Abstract: A method for teaching a holding position and a holding angle of a work by a hand of a robot to the robot in a robot system having a visual sensor attached to a movable arm of the robot. First, the work is held by the hand which is in a prescribed reference angle state and put down on a working table with keeping the holding state. Next, the centroid position and the angle of the principal axis of the work are recognized by the visual sensor. Finally, the holding position and the holding angle are acquired by using the centroid position and the angle of the principal axis, a posture data of the robot and the hand, and a mutual relation data of a robot coordinate, a visual coordinate and a hand coordinate of the robot system.

Abstract: Disclosed is a heating apparatus which is capable of heating an object to be heated placed in its heating chamber until the color of the surface of the object changes to a given extent, and in which the wavelength of light of visible spectrum range which is emitted from a light source to illuminate the surface of the object placed in the heating chamber and reflected therefrom is sensed by a color sensor to judge the degree of change in the hue of the surface of the object on the basis of the wavelength sensed by the color sensor to thereby control the heating operation on the basis of the result of judgement.

Abstract: A heating apparatus in which an object to be heated placed in its heating chamber can be heated until the surface of the object is charred as desired by the user. A first photo sensor senses the intensity of light of visible spectrum range directed toward and reflected from the surface of the object being heated, and a second photo sensor senses the light intensity related to the light reflected from the surface of the object, that is, at least one of the intensity of illuminating light emitted from a light source and the intensity of illuminating light coming from the exterior of the heating chamber. The degree of charring of the surface of the object is judged on the basis of the output signals from the first and second photo sensors, and the heating operation is controlled on the basis of the result of judgement.

Abstract: A cooking heating apparatus is provided in which an object to be heated is subject to char cooking, the apparatus having a detector circuit for detecting the charred condition by detecting the intensity of reflected visible light from the surface of the object and a heating device for burning and removing foreign materials created upon heating the object and deposited on a transparent glass which is provided for preventing the foreign materials from reaching a light source which provides the visible light and a photosensor which detects the reflected visible light. The apparatus may further comprise means for forcing off the foreign materials burnt by the burning and removing elements by means of a forced air flow and/or a device for scattering the foreign materials given off from the object upon heating to prevent the foreign materials from reaching the transparent glass.

Abstract: A heating apparatus capable of heating an article to be heated accommodated within a heating chamber to a degree that the article becomes charred. Illumination intensity of reflected light from the surface of the article illuminated with visible light rays from a light source is detected by an optical sensor, to thereby identify the degree of charring produced in the article, wherein heating operation is controlled on the basis of the identified degree of charring.

Abstract: A high frequency energy apparatus is provided in which high frequency energy is supplied into a heating chamber containing an object to be heated for heating the same. A temperature sensor unit senses either the temperature of air within the heating chamber or the temperature of air flowing out of the heating chamber and a memory unit memorizes a sensed air temperature. When a difference between the air temperature sensed and the memorized temperature reaches a preset value, the amount of supply of the high frequency energy is varied. The preset value is varied with the heating time for heating the object more properly.

Abstract: In a high-frequency energy apparatus, a heat generating element is disposed on a ventilation path of the high-frequency energy apparatus, which path is channeled through a heating chamber. When the heating time is automatically controlled, external air is introduced into the heating chamber, and when the heating time is manually controlled by such a means as a timer, on the other hand, hot air which has been heated by the heat generating element is introduced into the heating chamber so that the deposition of dew on the wall of heating chamber and the obscuring of a viewing panel of the heating chamber due to moisture may be prevented.

Abstract: A microwave oven in which the amount of ventilation for a heating chamber is changed dependent upon whether the heating time is controlled automatically or whether the heating time is controlled by manually setting a timer or a like device, whereby the deposition of dew on the wall of the heating chamber and the obscuring of a viewing panel are prevented.