WO2023209995A1 - 検査装置、検査システム、制御装置、検査方法、及びプログラム - Google Patents

検査装置、検査システム、制御装置、検査方法、及びプログラム Download PDF

Info

Publication number
WO2023209995A1
WO2023209995A1 PCT/JP2022/019414 JP2022019414W WO2023209995A1 WO 2023209995 A1 WO2023209995 A1 WO 2023209995A1 JP 2022019414 W JP2022019414 W JP 2022019414W WO 2023209995 A1 WO2023209995 A1 WO 2023209995A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
illumination
liquid
angle
image data
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/JP2022/019414
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
満晶 井上
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 US18/853,865 priority Critical patent/US20250231119A1/en
Priority to JP2024517801A priority patent/JP7835277B2/ja
Priority to EP22940268.0A priority patent/EP4517309A4/en
Priority to PCT/JP2022/019414 priority patent/WO2023209995A1/ja
Publication of WO2023209995A1 publication Critical patent/WO2023209995A1/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
    • 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
    • G01N21/8806—Specially adapted optical and illumination features
    • 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
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • 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
    • G01N21/9009—Non-optical constructional details affecting optical inspection, e.g. cleaning mechanisms for optical parts, vibration reduction
    • 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
    • G01N21/8806—Specially adapted optical and illumination features
    • G01N2021/8841—Illumination and detection on two sides of object

