| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a welding sensor that uses an image of slit light imaged by the welding sensor to detect abnormality caused in the welding sensor itself.SOLUTION: A welding sensor includes: a light emitting part 11 for emitting slit light to a welding workpiece; and an imaging part 12 for imaging the welding workpiece exposed to the slit light, and it can measure a shape of the welding workpiece on the basis of an image including the slit light imaged by the imaging part 12. The welding sensor comprises: a synthetic image creation part 21 that creates an integrated image obtained by integrating the slit light imaged by the imaging part 12 and creates a reference integrated image obtained by integrating reference slit light; a difference image generation part 23 that generates a difference image by taking a difference between the integrated image and the reference integrated image which are created by the synthetic image creation part 21; and an abnormality determination part 24 that determines abnormality of an aperture plate on the basis of brightness information for the difference image generated by the difference image generation part 23.</p> |
