JP2899642B2 - Processing position detection device and processing position detection method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a processing position detecting apparatus and a processing position detecting method suitable as a welding line copying apparatus used in a fully automatic welding robot.

[0002]

2. Description of the Related Art In a conventional welding robot, when welding is performed by a teaching and playback method, a normal welding work is performed only when an actual welding work is accurately set at a position taught in advance by teaching. The welding operation is performed, but otherwise the welding is not performed correctly. For this reason, a method is generally employed in which an actual welding line is detected by a sensor and the teaching line is corrected using a signal from the sensor.

As such a sensor, various types of sensors have been devised so far. As a typical sensor for optically detecting a welding line, for example, as shown in FIG. A two-dimensional light receiving means for receiving slit light is known. This is because a laser beam 11 sharply condensed in a slit shape from the projector 2 is irradiated to a groove portion preceding an arc point of the workpieces 8 and 9, and a reflected light 12 from the groove portion is irradiated. To a two-dimensional light receiver 3 such as an ITV camera
It is configured to detect by. Then, the lower plate side line segment Q1Q2 and the vertical plate side line segment Q2 are obtained from the obtained light section line image.
The position Q2 to be welded is determined by detecting Q3 by image processing and calculating the intersection of each line segment.

When the above-described apparatus is applied to a welding robot to control a welding torch, for example, as shown in FIG. 12, a welding torch 1, a light projector 2, and a light receiver 3 are integrated. The torch with the detecting device is attached to the arm end of the robot 5. In FIG. 12, 4 is an image processing device, 6 is a robot control device, and 7 is a welding machine.

[0005]

However, in the above-mentioned prior art, there is a problem that even if there is a gap between two members to be welded, it is difficult to accurately detect the gap. That is, as shown in FIG.
In the case where there is a gap between the grooves, the light receiving device 3 observes the groove image, and even if the position 9a corresponding to the end point of the gap can be detected by the image processing, the relative position between the light receiving device 3 and the groove surface can be detected. Since the exact posture is unknown, the size of the gap cannot be known accurately.

When welding is automatically performed by a welding robot, welding conditions (welding speed, welding current, arc voltage, etc.) in a groove with no gap are set in advance.
When a gap is generated in the welding direction, there is also a problem that proper welding conditions are changed and welding quality is reduced.

An object of the present invention is to provide a processing position detecting device and a processing position detecting method capable of accurately detecting a gap between two workpieces (welded members) when the gap exists. That is.

It is another object of the present invention to provide a welding position detecting device and a welding position detecting method, and a welding device and a welding method to which the above-described processing position detecting device and the processing position detecting method are applied. .

[0009]

In order to achieve the above-mentioned object, the present invention provides a light projecting device which irradiates a slit-like light to a vicinity of a contact portion between two workpieces whose surfaces intersect at substantially right angles. Means, and a light receiving means for receiving reflected light from the vicinity of the contact portion, a processing position detecting device for processing the reflected light received by the light receiving means to detect the position of the contact portion, at any time Storage means for taking in and storing image data received by the light receiving means at intervals, and calculating means for calculating a plane formula corresponding to one of the workpiece surfaces from coordinates of at least three points of the stored image data If the detects the end positions of the workpiece from the image data stored in the other memory means, gap between calculate the lengths the two workpiece in a perpendicular from the end point position to the plane expression A detecting means for detecting, in which with a.

Further, according to the present invention, there is provided a semiconductor device comprising:
When welding two members to be welded, the light receiving unit includes a light projecting unit that irradiates a slit-shaped light near the welding line, and a light receiving unit that receives light reflected from the vicinity of the welding line. In a welding position detection device that detects the position of the welding line by performing image processing on reflected light, a storage unit that captures and stores image data received by the light receiving unit at arbitrary time intervals, Calculating means for calculating a plane formula corresponding to the surface of one of the members to be welded from coordinates of at least three points, and detecting an end point position of the other member to be welded from image data stored in the storage means And detecting means for calculating a length of a perpendicular from the end point position to the plane formula to detect a gap between the two members to be welded.