Definitions

  • the present invention relates to an inspection device, an inspection system, a control device, an inspection method, and a program.
  • Patent Document 1 discloses a foreign object detection system that holds a container so as to be rotatable about a first axis different from the central axis of the container and a second axis orthogonal to the first axis.
  • an illumination light source is arranged on the opposite side of the camera, which is an imaging device, across the container. According to such a configuration, the imaging device acquires image data while irradiating light onto the imaging device through the container.
  • Patent Document 1 As described in Patent Document 1, when an illumination light source is placed on the opposite side of the container from a camera that is an imaging device, it is possible to observe the entire outline of an object such as an opaque foreign object such as a piece of hair. On the other hand, it is difficult to observe the entire external shape of objects such as scratches formed on containers, foreign objects such as glass pieces that transmit light, and elongated foreign objects such as fiber pieces. For this reason, the inspection device of Patent Document 1 may have difficulty detecting the outer shape of the observation target.
  • An object of the present invention is to provide an inspection device, an inspection system, a control device, an inspection method, and a program that solve any of the above-mentioned problems.
  • the inspection device of the first aspect includes: a gripping device that grips a container filled with liquid; a first illumination unit that irradiates light onto the liquid from one end in the longitudinal direction of the container; a first illumination control section capable of controlling the incident angle of light emitted by the first illumination section onto the liquid to an arbitrary angle, and the first illumination section and the first illumination control section
  • the first illumination unit is installed in the same direction as an imaging device that acquires image data showing the state of the liquid when viewed from above, and the first illumination unit illuminates with reference to the angle at which the brightness within the container is most uniform.
  • the incident angle of the light can be continuously controlled to any angle.
  • the control device of the second aspect is configured to provide first illumination with respect to the liquid from one longitudinal end of a container filled with liquid, with reference to an angle at which brightness within the container is most uniform.
  • a first command means for sending a command to a first illumination control part so as to continuously control an angle of incidence of light emitted by the part onto the liquid to an arbitrary angle;
  • an image processing unit for acquiring the image data, and the first illumination unit and the first illumination control unit are installed in the same direction as the imaging device that acquires the image data when viewed from the container.
  • first illumination is applied to the liquid from one end in the longitudinal direction of a container filled with liquid, with reference to an angle at which the brightness in the container is most uniform.
  • a first illumination control section continuously controls the incident angle of the light emitted by the first illumination section to an arbitrary angle to obtain image data showing the condition of the liquid, and
  • a first illumination control section is installed in the same direction as an imaging device that acquires the image data when viewed from the container.
  • the program according to the fourth aspect causes a computer to calculate an angle with respect to the liquid from one end in the longitudinal direction of a container filled with liquid, based on an angle at which brightness in the container is most uniform.
  • a first illumination control unit continuously controls an incident angle of light emitted by a first illumination unit onto the liquid to an arbitrary angle, and acquires image data showing a state of the liquid;
  • a first illumination unit and the first illumination control unit are installed in the same direction as an imaging device that acquires the image data when viewed from the container.
  • FIG. 1 is a side view showing a configuration example of an inspection system according to a first embodiment of the present disclosure.
  • FIG. 1 is a front view showing a configuration example of an inspection system according to a first embodiment of the present disclosure.
  • FIG. 2 is a front view showing the angle of illumination controlled by the inspection system according to the first embodiment of the present disclosure.
  • FIG. 1 is a block diagram showing a control device in a first embodiment of the present disclosure. 1 is a flowchart illustrating an example of the operation of the inspection system according to the first embodiment of the present disclosure.
  • FIG. 2 is a block diagram showing a control device according to a second embodiment of the present disclosure. It is a flow chart which shows an example of operation of an inspection system in a 2nd embodiment of this indication.
  • FIG. 7 is a diagram illustrating an example of a contour extraction algorithm when an observation target continues to float in the same position.
  • FIG. 6 is a diagram illustrating an example of a contour extraction algorithm when an observation target continues to move.
  • FIG. 2 is a block diagram illustrating a control device in a minimum configuration embodiment of the present disclosure. It is a flowchart which shows the inspection method in the embodiment of the minimum configuration of this indication.
  • an inspection system 100 that acquires image data from which an external shape can be extracted when detecting a foreign substance mixed inside a container filled with a liquid such as water or a medicine.
  • a first illumination section 400, a second illumination section 410, a first illumination control section 405, and a second illumination section are installed in the same direction as the camera 300 when viewed from the container 200.
  • a lighting control section 415 is installed. Note that the first illumination control section 405 and the second illumination control section 415 can control the angle of incidence on the container 200.
  • a syringe is used as the container.
  • the container 200 may be another translucent container such as a glass bottle or a plastic bottle.
  • the inspection system 100 includes, for example, an inspection device 110, a camera 300 that is an imaging device, and a determination device 560.
