same set of luminance measurement line IDs 504 .
  • the result of comparing the feature of spatial change in brightness value in the one-dimensional data 505 of the same set with a pre-registered reference feature is set.
  • FIG. 12 shows an example of a plurality of luminance measurement lines 510-1 to 510-6 set on a grayscale image obtained by imaging the container 400 to be inspected.
  • Each of the luminance measurement lines 510-1 to 510-6 has a width W of one pixel and extends parallel to the central axis of the container 400 from the upper end (air layer 2 side) to the lower end (liquid layer 3 side) of the image 1. extending in the direction
  • a plurality of luminance measurement lines 510-1 to 510-6 are provided at intervals of a width of H pixels.
  • the number of pixels H is determined according to the minimum foreign matter diameter to be detected. That is, the narrower the interval between the plurality of luminance measurement lines 510-1 to 510-6, the smaller the foreign matter can be detected.
  • the intervals of the luminance measurement lines 510 may all be the same or different. For example, locations closer to the central axis may be spaced closer together than locations further away. Also, in the example shown in FIG. 12, the luminance measurement lines 510-1 to 510-6 are provided only near the center of the container 400 where the foreign matter gathers. However, the luminance measurement lines may be provided not only near the center of the container 400 but also near the sides of the container 400 . An ID for unique identification is assigned to each luminance measurement area 510-1 to 510-6.
  • the floating matter candidate area 507 is set to an image of an area where floating matter (foreign matter or air bubbles) may exist in the grayscale image.
  • information on the presence/absence of foreign matter is set based on the result of analyzing the floating matter candidate region 507.
  • the container ID 2321 of the image information 232 is set as the container ID 501 of the control table 500, and the photographing time 2322 of the frame image is set as the image ID 503. Further, in the initialization step S11, the determination unit 242 sets the ID of the luminance measurement line 510 to the luminance measurement line ID of the control table 500, the one-dimensional data 505, the comparison result 506, the floating matter candidate region 507, and the foreign matter
  • the item of presence/absence 508 is initialized to a NULL value, for example.
  • the determination unit 242 After completing the initialization of the control table 500, the determination unit 242 focuses on one image ID 503 (for example, the first image ID 503) set in the control table 500 (step S11). Next, the determination unit 242 acquires the luminance values of the pixels along the luminance measurement lines 510-1 to 510-6 for each luminance measurement line ID 504 from the grayscale image specified by the image ID 503 of interest. Dimensional data 505 is created (step S13). For example, the determination unit 242 sequentially acquires the brightness values of the pixels of the grayscale image one by one from the air layer 2 side along one brightness measurement line, and arranges the brightness values of the acquired pixels in the order of acquisition. One-dimensional data 505 is created by arranging them. Instead of storing the created one-dimensional data in the control table 500 as it is, the determination unit 242 may store in the control table 500 the one-dimensional data obtained by smoothing the created one-dimensional data. good.
  • the determination unit 242 may store in the control table 500 the one-dimensional data obtained by smooth
  • the determining unit 242 compares the feature of the change in the spatial pixel brightness value of the one-dimensional data 505 with the reference feature, and the feature of the one-dimensional data 505 matches the reference feature.
  • a comparison result 506 indicating whether or not they match is saved (step S14).
  • the reference features are pre-created and pre-stored based on one-dimensional data when the liquid surface is free of foreign matter and air bubbles.
  • the reference feature has a feature that the brightness value of the pixel never drops until reaching the liquid layer 3 after the brightness value of the pixel greatly drops at the boundary between the air layer 2 and the low brightness region 4 .
  • the determining unit 242 scans the luminance values of the pixels from the leading portion (air layer side) of the one-dimensional data 505, and identifies the locations where the luminance values of the pixels have decreased below a predetermined threshold value as the air layer 2 and low luminance. It is detected as the boundary of region 4 (that is, the liquid level). Next, the determining unit 242 determines that the one-dimensional data 505 matches the reference feature if the luminance value of the pixel does not fall even once from the detected boundary to the end of the one-dimensional data 505 than the luminance value of the immediately preceding pixel. Then judge.