Further, according to the present invention, there is provided a semiconductor device comprising:
When welding two members to be welded, the light receiving unit includes a light projecting unit that irradiates a slit-shaped light near the welding line, and a light receiving unit that receives light reflected from the vicinity of the welding line. In a welding apparatus that detects the position of the welding line by performing image processing on the reflected light and performs welding based on the detection result, a storage unit that captures and stores image data received by the light receiving unit at arbitrary time intervals. Calculating means for calculating a plane formula corresponding to one of the surfaces of the members to be welded from coordinates of at least three points of the stored image data;
The end point position of the other member to be welded is detected from the image data stored in the storage means, and the length of the perpendicular from the end point position to the plane equation is calculated to detect the gap between the two members to be welded. Detecting means, welding condition storing means in which various welding conditions corresponding to the size of the gap are stored in advance, and welding conditions corresponding to the gap detected by the detecting means are read from the welding condition storing means, and the welding conditions are read. Means for performing welding on the basis of

Further, the present invention irradiates a slit-like light to the vicinity of a contact portion of two workpieces whose surfaces intersect at a substantially right angle, and receives reflected light from the vicinity of the contact portion. In a processing position detection method of performing image processing on the received reflected light to detect the position of the contact portion, the reflected light from the vicinity of the contact portion is received as image data at an arbitrary time interval, and the received image is received. The data is converted into the same coordinate system, a plane formula corresponding to one surface of the workpiece is calculated from the coordinates of at least three points of the converted image data, and then the other image is converted from the converted image data. In addition to detecting an end point position of the processed member, a length of a perpendicular line from the end point position to the plane expression is calculated to detect a gap between the two processed members.

Further, according to the present invention, there is provided a semiconductor device comprising:
When welding two members to be welded, while irradiating slit-shaped light near the welding line, receiving reflected light from near the welding line, processing the received reflected light by image processing, In a welding position detection method for detecting a position,
The reflected light from the vicinity of the welding line is received as image data at an arbitrary time interval, the received image data is converted into the same coordinate system, and the coordinates of at least three points of the converted image data are A plane equation corresponding to one surface of the member to be welded is calculated, and then the end point position of the other member to be welded is detected from the converted image data, and the length of the perpendicular from the end point position to the plane equation is calculated. The gap is calculated to detect the gap between the two members to be welded.

Further, according to the present invention, there is provided a semiconductor device comprising:
When welding two members to be welded, while irradiating slit-like light near the welding line, receiving reflected light from near the welding line, processing the received reflected light to perform image processing, and determining the position of the welding line. In a welding method of performing welding based on the detection result, reflected light from the vicinity of the welding line is received as image data at an arbitrary time interval, and the received image data is transmitted to the same coordinate system. Convert, calculate a plane equation corresponding to the surface of one of the members to be welded from the coordinates of at least three points of the converted image data, and then detect the end point position of the other member to be welded from the converted image data At the same time, the length of the perpendicular from the end point position to the plane formula is calculated to detect the gap between the two members to be welded, and the gap size is determined from various welding conditions stored in advance. Read a corresponding welding conditions are, it is that it has to perform welding by the welding conditions.

[0015]

According to the working position detecting device or the welding position detecting device of the present invention, when two workpieces whose surfaces intersect at a substantially right angle are joined by, for example, T-joint welding, a slit is formed from the light projecting means near the joint. Irradiated in the shape of a circle, reflected light from the vicinity of the joint is received by the light receiving means. In this case, the light receiving unit receives the reflected light at an arbitrary time interval, and stores each reflected light as image data in the storage unit.
The calculating means calculates the plane formula of the surface of one of the workpieces (lower plate) from the image data stored in the storage means by using the coordinates of at least three points. Further, the detecting means detects, based on the image data stored in the storage means, the other processed member (vertical plate) of the processed members.
, Ie, the vertical plate side boundary position of the gap between the vertical plate and the lower plate, is calculated by image processing. by this,
Since the plane formula of the surface of the lower plate is known, a perpendicular line from the end position of the vertical plate to the surface of the lower plate can be obtained. The value of the vertical line indicates the value of the gap itself regardless of the relative attitude between the groove surface and the light receiving means.

Further, according to the welding apparatus of the present invention, the welding speed, welding current, or arc according to the size of the gap is determined.
By storing welding conditions such as welding voltage in advance in the welding condition storage means, the welding conditions corresponding to the gap detection result are read out from the welding condition storage means during the playback operation, and welding is performed according to the welding conditions. It can be carried out. As a result, even if gaps are irregular in the direction of the welding line, it is possible to control the welding conditions under optimum welding conditions based on the gap detection results, and automation of welding profiling can be realized.

