| 摘要 |
PURPOSE: To automatically, rapidly and correctly detect the acceptance or rejection of the welded condition by selecting the image where the closed region formed in the photographed image of the welded part agrees with the reference area, and confirming the welded condition by this image. CONSTITUTION: A long sheet metal is bent and the seamed part is welded by a welding torch to obtain a metallic tube B. This welded part A is photographed, and the optimum image gradient where the images of a plurality of specified points X, Y, Z are most clear is detected. In the image of this gradient, the specific area of the closed regionαequivalent to the hot part is defined as the reference area. In addition, the image gradient is appropriately and correctly determined or selected at each time point so that the closed region to be formed on the photographed image may agree with this reference area. Then, the coordinates of the specified points X, Y, Z of the welded part in this selected image are calculated. Acceptance or rejection of the welded condition of the welded part at the time point is judged from the positional information on the coordinates X, Y to be line symmetrical among the coordinates.
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