  • the determination unit 242 determines that the one-dimensional data 505 does not match the reference feature if there is at least one place after the boundary where the luminance value of the pixel of the one-dimensional data 505 is lower than the luminance value of the immediately preceding pixel. do.
  • the determination unit 242 determines whether or not all the one-dimensional data 505 match the reference features (step S15). Next, when all of the one-dimensional data 505 match the reference feature, the determination unit 242 records that there is no foreign matter in the item of presence/absence of foreign matter 508 corresponding to the image ID 503 of interest (step S16). And the determination part 242 progresses to step S21.
  • the determination unit 242 calculates a floating object candidate region 507 (step S17).
  • FIG. 13 is a schematic diagram showing an example of a method for calculating the floating object candidate area 507.
  • FIG. 13 among the plurality of luminance measurement lines 510, those whose one-dimensional data 505 match the reference feature are indicated by solid lines, and those that do not match are indicated by broken lines.
  • Determination unit 242 draws a parallel line separated by a certain distance ⁇ H to the left of leftmost luminance measurement line 510-3 of luminance measurement lines 510-3 and 510-4 that do not match the reference feature, and draws a parallel line. Let the line be the left boundary line 511 of the floating object candidate region 507 .
  • the determination unit 242 draws a parallel line at a certain distance ⁇ H to the right of the rightmost luminance measurement line 510-4 of the luminance measurement lines 510-3 and 510-4 that do not match the reference feature, Let this parallel line be the right boundary line 512 of the floating object candidate region 507 .
  • the constant distance ⁇ H may be the same as the interval H between the luminance measurement lines, for example.
  • the determination unit 242 determines the upper boundary line 513 of the floating object candidate region 507 as follows. First, the determination unit 242 detects the boundary between the air layer 2 and the low luminance region 4 from the one-dimensional data 505 that did not match the reference feature. If there are a plurality of one-dimensional data 505 that do not match the reference feature, the uppermost boundary among the boundaries detected from each is detected. Next, the determination unit 242 draws a line that passes through the detected boundary and is perpendicular to the central axis of the container 400 , and defines this line as the upper boundary line 513 of the floating object candidate region 507 .
  • the determination unit 242 determines the lower boundary line 514 of the floating object candidate region 507 as follows. First, the determination unit 242 scans the luminance values of the pixels of the one-dimensional data 505 that do not match the reference feature from the tail (liquid layer side) to the head, and the luminance values of the pixels suddenly drop by a certain value ⁇ L or more. Detect the first point as the lower boundary. Here, ⁇ L is determined in advance based on the difference in pixel luminance value between the liquid layer 3 and the floating matter. If there are a plurality of one-dimensional data 505 that do not match the reference feature, the lower boundary existing on the lowest side among the lower boundaries detected from each is detected. Next, the determination unit 242 draws a line that passes through the detected lower boundary and is perpendicular to the central axis of the container 400 , and defines this line as the lower boundary line 514 of the floating matter candidate region 507 .
  • the determination unit 242 determines the area surrounded by the left boundary line 511, the right boundary line 512, the upper boundary line 513, and the lower boundary line 514 as the floating matter candidate area 507. By determining the floating matter candidate region 507 based on the one-dimensional data 505 that did not match the reference features in this way, the floating matter candidate region 507 can be reduced, and the amount of processing for checking the foreign matter and air bubbles from the floating object candidate region 507 can be reduced accordingly.
  • the method of determining the floating object candidate region 507 based on the one-dimensional data 505 that does not match the reference features is not limited to the above.
  • the upper and lower edges of a foreign object or air bubble are detected from changes in spatial pixel brightness values of the one-dimensional data 505, and a line passing through the detected upper and lower edges and perpendicular to the central axis of the container 400 is defined as a floating object candidate region.
