JP7801174B2 - Detection device and foreign object detection method - Google Patents

Description

The present invention relates to a detection device and a method for detecting foreign objects in a translucent container.

An example of a detection device for detecting foreign objects in a translucent container is the detection device shown in Patent Document 1. The detection device in Patent Document 1 has an imaging means located above the container and capable of capturing images while changing the focal position, a light source located above the container that irradiates the focal position of the imaging means with light, and an image processing means. In the detection device in Patent Document 1, the imaging means captures image data of the liquid surface in the container illuminated by the light source. The image processing means then captures the image data captured by the imaging means and detects foreign objects in the liquid based on the image data.

Patent No. 5183396

However, the detection device in Patent Document 1 images a fixed container while changing the focal position of the imaging means, and detects foreign matter in the liquid based on the image data of the imaged container. Therefore, while it is possible to detect the presence or absence of foreign matter in the container to a certain extent from the image data, it is difficult to distinguish between foreign matter moving in the liquid (floating foreign matter), foreign matter attached to the outer surface of the container (adhered foreign matter), and scratches on the outer surface of the container. Therefore, the detection device in Patent Document 1 has the problem of being unable to accurately detect foreign matter in the liquid (floating foreign matter).

The present invention aims to solve these problems and provide a detection device and a foreign object detection method that can accurately detect foreign objects in a translucent container.

In order to achieve this object, the detection device of the present invention is a detection device that detects foreign matter in a translucent container, and comprises an imaging unit that images the container from the side , a swinging unit that swings the container, and a detection unit that detects foreign matter in the container based on the image of the container imaged by the imaging unit, wherein the imaging unit images images of the container in a first state at a plurality of focal positions determined by the depth of field of the imaging unit and the size of the container , and images of the container that has been swinging by the swinging unit to a second state different from the first state at a plurality of focal positions, and the detection unit detects foreign matter in the container by comparing the image of the container in the first state with the image of the container in the second state for each of the same focal positions imaged by the imaging unit.

According to the detection device of the present invention, it is preferable that the imaging unit captures first images at multiple focal positions of the container in the first state before being swung by the oscillating unit, and captures second images at multiple focal positions of the container in the second state after being swung by the oscillating unit.

According to the detection device of the present invention, it is preferable that the imaging unit captures first images of the container in the second state after being swung by the swinging unit at multiple focal positions, and captures second images of the container in the first state at multiple focal positions a predetermined time after capturing the first image.

According to the detection device of the present invention, it is preferable that the detection unit compares the first image and the second image captured by the imaging unit at the same focal position, and determines that any part that differs between the first image and the second image is the foreign object.

According to the detection device of the present invention, it is preferable that the detection unit compares the first image and the second image captured by the imaging unit at the same focal position, and if there is a difference between the first image and the second image within a predetermined pixel range, determine that the part with the difference is the foreign object.

According to the detection device of the present invention, it is preferable that the detection unit compares the first image and the second image captured by the imaging unit at the same focal position, indicates the magnitude of the difference between the first image and the second image by the shade of the image, and determines the presence of the foreign object based on the shade of the image.

The foreign object detection method of the present invention is a foreign object detection method for detecting foreign objects in a translucent container, and includes: a shaking step of shaking the container; a first imaging step of using an imaging unit that images the container from the side to capture images of the container in a first state at multiple focal positions determined by the depth of field of the imaging unit and the size of the container ; a second imaging step of using the imaging unit to capture images of the container that has been shaken in the shaking step and has been put into a second state different from the first state at multiple focal positions; and a foreign object detection step of detecting foreign objects in the container by comparing the images of the container captured in the first imaging step with the images of the container captured in the second imaging step for each of the same focal positions.

The detection device and foreign object detection method of the present invention detect foreign objects in a container by comparing, for each identical focal position, an image of the container in a first state with an image of the container in a second state different from the first state after being shaken by the shaking unit, captured by the imaging unit. This not only makes it possible to detect the presence or absence of foreign objects in the container, but also makes it easy to distinguish between foreign objects moving in the liquid inside the container (floating foreign objects) and foreign objects that are scratched on the exterior surface of the container or adhered to the exterior surface of the container (adhered foreign objects). This allows for accurate detection of foreign objects in translucent containers.

