Patent Publication Number: US-2023137636-A1

Title: Grasping device

Description:
TECHNICAL FIELD 
     The present invention relates to a grasping device, a determination system, a determination apparatus, a determination method, and a recording medium. 
     BACKGROUND ART 
     A technique for detecting foreign matter in liquid in a container is known. 
     One of the techniques used in detecting foreign matter is described in Patent Document 1, for example. Patent Document 1 describes a system which includes a reversing device, an imaging device, and an image processing device. According to Patent Document 1, the reversing device tilts or inverts a held object to be inspected and returns the object to its original posture. The imaging device captures an image of the object to be inspected immediately after being tilted or inverted and returned to its original posture by the reversing device. The image processing device processes the image captured by the imaging device and determines whether the object to be inspected is good or bad. Patent Document 1 discloses tilting or inverting an object to be inspected around a rotation center axis located above the object to be inspected. 
     Further, a related technique is described in Patent Document 2, for example. Patent Document 2 describes a method to detect foreign matter by selecting an air bubble and a stain and the like on a container based on a difference image and removing the selected air bubble and stain and the like. 
     Patent Document 1: International Publication No. WO 2005-031328 Patent Document 2: Japanese Unexamined Patent Application Publication No. JP-A 2004-354100 
     In detecting foreign matter with accuracy, it is required to distinguish foreign matter from an air bubble and a scratch, a stain and the like attaching to a container. However, unlike foreign matter, an air bubble and the like, a scratch, a stain and the like attaching to a container do not move in a state where the container is stationary. Therefore, with the techniques described in Patent Document 1 and Patent Document 2, which are performing detection based on the result of imaging a container in a stationary state, it may be difficult to distinguish a scratch, a stain and the like attaching to the container. 
     SUMMARY 
     Accordingly, an object of the present invention is to provide a grasping device, a determination system, a determination apparatus, a determination method, and a recording medium that make it possible to easily determine a scratch, a stain and the like attaching to a container in detecting foreign matter. 
     In order to achieve the object, a grasping device as an aspect of the present disclosure includes: a grasping unit configured to grasp a container filled with liquid; a tilting unit configured to at least tilt the container in a state where the grasping unit grasps the container; and a maker installed at a part tilting in synchronism with the container when the container tilts and configured to move in conjunction with movement of the container. 
     Further, a determination system as another aspect of the present disclosure includes: a grasping device including a grasping unit configured to grasp a container filled with liquid, a tilting unit configured to at least tilt the container in a state where the grasping unit grasps the container, and a maker installed at a part tilting in synchronism with the container when the container tilts and configured to move in conjunction with movement of the container; a camera installed outside the grasping device and configured to image the liquid filled in the container; and a determination apparatus configured to detect an object based on image data obtained by the camera and determine whether or not the detected object is foreign matter. 
     Further, a determination apparatus as another aspect of the present disclosure includes: a detection unit configured to detect an object based on image data showing liquid filled in a container and a marker moving in conjunction when the container moves; a tracking unit configured to track the object detected by the detection unit; and a determination unit configured to perform determination of the object detected by the detection unit based on a result of tracking by the tracking unit and movement of the marker. 
     Further, a determination method as another aspect of the present disclosure includes, by a determination apparatus: detecting an object based on image data showing liquid filled in a container and a marker moving in conjunction when the container moves; tracking the detected object; and performing determination of the detected object based on a result of tracking and movement of the marker. 
     Further, a recording medium as another aspect of the present disclosure is a non-transitory computer-readable recording medium having a program recorded thereon. The program includes instructions for causing a determination apparatus to implement: a detection unit configured to detect an object based on image data showing liquid filled in a container and a marker moving in conjunction when the container moves; a tracking unit configured to track the object detected by the detection unit; and a determination unit configured to perform determination of the object based on a result of tracking by the tracking unit and movement of the marker. 
     With the respective configurations as described above, it is possible to provide a grasping device, a determination system, a determination apparatus, a determination method, and a recording medium that make it possible to easily determine a scratch, a stain and the like attaching to a container in detecting foreign matter. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a view showing an example of a configuration of a determination system in a first example embodiment of the present disclosure; 
         FIG.  2    is a view showing an example of a positional relation between a container and a marker; 
         FIG.  3    is a view for describing an example of movement of the container; 
         FIG.  4    is a view for describing a region of interest; 
         FIG.  5    is a view for describing a position of a swing center axis; 
         FIG.  6    is a view for describing a position of a camera; 
         FIG.  7    is a block diagram showing an example of a configuration of a determination apparatus shown in  FIG.  1   ; 
         FIG.  8    is a flowchart showing an example of operations of a grasping device and the camera in the first example embodiment of the present disclosure; 
         FIG.  9    is a flowchart showing an example of an operation of the overall determination apparatus in the first example embodiment of the present disclosure; 
         FIG.  10    is a flowchart showing an example of processing by a determination unit; 
         FIG.  11    is a view showing an example of a configuration of another grasping device included by the determination system; 
         FIG.  12    is a view for describing the configuration example of the other grasping device; 
         FIG.  13    is a view showing an example of a configuration of a grasping device in a second example embodiment of the present disclosure; 
         FIG.  14    is a view showing an example of a hardware configuration diagram of a determination apparatus in the second example embodiment of the present disclosure; and 
         FIG.  15    is a block diagram showing an example of a configuration of the determination apparatus in the second example embodiment of the present disclosure. 
     
    
    
     EXAMPLE EMBODIMENTS 
     First Example Embodiment 
     A first example embodiment of the present disclosure will be described with reference to  FIGS.  1  to  12   .  FIG.  1    is a view showing an example of a configuration of a determination system  100 .  FIG.  2    is a view showing an example of a positional relation between a container  500  and a marker  230 .  FIG.  3    is a view for describing an example of movement of the container  500 .  FIG.  4    is a view for describing a region of interest.  FIG.  5    is a view for describing a swing center axis.  FIG.  6    is a view for describing a position of a camera  300 .  FIG.  7    is a block diagram showing an example of a configuration of a determination apparatus  400 .  FIG.  8    is a flowchart showing an example of operations of a grasping device  200  and the camera  300 .  FIG.  9    is a flowchart showing an example of an operation of the determination apparatus  400 .  FIG.  10    is a flowchart showing an example of processing by a determination unit  445 .  FIG.  11    is a view showing an example of a configuration of a grasping device  600 , which is another grasping device included by the determination system  100 .  FIG.  12    is a view for describing the example of the configuration of the grasping device  600  that is the other grasping device. 