  • 507 may be upper boundary 513 and lower boundary 514 .
  • an upper boundary line 513' is determined instead of the upper boundary line 513.
  • the determination unit 242 analyzes the floating matter candidate region 507 to determine whether the floating matter present in the floating matter candidate region 507 is a foreign substance or a bubble. It is determined whether there is (step S18). This determination is performed, for example, as follows.
  • the determination unit 242 first recognizes a floating matter region from the floating matter candidate region 507 in the grayscale image of the image ID of interest. Foreign matter and air bubbles in the liquid layer 3 and the high-brightness area 5 appear as clusters of low-brightness pixels compared to the liquid layer 3 and the high-brightness area 5 . Therefore, the determination unit 242 recognizes a region in which a predetermined number of low-luminance pixels or more are continuously distributed in the liquid layer 3 and the high-luminance region 5 as one floating matter region. Also, the foreign matter and air bubbles in the low-luminance region 4 appear as a group of pixels with higher luminance than in the low-luminance region 4 . Therefore, the determination unit 242 recognizes an area in which a certain number of high-luminance pixels or more are continuously distributed in the low-luminance area 4 as one floating matter area.
  • the determination unit 242 determines whether the area is a foreign substance or an air bubble based on the characteristics of the shape of each floating matter area.
  • the bubbles in the liquid layer 3 and the high-brightness region 5 have a hollow shape composed of a linear outline and a hollow portion in the outline, whereas foreign matter does not appear as a hollow shape. Extremely rare. Since the bubbles in the low-brightness region 4, the liquid layer 3, and the high-brightness region 5 are hollow spherical bodies, they rarely appear flattened beyond a certain level or obliquely inclined beyond a certain level. On the other hand, there is a high possibility that plastic pieces, which are foreign substances, appear as relatively large and flattened shapes.
  • the determination unit 242 determines whether the floating substance region is a foreign substance or a bubble.
  • the determination unit 242 When determining that at least one floating matter region is a foreign matter, the determination unit 242 records that there is a foreign matter in the presence/absence of foreign matter 508 item corresponding to the focused image ID 503 in the control table 500 (step S19, S20). On the other hand, if the determining unit 242 determines that all the floating matter regions are air bubbles, it records that there is no foreign matter in the item of presence/absence of foreign matter 508 corresponding to the focused image ID 503 in the control table 500 (step S16). ). And the determination part 242 progresses to step S21.
  • the determination unit 242 shifts attention to the next one image ID 503 in the control table 500 in step S21. Then, through step S22, the process returns to step S13, and the same process as described above is repeated for the grayscale image of the image ID 503 of interest newly. When all the image IDs 503 set in the control table 500 have been paid attention to (YES in step S22), the process proceeds to step S23.
  • step S23 the determination unit 242 checks all the presence/absence of foreign matter 508 in the control table 500, and if the existence of a foreign matter is recorded in at least one presence/absence of foreign matter 508, the inspection result information 233 of NG is created. and stored in the storage unit 230 (step S24). Further, if it is recorded that there is no foreign matter in all the presence/absence of foreign matter 508, the determination unit 242 creates OK inspection result information 233 and stores it in the storage unit 230 (step S25). Then, the determination unit 242 ends the processing of FIG. 10 .
  • the determination unit 242 may be configured and operated as follows.
  • the determination unit 242 creates one-dimensional data by acquiring the luminance value of a pixel, compares the one-dimensional data with the reference feature, After that, the same process was repeated for the next grayscale image.
  • the determination unit 242 creates one-dimensional data by obtaining luminance values of pixels, compares the one-dimensional data with a reference feature, and compares the one-dimensional data with a reference feature. After calculating the floating matter candidate area when they do not match, the logical sum of all the calculated one or more floating matter candidate areas is calculated as the final floating matter candidate area.