1 is a schematic diagram showing the overall configuration of a detection device according to an embodiment of the present invention. 10 is a schematic diagram showing the positional relationship between a camera and a container when detecting foreign matter in the detection device. FIG. 10A and 10B are diagrams showing a first image and a second image captured by a camera of the detection device at a predetermined focal position, and a comparison image formed from the first image and the second image. 10 is a flowchart showing a method for detecting foreign matter in liquid in a container using the detection device. 10 is a schematic diagram showing the positional relationship between a camera and a container when detecting foreign matter in a detection device according to another embodiment of the present invention. FIG. 10 is a flowchart showing a method for detecting foreign matter in liquid in a container using a detection device according to another embodiment of the present invention.

The detection device and foreign object detection method according to the embodiment will be described below with reference to the drawings.

As shown in Figures 1 and 2, the detection device 10 in this embodiment is a device that detects foreign matter G in a liquid in a container 90. The container 90 in which the detection device 10 detects foreign matter G is a translucent container. The container 90 is intended for storing a liquid drug, such as a medicine, in a sealed state. The liquid stored in the container 90 is not particularly limited, and any liquid that is fluid and translucent will do. The liquid stored in the container 90 may also contain nanoparticles that cannot be detected visually or by a camera 15. The container 90 is made of glass or the like.

The detection device 10 mainly comprises a shaking device 11 (an example of a "swinging unit") that shakes the container 90, a camera 15 (an example of an "imaging unit") that captures an image of the container 90, and a control device 20 that controls the entire detection device 10.

The shaking device 11 shakes the container 90, which is imaged by the camera 15. As the shaking device 11 shakes the container 90, the liquid inside the container 90 is agitated. That is, as the shaking device 11 shakes the container 90, the state of the container 90 changes from a first state to a second state. That is, the state of the container 90 before being shaken by the shaking device 11 is the first state of the container 90, and the state of the container 90 after being shaken by the shaking device 11 is the second state of the container 90. As the liquid inside the container 90 is agitated by the shaking device 11, foreign matter G moves within the liquid. Furthermore, as the liquid inside the container 90 is agitated by the shaking device 11, foreign matter G adhering to the inner wall surface of the container 90 (the wall surface above the liquid surface) is absorbed into the liquid by the agitated liquid. That is, as the state of the container 90 changes from the first state to the second state, foreign matter G moves through the liquid, and foreign matter G adhering to the inner wall surface of the container 90 is absorbed into the liquid. In this way, by using the rocking device 11 to agitate the liquid in the container 90, the detection device 10 can detect not only foreign matter G that has been floating in the liquid in the container 90 since it was stored in the container 90, but also foreign matter G adhering to the inner wall surface of the container 90. The rocking device 11 holds the container 90 at an imaging position P of the camera 15. As shown in FIG. 2 , the rocking device 11 moves the container 90 relative to the camera 15 in accordance with the focal position S of the camera 15. By moving the container 90 relative to the camera 15 using the rocking device 11, the camera 15 can capture images of the container 90 at multiple focal positions S.

As shown in FIG. 1, the swinging device 11 mainly comprises a gripping unit 12, a swinging arm 13, and a drive unit 14. The gripping unit 12 is a part that grips the container 90. The gripping unit 12 is provided at the tip of the swinging arm 13 and grips the lid 91 of the container 90. The swinging arm 13 is an arm that swings the container 90 gripped by the gripping unit 12. The drive unit 14 comprises a motor (not shown) and operates the swinging arm 13 by driving the motor. The drive unit 14 is connected to a control device 20, and the motor is driven by a signal from the control device 20.

The rocking device 11 rocks the container 90 by operating the rocking arm 13 while holding the container 90 with the gripping portion 12. At this time, the rocking device 11 calculates the centrifugal force and the rise in the liquid level to rock the container 90 so that the liquid level in the container 90 does not rise to the position of the lid 91 of the container 90 and the liquid in the container 90 is not disturbed.

The swinging device 11, while holding the container 90 with the gripping portion 12, operates the swinging arm 13 to move the container 90 in front of the camera 15. The swinging device 11 also moves the container 90 toward or away from the camera 15, thereby moving the container 90 in accordance with the focal position S of the camera 15. The swinging device 11 then holds the container 90 at a position (the shooting position of the camera 15) in accordance with the focal position S of the camera 15.

