| 摘要 |
<p>PROBLEM TO BE SOLVED: To detect an inclined weld line, a weld line of a circular arc, a weld line free from external illumination, etc., a weld line having higher detection precision than that of a pattern matching, etc. SOLUTION: A laser beam machining line WL comprising two line segments A, B having an intersecting angleθat a teaching point on a work W is photographed by a photograph means, an original image is extracted to be displayed on a display 33. By measuring the intersecting angle and rotating, by angleθ, one line segment A of the laser beam machining line WL to the position possible for projection processing, a vision coordinate of one line segment A is calculated. Further, the other line segment B of the laser beam machining line is rotated, by an angleθ, to the position possible for projection processing, a vision coordinate of the other line segment B is calculated. Based on the vision coordinate data of two line segments A, B, the coordinate before rotation is converted, detection of an inclined weld line and a welding of a circular arc part is easily conducted.</p> |