  • the determination unit 242 uses the final floating matter candidate region in common to analyze the floating matter candidate region for all the grayscale images that do not match the reference features. By doing so, it is possible to extremely reduce the probability that a foreign object exists outside the floating object candidate area. Also, to simplify the process, the final floater candidate regions are commonly used to perform the floater candidate region analysis for the subset of all grayscale images that do not match the reference features. you can go
  • the same processing is repeated for all grayscale images corresponding to the container ID. It is also possible to omit it, immediately create NG inspection result information, and end the processing of FIG. 10 .
  • the luminance measurement line 510 with a horizontal width of 1 pixel was used, but a luminance measurement line with a horizontal width of 2 pixels or more may be used.
  • one-dimensional data may be created by calculating an average luminance value for each group of two or more pixels arranged in the horizontal direction and arranging the average values.
  • the transparent container 400 which contains a transparent liquid and is rotated around the central axis at a predetermined speed to form a paraboloid of revolution-shaped liquid surface, is viewed under transmitted illumination. This is because the acquisition unit 241 is provided for acquiring the image 1 near the surface of the paraboloid of revolution obtained by photographing with the camera device 130 from the side.
  • the determination unit 242 is provided to determine whether or not there is a foreign substance on the liquid surface based on the spatial change in luminance value.
  • the technique related to the present invention if the liquid surface is a perfect plane, the liquid surface is photographed as a uniform white area, and the foreign matter floating on the liquid surface is blackened according to its reflection coefficient. captured as an image. However, even if the transparent container is completely stationary, the liquid surface is not perfectly flat due to the meniscus.
  • This phenomenon is particularly noticeable in a transparent container with a small inner diameter.
  • the transparent container may vibrate slightly during imaging, causing ripples on the liquid surface during imaging. Unless the liquid surface is perfectly flat, a uniform white area cannot be photographed, and a blackish area that is difficult to distinguish from the image of the foreign matter appears. Therefore, it is difficult to stably determine that there is no foreign matter on the liquid surface.
  • FIG. 14 is a block diagram of foreign matter inspection apparatus 600 according to this embodiment.
  • foreign matter inspection device 600 includes acquisition means 601 and determination means 602 .
  • Acquisition means 601 captures a transparent container in which a liquid surface in a paraboloid of revolution is formed by being rotated around a central axis at a predetermined speed while containing a transparent liquid. It is configured to acquire an image near the surface of the paraboloid of revolution obtained by photographing from the side. Acquisition means 601 can be configured, for example, in the same manner as acquisition unit 241 in FIG. 6, but is not limited thereto.
  • the determining means 602 acquires the luminance value of pixels along a line extending in a direction parallel to the central axis in the image acquired by the acquiring means 601, generates one-dimensional data about the luminance value, and It is configured to determine whether or not there is a foreign substance on the liquid surface based on the spatial change in brightness value in the data.
  • the determination means 602 can be configured, for example, in the same manner as the determination section 242 in FIG. 6, but is not limited thereto.
  • the contaminant inspection apparatus 600 configured in this way operates as follows. That is, first, the obtaining means 601 detects, under transmitted illumination, a transparent container in which a liquid surface of a paraboloid of revolution is formed by being rotated around the central axis at a predetermined speed while containing a transparent liquid. An image near the surface of the paraboloid of revolution obtained by photographing from the side of the transparent container is obtained. Next, the determination means 602 acquires the luminance values of the pixels along the lines extending in the direction parallel to the central axis in the image acquired by the acquisition means 601 to generate one-dimensional data about the brightness values, Based on the spatial change in brightness value in this one-dimensional data, it is determined whether or not there is a foreign substance on the liquid surface.