The camera 15 is configured, for example, by a CCD camera. The camera 15 is fixed to a predetermined position on the detection device 10. As shown in FIG. 3 , the camera 15 captures first images 31 (an example of an image of the container in the first state) at multiple focal positions of the container 90 (an example of a "container in the first state") before it is shaken by the shaking device 11. That is, the camera 15 captures first images 31 at multiple focal positions of the container 90 before it moves the foreign matter G in the liquid. Here, the first images 31 are cross-sectional images of the container 90 before it is shaken by the shaking device 11, and are formed for each focal position of the camera 15.

As shown in FIG. 2, for example, the camera 15 captures a first image 31 of the container 90, with the container 90 having been moved to the first position T1 by the rocking device 11, using a focal position S on a portion of the container 90 that is rearward relative to the camera 15. Specifically, the camera 15 captures a cross-sectional image of a portion of the container 90 that is rearward relative to the camera 15, with the container 90 positioned at the first position T1. Here, the first position T1 is a position where the camera 15 can focus on a portion of the container 90 that is rearward relative to the camera 15 and capture an image of the container 90.

The camera 15 then captures a first image 31 of the container 90, with the central portion of the container 90 moved to the second position T2 by the rocking device 11 as the focal position S. Specifically, the camera 15 captures a cross-sectional image of the central portion of the container 90 located at the second position T2. Here, the second position T2 is a position where the camera 15 can focus on the central portion of the container 90 and capture an image of the container 90. The rocking device 11 moves the container 90 located at the first position T1 in a direction away from the camera 15, thereby moving the container 90 to the second position T2.

Furthermore, the camera 15 captures a first image 31 of the container 90, which has been moved to the third position T3 by the rocking device 11, with the portion of the container 90 that is in front of the camera 15 as the focal position S. Specifically, the camera 15 captures a cross-sectional image of the portion of the container 90 that is in front of the camera 15 when the container 90 is positioned at the third position T3. Here, the third position T3 is a position where the camera 15 can focus on the portion of the container 90 that is in front of the camera 15 and capture an image of the container 90. The rocking device 11 moves the container 90, which is positioned at the second position T2, in a direction away from the camera 15, thereby moving the container 90 to the third position T3.

In this way, the camera 15 captures first images 31 of the container 90 (images of the container 90 in the first state) at multiple focal positions S formed by changing the position of the container 90 from the first position T1 to the third position T3, thereby being able to capture an image of the entire container 90 (container 90 in the first state) before it is shaken by the shaking device 11. Therefore, foreign matter G in the entire container 90 before it is shaken by the shaking device 11 can be detected from the first images 31 captured by the camera 15. Note that the number of cross-sectional images of the container 90 captured as the first images 31 of the container 90 is determined by the depth of field of the camera 15 and the size of the container 90. In other words, the position of the container 90 moved by the shaking device 11 is determined by the depth of field of the camera 15 and the size of the container 90.

Also, as shown in FIG. 3, the camera 15 captures second images 32 (an example of an "image of the container in the second state") of the container 90 after being shaken by the shaking device 11 (an example of a "container in the second state") at multiple focal positions S. That is, the camera 15 captures second images 32 of the container 90 after the foreign matter G has been moved in the liquid at multiple focal positions S. Here, the second images 32 are cross-sectional images of the container 90 after being shaken by the shaking device 11, and are formed for each focal position S of the camera 15.

2, similar to when the camera 15 captured the first image 31 of the container 90, the camera 15 captures the second image 32 of the container 90, with the container 90 moved to the first position T1 by the rocking device 11 at a focal position S that is the rear portion of the container 90 relative to the camera 15. Next, the camera 15 captures the second image 32 of the container 90, with the container 90 moved to the second position T2 by the rocking device 11 at a focal position S that is the center of the container 90. Furthermore, the camera 15 captures the second image 32 of the container 90, with the container 90 moved to the third position T3 by the rocking device 11 at a focal position S that is the front portion of the container 90 relative to the camera 15. In other words, the camera 15 captures the image of the container 90 after rocking by the rocking device 11 at the same positions (first position T1, second position T2, and third position T3) as when the camera 15 captured the image of the container 90 before rocking by the rocking device 11.

