| 摘要 |
PROBLEM TO BE SOLVED: To reduce the cost required for the control by simplifying the control of the posture of a vegetable take-out and transfer device. SOLUTION: A separating device is provided with a grade discrimination device 3 of image processing type for imaging vegetables and discriminating the grades, a loading section 6 composed of a plurality of loading compartments corresponding to respective grades of vegetables and a vegetable take-out and transfer device for taking out the vegetables after discriminating the grades one by one and loading them into the loading compartments by a vegetable take-out section 12, and a control means for controlling the grade discrimination device 3 and the vegetable take-out and transfer device and a minimum rectangle encircling a vegetable by the plane view is simulatively set as an image of plane shape of the vegetable based on the image of the vegetable taken by the grade discrimination device 3. Also an inclination angleθof rectangular shape to a set reference line 48 is sensed and stored, and based on the inclination angleθ, the vegetable take-out section 12 is so constituted as to adjust the change in the angle and rotate around a vertical axial center to comply with the posture of the vegetable by taking out the vegetable.
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