  • the inspection device 110 is a device that rotates the container 200 filled with liquid 210 while holding both ends of the container 200 .
  • the inspection device 110 rotates the container 200 with a first rotation axis that is the central axis AXC passing through the longitudinal direction of the container 200 and a second rotation axis that is the central axis passing through the center of the container 200 and the center of the camera 300. It can be rotated. Further, the first rotation axis and the second rotation axis are perpendicular to each other with the container 200 being gripped as the center. In this way, the inspection device 110 has a two-axis rotation means.
  • the inspection device 110 includes a gripping device 500, a first motor 530, a second motor 540, a first lighting section 400, a first lighting control section 405, and a second lighting section. 410, a second lighting control section 415, and a control device 550.
  • the gripping device 500 grips the container 200 and rotates about a first rotation axis and a second rotation axis, respectively, according to the rotation of a first motor 530 and a second motor 540 that function as rotation means. Furthermore, the gripping device 500 includes a first grip part 505 and a second grip part 510 that grip both ends of the container 200. Note that the gripping device 500 may have any shape.
  • the gripping device 500 is connected to a first motor 530 that rotates around a first rotation axis.
  • a flat plate portion connecting the first gripping portion 505 and the second gripping portion 510 is connected to a second motor 540 that rotates around a second rotation axis.
  • the first motor 530 and the second motor 540 rotate themselves according to the electric power supplied from the outside, so that the gripping device 500 rotates the first axis of rotation by the rotation of the first motor 530, and the second motor
  • the second axis of rotation is performed by 540 rotations.
  • the first illumination unit 400 irradiates light into the liquid 210 filled in the container 200 from one end of the container 200 in the longitudinal direction.
  • the first illumination unit 400 can control the angle of incidence with respect to the liquid 210 by the first illumination control unit 405 .
  • the first illumination section 400 has a rectangular shape, a circular shape, etc., and can emit surface light.
  • the first illumination unit 400 is installed in the same direction as the side where the camera 300 is installed when viewed from the container 200. According to such a configuration, it can be said that the camera 300 is installed so as to observe the reflection of light from the first illumination section 400.
  • the first illumination control section 405 can control the incident angle of the light irradiated onto the container 200 by the first illumination section 400 to an arbitrary angle.
  • the first illumination control unit 405 directs the light of the first illumination unit 400 to the liquid 210 based on the angle ⁇ , which is the incident angle at which the brightness within the container 200 is most uniform.
  • the incident angle of can be continuously controlled to any angle within the range ⁇ a.
  • the incident angle of light may be set to an asymmetric range with respect to the angle ⁇ .
  • the incident angle indicates, for example, the angle that the incident direction of light makes with respect to the central axis AXC when viewed from the camera 300 side.
  • the second illumination unit 410 irradiates light onto the liquid 210 filled in the container 200 from the other end of the container 200 in the longitudinal direction.
  • the second lighting section 410 has a rectangular shape, a circular shape, or the like, and can emit surface light.
  • the second illumination unit 410 can control the incident angle with respect to the liquid 210 by the second illumination control unit 415.
  • the second illumination unit 410 is installed in the same direction as the side where the camera 300 is installed when viewed from the container 200. According to such a configuration, it can be said that the camera 300 is installed so as to observe the reflection of light from the second illumination section 410.
  • the second illumination control section 415 can control the incident angle of the light irradiated onto the container 200 by the second illumination section 410 to an arbitrary angle.
  • the second illumination control unit 415 controls the second illumination unit 410 to apply light to the liquid 210 based on an angle ⁇ that is an incident angle at which the brightness inside the container 200 is most uniform.
  • the incident angle of can be continuously controlled to any angle within the range of ⁇ b.
  • angles a and b can be controlled within a range where the illumination light from the first illumination section 400 and the second illumination section 410 is reflected within the container 200 and the reflected light does not affect the observation area of the camera 300.
  • a and b may be the same value or different.
  • the angle may be from -20 degrees to +20 degrees, or it may be from -30 degrees to +30 degrees.
  • the control device 550 is an information processing device that controls the rotation speed of the first motor 530, the rotation speed of the second motor 540, the angle of the first lighting control section 405, and the angle of the second lighting control section 415.
  • the control device 550 has, as a hardware configuration, a calculation device 551 such as a CPU (Central Processing Unit), a storage device 552, and a communication interface 553, and the program stored in the storage device 552 is transferred to the calculation device 551.
  • the number of rotations of the first motor 530, the number of rotations of the second motor 540, the angle of the first lighting control section 405, and the angle of the second lighting control section 415 are controlled by executing.
  • control device 550 rotates according to a predetermined program in response to a start instruction from an external device connected to the control device 550 or a start instruction input to the control device 550.
  • Predetermined instructions are given to the first motor 530, second motor 540, first lighting control section 405, and second lighting control section 415 to realize the control.
  • the communication interface 553 is a connection interface for communicably connecting to another device by wire or wirelessly.
  • control device 550 functionally includes a first command means 555, a second command means 556, and an image processing means 557.
  • the arithmetic device 551 performs various functions by operating according to a program prepared in advance.