     In the first example embodiment of the present disclosure, a determination system  100  will be described that detects objects mixed in the container  500  filled with liquid such as water or medicine and determines foreign matter such as hair or glass chip among the detected objects. As will be described later, the determination system  100  tilts/swings the container  500  while sandwiching and grasping the container  500 . Moreover, in the determination system  100 , a marker  230  is provided at a part that tilts in synchronism with the container  500  when the container  500  is tilted. According to such a configuration, a scratch and a stain on the container  500 , adhering matter located outside the filled liquid and the like move in conjunction with the movement of the marker  230 . As a result, it becomes possible to easily determine a scratch and a stain on the container  500 , adhering matter located outside the filled liquid and the like based on image data showing the container  500  and the marker  230  captured and acquired by the fixed camera  300 . 
     In the description of this example embodiment, in the state shown in  FIG.  1   , a side of the container  500  on which liquid is filled is defined as the upper side, and the opposite side is defined as the lower side. In  FIG.  1   , the liquid filled inside the container  500  gathers on the lower side of the container  500 . 
       FIG.  1    is a side view showing an example of a configuration of the overall determination system  100 . Referring to  FIG.  1   , the determination system  100  includes, for example, a grasping device  200  having a motor  240  serving as a rotating means, a camera  300 , and a determination apparatus  400 . As shown in  FIG.  1   , the camera  300  and the determination apparatus  400  are connected so as to be able to communicate with each other by wire or wirelessly. Moreover, the determination apparatus  400  and the grasping device  200  can be connected so as to be able to communicate with each other by wire or wirelessly. 
     The grasping device  200  is a device which tilts/swings and rotates the container  500  while sandwiching and grasping the container  500  filled with liquid from above and below. As shown in  FIG.  1   , the grasping device  200  has, for example, a body unit  210  including a grasping part including an upper grasping part  213  and a lower grasping part  214 , an area light source  220 , a marker  230 , and a motor  240 . 
     The body unit  210  tilts/swings and rotates in accordance with rotation of the motor  240  functioning as a rotating means. For example, the body unit  210  has a rectangular shape when viewed from the front. Meanwhile, in this example embodiment, a material that forms the body unit  210  is not particularly limited. The body unit  210  may be formed by any material such as resin or metal. Moreover, the shape of the body unit  210  may be other than the shape illustrated above. 
       FIG.  1    shows an example when the body unit  210  is viewed from the side. Referring to  FIG.  1   , the body unit  210  includes, for example, a flat portion  211  connected to the motor  240 , an arm part  212  extending from an upper end and a lower end of the flat portion  211  toward the opposite side to a side on which the motor  240  is located, and the grasping part that is formed at an end of the arm part  212  on the opposite side to the side where the motor  240  is located and that sandwiches and grasps the container  500 . 
     The grasping part includes the upper grasping part  213  that protrudes downward from the arm part  212  formed on the upper side and contacts the top of the container  500  (the side where liquid is filled in), and the lower grasping part  214  that protrudes upward from the arm part  212  formed on the lower side and contacts the bottom of container  500 . As shown in  FIG.  1   , since the upper grasping part  213  contacts the container  500  from the top of the container  500  and the lower grasping part  214  contacts the container  500  from the bottom of the container  500 , the grasping part thereby sandwiches and grasps the container  500  from above and below. 
     The upper grasping part  213  and the lower grasping part  214  can be configured to be adjustable in length. By configuring the upper grasping part  213  and the lower grasping part  214  to be adjustable in length, it is possible to grasp containers  500  of various sizes, and it is also possible to easily perform position adjustment (height adjustment) when the grasping part grasps the container  500 . The length adjustment function may be implemented by using a known means, for example, by configuring the upper grasping part  213  and the lower grasping part  214  so as to have a first portion and a second portion, respectively, to make the first portion and the second portion slidable and fixable at any position. 
     The area light source  220  (light source) emits light to the liquid filled in the container  500 . For example, the area light source  220  has a shape corresponding to the shape of the body unit  210 , such as a rectangular shape when viewed from front. The area light source  220  may have a shape other than the illustrated shape. 
     For example, the area light source  220  is installed on the opposite side to a side where the camera  300  is installed when viewed from the container  500  and the grasping part. For example, referring to  FIG.  1   , the area light source  220  is installed on a surface of the flat portion  211  configuring the body unit  210  on the opposite side to the side where the motor  240  is located. With such a configuration, the area light source  220  emits light to the camera  300  through the container  500 . That is to say, it can be said that the area light source  220  is installed in the body unit  210  so as to emit light to the camera  300  through the container  500 . 
     Since the area light source  220  is installed on the flat portion  211  of the body unit  210 , it can be said that the area light source  220  is configured integrally with the body unit  210  including the upper grasping part  213  and the lower grasping part  214 . Therefore, for example, when the container  500  grasped by the upper grasping part  213  and the lower grasping part  214  is tilted, the area light source  220  is also tilted in synchronism with the tilt of the container  500 . 
     The marker  230  is a structure for enabling acquisition of a rotation angle based on image data captured by the camera  300 . The marker  230  is, for example, a film that has a rectangular shape having a size of about 0.5 mm square or a circular shape and does not transmit light, and is installed in a predetermined position on the area light source  220 . The marker  230  may be a two-dimensional code or the like containing any information. 
     The marker  230  is installed at a predetermined position on the area light source  220  so that at least one marker  230  is shown in image data acquired by the fixedly installed camera  300  even when the container  500  is tilted.  FIG.  2    shows an example of an installation position of the marker  230 . For example, in the case illustrated in  FIG.  2   , the markers  230  are set at two positions; a position outside the container  500  near the left side surface of the container  500  and a position outside the container  500  near the right side surface of the container  500  in a state where the container  500  is not tilted. Moreover, in the case illustrated in  FIG.  2   , the markers  230  are provided at a height approximately equal to the height of a swing center axis A, which is an axis when the container  500  is tilted. 
     If at least one marker  230  is shown in the image of the liquid even when the container  500  is tilted, the marker  230  may be installed at a position other than the position illustrated above. Moreover, the number of the markers  230  to be installed may be determined freely, such as one or three or more. 
     Further, the marker  230  may be installed on any part other than the area light source as long as it is a part that moves in synchronism with the body unit  210  including the upper grasping part  213  and the lower grasping part  214 . For example, the marker  230  may be implemented by a protruding part or the like that protrudes toward the container  500  from a part of the body unit  210  located on the side surface of the container  500  when the container  500  is grasped. The marker  230  may be implemented by a method other than the method illustrated above. 
