Container holding angle detection method and container holding angle detection device

Abstract

To properly recognize a holding angle of a container held by a gripper. [Solution] A container holding angle detection method and device for detecting a container having a body that is approximately rectangular in plan view from above, photographing the container from above while the neck, which narrows in diameter above the body, is held by a gripper, and detecting the angle of the container held by the gripper based on the obtained inspection image. In the photographed inspection image, an area A of the container excluding the gripper is extracted (area extraction process), a missing portion of the extracted container area A caused by removing the gripper is completed (completion process), an approximately rectangular area B is recognized, a minimum circumscribing rectangle R for the approximately rectangular area is obtained, and an angle θ of the minimum circumscribing rectangle R in the inspection image is measured (angle measurement process), and the angle θ is set as the holding angle of the container.

Description

[Technical Field]

[0001] The present invention relates to a container holding angle detection method and a container holding angle detection device for detecting the holding angle of a container having a substantially rectangular body portion whose neck portion is held by a gripper. [Background technology]

[0002] A container conveying device is known that detects the orientation of a container having a body with a substantially rectangular cross section whose neck is held by a gripper, and aligns the container in a predetermined orientation (Patent Document 1). The container conveying device of Patent Document 1 detects the angle θ of the wide side of the container V from the reference line L, based on an image taken from directly above the container V held by the gripper 18, where the state in which the wide side of the container V is aligned with the reference line L is considered to be the appropriate orientation (reference position). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-179171 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, there is known an angle detection method that sets a minimum circumscribing rectangle for an image showing an object and finds the angle of the minimum circumscribing rectangle within the screen, thereby easily and accurately detecting the angle of the object on the image.

[0005] It is possible to determine the angle by setting a minimum circumscribing rectangle for images of containers having a body with an approximately rectangular cross section, such as that in Patent Document 1 mentioned above. However, if the gripper portion is removed from the image of the container held by the gripper and the container portion is extracted, and the gripper overlaps a corner of the body with an approximately rectangular cross section, the image of the extracted container portion will be missing the corner and will no longer be approximately rectangular, and the angle of the minimum circumscribing rectangle circumscribing the image of such a container portion will be different from the original angle of the container that was photographed.

[0006] An object of the present invention is to properly detect the holding angle of a container held by a gripper. [Means for solving the problem]

[0007] The first invention of the present invention is a container holding angle detection method that photographs a container having a body that is approximately rectangular in plan view from above while the neck, which narrows in diameter above the body, is held by a gripper from above, and detects the holding angle of the container held by the gripper based on the obtained inspection image.The method is characterized by extracting the area of ​​the container excluding the gripper from the inspection image, filling in the missing parts of the extracted container area by removing the gripper to recognize an approximately rectangular area, determining the minimum circumscribing rectangle for the approximately rectangular area, and measuring the angle of the minimum circumscribing rectangle in the inspection image to determine the holding angle of the container.

[0008] The second invention of the present invention is a container holding angle detection method that, in the first invention, sets a rotation center point in the area of ​​the container excluding the gripper extracted from the inspection image, rotates the area of ​​the container excluding the gripper 180 degrees around the rotation center point to generate a rotated area, and combines the rotated area with the area of ​​the container excluding the gripper before rotation to fill in the missing part and recognize the approximately rectangular area.

[0009] The third invention of the present invention is a method for detecting a container holding angle, which is characterized in that, in the first invention, a straight line parallel to the straight line portion constituting the outline of the body is set in the area of ​​the container excluding the gripper extracted in the inspection image, the area of ​​the container excluding the gripper is inverted 180 degrees around the straight line as an axis of symmetry to generate an inverted area, and the inverted area is combined with the area of ​​the container excluding the gripper before inversion to fill in the missing part and recognize it as the above-mentioned approximately rectangular area.

[0010] The fourth invention of the present invention is a container holding angle detection device that is provided on a container conveying means that conveys a container having a body that is approximately rectangular in plan view from above by holding the neck that narrows in diameter above the body with a gripper, and is equipped with a photographing means that is positioned above the conveyed container, and detects the holding angle of the container held by the gripper based on an inspection image obtained by the photographing means, and is characterized in that the image processing means performs an area extraction process that extracts the area of ​​the container excluding the gripper in the inspection image, an interpolation process that interpolates the missing parts of the extracted container area excluding the gripper to recognize an approximately rectangular area, and an angle measurement process that determines a minimum circumscribing rectangle for the approximately rectangular area and measures the angle of the minimum circumscribing rectangle in the inspection image.

