| 摘要 |
PROBLEM TO BE SOLVED: To enable detection of deviation quantity from a registered position by shooting a vessel including a character or a figure to determine an image reference position from a left and a right corners of a cover part or a neck part and searching with a reference position of a previously registered pattern as a reference. SOLUTION: When a vessel 1 transferred to a position P1 is captured by a power generating pipe 41, imaging distances Y1, Y2 of two points Q1, Q2 in the same height of a trunk part 2 of the vessel 1 in an image direction are respectively measured with distance meters 42, 43 and the distance between the two points Q1, Q2 is calculated with a distance calculation means 45. An approximate angleθa1 is calculated with an approximate angle calculation means 46. A position relation of corners in an image is not changed in respond to an inclination because a cover part 3 of the vessel 1 is a cylindrical shape even if the vessel is inclined in a horizontal plane, and therefore, a reference position is determined without compensation. The angleθa1 calculated with the angle calculation means 46 is corrected based upon an external form of the vessel 1 with an inclination angle calculation means 36 and an precise inclination angle in the horizontal plane is determined. The correction is derived based upon a compensation table 37.
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