US Patent 10016834 Welding torch detector and welding robot system

A welding torch detector including an imaging unit capturing images of a welding torch and welding wire from a plurality of directions to acquire image signals, an image recognition unit recognizing welding wire images and welding torch images based on the image signals acquired, a setting unit setting a target point corresponding to a target position of the welding wire on the welding wire images recognized, a position detection unit detecting a position of the target point in a three-dimensional space based on the welding wire images recognized, and an inclination detection unit detecting an inclination of the welding torch in the three-dimensional space based on the welding torch images recognized.