  • the first command unit 555 sends a command to the first illumination control unit 405 to continuously control the incident angle of the light emitted by the first illumination unit 400 onto the liquid 210 to an arbitrary angle.
  • the first command means 555 instructs the first motor 530 and the first lighting control section 405 to control the rotation speed of the first motor 530 and the angle of the first lighting control section 405 via the communication interface 553. Send commands.
  • the second command unit 556 sends a command to the second illumination control unit 415 to continuously control the incident angle of the light emitted by the second illumination unit 410 onto the liquid 210 to an arbitrary angle.
  • the second command means 556 instructs the second motor 540 and the second lighting control section 415 to control the rotation speed of the second motor 540 and the angle of the second lighting control section 415 via the communication interface 553. Send commands.
  • the control device 550 can set the central axis AXC at a reference angle in the vertical direction perpendicular to the central axis AXC.
  • the first illumination section 400, the first illumination control section 405, the second illumination section 410, and the second illumination control section 415 are configured to irradiate light onto the liquid 210 from a position tilted by an arbitrary value with respect to ⁇ . and can be controlled.
  • the control device 550 combines the commands from the first command means 555 and the commands from the second command means 556, so that the first illumination section 400 and the second illumination section 410 are set relative to the reference angle ⁇ .
  • the first illumination unit 400, the first illumination control unit 405, the second illumination unit 410, and the second illumination control unit 415 can be controlled.
  • the camera 300 acquires image data showing the state of the observation target within the liquid 210 that is being irradiated with light.
  • the image processing means 557 identifies and outputs observation objects that move during a certain period of time and observation objects that remain stationary from the image data.
  • the image processing means 557 extracts a contour close to the original external shape of the observation object from the image data according to the amount of movement of the observation object.
  • the above is an example of the configuration of the inspection device 110.
  • the camera 300 is an imaging device that acquires image data by imaging the container 200.
  • the camera 300 is installed in advance at a predetermined position in the same direction as the first illumination section 400 and the second illumination section 410 when viewed from the container 200 using a camera fixing means (not shown).
  • the camera 300 is installed so that the optical axis of the camera 300 overlaps with the second rotation axis.
  • the installation position of the camera 300 may be other than those exemplified above.
  • the camera 300 can acquire image data at a high frame rate of about 150 to 200 fps. Furthermore, the camera 300 can transmit the acquired image data, along with information indicating the time of image capture, to an external device connected to the camera 300. Note that the camera 300 may acquire image data at frame rates other than those exemplified above.
  • the container 200 is a translucent container such as a syringe, a glass bottle, or a plastic bottle. As described above, when the viscosity of the liquid 210 filled inside is high, it is assumed that a syringe is used as the container 200. Further, the inside of the container 200 is filled with a liquid 210 such as water or a medicine. There is a possibility that the container 200 has scratches, dirt, etc. attached thereto. Further, there is a possibility that foreign matter is mixed inside the container 200. Examples of foreign objects include rubber pieces, hair, fiber pieces, soot, glass and plastic pieces, and the like.
  • the above is an example of the configuration of the inspection system 100.
  • the image data acquired by the camera 300 included in the inspection system 100 can be utilized when determining foreign objects in a determination device that performs external foreign matter determination.
  • the algorithm used when the determination device 560 performs foreign object determination is not particularly limited.
  • the container 200 is installed in the gripping device 500 so that it can rotate about the first axis and the second axis (ST01: gripping step).
  • the camera 300 starts capturing an image.
  • the number of rotations of the first motor 530 and the number of rotations of the second motor 540 are controlled by a command from the control device 550, and while the camera 300 continues to capture images, the container remains stationary or rotates ( ST02: Rotation step).
  • the angle of the first illumination control section 405 and the angle of the second illumination control section 415 are controlled by a command from the control device 550 (ST03: incident angle control step). ).
  • first axis there are two types of container rotations performed by the inspection device 110: a first axis and a second axis. If there is a foreign object at both longitudinal ends of the container 200, the first axis is rotated by 90 degrees or more, and the foreign object is moved to the observable range of the camera 300 by gravity or contained air bubbles. If there is a foreign object at both ends of the transverse direction of the container 200, the second axis rotates the container 200 from 90 degrees to 180 degrees to move the foreign object to the observable range of the camera 300 by gravity or contained air bubbles.
  • the camera 300 By arbitrarily combining these two types of rotations and providing a rest time for each rotation of the container, the camera 300 observes the foreign object during a series of stationary swings and acquires continuous images of the behavior or external shape of the foreign object.
  • the container 200 is rotated about the first axis, the first illumination section 400 and the second illumination section 410 are rotated in order to prevent reflection from the container to the camera 300. , rotate while keeping the relative angle constant or at an angle that is not affected by reflected light.
  • the inspection device 110 continuously controls the incident angle of the light emitted by the first illumination unit 400 and the second illumination unit 410 into the container 200, and simultaneously detects the same observation target such as a foreign object or bubble. It is configured to be able to capture images of the changes in the locations where light is reflected on the surface of the object, making it possible to extract the outline of the object being observed. Therefore, the inspection device 110 of this embodiment can easily detect the outer shape of the observation target.
