In this study, image processing were performed to recognize the shape of objects and find its center coordinate and direction to grisp the objects by the robot automatically. The proposed methods could be applied to objects even if light is reflected, and to identify the insides and outsides of objects by using the photo sensor and the difference of surface conditions. Also image segmentation is performed to the objects close to each other. These image processing methods will be increased the safety of operators by the automation of dangerous and hazardous machine works.