| 摘要 |
PURPOSE:To accurately perform the welding corresponding to even a curvilinear weld line by keeping image information photographed by a camera in image memory and image-processing the image information entered the image memory. CONSTITUTION:A starting point key is pushed by a pendant box 16 and a starting point of an object to be welded is taught and at the same time, an image at that time is taken in and stored in the image memory part 11. Next, a finishing point key is pushed by the pendant box 16 and a finishing point of the object to be welded is taught and at the same time, the image at that time, is taken in and stored in the image memory part 11. The logical sum images of two images stored in the image memory part 11 are superposed by an image processing part 8 and an inclination of a welding torch is calculated constantly with a ROM part 2 and the image of the welding torch is erased from the superposed images. The borderline extraction processing is performed on the erased image and only the weld line is extracted.
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