| 摘要 |
SOLUTION: A container processing device 2 comprises: first transport means 3 for storing a container 1 which is laterally turned, in a storage part 12 and transporting the same; first imaging means 7 for imaging a bottom part 1A or a mouth part 1C (upper part) of the container 1 laterally turned, from a side of the first transport means 3; second imaging means 8 for imaging a side face 1B of the container 1 laterally turned, from an upper side of the transport means; a robot 5 (take-out means) for taking out the container 1 in the storage part 12; image processing means 21 for recognizing an inclination angle θ of the container 1 stored in the storage part 12, on the basis of images imaged by the first imaging means 7 and the second imaging means 8, and calculating a holding position H of the container 1 by the take-out means; and control means 6 for setting the holding position H where the robot 5 holds the container 1 on the basis of the images of the container 1 imaged by the imaging means.EFFECT: Even when a container is transported at a random inclination angle, a holding position can be correctly set.SELECTED DRAWING: Figure 3 |