  • the inspection device 110 of the present embodiment continuously changes the incident angle of the irradiated light without moving the container itself, so it is easy to detect the external shape of the observation target.
  • the image processing means 557 functionally includes a tracking means 5571, a still section determining means 5572, a number of times determining means 5573, and a contour extracting means 5574, as shown in FIG.
  • the tracking means 5571 performs tracking processing for each observation target object.
  • the stationary interval determining means 5572 determines whether the stationary interval, which is the period during which the container 200 is stationary, has ended.
  • the number of times determining means 5573 determines whether the number of swings is less than a preset number of times.
  • the contour extraction means 5574 extracts the contour of the observation target from the continuous image data taken by the camera 300 within the control device 550.
  • the container 200 is swung and the illumination angles of the first illumination section 400 and the second illumination section 410 are determined based on continuous image data taken by the camera 300 within the control device 550 in this embodiment.
  • An algorithm for controlling and extracting an outline close to the original outline of air bubbles and foreign matter inside the container 200 will be described.
  • an illumination angular velocity control table is created according to the moving speed of the observation target (ST100: table creation step).
  • a lookup table that is a first example of the illumination angular velocity control table will be described.
  • the illumination angular velocity of the angle of the first illumination control section 405 and the angle of the second illumination control section 415 is determined according to the movement speed of the observation object by the lookup table, the movement speed of the observation object , the angle of the first lighting control section 405 , and the angle of the second lighting control section 415 .
  • a calculation formula serving as a second example of the illumination angular velocity control table will be explained.
  • the second example has a preset illumination angular velocity calculation formula, and is a calculation formula for determining the illumination angular velocity according to the moving speed of the observation target.
  • This calculation formula indicates a proportional relationship between the moving speed of the observation target and the illumination angular velocity, depending on a weighting coefficient set in advance.
  • FIG. 8 shows an example of the operation of static rocking of the container 200, the angle of the first lighting control section 405, and the angle of the second lighting control section 415.
  • the container 200 rotates along the first axis and the second axis (ST102: container rotation step), and after the rotation is completed, angle control is started by the first lighting control section 405 and the second lighting control section 415. (ST103: Incident angle control step).
  • the illumination angles of the first illumination control unit 405 and the second illumination control unit 415 reciprocate by an amplitude of predetermined angles a and b around the angle ⁇ . Note that by controlling the period T of this reciprocating motion, the angular velocity of the illumination is controlled.
  • ST104 image processing step
  • the tracking means 5571 performs, for example, binarization processing on the photographed continuous image data as a tracking process for each submerged observation target, and extracts the XY coordinates of each submerged observation target.
  • the tracking means 5571 performs tracking processing for each observation object in the liquid by calculating inter-frame differences (ST104-1: tracking processing step).
  • the tracking means 5571 distinguishes the observation object extracted from the image data into an observation object that moves during a certain period of time and an observation object that remains stationary, and outputs the same.
  • the movement speed of each object to be observed obtained through these tracking processes is used to control the illumination angle and extract the outline, so that the original external shape of the object to be observed is adjusted according to the amount of movement of the object. Extract close contours.
  • the stationary interval determining means 5572 determines whether the stationary interval, which is the period during which the container 200 is stationary, has ended (ST104-2: stationary interval determining step). If the stationary section determining means 5572 determines that the stationary section has not ended (ST104-2: NO), the process returns to ST103. If the stationary section determining means 5572 determines that the stationary section has ended (ST104-2: YES), the process proceeds to ST104-3. At this time, the period T is determined in the illumination angular velocity control table according to the fastest velocity V among the plurality of moving velocities of the observation target calculated in the tracking process. As a result, the illumination angular velocities of the first illumination control section 405 and the second illumination control section 415 are feedback-controlled until the end of the stationary period.
  • the number of times determining means 5573 determines whether the number of swings is less than the preset number of times (ST104-3: number of times determining step). If the number of times determining means 5573 determines that the number of swings is less than the preset number of times (ST104-3: YES), the process returns to ST102. If the number of times determining means 5573 determines that the number of swings is not less than the preset number of times (the number of swings is greater than or equal to the preset number of times) (ST104-2: NO), the process proceeds to ST104-4.
  • the oscillation ends and image processing is started in the contour extraction block. If the number of oscillations is less than the preset number of times, the container 200 is rotated until it is oscillated again or the preset oscillation is completed.
  • the contour extraction means 5574 extracts the contour of the observation object from the continuous image data captured by the camera 300 within the control device 550 (ST104-4: contour extraction step).
