Groove shape measurement method, automatic welding method, and automatic welding equipment

摘要

PROBLEM TO BE SOLVED: To provide a groove shape measuring method, an automatic welding method, and an automatic welding apparatus capable of efficiently measuring a groove cross-sectional shape by image processing. SOLUTION: This is a groove shape measuring method for measuring the cross-sectional shape of a groove formed on a welding object to be automatically welded by a welding robot by using a camera whose position with respect to the welding robot can be changed. Preparation step S1 for preparing the preparation data for associating the captured image data with the robot coordinate system of the welding robot according to the position of the camera, shooting step S2 for the camera to photograph the groove, and preparation step S1. It has a measurement step S3 for detecting cross-sectional shape information of the groove from the image data of the groove photographed in the photographing step S2 using the preparation data prepared in the above. [Selection diagram] Fig. 3