[0011] The fifth invention of the present invention is a container holding angle detection device, which, in the fourth invention, is characterized in that it is provided with a communication unit that outputs correction information based on the angle measured by the image processing unit, and outputs the correction information to a container processing means that receives a container from the container conveying means. [Effects of the Invention]

[0012] According to the present invention, the holding angle of a container held by a gripper can be detected accurately. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a plan view showing the configuration of a container transport processing system to which a container holding angle detection device according to an embodiment of the present invention is applied. [Figure 2] 10 is a partially enlarged cross-sectional view of the carry-in wheel and the labeler wheel at a receiving position P1 where containers are supplied from the carry-in wheel to the labeler wheel. FIG. [Figure 3] 10 is a side view showing the positional relationship between the camera and the container held by the gripper at the detection position P0. FIG. [Figure 4]3A to 3C are schematic diagrams illustrating examples of inspection images captured by a camera. [Figure 5] This is a schematic diagram of a container region extracted from the image of Figure 4(b), in which one corner (rounded corner) is missing. [Figure 6] 10A and 10B are diagrams illustrating a process of complementing missing portions by rotating and inverting the extracted container region. [Figure 7] 10A and 10B are diagrams illustrating a process of complementing missing portions by using a mirror image of an extracted container region. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Fig. 1 is a plan view showing the configuration of a container transport and processing system to which a container holding angle detection device according to one embodiment of the present invention is applied.

[0015] The container conveying and processing system 10 of this embodiment is a system that conveys, for example, a container V, aligns the container in a predetermined direction, and affixes a label to the container. The container V is, for example, a PET bottle having a body with a substantially rectangular cross-sectional shape, and is filled and capped upstream (not shown), and then transferred from a supply conveyor 12 to a carry-in wheel 14, but the orientation of the transferred container V is not constant.

[0016] At the detection position P0 of the carry-in wheel 14 immediately after the container V is transferred from the supply conveyor 12 to the carry-in wheel 14, a container holding angle detection device 40 (see FIG. 3) is placed which photographs the container V from directly above and detects its orientation, and the orientation (holding angle) of the container V is detected from the photographed image (inspection image) using a container holding angle detection method described below. The carry-in wheel 14 transports the container V along the outer periphery of the wheel as a container transport means, and at receiving position P1, the container V is transferred to the adjacent labeler wheel 16 as a container processing means.

[0017] The labeler wheel 16 rotates (spins) the container V according to the detected orientation (holding angle) of the container V while transporting the container V along the outer periphery of the wheel. The orientation of the container V is aligned to a predetermined orientation by the time the container V reaches labeling position P2 adjacent to the label supply wheel 18, and at labeling position P2, a label supplied from the label supply wheel 18 is affixed to the outer periphery of the body of the container V. The container V with the label affixed is delivered to the delivery wheel 20 at delivery position P3 and discharged to the discharge conveyor 21 via the delivery wheel 20.

[0018] 2 is a partially enlarged cross-sectional view of the carry-in wheel 14 and the labeler wheel 16 at the receiving position P1 where the container V is transferred from the carry-in wheel 14 to the labeler wheel 16. The container V has a neck that narrows in diameter above the body, and a cap C is attached to the opening at the top of the neck. The body has curved (rounded) or chamfered corners, and appears to be roughly rectangular when viewed from above.

[0019] The carry-in wheel 14 is provided with a plurality of grippers 22 at predetermined intervals along its periphery to hold the necks of the containers V. Meanwhile, the labeler wheel 16 is provided with a plurality of bottle stands 24 at predetermined intervals along its periphery to hold the bottoms of the containers V, and a plurality of top locators 26 located directly above each bottle stand 24 to press the caps C of the containers V from above, so that the containers V are sandwiched and held between the bottle stands 24 and the top locators 26 from above and below.