[0017]

An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 to 3 are diagrams showing the principle that each device of the present invention can detect a gap. In the case of welding a T joint by fillet welding, the two-dimensional light receiving device shown in FIG. 3 shows an image obtained by observing a welded portion using the vessel 3.
FIG. 1 and FIG. 2 show schematic views of groove images at arbitrary times t1 and t2, respectively. Although the detection times t1 and t2 of both images are not particularly mentioned here,
For example, the time is determined for each detection command time interval.

FIG. 4 is a schematic flowchart showing a procedure for detecting a gap by using two detection data detected at times t1 and t2 shown in FIGS. Less than,
Regarding the procedure of gap detection, the flowchart (FIG. 4) and data (a1, a2, a3, b1, b2, b3) showing characteristic points of the groove light section images shown in FIGS. It is described using. First, in step 1 of FIG.
The first and second groove images are input at the time intervals of. Next, in step 2, image processing is performed on each of the two groove images, and the groove light of the vertical plate 9 and the lower plate 8 in the coordinate system (referred to as (Ui, Vi)) on the light receiving surface of the light receiver 3. The feature points a1 to a4 and b1 to b4 on the cutting line are detected. Here, the contents of each feature point are arranged as follows.

A1: Vertical plate end point of the light cutting line of the first image a2: Vertical plate end point corresponding to the boundary of the gap of the light cutting line of the first image a3: Lower plate of the light cutting line of the first image End point a4: Lower plate end point of the light cutting line of the first image b1: Vertical plate end point of the light cutting line of the second image b2: Vertical plate end point corresponding to the boundary of the gap of the light cutting line of the second image b3 : Lower plate end point of the light cutting line of the second image b4: lower plate end point of the light cutting line of the second image In this embodiment, as shown in FIG. It is assumed to be applied to copying welding. Therefore, the aforementioned t2
The position observed at the time is corresponding to the observation position not only in the welding line direction with respect to the position observed at the time t1, but also at a point controlled by the welding robot in real time. Therefore, in step 3, step 2
When the values (Ui, Vi) at each characteristic point in the coordinate system on the light receiving surface of the detector 3 obtained by the above are used to determine various constants of the optical system of the projector 2 and the light receiver 3 and when these optical systems are mounted on the welding robot. The three-dimensional absolute coordinate system (x, y,
z).

Here, this coordinate conversion method will be described with reference to FIG.
And FIG. FIG. 5 shows a positional relationship between the optical position detection unit and the welding robot 5 . The welding robot 5 has an absolute coordinate system (x, y, z) at a position where the welding robot 5 is fixed, and further has a moving mechanism of a (Xw, Yw, Zw) wrist coordinate system on a wrist to which the welding torch 1 is attached. have. The origin of the wrist coordinate system is set to coincide with the position of the tip of the welding wire of the welding torch 1.
Further, the welding torch 1 is fixed to the wrist of the welding robot 5 by the mounting bracket 35 so that the center axis thereof is on a plane formed by the Yw axis and the Zw axis, and the angle formed by the Zw axis is 45 degrees. . And a Zs axis in the central axis direction of the welding torch 1;
The Xs axis on the Xw axis, and the Ys axis in the direction orthogonal to the XsZs plane, respectively. The system is taken.

Further, at a certain distance from the Zs axis, XsYs
Camera coordinate system with origin on plane (Xc, Yc, Zc)
Are formed integrally with the support 36. Support 36
Has a structure rotatable about the Zs axis of the welding torch 1 as described above, and the camera coordinate system (Xc, Yc, Zc) rotates about the axis of the welding torch 1 together with the rotation of the support 36. I do. The angle formed between Xs and Xc during rotation is referred to as a sensor rotation angle θs.

FIG. 6 shows a camera coordinate system (Xc, Yc, Z
c) and the positional relationship between the light projector 2 and the light receiver 3.
As shown in the figure, the central axis 37 of the slit light 11 formed by the light projector 2 and the image capturing central axis 38 of the light receiver 3
Are on the XcZc plane, intersect at the origin of the camera coordinate system, and form angles of α and β with the Zc axis, respectively. Further, it is assumed that the angle formed by the line of intersection of the slit light 11 and the XcYc plane with the Xc axis is γ, and that the coordinate axes u and v of the plane coordinate system of the imaging unit 3 ′ of the light receiver 3 are respectively parallel to the Xc and Yc axes. I do.