  • FIG. 9 shows a diagram of the algorithm of the contour extraction block when an object to be observed, such as a foreign object or bubble, continues to float at the same XY coordinates in continuous image data. Since the angles of the first illumination control section 405 and the second illumination control section 415 are continuously controlled, the reflected light of the observation object moves continuously along the outer shape of the observation object. Therefore, in S104-4, in order to extract the outline from the movement of the reflected light, pixel values around the observation object in the continuous image data are integrated. It is expected to be effective for liquids with high viscosity, foreign substances with low specific gravity, and small bubbles and foreign substances.
  • Figure 10 depicts a diagram of the algorithm of the contour extraction block when an object to be observed, such as a foreign object or bubble, is continuously updated in the continuous image data, and the XY coordinates are continuously updated due to movement such as precipitation.
  • the reflected light of the observation target is reflected by the first illumination control unit 405 and the second illumination control unit 415 because the illumination angle is controlled continuously before the observation target finishes moving. Select and extract the most clearly reflected image along the way. It is expected to be effective for treating foreign objects with heavy specific gravity, large bubbles, and foreign objects.
  • the inspection device 110 continuously controls the incident angle of the light emitted by the first illumination unit 400 and the second illumination unit 410 into the container 200 according to the moving speed of the observation target, It is configured to simultaneously capture images of the changing locations of light reflection on the surface of the same observation object, such as foreign objects or bubbles, so the outline of the observation object can be clearly extracted by image integration or tracking processing. can. Therefore, the inspection device 110 of this embodiment can easily detect the outer shape of the observation target.
  • the inspection device 110 includes a gripping device 500, a first illumination section 400, and a first illumination control section 405.
  • the gripping device 500 grips a container filled with liquid.
  • the first illumination unit 400 irradiates the liquid with light from one end of the container 200 in the longitudinal direction.
  • the first illumination control unit 405 can control the incident angle of the light emitted by the first illumination unit 400 onto the liquid to an arbitrary angle.
  • the first illumination unit 400 and the first illumination control unit 405 are installed in the same direction as an imaging device that acquires image data showing the state of the liquid when viewed from the container.
  • the inspection device 110 can continuously control the incident angle of the light emitted by the first illumination unit to an arbitrary angle based on the angle at which the brightness inside the container is most uniform.
  • the inspection device 110 can control the angle of incidence of the light emitted by the first illumination unit 400 onto the container. Therefore, the inspection device 110 of this embodiment can easily detect the outer shape of the observation target.
  • the control device 550 includes a first command means 555 and an image processing means 557.
  • the first command means is configured to emit light from the first illumination unit to the liquid from one longitudinal end of the container filled with the liquid, with reference to an angle at which the brightness inside the container is most uniform.
  • a command is sent to the first illumination control unit to continuously control the angle of incidence of the light onto the liquid to an arbitrary angle.
  • the image processing means 557 acquires image data showing the state of the liquid.
  • the first illumination section and the first illumination control section are installed in the same direction as an imaging device that acquires image data showing the state of the liquid when viewed from the container.
  • control device 550 can control the angle of incidence of the light emitted by the first illumination unit onto the container. Therefore, the control device 550 of this embodiment can easily detect the outer shape of the observation target.
  • first illumination is applied to the liquid from one end in the longitudinal direction of a container filled with liquid, with reference to the angle at which the brightness inside the container is most uniform.
  • the first illumination control section continuously controls the incident angle of the light emitted by the first illumination control section to an arbitrary angle (ST201).
  • image data indicating the state of the liquid is acquired (ST202).
  • the first illumination section and the first illumination control section are installed in the same direction as an imaging device that acquires image data showing the state of the liquid when viewed from the container.
  • the inspection method is capable of controlling the incident angle of the light emitted by the first illumination unit onto the container. Therefore, the inspection method of this embodiment can easily detect the outer shape of the observation target.
  • the various processing steps of the devices constituting the control device 550 are stored in a computer-readable recording medium in the form of a program, and the above-mentioned various processes are stored in a computer-readable recording medium in the form of a program. Processing takes place.
  • the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like.
  • this computer program may be distributed to a computer via a communication line, and the computer receiving the distribution may execute the program.
  • the above-mentioned program may be for realizing part of the above-mentioned functions. Furthermore, it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.
  • difference file difference program
  • Inspection system 110 Inspection device 200 Container 210 Liquid 300 Camera (imaging device) 400 First illumination section 405 First illumination control section 410 Second illumination section 415 Second illumination control section 500 Gripping device 505 First gripping section 510 Second gripping section 530 First motor 540 Second motor 550 Control device 551 Arithmetic device 552 Storage device 553 Communication interface 555 First command means 556 Second command means 557 Image processing means 560 Determination device 5571 Tracking means 5572 Stationary section determination means 5573 Number of times determination means 5574 Contour extraction means AXC Central axis