[0020] Grippers 22 of the carry-in wheel 14 are provided at predetermined intervals along the outer periphery of the rotating plate 14A of the carry-in wheel 14. The grippers 22 are attached to the upper ends of a pair of rotating shafts 22A that are supported perpendicularly to the rotating plate 14A. The rotating shafts 22A are connected to each other via gears 22B and can rotate in opposite directions. A lever 22C is attached to the lower end of one of the rotating shafts 22A, and a cam follower 22D is attached to its tip. The lever 22C is biased by a spring 22E and pressed against a cam 22F that is arranged along the outer periphery of the carry-in wheel 14. When the rotating plate 14A rotates and the cam follower 22D runs on the cam 22F, the lever 22C swings, and one of the rotating shafts 22A to which the lever 22C is attached rotates. As a result, the other rotating shaft 22A, which is connected via gear 22B, also rotates in the opposite direction, opening and closing the gripper 22. The discharge wheel 20 also has a gripper that operates in the same manner as the gripper 22.

[0021] The labeler wheel 16 comprises, for example, three upper and lower tiers of rotating plates 16A, 16B, and 16C. Bottle stands 24 are arranged at predetermined intervals along the outer periphery of the middle tier of rotating plate 16B and are supported by a shaft 24A extending downward from the center of the plate. Shaft 24A is supported rotatably and vertically by bearings 28 arranged at predetermined intervals along the outer periphery of rotating plate 16B of the labeler wheel 16.

[0022] A driven gear 24B is attached to the shaft 24A extending below the bearing 28. The driven gear 24B engages with a drive gear 34A attached to the rotary shaft of a servo motor 34 mounted on the lower rotary plate 16C corresponding to each bottle table 24. The lower end of the shaft 24A is journaled to an elevator 36 via a bearing 24C. The elevator 36 is also provided with an arm 36A extending radially outward from the labeler wheel 16, with a cam follower 36B attached to the tip of the arm 36A. The cam follower 36B engages with a cam 38 arranged along the outer periphery of the labeler wheel 16.

[0023] As a result, each bottle stand 24 can be rotated (spinned) integrally with the shaft 24A by the servo motor 34, and is raised and lowered as the cam follower 36B runs on the cam 38 as the labeler wheel 16 rotates (revolves). The width (thickness) of the driven gear 24B is greater than the width (thickness) of the drive gear 34A, so that even when the driven gear 24B is raised and lowered by the raising and lowering of the shaft 24A, it remains engaged with the drive gear 34A. Figure 2 shows the bottle stand 24 with a container V placed on it in a raised state.

[0024] Meanwhile, the top locators 26 are arranged at predetermined intervals along the outer periphery of the upper rotating plate 16A. A rod support portion 30 is provided on the outer periphery of the upper rotating plate 16A to hold the support rod 26A of the top locator 26 so that it can move up and down and rotate freely. The support rod 26A is inserted through the rod support portion 30, and the top locator 26, which abuts against the top surface of the cap C of the container V, is provided at its lower end.

[0025] A cam follower 26C is attached via an arm 26B to the upper end of a support rod 26A extending upward from the rod support portion 30. The support rod 26A is biased downward by a spring 30A provided inside the rod support portion 30, and the cam follower 26C is biased downward by the weight of the top locator 26 and the support rod 26A and the biasing force of the spring 30A, and is pressed against a cam 32 arranged along the outer periphery of the labeler wheel 16.

[0026] As a result, when the labeler wheel 16 rotates (revolves) and the cam follower 26C runs on the cam 32, each top locator 26 and support rod 26A are raised and lowered rotatably (on their own axes) relative to the rotating plate 16A. Note that Fig. 2 shows a state in which the support rod 26A is lowered and the top of the cap C of the container V on the opposing bottle table 24 is pressed by the top locator 26.

[0027] In the section between the delivery position P3 and the receiving position P1 of the labeler wheel 16, the bottle platform 24 is lowered and the top locator 26 is raised. The bottle platform 24 is raised at the receiving position P1, and at the same time that a container V gripped by the gripper 22 of the carry-in wheel 14 is placed on the bottle platform 24, the top locator 26 provided above the bottle platform 24 is lowered to abut against and press against the cap C. As a result, the container V is sandwiched and held between the upper and lower top locators 26 and the bottle platform 24, and at approximately the same time, the gripper 22 is released.