In this way, the camera 15 captures second images 32 of the container 90 (images of the container 90 in the second state) at multiple focal positions S formed by changing the position of the container 90 from the first position T1 to the third position T3, thereby being able to capture the entire container 90 (container 90 in the second state) after being shaken by the shaking device 11. Therefore, foreign matter G in the entire container 90 after being shaken by the shaking device 11 (after the liquid in the container 90 has been stirred to move the foreign matter G in the liquid) can be detected from the second images 32 captured by the camera 15. Note that the number of cross-sectional images of the container 90 captured as the second images 32 of the container 90 is determined by the depth of field of the camera 15 and the size of the container 90.

As shown in FIG. 1, the control device 20 is connected to the camera 15 and the rocking device 11. The control device 20 controls the capture of an image of the container 90 by the camera 15. The control device 20 controls the rocking of the container 90 by the rocking device 11. The control device 20 is mainly composed of a control unit 21, a memory unit 23, and a display unit 24.

The control unit 21 is a CPU (Central Processing Unit) or MPU (Micro-processing Unit), and executes various processes in the detection device 10 according to programs stored in the memory unit 23. The control unit 21 includes a detection unit 22 that detects foreign matter G in the container 90 based on images (first image 31 and second image 32) of the container 90 captured by the camera 15.

2 and 3, the detection unit 22 detects foreign matter G in the container 90 by comparing the first image 31 and the second image 32 taken at the same focal position by the camera 15. Specifically, the detection unit 22 detects foreign matter G in the rear portion of the container 90 relative to the camera 15 by comparing the first image 31 and the second image 32 taken at the focal position S of the camera 15 when the container 90 is located at the first position T1. The detection unit 22 also detects foreign matter G in the center portion of the container 90 by comparing the first image 31 and the second image 32 taken at the focal position S of the camera 15 when the container 90 is located at the second position T2. The detection unit 22 also detects foreign matter G in the front portion of the container 90 relative to the camera 15 by comparing the first image 31 and the second image 32 taken at the focal position S of the camera 15 when the container 90 is located at the third position T3.

The detection unit 22 compares the first image 31 and the second image 32 captured by the camera 15 at the same focal position S and determines that any differences between the first image 31 and the second image 32 are foreign matter G. Specifically, as shown in FIG. 3 , the detection unit 22 forms a comparison image 33 by superimposing the first image 31 and the second image 32 captured by the camera 15 at the same focal position (e.g., the focal position S of the camera 15 formed when the container 90 is located at the first position T1). Here, the comparison image 33 is an image in which the differences between the first image 31 and the second image 32 are expressed in shades depending on the magnitude of the difference between the first image 31 and the second image 32. The differences between the first image 31 and the second image 32 may be expressed using brightness, contrast, or the like when forming the comparison image 33. Alternatively, the differences between the first image 31 and the second image 32 may be determined using other known techniques to form the comparison image 33. The detection unit 22 detects areas where there are differences between the first image 31 and the second image 32 from the formed comparison image 33. The detection unit 22 determines that the detected areas where there are differences between the first image 31 and the second image 32 are foreign objects G.

As shown in FIG. 3 , for example, if foreign matter G (first foreign matter G1 and second foreign matter G2) is present in the liquid in container 90, first image 31 displays an image of first foreign matter G1, while second image 32 does not. Conversely, first image 31 does not display an image of second foreign matter G2, while second image 32 displays an image of second foreign matter G2. In other words, a difference occurs between first image 31 and second image 32. This is because the container 90 is rocked by rocking device 11 while camera 15 captures first image 31 and second image 32, causing the first foreign matter G1 and second foreign matter G2 to move in the liquid in container 90. In this case, in comparison image 33, the image of the portion that differs between first image 31 and second image 32 (first foreign matter G1 and second foreign matter G2 in the liquid) is displayed with a darker shade.

On the other hand, as shown in FIG. 3 , for example, if the container 90 itself has a scratch K and a third foreign object G3 is present on its exterior, the first image 31 displays images of the scratch K and the third foreign object G3, and the second image 32 displays images of the scratch K and the third foreign object G3 in the same position as in the first image 31. In other words, there is no difference between the first image 31 and the second image 32. This is because even if the container 90 is rocked by the rocking device 11 while the camera 15 captures the first image 31 and the second image 32, the scratch K on the container 90 itself and the third foreign object G3 on its exterior do not move. In this case, the comparison image 33 displays the image of the parts that do not differ between the first image 31 and the second image 32 (the scratch K on the container 90 and the third foreign object G3 on its exterior) in a lighter shade.

