| 摘要 |
PURPOSE:To carry out discrimination of a gap in a short time and to improve welding quality by photographing a joining part of materials to be welded including the gap, subjecting the picture data thereof to binarization determination processing to detect the gap center of the joining part and moving a welding means to the central position thereof. CONSTITUTION:The image data of a photographed image of an image pickup means 15 are subjected to binarization determination for every unit image by a picture determination means 17. At this time, when surface conditions of the materials 12 to be welded are satisfactory, the quantity of light for every unit image wholly becomes less than a threshold for a unit image including a part corresponding to the gap 13 and wholly becomes more than the threshold for the unit image corresponding to the surface. Meanwhile, although there is a case that dirt and a flaw exist on the surfaces of the materials to be welded and the unit image where the quantity of light of the unit image becomes less than the threshold exists in spite of the surfaces in reality, the binarization data are corrected by a gap discrimination means 17 and the gap central position can be detected and the welding means 16 is moved to the gap center to perform welding and the gap 13 is detected in a short time by simple constitution. |