[0028] Thereafter, the container V held between the bottle table 24 and the top locator 26 is rotated to the reference position for labeling by the time it reaches the labeling position P2, as the servo motor 34 operates to rotate the bottle table 24 forward or backward in accordance with the orientation (holding angle) of the container V detected by the container holding angle detection method of this embodiment at the inspection position P0.

[0029] At labeling position P2, servo motor 34 operates to rotate container V once and label the outer periphery of the body, after which container V is transported toward delivery position P3, where the gripper of discharge wheel 20 grasps the neck of container V, causing top locator 26 to rise and bottle table 24 to fall, and container V to be delivered to the gripper of discharge wheel 20. The position of container V on the transport path detected at detection position P0 is sequentially calculated and recognized based on signals from an encoder that detects the rotation of, for example, feed wheel 14 and labeler wheel 16. The operation of feed wheel 14, feed wheel 20, and labeler wheel 16 and label supply wheel 18 that constitute a labeler as container processing means is controlled by a PLC (not shown) that serves as control means.

[0030] Next, a method for detecting a container holding angle at the detection position P0 by the container holding angle detection device 40 according to this embodiment will be described with reference to FIGS.

[0031] FIG. 3 is a side view showing the positional relationship between the container holding angle detection device 40 and the container V held by the gripper 22 at the detection position P0. The container holding angle detection device 40 of this embodiment photographs the container V held by the gripper 22 from directly above at the detection position P0 to detect the orientation of the container V. At the detection position P0, a camera (photographing means) 42 is disposed facing downward above the conveyance path of the feed wheel 14, and an illumination device 44 is disposed below the conveyance path. A diffuser 46 is also disposed between the illumination device 44 and the conveyed container V. The image captured by the camera 42 from directly above (above) the container V is sent to a determination device 48 and processed based on the container holding angle detection method of this embodiment. The determination device 48 is also configured as a personal computer and includes an image input board as an image input unit, an image processing application as an image processing unit, and an IO board and Ethernet as a communication unit.

[0032] 4(a) and 4(b) are schematic diagrams illustrating examples of images (inspection images M) captured by camera 42 and input to determination device 48. FIG. 4(a) shows a state in which the orientation of container V gripped by gripper 22 matches reference line L0 in labeling set in inspection image M, while FIG. 4(b) shows a state in which the orientation of container V is shifted by an angle θ from reference line L0. FIG. 4(a) shows a case in which the holding angle with respect to gripper 22 is 0 degrees, while FIG. 4(b) shows a state in which container V has rotated θ degrees clockwise from (a). In this embodiment, this is considered a positive rotation and the holding angle is recognized as +θ degrees. Conversely, a state in which container V has rotated θ degrees counterclockwise is considered a negative rotation and the holding angle is recognized as -θ degrees. 4(a), i.e., when the holding angle is 0 degrees, the container V handed over from the gripper 22 at receiving position P1 and held by the bottle table 24 and top locator 26 can then have a label affixed at labeling position P2 without any orientation correction. On the other hand, when the holding angle is detected to be +θ degrees or -θ degrees, if the holding angle is +θ degrees, a correction angle of -θ degrees is calculated and the bottle table 24 is rotated counterclockwise by θ degrees, and if the holding angle is -θ degrees, a correction angle of +θ degrees is calculated and the bottle table 24 is rotated clockwise by θ degrees, thereby correcting the orientation of the container V before it reaches labeling position P2.

[0033] In the container holding angle detection method of this embodiment, the image processing unit of the determination device 48 performs image processing such as shading on the inspection image M to extract an area (or outline) A corresponding to the container V (area extraction processing). Then, the minimum circumscribing rectangle of the extracted area A of the container V is determined, and the angle (tilt θ) of the minimum circumscribing rectangle relative to the reference line L0 in the inspection image M is measured (angle measurement processing). However, as shown in FIGS. 4(a) and 4(b), the inspection image M also includes an image of the container V and cap C from directly above (horizontal cross-sectional outlines) as well as the gripper 22 gripping the neck of the container V. Therefore, as shown in FIGS. 4(a) and 4(b), part of the container V (blacked out portion in the drawing) is hidden by the gripper 22, and the area and outline are missing. For example, in Figure 4(a), the top edge of one side of container V is in the shadow of the gripper, causing some areas and contours to be missing, and in Figure 4(b), one of the four corners (rounded corners) of container V (the top left rounded corner) is in the shadow of gripper 22, causing some areas and contours to be missing.