The detection unit 22 also detects foreign matter G based on the comparison image 33 formed by superimposing the first image 31 and the second image 32. Therefore, if there is a positional misalignment between the position of the container 90 when the first image 31 is captured and the position of the container 90 when the second image 32 is captured (if there is a misalignment due to the positioning accuracy of the rocking device 11), even if the container 90 itself has a scratch K or if a foreign matter G is present on the outside of the container 90, the comparison image 33 will display a darker shade of the image to indicate a difference between the first image 31 and the second image 32 (in principle, a lighter shade of the image would indicate a difference between the first image 31 and the second image 32). For this reason, the detection unit 22 compares the first image 31 and the second image 32 captured by the camera 15 at the same focal position, and if there is a difference between the first image 31 and the second image 32 within a predetermined pixel range, the detection unit 22 determines that the difference is foreign matter G. That is, the detection unit 22 compares the first image 31 and the second image 32, and if the difference between the images on the comparison image 33 displayed as a foreign substance G in the first image 31 and the second image 32 is a difference ranging from several pixels to several tens of pixels, the detection unit 22 determines that the difference is a foreign substance G, but if the difference is around one pixel, the detection unit 22 does not determine that the difference is a foreign substance G.

Furthermore, the detection unit 22 compares the first image 31 and the second image 32 captured by the camera 15 at the same focal position, indicates the magnitude of the difference between the first image 31 and the second image 32 by the shading of the image, and determines whether a foreign object G is present based on the shading of the image.

As shown in FIG. 3 , in the comparison image 33, the image shading is displayed darker in areas where there is a difference between the first image 31 and the second image 32 (the first foreign matter G1 and the second foreign matter G2 in the liquid). Furthermore, in the comparison image 33, the image shading is displayed lighter in areas where there is no difference between the first image 31 and the second image 32 (the scratch K on the container 90 and the third foreign matter G3 on the outside of the container 90). That is, in the comparison image 33, if the difference between the first image 31 and the second image 32 is large, the image shading is displayed darker, and if the difference is small, the image shading is displayed lighter. Therefore, by detecting the image shading in the comparison image 33, the detection unit 22 can distinguish between the foreign matter G in the liquid and the scratch K on the container 90 and the foreign matter G on the outside of the container 90 and determine the foreign matter G.

The detection unit 22 sets a predetermined threshold value for the image shading of the portion displayed as foreign matter G on the comparison image 33. Here, the predetermined threshold value is a threshold value for the image shading that serves as a reference for determining that the image of the portion displayed on the comparison image 33 is an image of foreign matter G. In other words, if the detection unit 22 determines that the image shading of the portion displayed as foreign matter G on the comparison image 33 is equal to or greater than the predetermined threshold value, it determines that the portion is foreign matter G in the liquid. On the other hand, if the detection unit 22 determines that the image shading of the portion displayed as foreign matter G on the comparison image 33 is less than the predetermined threshold value, it determines that the portion is a scratch K on the container 90 and a foreign matter G outside the container 90.

The storage unit 23 is a flash memory, RAM (Random Access Memory), or the like, and stores programs executed by the control unit 21 and data generated by the execution of programs by the control unit 21.

The display unit 24 displays various information in the detection device 10. The display unit 24 is composed of, for example, a monitor, a touch panel, etc.

Next, we will explain how the detection device 10 detects foreign matter G in the liquid in the container 90.

The detection device 10 photographs the container 90 multiple times by shifting the focal position S, and then shakes the container 90 to move any foreign matter G (floating foreign matter) present in the liquid within the container 90 within the liquid. It then photographs the container 90 again to confirm whether the foreign matter G (floating foreign matter) has moved, thereby detecting any foreign matter G in the liquid within the container 90.

Specifically, as shown in FIG. 4, the camera 15 captures a first image 31 (an image of the container 90 in a first state) of the container 90 positioned at a first position T1 to a third position T3 (S1, first imaging step). That is, the camera 15 captures the container 90 as the first image 31 at multiple focal positions S. Specifically, as shown in FIG. 2, the camera 15 captures the container 90 held by the rocking device 11 at the first position T1 as the first image 31. Next, the camera 15 captures the container 90 held by the rocking device 11 at the second position T2 as the first image 31. Further subsequently, the camera 15 captures the container 90 held by the rocking device 11 at the third position T3 as the first image 31.