The value (Ui, Vi) of each feature point of the image data obtained by performing image processing on the above-described light-section image is determined by the distance P from the origin of the camera coordinate system to the light receiver 3, the imaging magnification of the light receiver 3. m, and image data (Xc, Yc, Zc) in the camera coordinate system using the above-mentioned calibration data of α, β, and γ.
Is converted to The converted image data is further converted to the rotation axis θs of the sensor and the mounting angle of the welding torch 1 (45 degrees).
Is converted to a wrist coordinate system (Xw, Yw, Zw). The robot controller 6 (see FIG. 12) converts the detection result converted into the wrist coordinate system into the robot coordinate system (x, y, z) using the angle information of each rotation axis at the time of detection.

Points obtained by converting the above-mentioned a1 to a4 and b1 to b4 into a three-dimensional coordinate system in the welding robot 5 are represented by a1 '.
To a4 'and b1' to b4 '.

In general, P1 (x1, y1, z1,), P1
2 (x2, y2, z2), P3 (x3, y3, z
The expression Q on the plane passing through the three points (3) is expressed by the following expression (1).

[0026]

(Equation 1)

Here, the coefficients A, B, C and D are given by the following equations (2) to (5), respectively.

[0028]

(Equation 2)

[0029]

(Equation 3)

[0030]

(Equation 4)

[0031]

(Equation 5)

In step 4 of FIG. 4, each point a converted into a three-dimensional coordinate system in the torch position control device described later is used.
1 ', a2', b1 '(or b2') and a3 ', a
4 ′, b3 ′ (or b4 ′) coordinate values (xi, y
By substituting (i, zi) into the expressions (3.2) to (3.5), the plane expression shown in the expression (3.1) is obtained for the vertical plate surface and the lower plate surface. The plane formulas of the vertical plate surface and the lower plate surface obtained here are Q1 and Q2, respectively.

In the next step 5, a gap is calculated. The size of the gap is given by the distance between the vertical plate end point b2 '(or a2') and the perpendicular line drawn to the plane Q2 of the lower plate surface as shown in FIG. When the size of the gap is L and the coordinates of the vertical plate end point b2 ′ are (x2, y2, z2),
L is obtained by the following equation (6).

[0034]

(Equation 6)

Here, coordinates (x2, y2, z2): coordinates of vertical plate end point a2 'A2, B2, C2, D2: parameters representing the plane Q2 of the lower plate surface Up to step 5, the gap calculation procedure is used. is there. In the next step 6, the position of the welding line is calculated. FIG. 7 schematically shows a groove cross section with a gap. The welding line position at the groove with a gap is determined by (a) the intersection C1 of the vertical plate extension line and the lower plate, or (b) the vertical plate end point b described above.
There are two types of position C2 of the lower plate surface perpendicular to the lower plate surface plane Q2 from 2 ′ (or a2 ′). The calculation procedure of the welding line position in each case is omitted here, but which method is selected is calculated by referring to a procedure prepared in advance by the condition table 24 described later.
Further, in step 7, similarly to this, condition table 24
, The target position of the actual welding torch is calculated and determined based on the welding line position data detected in step 6.

Although the above description has been made with respect to gap detection in the case of a T-joint, the present invention can also be applied to gap detection in the case of a lap joint. This will be described with reference to FIG. In the case of a lap joint, the end face 3 of the upper plate 32 of the lap joint is replaced with data corresponding to the light section image of the vertical plate of the T joint.
The gap can be detected by using the data of the 2 ′ light-section image (first method). However, when the upper plate 32 of the lap joint is a thin plate or near the groove corner point, the primary reflection image (S1-S) of the slit light originally required.
2, S2-S3, S4-S5) and a secondary reflection image (34)
When the line image of the upper plate end face cannot be clearly extracted, for example, when a, 34b) occurs, the following second method is used under the condition that the thickness of the upper plate 32 is known in advance. To detect the gap.