[0034] 5(a) and 5(b) show an example in which an area A (excluding the area corresponding to the gripper 22) corresponding to a container V is extracted from the inspection image M of FIG. 4(b) in which one corner (rounded corner) is missing. As shown in FIG. 5(a), the correct inclination of area A from the reference line L0 is θ. However, when a minimum bounding rectangle is calculated for area A in which one corner (rounded corner) is missing, a minimum bounding rectangle R' may be calculated that is significantly deviated from the horizontal cross-sectional shape of the approximately rectangular container V, as shown in FIG. 5(b). Therefore, the inclination α of the minimum bounding rectangle R' from the reference line L0 will be significantly deviated from the inclination θ that should be calculated.

[0035] In view of the above problems, in this embodiment, the image processing unit of the determination device 48 performs a complementation process to complement the missing parts due to overlap with the gripper 22, and then calculates the minimum circumscribing rectangle for the area (contour) of the container V where the missing parts have been complemented.Based on this, the inclination θ from the reference line L0 is measured and this is used as the holding angle of the container V relative to the gripper 22.

[0036] 6(a) to 6(d) are diagrams illustrating an example of a process for complementing a missing portion in the container holding angle detection method of this embodiment. Fig. 6(a) to 6(d) show a time series of steps from complementing a missing portion to performing an angle measurement process, using an example in which a process for complementing a missing portion is performed on an area A extracted from the inspection image M of Fig. 4(b).

[0037] In the process of filling in missing portions in the container holding angle detection method illustrated in FIGS. 6(a) to 6(d), first, a position O corresponding to the central axis of the container V is identified in the extracted region A, and this is set as the rotation center point (FIG. 6(a)). Next, a rotated region A' is generated by rotating region A 180 degrees (rotation-flipped) around position O as the rotation center point (FIG. 6(b)). Region A and rotated region A' are then combined (e.g., joined (A∨A')) to form a substantially rectangular region B (FIG. 6(c)), and the missing portion is filled in. Subsequently, a minimum bounding rectangle generation process is performed on the substantially rectangular region B to obtain an appropriate minimum bounding rectangle R (FIG. 6(d)), and the inclination θ of the minimum bounding rectangle R relative to the reference line L0 is determined. Note that the angle measurement process may use an image processing library such as OpenCV (registered trademark).

[0038] The method for determining the center of rotation of the container V may involve, for example, pre-storing which position (coordinate) in the inspection image M corresponds to the position C corresponding to the central axis of the container V, or detecting the outline of the circular cap C or the smallest circumscribing circle of the area A and using the center position as the center of rotation, or calculating it from the position of the gripper 22 in the inspection image M.

[0039] As described above, the container holding angle detection method of this embodiment can accurately detect the holding angle of a container held by a gripper. This also makes it possible to align the container in a predetermined orientation with high precision in the container processing means. Note that correction information based on the measured angle (holding angle) is output from the communication unit of the determination device 48 to the PLC that controls the operation of the labeler wheel 16 that constitutes the container processing means. The correction information may be calculated based on the holding angle and output, or the holding angle may be output and the PLC may calculate the correction angle.

[0040] In the missing part complementation process exemplified in this embodiment, an approximately rectangular area was recognized by combining the area of ​​the container extracted from the detected image with a rotated area obtained by rotating the same area 180 degrees around the center of rotation of the container. However, other complementation methods may be used as long as they can reproduce the cross-sectional shape of the container. For example, a mirror image of the extracted container area may be used, as shown in Figure 7.

[0041] When using mirror image inversion, for example, an inverted area A″ consisting of a mirror image of area A is generated with a line LS parallel to the straight line portion LA in the contour of the extracted area A and passing through the central axis of the container V as the axis of symmetry (FIGS. 7(a) and 7(b)). The inverted area A″ is then combined with the extracted area A to fill in the missing portion and recognize an approximately rectangular area B.

[0042] Since the process of interpolating missing parts is used to more precisely measure the angle (holding angle) of the photographed container relative to the reference line, it is sufficient that the angle obtained from the minimum circumscribing rectangle circumscribing the approximately rectangular area properly reflects the angle of the straight line portion of the container's outline in the inspection image. Therefore, the shape of the approximately rectangular area does not need to perfectly match the outline of the original container without any missing parts, and as long as the angle is correct, the size of the approximately rectangular area does not need to reflect the actual size of the container.