  • the contaminant inspection device 600 configured and operated as described above, it is possible to stably determine that there is no contaminant on the liquid surface.
  • a transparent container containing a transparent liquid is rotated at a predetermined speed around its central axis to form a paraboloid of revolution on the liquid surface, and this is observed under transmitted illumination on the side of the container.
  • the acquisition means 601 is provided for acquiring an image near the surface of the paraboloid of revolution obtained by photographing from the side.
  • the determination means 602 is provided to determine whether or not there is a foreign substance on the liquid surface based on the spatial change in luminance value.
  • the present invention can be used for inspections to check whether there are foreign substances such as pieces of plastic on the liquid surface of a liquid medicine stored in a container such as a syringe.
  • a transparent container containing a transparent liquid and rotated around a central axis at a predetermined speed to form a paraboloid of revolution liquid surface is photographed from the side of the transparent container under transmitted illumination.
  • Acquisition means for acquiring an image near the surface of the paraboloid of revolution; Obtaining luminance values of pixels along a line extending in a direction parallel to the central axis in the image to generate one-dimensional data about luminance values, and adjusting spatial luminance value changes in the one-dimensional data
  • Determination means for determining whether there is a foreign substance on the liquid surface based on Foreign matter inspection device.
  • the determination means provides a plurality of the lines at predetermined intervals, generates the one-dimensional data for each line, and performs the determination based on a spatial change in luminance value in the one-dimensional data for each line.
  • the foreign matter inspection device according to appendix 1.
  • the determination means compares a change in spatial brightness value in the one-dimensional data with a change in brightness value when there is no floating matter on the liquid surface, and performs the determination based on the result of the comparison. 3.
  • the judging means judges that there is no foreign matter on the liquid surface when the change in spatial luminance value in the one-dimensional data matches the change in luminance value when there is no floating matter on the liquid surface. , The foreign matter inspection device according to appendix 3.
  • the determination means determines the spatial luminance in the one-dimensional data. Based on the change in value, a floating matter candidate area in which floating matter may exist is calculated, floating matter is recognized from the floating matter candidate area, and the recognized floating matter is a foreign substance or a bubble. determine whether The foreign matter inspection device according to appendix 4.
  • the acquiring means acquires a plurality of images taken at different times by continuously performing the photographing a plurality of times;
  • the determination means performs the determination based on changes in spatial luminance values in the plurality of one-dimensional data generated from each of the plurality of images.
  • a foreign matter inspection apparatus according to any one of Appendices 1 to 5.
  • the foreign matter inspection device according to any one of appendices 1 to 6, and holding the transparent container in an upright state, and rotating the transparent container around the central axis at a predetermined speed according to instructions from the foreign matter inspection device.
  • a foreign object inspection system comprising: [Appendix 8] A transparent container containing a transparent liquid and rotated around a central axis at a predetermined speed to form a paraboloid of revolution liquid surface is photographed from the side of the transparent container under transmitted illumination.
  • a foreign matter inspection method according to any one of Appendices 8 to 12.
  • Appendix 14 to the computer, A transparent container containing a transparent liquid and rotated around a central axis at a predetermined speed to form a paraboloid of revolution liquid surface is photographed from the side of the transparent container under transmitted illumination. Further, a process of acquiring an image near the liquid surface of the paraboloid of revolution; A process of acquiring luminance values of pixels along a line extending in a direction parallel to the central axis in the image to generate one-dimensional data about the luminance values; a process of determining whether there is a foreign substance on the liquid surface based on a change in spatial luminance value in the one-dimensional data; A computer-readable recording medium that records a program for performing