Landscapes

  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
PCT/JP2022/019414 2022-04-28 2022-04-28 検査装置、検査システム、制御装置、検査方法、及びプログラム Ceased WO2023209995A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US18/853,865 US20250231119A1 (en) 2022-04-28 2022-04-28 Inspection apparatus, inspection system, control device, inspection method, and program
JP2024517801A JP7835277B2 (ja) 2022-04-28 2022-04-28 検査システム、検査方法、及びプログラム
EP22940268.0A EP4517309A4 (en) 2022-04-28 2022-04-28 INSPECTION APPARATUS, INSPECTION SYSTEM, CONTROL DEVICE, INSPECTION METHOD AND PROGRAM
PCT/JP2022/019414 WO2023209995A1 (ja) 2022-04-28 2022-04-28 検査装置、検査システム、制御装置、検査方法、及びプログラム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/019414 WO2023209995A1 (ja) 2022-04-28 2022-04-28 検査装置、検査システム、制御装置、検査方法、及びプログラム

Publications (1)

Publication Number Publication Date
WO2023209995A1 true WO2023209995A1 (ja) 2023-11-02

Family

ID=88518190

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/019414 Ceased WO2023209995A1 (ja) 2022-04-28 2022-04-28 検査装置、検査システム、制御装置、検査方法、及びプログラム

Country Status (4)