[0043] In this embodiment, the shape of the approximately rectangular cross section of the body may be either square or rectangular, and it can be applied to angle detection based on images taken from above for various rectangular containers. Furthermore, the container and the gripper must be distinguishable by image processing, and the greater the difference in brightness, lightness, and color tone, the better. For example, if the content liquid is transparent for a transparent container, the gripper should be a dark color such as black or navy blue, and should also be matte so as not to reflect external light.

[0044] In addition, in this embodiment, the labeler wheel of a labeler that affixes labels to containers has been described as an example of container processing means to which the container holding angle detection device is applied, but the device can also be applied to a capper wheel of a capper that caps containers (when it is desired to align the printing direction on the top surface of the cap with the product name, etc.), a conveying wheel equipped with a printing device that prints on containers (when it is desired to align the serial number, expiration date, etc. with the product name), etc. In addition, in this embodiment, the conveying means has been described as an example using a rotating wheel, but the conveying means is not limited to conveying using a wheel as long as it is configured with a gripper that holds the container. [Explanation of symbols]

[0045] 10. Container transport and processing system 14 Loading wheel (container transport means) 16 Labeler wheel (container processing means) 18 Label supply wheel (container processing means) 22 Gripper 42 Camera (photography means) 44 Lighting equipment 48 Judgment device A. Extracted vessel area A' rotation region, A" inversion region B Approximately rectangular area C Cap L0 reference line LA straight section LS symmetry axis M inspection image O center axis P0 Inspection position P2 labeling position R, R' minimum circumscribed rectangle V container θ tilt

Claims

1. A container holding angle detection method for detecting a container having a body portion that is substantially rectangular in plan view from above, in which a neck portion that narrows in diameter above the body portion is held by a gripper, is photographed from above, and a holding angle of the container held by the gripper is detected based on the obtained inspection image, Extracting a region of the container excluding the gripper from the inspection image; The extracted container area is filled in with missing parts by removing the gripper, and an approximately rectangular area is recognized. A minimum bounding rectangle is calculated for the approximately rectangular region, A container holding angle detection method characterized in that the angle of the minimum circumscribing rectangle in the inspection image is measured and set as the container holding angle.

2. The container holding angle detection method described in claim 1, characterized in that a rotation center point is set in the area of ​​the container excluding the gripper extracted in the inspection image, the area of ​​the container excluding the gripper is rotated 180 degrees around the rotation center point to generate a rotated area, and the rotated area is combined with the area of ​​the container excluding the gripper before rotation to fill in the missing parts and recognize the approximately rectangular area.

3. The container holding angle detection method described in claim 1, characterized in that a straight line parallel to the straight line portion that constitutes the outline of the body is set in the area of ​​the container excluding the gripper extracted in the inspection image, the area of ​​the container excluding the gripper is flipped 180 degrees around the straight line as an axis of symmetry to generate an inverted area, and the inverted area is combined with the area of ​​the container excluding the gripper before flipping to fill in the missing part and recognize it as the approximately rectangular area.

4. A container holding angle detection device is provided to a container conveying means that conveys a container having a body portion that is approximately rectangular in plan view from above by holding a neck portion that narrows in diameter above the body portion with a gripper, and is equipped with an imaging means that is arranged above the container being conveyed, and detects the holding angle of the container held by the gripper based on an inspection image obtained by the imaging means, an image input unit that inputs the inspection image captured by the photographing means; and an image processing unit that detects the holding angle of the container based on the input inspection image, The container holding angle detection device is characterized in that the image processing unit performs an area extraction process to extract the area of ​​the container excluding the gripper in the inspection image, an interpolation process to interpolate the missing part of the extracted container area resulting from excluding the gripper and recognize an approximately rectangular area, and an angle measurement process to determine a minimum bounding rectangle for the approximately rectangular area and measure the angle of the minimum bounding rectangle in the inspection image.

5. The container holding angle detection device described in claim 4, characterized in that it is equipped with a communication unit that outputs correction information based on the angle measured by the image processing unit, and outputs the correction information to a container processing means that receives a container from the container conveying means.

Images