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Quality & Reliability (AREA)
  • Software Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
PCT/JP2021/045388 2021-12-09 2021-12-09 異物検査装置 Ceased WO2023105724A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21967220.1A EP4446730A4 (en) 2021-12-09 2021-12-09 Foreign matter inspecting device
US18/712,364 US20250003891A1 (en) 2021-12-09 2021-12-09 Foreign object inspection device
PCT/JP2021/045388 WO2023105724A1 (ja) 2021-12-09 2021-12-09 異物検査装置
JP2023565815A JP7639938B2 (ja) 2021-12-09 2021-12-09 異物検査装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/045388 WO2023105724A1 (ja) 2021-12-09 2021-12-09 異物検査装置

Publications (1)

Publication Number Publication Date
WO2023105724A1 true WO2023105724A1 (ja) 2023-06-15

Family

ID=86730045

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/045388 Ceased WO2023105724A1 (ja) 2021-12-09 2021-12-09 異物検査装置

Country Status (4)

Country Link
US (1) US20250003891A1 (https=)
EP (1) EP4446730A4 (https=)
JP (1) JP7639938B2 (https=)
WO (1) WO2023105724A1 (https=)

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63140949A (ja) * 1986-12-03 1988-06-13 Mitsubishi Heavy Ind Ltd 異物混入容器の除去装置および異物検出方法
JPH02203259A (ja) 1989-01-25 1990-08-13 Eisai Co Ltd 被検査物に対する検査方向の方向規制装置及びそれを含む異物検査装置並びに異物検査装置の検光面
JPH0396841A (ja) * 1989-09-11 1991-04-22 Taisho Pharmaceut Co Ltd 異物検査装置
JPH046900A (ja) 1990-04-24 1992-01-10 Sanyo Electric Co Ltd 基板位置決め装置
JP2001116703A (ja) * 1999-10-21 2001-04-27 M I L:Kk 容器内浮遊物判別方法及びその装置
JP2001296251A (ja) 2000-04-13 2001-10-26 Dai Ichi Seiyaku Co Ltd 液面異物検査装置および液面異物検査方法
JP2004354100A (ja) * 2003-05-27 2004-12-16 Matsushita Electric Works Ltd 容器内液体中の異物検出方法及びその装置
JP2005061932A (ja) * 2003-08-11 2005-03-10 Hitachi Eng Co Ltd 容器充填液体の異物検査方法とその装置並びに容器充填液体の気泡除去法とその装置
JP2006138814A (ja) * 2004-11-15 2006-06-01 Matsushita Electric Works Ltd 液面検出方法
JP2010091530A (ja) * 2008-10-10 2010-04-22 Hitachi Plant Technologies Ltd 異物検査方法および異物検査装置
JP2010210315A (ja) * 2009-03-09 2010-09-24 Hitachi Information & Control Solutions Ltd 液体中の異物検査方法
JP2011247835A (ja) * 2010-05-31 2011-12-08 Hitachi Information & Control Solutions Ltd 異物検査装置および異物検査方法
JP2013044688A (ja) * 2011-08-25 2013-03-04 Mutual Corp 気泡判別検査装置および気泡判別検査方法
CN106814077A (zh) * 2015-11-27 2017-06-09 楚天科技股份有限公司 一种用于检测瓶内异物或缺陷的方法及装置
WO2019234138A1 (en) * 2018-06-07 2019-12-12 Wilco Ag Method and apparatus for monitoring a drive mechanism of an automated inspection system for inducing motion to a container partially filled with a liquid

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4274745A (en) * 1977-05-12 1981-06-23 Eisai Co., Ltd. Method and apparatus for detecting foreign matters in liquids
JPS55119049A (en) * 1979-03-08 1980-09-12 Eisai Co Ltd Method and apparatus for detecting extraneous matter in liquid
JPS6388433A (ja) * 1986-10-02 1988-04-19 Hitachi Plant Eng & Constr Co Ltd 異物検出方法並びにその装置

