| 摘要 |
PURPOSE:To make any sensing operation from a diagonal direction achievable as well as to increase the degree of freedom in a device at a working site handling a work, in regard to the device for recognizing the form of a work surface such as edge form in a welded member. CONSTITUTION:This recognizer is made up of providing an optical position detecting means 2 receiving a reflected light irradiated to the surface of a work along a specified detection line and detecting a surface position of the work 1, and an analytic processing means 4 for analyzing and recognizing a surface form of the work 1 on the basis of the detected result of this optical position detecting means 2. In addition, it is provided with an illuminating angle alteration means 5 altering an illuminating angle of light to the surface of the work 1 from the optical position detecting means 2. |
