| 摘要 |
<p>PURPOSE:To improve the efficiency of a teaching work by pursuing an image picked-up working path with a constant picture element interval and extracting a point, where an angle to be made by an adjacent line segment is over a prescribed threshold, as a teaching point. CONSTITUTION:Picture data including the working route, which is drawn on an object, are obtained by an image pick-up means A1 and a picture data converting means A2. Next, the picture data are processed and the working route is extracted by a working path extracting means A3. The extracted working path is pursued with the constant picture element interval in an deflection operating means A4 and the deflection angle of the line segment to link both edge picture elements is operated. The point, where the deflection angle is over the prescribed threshold, is extracted as a dot-sequence means A6 as the teaching point in the working path. A position detecting means A8 is successively moved to the extracted teaching dot-sequence and teaching operation is executed. Thus, the efficiency of the teaching work can be improved.</p> |