That is, in the above-mentioned T joint, the formula (1)
After detecting the planar equation of the lower plate surface and the corner point of the end face in the same procedure as the procedure calculated using the equation (5), the distance between the corner point and the lower plate surface is calculated. Then, the difference between the distance and the plate thickness t is calculated. This value is the value of the gap from the lower surface of the lower plate 33 to the upper plate 32 in the lap joint.

FIG. 9 shows the overall configuration of a welding apparatus according to the present invention. In the drawing, 15 is a welding work, 16 is a torch position control mechanism, 17 is a torch position control device, and 18 is a welding machine. Reference numeral 19 denotes a groove position detection device, reference numeral 20 denotes an image processing device, and reference numeral 21 denotes a welding condition generation device. this house,
The torch position control mechanism 16 is, for example, a welding robot shown in FIG. The groove position detecting device 19 comprises, for example, a light projector and a two-dimensional light receiver shown in FIG. 11, and is integrally attached to a welding torch attached to the torch position control mechanism 16. The image processing device 20 converts a video signal observed by the two-dimensional light receiver into a digital signal, and performs image processing on the obtained image to detect a desired groove position. Further, the torch position control device 17 and the image processing device 20, the welding machine 18 and the welding condition generating device 2
1. The control data between the welding condition generating device 21 and the image processing device 20 are mutually transmitted via communication control circuits (26a to 26f).
Data and processing data are communicated with each other. The welding condition generator 21 includes a CPU 22, a working memory 2
3, a welding condition table 24, a knowledge base loader 25, and an input / output interface 27. Then, the worker sends the knowledge base loader 2 to the welding condition generator 21 via a storage medium 30 such as a floppy desk.
5. First, work management data for multi-layer welding is input.

The work management data includes, for example, the following contents.

(1) Number of welding passes (2) Presence or absence of sensing in each welding pass (3) Gap in each welding pass, groove image processing software (groove shape and detection location) (4) Each welding pass (5) Welding speed in each welding pass (6) Correction amount of target position in each welding pass Of the above work management data, (2) and (3) are images (4) is information related to the welding machine 18, and (5) and (6) are information related to the torch position controller 17. The CPU 22 creates welding conditions for each welding pass with reference to the contents of the work management data based on the detection results of the size of the gap and the position of the welding line, and transmits the welding conditions to the working memory 23. Is memorized. During the playback operation, the communication control circuit (26)
a and 26f), (26b and 26f) and (26d and 26
e) (the welding machine 18 and the welding condition generator 21)
(Interval), (torch position controller 17 and welding condition generator 2)
1) and (image processing device 20 and welding condition generating device 21)
The control data and the like necessary for each other are communicated with each other during (interval), and the welding copying operation is performed.

FIG. 10 is a conceptual diagram showing an example of a method for controlling welding conditions according to the size of the gap. In the figure, the same parts as those in FIG. 9 are denoted by the same reference numerals. In the welding apparatus of the present invention, as shown in the drawing, the working memory 23 has a table indicating an appropriate welding speed condition corresponding to the size of the gap. Also, this table
The table has a plurality of tables which can be referred to for each work plate thickness, welding current or arc voltage.
In the case of FIG. 10, the welding current or arc voltage signal: CTR1 transmitted from the working memory 23 to the welding machine is:
The value is given in advance at the time of teaching. On the other hand, an appropriate welding speed is selected by referring to a table in the working memory 23 according to the signal transmitted from the image processing device 20, that is, the size S1 of the gap. And
This value is transmitted to the torch position control device 17 to be controlled. By executing this control in real time during welding in the welding line traveling direction, a high quality weld bead can be obtained even if there is a gap in the welding line direction. In the above example of the welding condition control, the welding current or arc voltage signal: CTR2 is fixed to the value set at the time of teaching, and the welding speed signal: CTR1 is controlled as a parameter. However, the present invention is not limited to this, and the welding speed signal may be fixed to the value set at the time of teaching, and the welding current or the arc voltage may be controlled according to the value of the gap.

In this embodiment, as shown in the flowchart of FIG. 4, the groove image is detected by observing the image at time intervals of t1 and t2 to detect a gap.
However, after detecting the gap in the working memory 23, the values b1 'to b4' converted to the three-dimensional coordinate system are stored, and the stored values of b1 'to b4' are stored at the next gap detection point. Although the first detection point is unavoidable by performing the calculation process by replacing the value with the value of a4 ′, the gap detection can be performed at each sampling time of each image after the second detection.

