| 摘要 |
PROBLEM TO BE SOLVED: To accurately recognize the shape of a material such as steel in a noncontact state to perform work. SOLUTION: A steel material 1 is transferred with the steel material 1 placed on a transfer 3, and this shape recognition device 5 and a printer are disposed along the transfer 3. The shape recognizing device 5 for recognizing a three- dimensional shape of the steel material 1 has first - third image pickup devices 11-13 for the purpose of picking up images of the steel material 1 from different three directions. Halogen light is irradiated on the steel material 1, and the first - third image pickup devices 11-13 are respectively provided with filters for blocking light generated from the steel material 1. The first image pickup device 11 picks up the image of an end face la (an end face A) of the steel material 1, the second image pickup device 12 picks up the image of a tip neighborhood of the steel material 1 from one side face 1b (a side face B) side of the steel material 1, and the third image pickup device 13 picks up the image of a tip neighborhood of a side face 1c (a side face C) adjacent to the side face 1b (the side face B) of the steel material 1.
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