WELDING GROOVE POSITION DETECTING METHOD

摘要

PURPOSE:To detect the welding groove position in arc welding without adding a special device by picking up the shape of an arc light from the upper part the joint part of the member to be welded and analyzing the peculiar point of the contour part of an arc light shape. CONSTITUTION:When a robot control device sends a welding start command, a detection control device takes a picture image data in (104). The picked up image is latched on a video RAM and the bivalence of making the arc light part white and others black is performed (105, c). A scanning is then performed horizontally from the upper left for a window and the variation in the bivalence is detected (106). The initial variation point of this binary level is the point becoming the welding groove position or the reference calculating it (107). This point holds the prescribed offsetting for the weld line and moves with the movement of the weld line, so the welding groove position can be detected by detecting this point.