| 摘要 |
PURPOSE: To carry out a brazing at high productivity by detecting coordinates information of respective irradiation points with multi-slit light rays by a multi- slit laser projector and single slit light rays by a single slit laser projector. CONSTITUTION: A recognition controlling part (d) turns on a multi-slit laser projector 311 and sends an order to an image pickup control part (b) to pick up a slit light image and a pipe image. A difference image between the slit light image and the pipe image is obtained by a slit-joint detecting part (e) and based on the result, coordinates information of respective slit light rays is obtained. In the case where a work has a complicated shape and only irradiation pointsβ,γcan be detected due to the shape, slit light rays are projected to the work by a single slit laser projector 314. The coordinates information (single slit light coordinates information) of irradiated points of the single slit light rays is detected and the coordinates information and the coordinates information of respective slit light irradiation pointsβ,γare compared and judgment is carried out.
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