Further, in this embodiment, as shown in FIG. 9, a groove position detecting device 19 is added to a conventional device comprising a torch position control mechanism 16, a torch position controller 17 and a welding machine 18. , Image processing device 20 and welding condition generating device 21
Is added. Therefore, if the function of detecting and following the welding position and the function of detecting the gap and determining the welding conditions are not activated, the conventional teaching to playback methods can be used as they are.

[0044]

As described above, according to the present invention,
It is possible to accurately detect the gap, and based on this gap information, change the welding conditions to appropriate conditions during welding or modify the work position so that welding is interrupted to eliminate the gap. , Or a process for filling the gap can be performed in advance, so that a high-quality weld bead can be obtained.

Since work management data such as welding speed, welding current, and arc voltage according to the size of the gap can be stored in the table (memory) in advance, during the playback operation, The welding conditions can be controlled by referring to this table based on the gap detection results.
As a result, even if gaps occur in the welding line direction during welding, it is possible to control the welding conditions under the optimum welding conditions based on the gap detection results, and it is possible to easily realize automated welding copying. .

Although the above embodiment has been described with reference to welding only, the present invention can be applied to other than welding.
For example, in the case of filling a gap between two workpieces with a seal, if the size of the gap is accurately known, it is possible to appropriately control the amount and the filling speed of the sealant.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing the principle of gap detection.

FIG. 2 is an explanatory diagram illustrating the principle of gap detection.

FIG. 3 is an explanatory diagram showing the principle of gap detection.

FIG. 4 is a flowchart showing a procedure of gap detection.

FIG. 5 is a perspective view showing a positional relationship between a welding robot and a detection unit.

FIG. 6 is an explanatory diagram showing a positional relationship between a camera coordinate system and a projector / light receiver.

FIG. 7 is a view schematically showing a groove cross section with a gap.

FIG. 8 is a diagram showing an example of a light cut image of a lap joint.

FIG. 9 is an overall configuration diagram of a welding device according to the present invention.

FIG. 10 is a conceptual diagram showing a method for controlling welding conditions.

FIG. 11 is an explanatory view showing a conventional optical groove detection method.

FIG. 12 is a schematic configuration diagram of a welding robot to which a detection unit is attached.

FIG. 13 is a diagram illustrating an example of a groove image when a workpiece has a gap.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Welding torch 2 Projector 3 Receiver 4 and 20 Image processing device 5 Robot 6 Robot controller 7, 18 Welding machine 8, 9, 15, 32, 33 Welding work 11 Slit beam 12 Groove light cutting image 16 Torch position control mechanism 17 Torch position control device 19 Groove position detection device 21 Welding condition generation device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G01B 11/00 G01B 11/00 A (72) Inventor Toshio Akatsu 502 Kandate-cho, Tsuchiura-shi, Ibaraki Pref. 72) Inventor Atsuhiko Kashima 650 Kandate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd., Tsuchiura Plant Document JP-A-3-207577 (JP, A) JP-A-4-164204 (JP, A) JP-A-54-159358 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23K 9 / 095,9 / 127

Claims (13)