Country Link
US (1) US20250231119A1 (https=)
EP (1) EP4517309A4 (https=)
JP (1) JP7835277B2 (https=)
WO (1) WO2023209995A1 (https=)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09236553A (ja) * 1995-12-28 1997-09-09 Takeda Chem Ind Ltd 異物検査装置
CN1693884A (zh) * 2004-05-09 2005-11-09 刘巨昌 瓶装液体中异物的自动检测方法
JP2010181231A (ja) * 2009-02-04 2010-08-19 Hitachi Information & Control Solutions Ltd 不透明溶液中の異物検査装置および異物検査方法
US20140240699A1 (en) * 2011-09-20 2014-08-28 Krones Ag Method and device for inspecting containers and preforms
JP2014224802A (ja) * 2013-04-19 2014-12-04 キリンテクノシステム株式会社 容器底部の検査方法及びそれを用いた検査装置
JP2016085221A (ja) * 2014-10-27 2016-05-19 キリンテクノシステム株式会社 容器検査方法及び装置
JP2020118458A (ja) 2019-01-18 2020-08-06 アサヒビール株式会社 異物検出システム及び異物検出方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5822795B2 (ja) 2012-07-17 2015-11-24 株式会社日立ハイテクノロジーズ プラズマ処理装置
DE102016209722A1 (de) * 2016-06-02 2017-12-07 Robert Bosch Gmbh Vorrichtung und Verfahren zur Inspektion von Behältnissen
CN108896574B (zh) * 2018-05-11 2020-03-17 四川大学 一种基于机器视觉的瓶装白酒杂质检测方法及系统
EP4141422B1 (en) 2020-04-24 2026-02-11 NEC Corporation Determination device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09236553A (ja) * 1995-12-28 1997-09-09 Takeda Chem Ind Ltd 異物検査装置
CN1693884A (zh) * 2004-05-09 2005-11-09 刘巨昌 瓶装液体中异物的自动检测方法
JP2010181231A (ja) * 2009-02-04 2010-08-19 Hitachi Information & Control Solutions Ltd 不透明溶液中の異物検査装置および異物検査方法
US20140240699A1 (en) * 2011-09-20 2014-08-28 Krones Ag Method and device for inspecting containers and preforms
JP2014224802A (ja) * 2013-04-19 2014-12-04 キリンテクノシステム株式会社 容器底部の検査方法及びそれを用いた検査装置
JP2016085221A (ja) * 2014-10-27 2016-05-19 キリンテクノシステム株式会社 容器検査方法及び装置
JP2020118458A (ja) 2019-01-18 2020-08-06 アサヒビール株式会社 異物検出システム及び異物検出方法

Also Published As

Publication number Publication date
JPWO2023209995A1 (https=) 2023-11-02
EP4517309A4 (en) 2025-07-09
JP7835277B2 (ja) 2026-03-25
US20250231119A1 (en) 2025-07-17
EP4517309A1 (en) 2025-03-05

Similar Documents

Publication Publication Date Title
JP5729622B2 (ja) ブラーレス画像撮像システム
JP6596492B2 (ja) 明視野暗視野対物レンズを使用する独自の斜角照明法及びそれに関連した撮像方法
TW449848B (en) Apparatus and method for inspecting defects on wafer periphery
CN101504376A (zh) 球形物体表面光学检测的方法及装置
JP3957864B2 (ja) 凝固検体判定方法およびその装置
JP2016105068A (ja) 測距装置及び測距方法
JP2017049087A5 (https=)
JP2013072684A (ja) 撮像装置、検出装置および撮像方法
WO2017175261A1 (ja) 濁度検出装置、濁度検出方法及び液中検査装置
JP7544133B2 (ja) 検査装置
WO2023209995A1 (ja) 検査装置、検査システム、制御装置、検査方法、及びプログラム
JP2025505135A (ja) 液体医薬製品の容器のための外観検査システム
JP2018132331A (ja) 検査システムの動作プログラムを生成する装置および方法
CN107774013A (zh) 一种不相溶液体的分液方法及装置
JPH1062354A (ja) 透明板の欠陥検査装置及び欠陥検査方法
JP2022122072A (ja) 異物検出方法、異物検出システムおよびプログラム
JP7380853B2 (ja) 把持装置
JP2003232712A (ja) 接触角・表面形状複合測定装置及び測定方法
JPWO2022059185A5 (https=)
JP2014235066A (ja) 表面形状測定装置
JP7798099B2 (ja) 検査装置
KR20140005516A (ko) 형상 측정 장치
CN118758954A (zh) 异物检测方法及系统
JP7567905B2 (ja) 判定システム
JP2024003279A (ja) 異物検出装置及び異物検出方法

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: 22940268

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 18853865

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2024517801

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 2022940268

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: 2022940268

Country of ref document: EP

Effective date: 20241128

WWP Wipo information: published in national office

Ref document number: 18853865

Country of ref document: US