     By rotating in accordance with electric power supplied from outside, the motor  240  functions as a rotating means (tilting unit) that tilts the body unit  210  to tilt/swing and rotate the container  500  grasped by the upper grasping part  213  and the lower grasping part  214 . For example, the motor  240  is connected to the flat portion  211  of the body unit  210 , and the motor  240  can tilt/swing and rotate the body unit  210  by rotating. 
       FIG.  3    shows an example of how the container  500  grasped by the upper grasping part  213  and the lower grasping part  214  is tilted. As shown in  FIG.  3   , the motor  240  can tilt the container  500  in a forward direction (for example, counterclockwise direction) and tilt the container  500  in a reverse direction (for example, clockwise direction). As an example, the motor  240  can tilt/swing the container  500  so that the state of the container  500  transits in an order of a state in which the container  500  is not tilted (0 degrees), a state in which the container  500  is tilted 90 degrees in the forward direction, a state in which the container  500  is not tilted, a state in which the container  500  is tilted 90 degrees in the reverse direction, and a state in which the container  500  is not tilted That is to say, the motor  240  can swing the container  500  around the swing center axis A while switching between the normal and reverse directions. 
     In capturing image data with the camera  300 , it is desirable that a region of interest (inside liquid and bottom of bottle) as shown in  FIG.  4    is efficiently held within the angle of view of the camera  300  even when the container  300  is tilted. Therefore, it is desirable that, for example, as shown in  FIG.  5   , the swing rotation axis A is not adjusted to be a center height A of the container  500  when the container  500  is not tilted, but adjusted to be a liquid level height B or a liquid center height C (or between the liquid level height B and the liquid center height C, or the like) when the container  500  is not tilted. For example, in the case of the grasping device  200  described in this example embodiment, the swing center axis A to be the center when the body unit  210 , the grasped container  500  and the like tilt is determined in accordance with a position where the motor  240  and the flat portion  211  are connected. Moreover, by adjusting the lengths of the upper grasping part  213  and the lower grasping part  214 , it is possible to adjust the positional relation between the swing center axis A and the container  500  and between the swing center p A and the liquid filled inside the container  500 . Therefore, it can be said to be desirable that a position where the motor  240  and the flat portion  211  are connected and the lengths of the upper grasping part  213  and the lower grasping part  214  are determined in advance and corrected as necessary so that the swing center axis A is located at a desirable position in accordance with the size of the container  500 , the amount of liquid at the liquid level height B, the liquid center height C or the like, and others. 
     An angle at which the motor  240  tilts the container  500  is not limited to being up to  90  degrees. For example, the angle at which the motor  240  tilts the container  500  may be determined as necessary in accordance with the property of the liquid filled in the container  500  and the property of foreign matter to be detected. 
     Further, the motor  240  can start and stop swing in accordance with an instruction received from the determination apparatus  400  to be described later. The motor  240  may start and stop swing manually, for example. 
     The camera  300  is an imaging device that images the container  500  to acquire image data. For example, the camera  300  is previously installed at a predetermined position on the opposite side to a side where the area light source  220  is located when viewed from the upper grasping part  213  and the lower grasping part  214 . As shown in  FIG.  1   , the grasping device  200  and the camera  300  are not configured integrally. Therefore, the camera  300  does not tilt even when the body unit  210  and others are tilted. That is to say, in this example embodiment, the camera  300  acquires image data in a state fixed at the previously installed position. 
     For example, the camera  300  acquires image data at a high frame rate of approximately 150 to 200 fps. Then, the camera  300  transmits the acquired image data to the determination apparatus  400  together with information indicating the imaging time, and the like. The camera  300  may acquire image data at a frame rate other than that illustrated above. 
     It is highly possible that foreign matter in a liquid filled in the container  500  remains in a region of interest as shown in  FIG.  4    (that is, inside of liquid or bottom of bottle). Therefore, it is desirable to install the camera  300  so as to be able to efficiently image the region of interest. For example, it is desirable to determine the installation position of the camera  300  so that the center of the camera  300  is located higher than the lower end of the container  500  and the entire bottom surface (bottom of bottle) of the container  500  is shown as close as possible within a range where the depth of field can be maintained. Moreover, it is desirable that the camera  300  uses a wide- angle lens. By thus installing the camera  300 , for example, it is possible to detect even foreign matter that has a large mass and does not largely float without missing it. 
     Further, it is desirable to install the camera  300  so that a region where the inside of the liquid and the liquid level overlap within a range where the entire liquid filled in the container  500  is shown is as small as possible. For example, it is desirable to install the camera  300  so as to capture an image from a direction as horizontal as possible to the liquid level. 
     To summarize the above, it can be said that the installation position of the camera  300  is desirably in a state as shown in  FIG.  6   , for example. Referring to  FIG.  6   , it can be seen that the center height of the camera  300  is set to be at a position equal to or lower than the liquid level and higher than the bottom of the bottle and the entire bottom of the bottle is shown. It can also be seen that the center height of the camera  300  is set to be lower than the height of the liquid level and is as close to the height of the liquid level as possible. 
     The determination apparatus  400  is an information processing apparatus that detects an object mixed inside the container  500  filled with a liquid and determines foreign matter based on image data captured/acquired by the camera  300 .  FIG.  7    shows an example of a configuration of the determination apparatus  400 . Referring to  FIG.  7   , the determination apparatus  400  has, as major components, a screen display unit  410 , a communication I/F unit  420 , a storage unit  430 , and an operation processing unit  440 , for example. 
     The screen display unit  410  includes a screen display device such as a LCD (Liquid Crystal Display). The screen display unit  410  can display on a screen various kinds of information stored in the storage unit  43  such as image information  431 , tracking information  432  and determination result information  433  in accordance with an instruction from the operation processing unit  440 . 
     The communication I/F unit  420  includes a data communication circuit. The communication I/F unit  420  performs data communication with the camera  300 , an external device and the like connected via a communication line. 
     The storage unit  430  is a storage device such as a hard disk and a memory. The storage unit  430  stores therein processing information necessary for various kinds of processing by the operation processing unit  440  and a program  434 . The program  434  is loaded to and executed by the operation processing unit  440  to implement various kinds of processing units. The program  434  is previously loaded from an external device or a recording medium via a data input/output function such as the communication I/F unit  420 , and is stored in the storage unit  430 . Major information stored in the storage unit  430  are, for example, the image information  431 , the tracking information  432 , and the determination result information  433 . 
