| 摘要 |
PURPOSE:To recognize the shape of a body precisely by providing a light reflecting film on one surface of a flexible light transmission layer and projecting and photodetecting elements on the other surface, bringing the light transmission part into contact with a part having an abrupt change in density found from a gradational image of the objective body, and calculating the deformation of the light transmission layer by projection and photodetection. CONSTITUTION:One surface of the light transmission layer 7 is coated with the light reflecting film 8, and plural projecting elements 9 and photodetecting elements 10 are arranged on the other surface alternately in correspondence to an optical path of reflection in the light transmission layer, thus constituting a visual sensor. Light passed through the optical path 1 is incident to a specific photodetecting element 10 unless the reflecting film 8 is deformed. Further, the light passes through an optical path 12 when the reflecting film 8 is deformed by the body 13 and is made incident to a photodetecting element other than said element. The position shift of the photodetecting element and the interval to the photodetecting element 10 are calculated to find the shape of the body precisely. In this case, a contour candidate line of the body 13 is calculated from the abrupt density change of the gradational image of the body 13 obtained by the visual sensor, which is then brought into contact with the body 13, recognizing the shape of the body 13. |
