| 摘要 |
PURPOSE:To detect a gap with high accuracy by setting a binarization reference level for each detection point photographed by an image pickup device, comparing a picture signal of each detection point to binarize this, detecting the central position of a gap of each detection point by these data and moving a welding torch on a center line. CONSTITUTION:The picture signal photographed by the image pickup device 3 is binarized by a binarization means based on the binarization reference level set for each detection point by level setting means 27 and 28. Accordingly, even if the intensity of reflected light has variance at each detection point, the proper binarization reference level for each detection point can be set and in its turn, the accurate gap can be detected. Consequently, the gap is detected by the constitution at the low cost and further, a threshold as a whole is not lowered and the gap can be detected with high accuracy by photographing plural detection points at the same time by the one camera to detect the gap. |