     The image information  431  includes image data acquired by the camera  300 . In the image information  431 , for example, the image data is associated with information indicating time and date of acquisition of the image data by the camera  300  (information indicating the imaging time). 
     The tracking information  432  includes information corresponding to the result of tracking by a tracking unit  343 . For example, in the tracking information  432 , identification information assigned to each object is associated with time-series information indicating the position of the object. Moreover, the time-series information indicating the position of the object includes, for example, time information and position information such as coordinates indicating the position of the object at each time. 
     The tracking information  432  may include, other than the time-series information of the position of the object, for example, time-series information of angle information indicating the angle of the container  500 , information indicating the area of a detection region, and the like. Moreover, the position information such as the coordinates indicating the position of the object may indicate XY coordinates in each image data, or may indicate coordinates obtained by correcting the XY coordinates in each image data based on the information indicating the angle of the container  500  (for example, coordinates obtained by correcting to a position when the container  500  is not tilted). 
     The determination result information  433  includes information indicating the result of determination by the determination unit  445 . For example, in the determination result information  433 , identification information assigned to each object is associated with information indicating the result of determination based on the tracking information  432  by the determination unit  445 . That is to say, the determination result information  433  includes information indicating whether the detected object is foreign matter, an air bubble, or a scratch, a stain or the like on the container. 
     The operation processing unit  440  has a microprocessor such as a MPU and a peripheral circuit thereof. The operation processing unit  440  loads the program  434  from the storage unit  434  and executes the program  434  to make the abovementioned hardware cooperate with the program  434  and implement various kinds of processing units. Major processing units implemented by the operation processing unit  440  are, for example, an image acquisition unit  441 , a detection unit  442 , a tracking unit  443 , an angle information acquisition unit  444 , a determination unit  445 , and an output unit  446 . 
     The image acquisition unit  441  acquires image data acquired by the camera  300  from the camera  300  via the communication I/F unit  420 . Then, the image acquisition unit  441  associates the acquired data with, for example, time and date of acquisition of the image data (information indicating the imaging time), and stores as the image information  431  into the storage unit  430 . 
     The detection unit  442  detects an object existing within a region corresponding to the container  500  and liquid filled in the container  500 . For example, the detection unit  442  performs a binarization process on the image data and detects an object based on the result of the binarization process. Meanwhile, the detection unit  442  may detect an object by using other known techniques. 
     The tracking unit  443  tracks an object detected by the detection unit  442 . As described above, the camera  300  acquires image data at a high frame rate such as 200 fps. Therefore, it is assumed that the positions of the same object are extremely close between two pieces of image data with consecutive imaging times (the imaging times are closer than a predetermined value). Then, the tracking unit  443  compares the position of an object detected by the detection unit  442  with the position of an object detected by the detection unit  442  in image data with the previous imaging time (or within a predetermined value). In a case where a distance between the objects is equal to or less than a predetermined threshold value, the tracking unit  443  determines that the object detected by the detection unit  442  and the object detected by the detection unit  442  in the image data with the previous imaging time that are separated by a distance equal to or less than the threshold value are the same objects. In this case, the tracking unit  443  provides the object detected by the detection unit  442  with identification information such as ID provided to the object determined to be the same object. On the other hand, in a case where the image data with the previous imaging time (or within the predetermined value) does not show an object with a distance equal to or less than the predetermined threshold value from the object detected by the detection unit  442 , the tracking unit  443  determines that a new object is detected. In this case, the tracking unit  443  provides the detected object with identification information such as new ID. 
     For example, as described above, the tracking unit  443  provides an object detected by the detection unit  442  with identification information by performing tracking based on a distance between objects in different image data. Moreover, the tracking unit  443  acquires coordinates indicating the position of the object detected by the detection unit  442 . Then, the tracking unit  443  associates the identification information, time information indicating the imaging time of the image data, and the coordinates, and stores as the tracking information  432  into the storage unit  430 . The tracking unit  443  may store XY coordinates in the image data into the storage unit  430  as the tracking information  432 , or may store coordinates obtained by correcting XY coordinates in each image data based on information indicating the angle of the container  500  acquired by the angle information acquisition unit  444  (for example, coordinates corrected to a position in a case where the container  500  is not tilted) into the storage unit  430  as the tracking information  432 . 
     The angle information acquisition unit  444  acquires angle information indicating an angle at which the container  500  is tilted based on the position of the marker  230  in image data. For example, calibration of the tilt angle of the container  500  and the position of the marker  230  in the image data is performed in advance. Therefore, the angle information acquisition unit  444  can acquire angle information indicating an angle at which the container  500  is tilted based on the position of the marker  230  in the image data. 
     Upon acquisition of the angle information, the angle information acquisition unit  444  can store the acquired angle information into the storage unit  430  together with time information indicating the imaging time of the image data. As described above, the angle information acquisition unit  444  may store the angle information into the storage section  430  as one of the information included by the tracking information  432 . 
     Based on the tracking information  432 , the determination unit  445  determines whether an object detected by the detection unit  442  is an air bubble, foreign matter, or a scratch, stain or adhering matter on the container  500 . In this example embodiment, the determination unit  445  can perform a determination based on time-series information while the container  500  is swinging and a determination based on time-series information after the swing is finished (that is, after the container  500  stops in the state shown in  FIG.  1   ). The determination unit  445  can determine whether or not the container  500  is swinging based on the angle information included by the tracking information  432 . 
     For example, the determination unit  445  determines whether or not an object detected by the detection unit  442  is a scratch or stain on the container  500  or adhering matter adhering to the container  500  based on the time-series information while the container  500  is swinging included by the tracking information  432 . As described above, the marker  230  is installed on the area light source  220  installed on the body unit  210  that tilts in synchronism with the container  500 . Therefore, a scratch and a stain on the container  500 , an adhering matter located outside the filled liquid and the like move in conjunction with the movement of the marker  230 . For example, the movement in conjunction described above refers to movement in full conjunction such that, when the marker  230  starts movement, a scratch and a stain on the container  500 , adhering matter located outside the filled liquid and the like immediately start movement and, when the marker  230  stops movement, the scratch and stain on the container  500 , the adhering matter located outside the filled liquid and the like immediately stop movement. Then, the determination unit  445  determines that an object moving in conjunction with the movement of the marker  230  among the objects detected by the detection unit  442  is a scratch or stain on the container  500 , adhering matter, or the like based on the time-series information while the container  500  is swinging. On the other hand, the determination unit  445  determines that an object which is not moving in conjunction with the movement of the marker  230  among the objects detected by the detection unit  442  is not a scratch or stain on the container  500 , adhering matter, or the like. That is to say, the determination unit  445  determines that the object that is not moving in conjunction with the movement of the marker  230  is possibly an air bubble or foreign matter. 
