2015 年 33 巻 2 号 p. 156s-160s
In order to trace the welding line in the lap welding, weld pool in the pulsed MAG welding was taken by using the CCD camera. The weld pool was observed in the front and rear to the welding direction. The features of the weld pool were investigated to recognize the welding pool. The welding line was detected by using image processing and the digital controller was designed to trace the welding line.