To accurately measure the position and form of bevelling accurately without erroneous detection of a secondary reflection image by detecting a line element corresponding to the outer surface part of an object to be welded, obtaining a terminal point on the side of its slant surface, and detecting a line element group being a candidate corresponding to a slant surface part of bevelling.
In measuring the position and form of objects to be welded 21, 22, first an linear element (a) corresponding to the outer surface part A of the object 21, 22 is detected, then a terminal point (u) on the side of its slant face part is obtained. Then, all candidate linear elements b1, b2... corresponding to the part B including a secondary reflection image are detected, and the candidates b1, b2... of linear element corresponding to the slant surface part B and the linear element (a) corresponding to the part A and crossing points p1, p2 are obtained respectively. Thereafter, in consideration of the distance between the crossing points p1, p2... and the terminal point (u) the linear element corresponding to the slant part B is determined.
SHIBATA NOBUO
NAKAJIMA YOSHIO
HANEDA MITSUAKI
IMANAGA AKIYOSHI
KOBAYASHI MASAHIRO
UEHARA TAKEO
HINO EIJI
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