| 摘要 |
PURPOSE:To detect the groove location with a high accuracy without increasing the number of picture elements by taking the picture of groove under the condition which is out of focus and by detecting the location of right and left edges of beveling by calculating the average value of both right and left edges of each line of picture data. CONSTITUTION:Welding groove 3 of base material 2 is irradiated from irradiator 1, and the picture of groove is taken by optical system 4 and the picture is converted into picture signals at photoelectric converter 5. The signal is processed at picture processing device 6 and the torch is traced correctly by torch driving system 7. When the picture of beveling 3 is taken by optical system 4 under the condition which is out of focus, the image becomes dim and is enlarged, the brightness of periphery area is lowered, and the picture is delicately changed in accordance with a slight displacement of groove location. Therefore, when both right and left edges are found on each line of picture data and the average value of each edge is calculated, more delicate variations can be detected than conventional ones, and the location of welding groove 3 can be detected with a high accuracy. |