     Further, the determination unit  445  determines whether the object detected by the detection unit  442  is an air bubble or foreign matter based on the time-series information after the swing is finished included by the tracking information  432 . The determination unit  445  can perform the above determination on all the objects detected by the detection unit  442 , excluding an object determined by the determination unit  445  as a scratch, a stain or adhering matter on the container. For example, in a case where it is determined that the object is moving upward based on the time-series information after the swing stops, the determination unit  445  determines that the object is an air bubble. On the other hand, in a case where it is determined that the object is moving downward based on the time-series information after the swing stops, the determination unit  445  determines that the object is foreign matter. For example, as described above, the determination unit  445  can determine whether the object is an air bubble or foreign matter based on the movement direction of the object indicated by the time-series information after the swing stops. Meanwhile, the determination unit  445  may determine whether the object is an air bubble or foreign matter by a method other than the method illustrated above, such as performing the determination by using a model that has been learned in advance. 
     For example, as described above, after determining a scratch or the like of the container  500  among the objects, the determination unit  445  determines whether the remaining object is an air bubble or foreign matter. Then, the determination unit  445  stores the result of determination of the respective objects detected by the detection unit  442  as the determination result information  433  into the storage unit  430 . In this example embodiment, a timing at which the determination unit  445  performs the determination is not particularly limited. For example, the determination unit  445  may be configured to determine in real time while the container  500  is swinging whether or not the object is a scratch or the like, or may be configured to perform the series of processing described above after the time-series data during and after the swing are completed. 
     The determination unit  445  may be configured to perform the determination of movement in conjunction with the marker  230  and the determination whether the object is an air bubble or foreign matter in parallel. That is to say, the determination unit  445  may start the determination whether the object is an air bubble or foreign matter before the swing finishes. Moreover, the determination unit  445  may use information other than the tracking information  432  when determining the object. For example, the determination unit  445  can determine the object by using information indicating the image characteristics of the object, the size, the average luminance value, and the like. By performing the determination also using information other than movement, such as the size of the object and average luminance value, it is possible to comprehensively judge the characteristics of an air bubble and foreign matter, and consequently, higher determination accuracy can be obtained. 
     The output unit  446  outputs the image information  431 , the tracking information  432 , the determination result information  433  and the like. For example, the output unit  446  can display the image information  431 , the tracking information  432 , the determination result information  433  and the like on the screen display unit  410 , and transmit them to an external device via the communication IN unit  420 . 
     The above is an example of the configuration of the determination apparatus  400 . 
     The determination apparatus  400  may have a configuration other than that described above. For example, the determination apparatus  400  can be configured to instruct the grasping device  200  to start swing or to stop swing. For example, in a case where a condition is satisfied such that a predetermined period of time has passed since the start of swing or the number of swings (the number of times of tilting in the forward direction and the number of times of tilting in the reverse direction) has reached a predetermined number of times, the determination apparatus  400  can instruct the grasping device  200  to stop swing. 
     Further, the determination apparatus  400  can instruct the grasping device  200  to perform a rotation operation for peeling off foreign matter and the like fixedly adhering to the wall surface of the container  500  before instructing the start of swing. That is to say, the determination apparatus  400  may be configured to instruct the start of swing after instructing the rotation operation. 
     The container  500  is a translucent container such as a glass bottle or a plastic bottle. The inside of the container  500  is filled with liquid such as water or medicine. The container  500  may have a scratch, a stain and the like. Moreover, foreign matter may be mixed inside the container  500 . Examples of foreign matter include a rubber piece, hair, a fiber piece, soot, and a glass or plastic chip. 
     The above is an example of the configurations of the grasping device  200 , the camera  300 , the determination apparatus  400 , and the container  500  included by the determination system  100 . Next, an example of an operation of the determination system  100  will be described with reference to  FIGS.  8  to  10   . First, with reference to  FIG.  8   , the relation between a timing at which the grasping device  200  swings the container  500  and a timing at which the camera  300  captures an image will be described. 
     Referring to  FIG.  8   , the grasping device  200  tilts the container  500 , for example, in accordance with an instruction by the determination apparatus  400  (step S 101 ). That is to say, the grasping device  200  starts swing. Moreover, for example, at a timing at which the grasping device  200  starts swing, the camera  300  starts capturing an image (step S 201 ). The camera  300  may start capturing an image before the grasping device  200  starts swing, or may start capturing an image after the grasping device  200  starts swing. 
     The grasping device  200  stops swing, for example, in accordance with an instruction by the determination apparatus  400  (step S 102 ). As shown in  FIG.  8   , at a timing that the grasping device  200  stops swing, the camera  300  does not finish capturing an image. Therefore, the camera  300  captures an image while the grasping device  200  swinging the container  500 , and also continues capturing an image after the grasping device  200  stops swing. 
     The camera  300  finishes capturing an image (step S 202 ). In this example embodiment, a condition that the camera  300  finishes capturing an image is not specifically limited. The camera  300  can finish capturing an image in a case where a predetermined condition is satisfied, for example, a predetermined time has passed since the start of swing, a predetermined time has passed after the stop of swing, or the determination by the determination unit  445  has been completed for all objects detected by the detection unit  442 . 
     The above is an example of the relation between the timing at which the grasping device  200  swings the container  500  and the timing at which the camera  300  captures an image. As described above, in this example embodiment, the camera  300  captures an image of the grasping device  200  swinging the container  500 , and also continues capturing an image after the swing stops. Next, an example of an operation of the overall determination apparatus  400  will be described with reference to  FIG.  9   . 
     Referring to  FIG.  9   , the image acquisition unit  441  acquires image data acquired by the camera  300  from the camera  300  via the communication I/F unit  420  (step S 301 ). 
     The detection unit  442  detects an object existing within a region corresponding to the container  500  and liquid filled in the container  500  based on the image data (step S 302 ). The detection unit  442  may detect the object by using a known technique. 
