| A method of estimating a normal vector to an attachment mounted to an approach frame of an apparatus for taking out a molded product and a normal vector to a die mounted to a molding machine is provided. A normal vector to a take-out head is estimated through computation using a coordinate/depth determination section and a normal vector computation section on the basis of depth data or coordinate data on three mounting members such as mounting bolts or three suction pads obtained from an image. Three or more extending portions are specified from the image, the extending portions being each a part of a fixed die or a movable die or a part of a surrounding component and extending in a direction that coincides with the open/close direction for the fixed die and the movable die. A normal vector to the die is estimated through computation using the coordinate/depth determination section and the normal vector computation section on the basis of depth data or coordinate data on the specified three or more extending portions. |