As shown in FIG. 4, when the camera 15 captures a first image 31 of the container 90 (S1), the shaking device 11 shakes the container 90 (S2, shaking process). This agitates the liquid in the container 90. Here, foreign matter G in the liquid in the container 90 moves, for example, from the center of the container 90 to one side of the container 90 (the front side of the container 90 relative to the camera 15), as shown in FIG. 2. On the other hand, scratches K on the container 90 itself do not move due to the shaking of the container 90. When the shaking device 11 shakes the container 90 (S2), the camera 15 captures a second image 32 (an image of the container 90 in a second state) of the container 90 positioned between the first position T1 and the third position T3 (S3, second imaging process). That is, the camera 15 captures the second image 32 of the container 90 after being shaken in the shaking process at multiple focal positions S. Specifically, as shown in FIG. 2, the camera 15 captures the container 90 held by the rocking device 11 at the first position T1 as the second image 32. Next, the camera 15 captures the container 90 held by the rocking device 11 at the second position T2 as the second image 32. Next, the camera 15 captures the container 90 held by the rocking device 11 at the third position T3 as the second image 32.

As shown in FIG. 4, when the camera 15 captures the second image 32 of the container 90 (S3), the detection unit 22 compares the first image 31 and the second image 32 of the container 90 captured from the first position T1 to the third position T3 (S4, foreign object detection process). That is, the detection unit 22 detects foreign objects G in the container 90 by comparing the first image 31 and the second image 32 for each identical focal position S. Specifically, the detection unit 22 superimposes the first image 31 and the second image 32 of the container 90 captured at the first position T1 to form a comparison image 33 of the container 90 at the first position T1, and detects foreign objects G in the container 90 at the first position T1 based on the formed comparison image 33. Similarly, the detection unit 22 superimposes the first image 31 and the second image 32 of the container 90 captured at the second position T2 to form a comparison image 33 of the container 90 at the second position T2, and detects a foreign object G in the container 90 at the second position T2 based on the formed comparison image 33. Furthermore, the detection unit 22 superimposes the first image 31 and the second image 32 of the container 90 captured at the third position T3 to form a comparison image 33 of the container 90 at the third position T3, and detects a foreign object G in the container 90 at the third position T3 based on the formed comparison image 33.

The detection unit 22 detects whether the formed comparison image 33 contains any portions where the image shading is equal to or greater than a predetermined threshold (S5). That is, the detection unit 22 detects any portions in the formed comparison image 33 where the image difference between the first image 31 and the second image 32 is large. If the detection unit 22 determines that the comparison image 33 contains any portions where the image shading is equal to or greater than a predetermined threshold (S5-Yes), it determines that foreign matter G is present in the liquid in the container 90 (S6). On the other hand, if the detection unit 22 determines that the comparison image 33 does not contain any portions where the image shading is equal to or greater than the predetermined threshold (S5-No), it determines that foreign matter G is not present in the liquid in the container 90 (S7). If the detection unit 22 determines that there are no parts in the comparison image 33 where the image shading is equal to or greater than a predetermined threshold (S5-No), it determines that there is no foreign matter G in the liquid in the container 90 (S7), and may also determine that there is a scratch K on the container 90 or that there is a foreign matter G on the outside of the container 90.

As described above, according to this embodiment, foreign matter G in the container 90 is detected by comparing the first image 31 (an image of the container 90 in a first state) captured by the container 90 before it is shaken by the shaking device 11 with the second image 32 (an image of the container 90 in a second state) captured by the camera 15 for each identical focal position S. This not only makes it possible to detect the presence or absence of foreign matter G in the container 90, but also makes it easy to distinguish between foreign matter G moving in the liquid in the container 90 (floating foreign matter) and scratches K on the outer surface of the container 90 or foreign matter G attached to the outer surface of the container 90 (attached foreign matter). Therefore, foreign matter G in a translucent container 90 can be detected with high accuracy.

Furthermore, according to this embodiment, when the difference between the first image 31 and the second image 32 is within a predetermined pixel range, the detection unit 22 determines that the difference is a foreign object G. Therefore, it is possible to determine the foreign object G by comparing the first image 31 and the second image 32, taking into account factors such as image capture errors (deviations due to positioning accuracy) by the camera 15, thereby enabling more accurate detection of the foreign object G.

Furthermore, according to this embodiment, the detection unit 22 determines the presence or absence of foreign matter G based on the image shading, which indicates the magnitude of the difference between the first image 31 and the second image 32, making it possible to visually determine the presence or absence of foreign matter G.