     The tracking unit  443  tracks the object detected by the detection unit  442  (step S 303 ). For example, the tracking unit  443  tracks the object based on a distance between objects in image data with close (or consecutive) imaging times. 
     In a case where the tracking unit  443  has not tracked all the objects detected by the detection unit  422  in the image data (step S 304 , No), the tracking unit  443  tracks an object having not been tracked. On the other hand, in a case where the tracking unit  443  has tracked all the objects detected by the detection unit  422  in the image data (step S 304 , Yes), the tracking unit  443  completes the tracking. 
     Further, the angle information acquisition unit  444  acquires angle information indicating an angle at which the container  500  tilts based on the location of the marker  230  in the image data (step S 305 ). 
     In a case where all of a series of image data captured by the camera  300  have been acquired (step S 306 , Yes), the determination apparatus  400  finishes the processing. On the other hand, in a case where image data having not been acquired is left (step S 306 , No), the image acquisition unit  441  acquires the image data from the camera  300  (step S 301 ). 
     The above is an example of the operation of the determination apparatus  400 . Meanwhile, the determination apparatus  400  may perform the processing in an order other than that illustrated above, such as performing the processing at step S 302  and later after acquiring all of the series of image data captured by the camera  300 . Next, an example of processing by the determination unit  445  will be described with reference to  FIG.  10   . 
     Referring to  FIG.  10   , the determination unit  445  acquires time-series information while the container  500  is swinging included by the tracking information  432  (step S 401 ). 
     In a case where there is an object moving in conjunction with the movement of the marker  230  among objects detected by the detection unit  442  (step S 402 , Yes), the determination unit  445  determines that the object moving in conjunction with the movement of the marker  230  is a scratch, stain, adhering matter or the like on the container  500  (step S 403 ). Then, the determination unit  445  excludes the object determined to be a scratch, stain, adhering matter or the like on the container  500  from objects to be determined in a process at step S 407  (step S 404 ). On the other hand, in a case where there is an object that does not move in conjunction with the movement of the marker  230  (step S 402 , No), the determination unit  445  determines that the object not moving in conjunction with the movement of the marker  230  is not a scratch, stain, adhering matter or the like on the container  500  (step S 405 ). 
     Further, the determination unit  445  acquires time-series information after the container  500  stops swinging included by the tracking information  432  (step S 406 ). Then, the determination unit  445  determines whether the object detected by the detection unit  442  is an air bubble or foreign matter based on the time-series information after the swing finishes included by the tracking information  432  (step S 407 ). For example, the determination unit  445  can determine whether the object is an air bubble or foreign matter based on the moving direction of the object indicated by the time-series information after the swing stops. The determination unit  445  may perform the determination by a method other than that illustrated above. 
     The above is an example of the processing by the determination unit  445 . In this example embodiment, a timing at which the determination unit  445  performs the determination is not specifically limited. For example, the determination unit  445  may be configured to determine whether or not the object is a scratch or the like in real time while the container  500  is swinging, or may perform the series of processing described above after the time-series data during and after the swing are obtained. 
     Thus, the grasping device  200  has the marker  230  installed on the area light source  220  that tilts in synchronism with the container  500  when tilting the grasped container  500 . With such a configuration, when the grasped container  500  is tilted, a scratch and a stain on the container  500  and adhering matter and the like located outside the filled liquid move in conjunction with the movement of the marker  230 . As a result, based on image data showing the container  500  and the marker  230  acquired by the fixed camera  300 , a scratch and a stain on the container  500  and adhering matter and the like located outside the filled liquid can be easily determined. 
     Further, with the above configuration, based on the image data captured/acquired by the fixed camera  300 , angle information indicating an angle at which the container  500  tilts can be easily acquired. Although the angle information can be acquired, for example, from an encoder of the motor  240  serving as a rotating means, acquisition of the angle information from the encoder makes the configuration of the determination system  100  complicated. By installing the marker  230  as described above, it becomes possible to easily acquire the angle information without making the configuration complicated. 
     Further, with the configuration described above, it is possible to determine a scratch and the like on the container  500  beforehand. Consequently, the determination unit  445  can determine whether an object excluding the scratch and the like on the container  500  beforehand is an air bubble or foreign matter. As a result, it is possible to suppress erroneous determination of a scratch and the like on the container  500  as an air bubble or foreign matter, and it is possible to increase the accuracy of the determination. 
     In this example embodiment, an example of the configuration of the determination system  100  has been described. However, the configuration of the determination system  100  is not limited to that illustrated in this example embodiment. For example, the determination system  100  may have a grasping device  600  as shown in  FIGS.  11  and  12    instead of the grasping device  200  illustrated in  FIG.  1    and others. 
     As well as the grasping device  200 , the grasping device  600  is a device that sandwiches and grasps the container  500  filled with liquid from above and below and tilts the container  500  in this state. As shown in  FIG.  11   , the grasping device  600  includes, for example, a body unit  610  including a grasping part including an upper grasping part  611  and a lower grasping part  612 , an area light source  620 , a gear  630 , and a motor  640 . 
     The body unit  610  tilts/swings and rotates in accordance with the rotation of the gear  630  and the motor  640  that function as a rotating means. For example, the body unit  610  has a cylindrical shape and is configured to be able to grasp the container  500  inside. As well as the body unit  210 , the body unit  610  may be formed by any material. Moreover, the shape of the body unit  610  may be other than that illustrated above. 
       FIG.  11    shows an example of the body unit  610  viewed from the side, and  FIG.  12    shows an example of the main body  610  viewed from the front. Referring to  FIGS.  11  and  12   , the body unit  610  includes the grasping part for grasping the container  500  and a pair of marker parts  613  protruding toward the container  500  from parts of the body unit  610  located on the side surface of the container  500  when the container  500  is grasped. Moreover, the body unit  610  meshes with the gear  630  and is configured to tilt/swing in accordance with the rotation of the gear  630 . 
     The grasping part includes the upper grasping part  611  formed on the upper inner peripheral surface of the body unit  610  and protruding downward, and the lower grasping part  612  formed on the lower inner peripheral surface of the body unit  610  and protruding upward. As shown in  FIG.  12   , the upper grasping part  611  contacts the container  500  from above the container  500 , the lower grasping part  612  contacts the container  500  from below the container  500 , and the grasping part thereby sandwiches the container  500  from above and below and grasps the container  500 . 
     As in the case of the grasping device  200 , the upper grasping part  611  and the lower grasping part  612  may be configured to be adjustable in length. 
     As well as the marker  230 , the marker part  613  is a structure for enabling acquisition of a rotation angle based on image data captured by the camera  300 . In the vicinity of the inner tip of the marker part  613 , a two-dimensional code or the like may be installed. The marker part  613  can employ various modification examples as well as the marker  230 . 
     The area light source  620  emits light to liquid filled inside the container  500 . For example, the area light source  620  may have a shape corresponding to the shape of the body unit  610 , such as a circular shape when viewed from the front, or may be a rectangular shape or the like. 
     For example, as well as the area light source  220 , the area light source  620  is installed on the opposite side to a side where the camera  300  is installed when viewed from the container  500  and the grasping part. In the case of the grasping device  600 , unlike the grasping device  200 , the area light source  620  may be configured not to be integral with the body unit  610 . The area light source  620  may be configured to be integral with the body unit  610 . 
     The gear  630  and the motor  640  function as a rotating means for rotating the body unit  610 . The motor  640  rotates in accordance with electric power supplied from outside, and thereby rotates the gear  630 . Moreover, the gear  630  transmits the rotation of the motor  640  to the body unit  610 . Consequently, the body unit  610  tilts/swings in accordance with the rotation of the motor  640 . 
     For example, as described above, the determination system  100  may have the grasping device  600  instead of the grasping device  200 . The determination system  100  having the grasping device  600  can also have the same action and effect as in the case of having the determination device  200 . The grasping device included by the determination system  100  may have a characteristic that combines the characteristic of the grasping device  200  and the characteristic of the grasping device  600 . 
     Further, in this example embodiment, a case of implementing the function of the determination apparatus  400  by a single information processing apparatus has been described. However, the function of the determination apparatus  400  may be implemented by a plurality of information processing apparatuses connected via a network. For example, in this example embodiment, the determination apparatus  400  can be configured to instruct the grasping device  200  to start swing and stop swing. However, the determination system  100  may have an instruction apparatus that performs the above instruction as an apparatus different from the determination apparatus  400 . 
     Second Example Embodiment 
     Next, a second example embodiment of the present invention will be described with reference to  FIGS.  13  to  15   . In the second example embodiment, the outline of configurations of a grasping device  700  and a determination apparatus  800  will be described. 
       FIG.  13    shows an example of the configuration of the grasping device  700 . Referring to  FIG.  13   , the grasping device  700  includes a grasping unit  710 , a tilting unit  720 , and a marker  730 . 
     The gasping unit  710  grasps a container filled with liquid. The tilting unit  720  at least tilts the container in a state where the grasping unit  710  grasps the container. For example, the tilting unit  720  is a motor or the like, and tilts the container by tilting the grasping unit  710 . The marker  730  is installed at a part tilting in synchronism with the container when the container tilts, and moves in conjunction with the movement of the container. For example, the marker  730  is installed on the grasping unit  710 . 
     Thus, the grasping device  700  includes the grasping unit  710 , the tilting unit  720 , and the marker  730 . With such a configuration, when the grasped container is tilted, a scratch and stain on the container, and adhering matter and the like located outside the filled liquid move in conjunction with the movement of the marker  730 . As a result, based on image data showing the container and the marker  730  acquired by a fixed camera, a scratch and stain on the container, and adhering matter and the like located outside the filled liquid can be easily determined. 
     Further,  FIG.  14    shows an example of a hardware configuration of the determination apparatus  800 . Referring to  FIG.  14   , the determination apparatus  800  has, as an example, a hardware configuration as shown below including; 
     a CPU (Central Processing Unit)  801  (operation device), 
     a ROM (Read Only Memory)  802  (storage device), 
     a RAM (Random Access Memory)  803  (storage device), 
     programs  804  loaded to the RAM  803 , 
     a storage device  805  for storing the programs  804 , 
     a drive device  806  reading from and writing into a recording medium  810  outside the information processing apparatus, 
     a communication interface  807  connected to a communication network  811  outside the information processing apparatus, 
     an input/output interface  808  performing input and output of data, and 
     a bus  809  connecting the respective components. 
     Further, by acquisition and execution of the programs  804  by the CPU  801 , the determination apparatus  800  can implement the functions of a detection unit  821 , a tracking unit  822 , and a determination unit  823  shown in  FIG.  15   . The programs  804  are, for example, stored in the storage device or the ROM  805  in advance, and are loaded to the RAM  803  or the like and executed by the CPU  801  as necessary. Moreover, the programs  804  may be supplied to the CPU  801  via the communication network  811 , or may be stored in the recording medium  810  in advance and retrieved and supplied to the CPU  801  by the drive device  806 . 
       FIG.  14    shows an example of the hardware configuration of the determination apparatus  800 . The hardware configuration of the determination apparatus  800  is not limited to that described above. For example, the determination apparatus  800  may be configured by part of the above configuration, for example, excluding the drive device  806 . 
     The detection unit  821  detects an object based on image data showing liquid filled in a container and a marker moving in conjunction with movement of the container. 
     The tracking unit  822  tracks the object detected by the detection unit  821 . 
     The determination unit  823  determines the object detected by the detection unit  821  based on the result of the tracking by the tracking unit  822  and the movement of the marker. For example, the determination unit  823  determines whether the object is foreign matter, an air bubble, or a scratch or the like on the container. 
     Thus, the determination apparatus  800  includes the detection unit  821 , the tracking unit  822 , and the determination unit  823 . With such a configuration, the determination unit  823  can perform determination of an object detected by the detection unit  821  based on the result of tracking by the tracking unit  822  and the movement of the marker. As a result, it becomes possible to easily determine a scratch or the like on a container, and it becomes possible to determine whether the object is an air bubble or foreign matter in a state where the scratch or the like on the container is excluded. Consequently, for example, it becomes possible to increase the accuracy of the determination. 
     The determination apparatus  800  described above can be implemented by installation of a predetermined program in the determination apparatus  800 . Specifically, a program as another aspect of the present invention is a program for causing the determination apparatus  800  to implement: the detection unit  821  that detects an object based on image data showing liquid filled in a container and a marker moving in conjunction with movement of the container; the tracking unit  822  that tracks the object detected by the detection unit  821 ; and the determination unit  823  that performs determination of the object based on the result of the tracking by the tracking unit  822  and the movement of the marker. 
     Further, a determination method executed by the determination apparatus  800  described above is a method including, by the determination apparatus  800 : detecting an object based on image data showing liquid filled in a container and a marker moving in conjunction with movement of the container; tracking the detected object; and performing determination of the detected object based on the result of the tracking and the movement of the marker. 
