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: Many frozen foods are now sold on the market and also produced by household refrigerators, and most of these frozen foods are eaten after thawing or after cooking under heat subsequent to thawing. The importance of thawing is thus increasing more and more. This invention provides a heating apparatus of simple construction capable of effectively thawing a frozen food to meet the above demand. The heating apparatus of the present invention is based on the fact that the dielectric loss of a frozen food itself varies as the frozen food is progressively heated. In the heating apparatus, a signal wave is directed toward a frozen food, and the variation of the rate of absorption of the signal wave due to the dielectric loss of the food is measured, so as to automatically control the process of heating for thawing on the basis of the result of measurement.

Abstract: A novel high frequency heating apparatus for detecting the internal temperature of an object contained in a heating chamber and controlling the heating thereof is disclosed, in which the temperature change of the object is picked up as a change of the resistance value of a thermistor. The resistance change is converted into a change of the oscillation frequency of an oscillator and transmitted with the ultrasonic wave as a medium. The power supply for the transmitter circuit is provided in such a manner that the high frequency filled in the heating chamber for heating the object is received by an antenna and rectified by a diode. At the receiving end, this ultrasonic wave is picked up as a temperature signal of the object, and processed by a microcomputer, so that the temperature of the object is detected for heating control.

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 door seal arrangement for application to a high-frequency heating apparatus comprising a heating chamber having an access opening and an oven door for openably closing the access opening, for preventing leakage of electromagnetic wave energy through the peripheral area of the oven door. In this door seal arrangement, a plurality of reactance elements of a conductive metal material or a dielectric material having a high dielectric constant are disposed between the flat surfaces of the parallel plate transmission line constituted by the oven door and the heating chamber to extend along the access opening of the heating chamber thereby forming a series resonance circuit connected in parallel with the parallel plate transmission line provided by the oven door and the heating chamber.