In this embodiment, the focal position S of the camera 15 is changed by moving the container 90 relative to the camera 15, but this is not limited to this. The focal position S of the camera 15 may also be changed by moving the camera 15 relative to the container 90 while the container 90 is fixed by the swinging device 11.

In addition, in this embodiment, the position of the container 90 is changed from the first position T1 to the third position T3 to capture the first image 31, and then the container 90 is swung, and the position of the container 90 is again changed from the first position T1 to the third position T3 to capture the second image 32. However, this is not limited to this, and the following method may also be used.

In this method, the container 90 after being shaken by the shaking device 11 is captured as a first image 31. Here, the state of the container 90 after being shaken by the shaking device 11 is the second state of the container 90. Specifically, the second state of the container 90 is the state in which the container 90 is shaken to agitate the liquid inside the container 90.

Furthermore, in this method, a first image 31 of the container 90 is captured, and then a second image 32 of the container 90 is captured a predetermined time later. That is, in this method, the second image 32 of the container 90 is captured at the same position as the first image 31 of the container 90. Here, the state of the container 90 a predetermined time after the first image 31 is captured is the first state of the container 90. Specifically, the first state of the container 90 is the state in which the container 90 is held for a predetermined time after the container 90 is shaken to stir the liquid in the container 90.

As shown in Figures 5 and 6, in this method, the rocking device 11 rocks the container 90 at the initial position T0 (S11). Then, the rocking device 11 moves the container 90 to the first position T1 (S12).

The camera 15 captures a first image 31 (an image of the container 90 in the second state) of the container 90 at the first position T1 (S13), with the focal position S being the rear portion of the container 90 relative to the camera 15 after the container 90 has been moved to the first position T1 by the rocking device 11. Furthermore, the camera 15 captures a second image 32 (an image of the container 90 in the first state) of the container 90 at the first position T1 (the container 90 in the first state) a predetermined time (e.g., 1 to 2 seconds) after capturing the first image 31 of the container 90 at the first position T1. At this time, as shown in FIG. 5 , the foreign matter G in the liquid in the container 90 in the first state moves to a position different from its position in the liquid in the container 90 in the second state. Meanwhile, the scratch K on the container 90 in the first state itself is present in the same position as on the container 90 in the second state.

As shown in Figures 5 and 6, the shaking device 11 shakes the container 90 at the first position T1 (S15). Then, the shaking device 11 moves the container 90 to the second position T2 (S16).

The camera 15 captures a first image 31 (an image of the container 90 in the second state) of the container 90 at the second position T2 (S17), with the central portion of the container 90 (container 90 in the second state) moved to the second position T2 by the rocking device 11 as the focal position S. Furthermore, the camera 15 captures a second image 32 (an image of the container 90 in the first state) of the container 90 at the second position T2 (container 90 in the first state) a predetermined time (e.g., 1 to 2 seconds) after capturing the first image 31 of the container 90 at the second position T2. At this time, as shown in FIG. 5 , the foreign matter G in the liquid in the container 90 in the first state moves to a position different from its position in the liquid in the container 90 in the second state.

As shown in Figures 5 and 6, the shaking device 11 shakes the container 90 at the second position T2 (S19). Next, the shaking device 11 moves the container 90 to the third position T3 (S20).

The camera 15 captures a first image 31 (an image of the container 90 in the second state) of the container 90 at the third position T3 (S21) with the focus position S set on a portion of the container 90 in front of the camera 15 when the container 90 has been moved to the third position T3 by the rocking device 11 (the container 90 in the second state). Furthermore, the camera 15 captures a second image 32 (an image of the container 90 in the first state) of the container 90 at the third position T3 (the container 90 in the first state) a predetermined time (e.g., 1 to 2 seconds) after capturing the first image 31 of the container 90 at the third position T3. At this time, as shown in FIG. 5 , the foreign matter G in the liquid in the container 90 in the first state moves to a position different from its position in the liquid in the container 90 in the second state.