     Since the invention of the program or the determination method having the above configuration also has the same action and effect as the determination apparatus  800 , the abovementioned object of the present invention can be achieved. 
     &lt;Supplementary Notes&gt; 
     The whole or part of the example embodiments disclosed above can be described as the following supplementary notes. Below, the overview of a grasping device, a determination apparatus and others according to the present invention will be described. However, the present invention is not limited to the following configurations. 
     (Supplementary Note 1) 
     A grasping device comprising: 
     a grasping unit configured to grasp a container filled with liquid; 
     a tilting unit configured to at least tilt the container in a state where the grasping unit grasps the container; and 
     a maker installed at a part tilting in synchronism with the container when the container tilts and configured to move in conjunction with movement of the container. 
     (Supplementary Note 2) 
     The grasping device according to Supplementary Note 1, wherein: 
     the grasping unit has a light source emitting light to the liquid filled in the container grasped by the grasping unit; 
     the light source is installed so as to tilt in synchronism with the container when the container tilts; and 
     the marker is installed on the light source. 
     (Supplementary Note 3) 
     The grasping device according to Supplementary Note 1 or 2, wherein: 
     the grasping unit is configured to tilt a body unit including the grasping unit to tilt the container grasped by the grasping unit; and 
     the marker is installed on the body unit. 
     (Supplementary Note 4) 
     The grasping device according to any one of Supplementary Notes 1 to 3, wherein 
     the marker is installed so as to be located within an imaging range in imaging the liquid filled in the container with a camera installed outside. 
     (Supplementary Note 5) 
     The grasping device according to any one of Supplementary Notes 1 to 4, wherein 
     the tilting unit is configured to tilt the container in a clockwise direction and also tilt the container in a counterclockwise direction. 
     (Supplementary Note 6) 
     A determination system comprising: 
     a grasping device including a grasping unit configured to grasp a container filled with liquid, a tilting unit configured to at least tilt the container in a state where the grasping unit grasps the container, and a maker installed at a part tilting in synchronism with the container when the container tilts and configured to move in conjunction with movement of the container; 
     a camera installed outside the grasping device and configured to image the liquid filled in the container; and 
     a determination apparatus configured to detect an object based on image data obtained by the camera and determine whether or not the detected object is foreign matter. 
     (Supplementary Note 7) 
     A determination apparatus comprising: 
     a detection unit configured to detect an object based on image data showing liquid filled in a container and a marker moving in conjunction when the container moves; 
     a tracking unit configured to track the object detected by the detection unit; and 
     a determination unit configured to perform determination of the object detected by the detection unit based on a result of tracking by the tracking unit and movement of the marker. 
     (Supplementary Note 8) 
     The determination apparatus according to Supplementary Note 7, wherein 
     the determination unit is configured to perform determination of the object based on movement of the object identified as the result of tracking by the tracking unit and the movement of the marker. 
     (Supplementary Note 9) 
     The determination apparatus according to Supplementary Note 8, wherein 
     the determination unit is configured to determine whether the object is an air bubble or foreign matter. 
     (Supplementary Note 10) 
     The determination apparatus according to Supplementary Note 8 or 9, wherein 
     the determination unit is configured to, when the movement of the object and the movement of the marker are in conjunction, determine that the object is a scratch or a strain on the container or adhering matter adhering to the container. 
     (Supplementary Note 11) 
     The determination apparatus according to any one of Supplementary Notes 8 to 10, wherein 
     the determination unit is configured to determine whether or not the movement of the object and the movement of the marker are in conjunction, and also determine whether the object is an air bubble or foreign matter based on the result of tracking by the tracking unit. 
     (Supplementary Note 12) 
     The determination apparatus according to any one of Supplementary Notes 8 to 11, wherein 
     the determination unit is configured to, in accordance with determination based on whether or not the movement of the object and the movement of the marker are in conjunction, identify the object that is a scratch or a stain on the container or adhering matter adhering to the container, and determine whether the object excluding the identified object among the objects detected by the detection unit is an air bubble or foreign matter. 
     (Supplementary Note 13) 
     A determination method comprising, by a determination apparatus: 
     detecting an object based on image data showing liquid filled in a container and a marker moving in conjunction when the container moves; 
     tracking the detected object; and 
     performing determination of the detected object based on a result of tracking and movement of the marker. 
     (Supplementary Note 14) 
     A non-transitory computer-readable recording medium having a program recorded thereon, the program comprising instructions for causing a determination apparatus to implement: 
     a detection unit configured to detect an object based on image data showing liquid filled in a container and a marker moving in conjunction when the container moves; 
     a tracking unit configured to track the object detected by the detection unit; and 
     a determination unit configured to perform determination of the object based on a result of tracking by the tracking unit and movement of the marker. 
     The program described in the example embodiments and supplementary notes is stored in a storage device, or recorded on a computer-readable recording medium. For example, the recording medium is a portable medium such as a flexible disk, an optical disk, a magnetooptical disk, and a semiconductor memory. 
     Although the present invention has been described above with reference to the example embodiments, the present invention is not limited to the above example embodiments. The configurations and details of the present invention can be changed in various manners that can be understood by one skilled in the art within the scope of the present invention. 
     DESCRIPTION OF REFERENCE NUMERALS 
       100  determination system 
       200  grasping device 
       210  body unit 
       211  flat portion 
       212  arm part 
       213  upper grasping part 
       214  lower grasping part 
       220  area light source 
       230  marker 
       240  motor 
       300  camera 
       400  determination apparatus 
       410  screen display unit 
       420  communication IN unit 
       430  storage unit 
       431  image information 
       432  tracking information 
       433  determination result information 
       434  program 
       440  operation processing unit 
       441  image acquisition unit 
       442  detection unit 
       443  tracking unit 
       444  angle information acquisition unit 
       445  determination unit 
       446  output unit 
       500  container 
       600  grasping device 
       610  body unit 
       611  upper grasping part 
       612  lower grasping part 
       613  marker part 
       620  area light source 
       630  gear 
       640  motor 
       710  grasping unit 
       720  tilting unit 
       730  marker 
       800  determination apparatus 
       801  CPU 
       802  ROM 
       803  RAM 
       804  programs 
       805  storage device 
       806  drive device 
       807  communication interface 
       808  input/output interface 
       809  bus 
       810  recording medium 
       811  communication network 
       821  detection unit 
       822  tracking unit 
       823  determination unit