(57) [Claims] 1. A light projecting means for irradiating a slit-like light near a contact portion of two workpieces whose surfaces intersect at a substantially right angle, and a light receiving means for receiving reflected light from near the contact portion. A processing position detection device that performs image processing on the reflected light received by the light receiving means to detect the position of the contact portion, and captures and stores image data received by the light receiving means at an arbitrary time interval Storage means, and arithmetic means for calculating a plane formula corresponding to one of the workpiece surfaces from coordinates of at least three points of the stored image data;
Detecting the end point position of the other workpiece from the image data stored in the storage means, and calculating the length of a perpendicular from the end point position to the plane type to detect the gap between the two workpieces; Means for detecting a processing position. 2. The processing position detecting apparatus according to claim 1, wherein the calculating means calculates the plane formula after converting the image data stored in the storing means into the same coordinate system. Processing position detecting device. 3. A light projecting means for irradiating a slit-like light near a welding line when two members to be welded whose surfaces cross each other at a substantially right angle, and receiving reflected light from near the welding line. A welding position detecting device for detecting the position of the welding line by performing image processing on the reflected light received by the light receiving unit; capturing image data received by the light receiving unit at an arbitrary time interval; Storage means for storing, and calculating means for calculating a plane formula corresponding to one of the surfaces of the members to be welded from coordinates of at least three points of the stored image data;
Detection of detecting the end point position of the other member to be welded from the image data stored in the storage means and calculating the length of a perpendicular from the end point position to the plane expression to detect the gap between the two members to be welded. Means for detecting a welding position. 4. The welding position detecting device according to claim 3, wherein the calculating means converts the image data stored in the storage means into the same coordinate system, and then calculates the plane formula. Welding position detecting device. 5. The welding position detecting device according to claim 3, wherein the two members to be welded are welded by a T-joint. 6. The welding position detecting device according to claim 3, wherein the two members to be welded are welded by a lap joint. 7. A light projecting means for irradiating a slit-like light near a welding line when welding two members to be welded whose surfaces intersect at a substantially right angle, and receiving reflected light from the vicinity of the welding line. A light-receiving unit, wherein the position of the welding line is detected by performing image processing on the reflected light received by the light-receiving unit, and welding is performed based on a result of the detection. Storage means for receiving and storing the image data received by the means, calculating means for calculating a plane formula corresponding to one of the surfaces of the members to be welded from coordinates of at least three points of the stored image data,
Detection of detecting the end point position of the other member to be welded from the image data stored in the storage means and calculating the length of a perpendicular from the end point position to the plane expression to detect the gap between the two members to be welded. Means, welding condition storage means in which various welding conditions corresponding to the size of the gap are stored in advance, and welding conditions corresponding to the gap detected by the detection means are read from the welding condition storage means, and the welding conditions are stored. Means for performing welding on the basis of the welding apparatus. 8. The welding apparatus according to claim 7, wherein the calculation means converts the image data stored in the storage means into the same coordinate system, and then calculates the plane formula. Welding equipment. 9. The welding apparatus according to claim 7, wherein the two members to be welded are welded by a T-joint. 10. The welding apparatus according to claim 7, wherein the two members to be welded are welded by a lap joint. 11. A method of irradiating slit-shaped light to the vicinity of a contact portion of two workpieces whose surfaces intersect at substantially right angles, receiving reflected light from the vicinity of the contact portion, and receiving the reflected light. In the processing position detection method of detecting the position of the contact portion by performing image processing on light, reflected light from the vicinity of the contact portion is received as image data at an arbitrary time interval, and the received image data is the same. The coordinate system is converted to a coordinate system, a plane formula corresponding to one surface of the member to be processed is calculated from the coordinates of at least three points of the converted image data, and then the end point of the other member to be processed is calculated from the converted image data. A processing position detection method comprising: detecting a position; calculating a length of a perpendicular line from the end point position to the plane type; and detecting a gap between the two workpieces. 12. When welding two members whose surfaces intersect at a substantially right angle, a slit-shaped light is radiated in the vicinity of the welding line, and reflected light from the vicinity of the welding line is received. In the welding position detection method of detecting the position of the welding line by performing image processing on the reflected light, the reflected light from the vicinity of the welding line is received as image data at an arbitrary time interval, and the received image data is received. The coordinate system is converted to the same coordinate system, a plane formula corresponding to one surface of the member to be welded is calculated from the coordinates of at least three points of the converted image data, and then the other member to be welded is converted from the converted image data. And detecting a gap between the members to be welded by calculating a length of a perpendicular line from the end point position to the plane type. 13. When two members to be welded whose surfaces intersect at a substantially right angle are welded, slit-like light is radiated near the welding line, and reflected light from the vicinity of the welding line is received and received. In a welding method of performing image processing on reflected light to detect the position of the welding line and performing welding based on the detection result, receiving reflected light from near the welding line as image data at an arbitrary time interval. The received image data is converted into the same coordinate system, and a plane formula corresponding to one surface of the member to be welded is calculated from the coordinates of at least three points of the converted image data. The position of the end point of the other member to be welded is detected from the data, and the length of the perpendicular from the end point position to the plane formula is calculated to detect the gap between the two members to be welded, and further stored in advance. Was Loading welding conditions corresponding to the size of the gap among the welding conditions of people, welding wherein the welding is performed by the welding condition.