5 and 6, when the camera 15 captures a first image 31 (an image of the container 90 in the second state) of the container 90 from the first position T1 to the third position T3 and a second image 32 (an image of the container 90 in the first state) of the container 90 from the first position T1 to the third position T3, the detection unit 22 compares the first image 31 and the second image 32 of the container 90 captured from the first position T1 to the third position T3 (S23). Specifically, the detection unit 22 superimposes the first image 31 and the second image 32 of the container 90 captured at the first position T1 to form a comparison image 33 of the container 90 at the first position T1, and detects a foreign object G in the container 90 at the first position T1 based on the formed comparison image 33. Similarly, the detection unit 22 superimposes the first image 31 and the second image 32 of the container 90 captured at the second position T2 to form a comparison image 33 of the container 90 at the second position T2, and detects a foreign object G in the container 90 at the second position T2 based on the formed comparison image 33. Furthermore, the detection unit 22 superimposes the first image 31 and the second image 32 of the container 90 captured at the third position T3 to form a comparison image 33 of the container 90 at the third position T3, and detects a foreign object G in the container 90 at the third position T3 based on the formed comparison image 33.

The detection unit 22 detects whether the formed comparison image 33 contains any portions where the image shading is equal to or greater than a predetermined threshold (S24). If the detection unit 22 determines that the comparison image 33 contains any portions where the image shading is equal to or greater than the predetermined threshold (S24-Yes), it determines that foreign matter G is present in the liquid in the container 90 (S25). On the other hand, if the detection unit 22 determines that the comparison image 33 does not contain any portions where the image shading is equal to or greater than the predetermined threshold (S24-No), it determines that foreign matter G is not present in the liquid in the container 90 (S26).

In this method, the first image 31 and second image 32 of the container 90 are captured at the same position, so imaging errors (deviations due to positioning accuracy) by the camera 15 are unlikely to occur between the first image 31 and second image 32 of the container 90. Therefore, foreign matter G can be accurately determined by comparing the first image 31 and second image 32 of the container 90, allowing for more reliable detection of foreign matter G.

10 Detecting device 11 Oscillating device (oscillating part)
15 Camera (imaging unit)
22 Detection unit 31 First image 32 Second image 33 Comparison image (image)
90 Container G Foreign object S Focus position

Claims (7)

A detection device for detecting foreign matter in a light-transmitting container,
an imaging unit that images the container from the side ;
A swinging unit that swings the container;
a detection unit that detects foreign matter in the container based on an image of the container captured by the imaging unit;
Equipped with
The imaging unit
capturing images of the container in a first state at a plurality of focal positions determined by the depth of field of the imaging unit and the size of the container ;
capturing images of the container that has been swung by the swinging unit to a second state different from the first state at a plurality of focal positions;
The detection device is characterized in that the detection unit detects foreign matter in the container by comparing an image of the container in the first state with an image of the container in the second state at each of the same focal positions captured by the imaging unit. The imaging unit
capturing first images of the container in the first state before being swung by the swinging unit at a plurality of focal positions;
The detection device according to claim 1 , wherein the container in the second state after being swung by the swinging unit is imaged as a second image at a plurality of focal positions. The imaging unit
capturing first images of the container in the second state after being swung by the swinging unit at a plurality of focal positions;
The detection device according to claim 1 , wherein the container in the first state is captured as a second image at a plurality of focal positions after a predetermined time has elapsed since the first image was captured. The detection unit
comparing the first image and the second image captured at the same focal position by the imaging unit;
The detection device according to claim 2 or 3, wherein a portion where there is a difference between the first image and the second image is determined to be the foreign substance. The detection unit
comparing the first image and the second image captured at the same focal position by the imaging unit;
4. The detection device according to claim 2, wherein when there is a difference between the first image and the second image within a range of a predetermined number of pixels, the part with the difference is determined to be the foreign substance. The detection unit
comparing the first image and the second image captured at the same focal position by the imaging unit;
The magnitude of the difference between the first image and the second image is indicated by the shading of the image;
The detection device according to claim 2 or 3, wherein the foreign matter is determined based on the shading of the image. A foreign object detection method for detecting a foreign object in a light-transmitting container, comprising:
a shaking step of shaking the container;
a first imaging step of imaging the container in a first state at a plurality of focal positions determined by a depth of field of the imaging unit and a size of the container by an imaging unit that images the container from the side;
a second imaging step of imaging, by the imaging unit, images of the container that has been swung in the shaking step to be in a second state different from the first state, at a plurality of the focal positions;
a foreign object detection step of detecting a foreign object in the container by comparing the image of the container captured in the first imaging step with the image of the container captured in the second imaging step for each of the same focal positions;
A foreign object detection method comprising: