| 摘要 |
PURPOSE:To improve accuracy of automatic welding remarkably, by detecting a point of maximum brightness line by line from picture of a groove part slit, determining three dimensional distance from coordinate data of picture face and previously obtained real image, and detecting the distance between the welding torch and groove automatically. CONSTITUTION:Plate thickness or groove depth (h), groove angle psi and illumination angle theta of slit and by an illuminator 23 are set in a groove position operating circuit and focal lengt (f) is set in a distance operating circuit. After taking the slit image 24' of welding groove 22 by an image pickup device 20 as slit picture data, point of maximum brightness is detected line by line, and coordinate data of picture face is obtained by performing binary conversion etc. in a binary conversion circuit etc. At the same time, three dimensional distance is determined from the data and real image data obtained beforehand by condition setting, and a welding torch 32 is controlled by copying. Accordingly, the distance between the torch 32 and groove 22 can be detected automatically and accuracy of automatic welding is improved remarkably. |