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63140949A (ja) * 1986-12-03 1988-06-13 Mitsubishi Heavy Ind Ltd 異物混入容器の除去装置および異物検出方法
JPH02203259A (ja) 1989-01-25 1990-08-13 Eisai Co Ltd 被検査物に対する検査方向の方向規制装置及びそれを含む異物検査装置並びに異物検査装置の検光面
JPH0396841A (ja) * 1989-09-11 1991-04-22 Taisho Pharmaceut Co Ltd 異物検査装置
JPH046900A (ja) 1990-04-24 1992-01-10 Sanyo Electric Co Ltd 基板位置決め装置
JP2001116703A (ja) * 1999-10-21 2001-04-27 M I L:Kk 容器内浮遊物判別方法及びその装置
JP2001296251A (ja) 2000-04-13 2001-10-26 Dai Ichi Seiyaku Co Ltd 液面異物検査装置および液面異物検査方法
JP2004354100A (ja) * 2003-05-27 2004-12-16 Matsushita Electric Works Ltd 容器内液体中の異物検出方法及びその装置
JP2005061932A (ja) * 2003-08-11 2005-03-10 Hitachi Eng Co Ltd 容器充填液体の異物検査方法とその装置並びに容器充填液体の気泡除去法とその装置
JP2006138814A (ja) * 2004-11-15 2006-06-01 Matsushita Electric Works Ltd 液面検出方法
JP2010091530A (ja) * 2008-10-10 2010-04-22 Hitachi Plant Technologies Ltd 異物検査方法および異物検査装置
JP2010210315A (ja) * 2009-03-09 2010-09-24 Hitachi Information & Control Solutions Ltd 液体中の異物検査方法
JP2011247835A (ja) * 2010-05-31 2011-12-08 Hitachi Information & Control Solutions Ltd 異物検査装置および異物検査方法
JP2013044688A (ja) * 2011-08-25 2013-03-04 Mutual Corp 気泡判別検査装置および気泡判別検査方法
CN106814077A (zh) * 2015-11-27 2017-06-09 楚天科技股份有限公司 一种用于检测瓶内异物或缺陷的方法及装置
WO2019234138A1 (en) * 2018-06-07 2019-12-12 Wilco Ag Method and apparatus for monitoring a drive mechanism of an automated inspection system for inducing motion to a container partially filled with a liquid

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4446730A4

Also Published As

Publication number Publication date
JP7639938B2 (ja) 2025-03-05
US20250003891A1 (en) 2025-01-02
JPWO2023105724A1 (https=) 2023-06-15
EP4446730A1 (en) 2024-10-16
EP4446730A4 (en) 2025-02-19

Similar Documents

Publication Publication Date Title
TWI484161B (zh) 缺陷檢查系統及使用於該缺陷檢查系統之缺陷檢查用攝影裝置、缺陷檢查用畫像處理裝置、缺陷檢查用畫像處理程式、記錄媒體及缺陷檢查用畫像處理方法
TWI582408B (zh) 用於非破壞性檢測－流體中未溶解粒子之方法及裝置
CN105784722B (zh) 一种流水线上药液瓶中可见异物的检测方法及系统
JP2004354100A (ja) 容器内液体中の異物検出方法及びその装置
JP4517826B2 (ja) 液面検出方法
US20230175975A1 (en) Inspection system
CN110441323A (zh) 产品表面的打光方法及系统
JP3497107B2 (ja) 容器内浮遊物判別方法及びその装置
CN103119395B (zh) 玻璃瓶检查装置
JP2012088199A (ja) 異物検査装置および異物検査方法
JP5635963B2 (ja) 飲料液異物検査装置および飲料液異物検査方法
JP2004257937A (ja) 異物検査装置および検査方法
WO2023105724A1 (ja) 異物検査装置
KR102540808B1 (ko) 유리병 검사방법 및 유리병 제조방법
JP2009162573A (ja) 形状認識装置
JP2005241304A (ja) 外観検査方法
JPH0579999A (ja) びん内沈降異物の検査装置
JP2006343138A (ja) 検査装置
JP2004061452A (ja) 異物検査装置およびその方法
JP2525487B2 (ja) 粒子凝集パタ―ン判定方法
JP4841417B2 (ja) カップゼリーの異物検出装置
JP7848862B2 (ja) 異物検査装置
JP2002267612A (ja) 透明容器等の充填液体中の異物検査装置及びシステム
JP2013253903A (ja) 検査装置および検査方法
KR102697656B1 (ko) 액체에 포함된 이물질 광학검사 장치 및 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21967220

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 18712364

Country of ref document: US

ENP Entry into the national phase

Ref document number: 2023565815

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2021967220

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2021967220

Country of ref document: EP

Effective date: 20240709