Alignment apparatus of container

1. An alignment apparatus of a container performing an alignment of the container by using a manual operation by an operator and an automatic operation without the operator together, the apparatus comprising:

a first calculator performing calculation measuring a position of the container based on a detection result of a position sensor;

a second calculator performing calculation measuring a target position based on the detection result of the position sensor, the target container being placed on the target position;

a third calculator calculating and setting a first automatic operation region performing the automatic operation based on a position of the container and a second automatic operation region performing the automatic operation based on the target position, respectively;

a first signal generating part detecting overlapping of the first automatic operation region and the second automatic operation region, and generating a first speed reference signal so as to coincide the position of the container with the target position; and

a second signal generating part generating a second speed reference signal for moving the container based on a manual control signal generated by an operation of an operator,

a third speed reference signal being generated based on outputs of the first signal generating part and the second signal generating part, and the third speed reference signal being supplied to a drive unit moving the container.

2. The alignment apparatus of the container according to claim 1 , wherein

the first speed reference signal, the second speed reference signal and the third speed reference signal include at least two-dimensional speed vector along a first direction parallel to a plane where the container is placed and a second direction vertical to the first direction, respectively, and

the third speed reference signal is generated by adding the first speed reference signal and the second reference signal.

3. The alignment apparatus of the container according to claim 2 , further comprising:

a third signal generating part generating a second speed reference signal in the automatic operation region, the second speed reference signal having a size reversely proportional to a distance between the position of the container and the target position, and a direction along which the position of the container approaches the target position.

4. The alignment apparatus of the container according to claim 2 , wherein

the first automatic operation region is set as a region including a corner forming a lower surface of the container and extending in the first direction from the corner outward,

the second automatic operation region is set as a region extending in the first direction inside the target position, and

the first speed reference signal has a direction along which the position of the container approaches the target position.

5. The alignment apparatus of the container according to claim 2 , wherein

the first automatic operation region is set as a region including a corner forming a lower surface of the container and extending in the first direction and the second direction from the corner outward,

the second automatic operation region is set as a region extending in the second direction from the target position outward, and

the first speed reference signal has a direction along which the position of the container goes away from the target position.

6. The alignment apparatus of the container according to claim 2 , wherein

the first automatic operation region is set as a region including a corner forming a lower surface of the container and extending in the first direction and the second direction from the corner to an outside,

the second automatic operation region is set as a region extending in the first direction and the second direction from the target position outward, and

the first speed reference signal has a direction along which the position of the container goes away from the target position.