| 摘要 |
PURPOSE:To obtain absolute position information of an object point with a simple constitution, by using an XY tracker where two sets of lens systems are arranged in parallel and processing the video signal of the XY tracker to operate absolute position information of the object point. CONSTITUTION:The operator grasps a stick 5 to match light emitting parts 5b and 5a to points Pb and Pa respectively (the point Pb is a weld point on a weld line and the point Pa is set for determining the attitude of a torch and is a length (h) apart from the point Pb). A computer 6 operates position information Ta and Tb of points 5a and 5b in the (xyz) coordinate system. The computer 6 operates position information TA and TB of images of such points 5a and 5b that a sensor S has the axial line on the extension of the line connecting points 5a and 5b and is a length H apart from the point 5a. Information of X, Y, Z, phi, and theta are operated on a basis of these information TA and TB. These information are stored as teaching information in this step. |
