JP2023129303A - welding system - Google Patents

Abstract

To reduce the probability that measurements are made at unmeasurable positions.SOLUTION: A welding system according to one embodiment of the present invention, controls a welding robot which measures a cross sectional shape of a bevel formed in a steel pipe, and which moves on a guide rail. The welding system comprises: a measurement position determining part that determines a position where the cross sectional shape is measured, on the basis of measurement position determination information; a movement control part that controls movement of the welding robot; and an inter-curvature center distance information obtaining part that obtains inter-curvature center distance information showing an inter-curvature center distance between a curvature center of the guide rail and a curvature center of the steel pipe, which is a distance along a direction orthogonal to a linear portion of the guide rail. The movement control part controls movement of the welding robot so that the welding robot moves to a determined position determined by the measurement position determining part. The measurement position determination information includes the inter-curvature center distance information obtained by the inter-curvature center distance information obtaining part.SELECTED DRAWING: Figure 1

Description

The present invention relates to welding systems.

In order to improve welding quality, self-propelled rail welding robots used at construction sites sometimes measure the shape of the base material to be welded. However, when trying to measure the shape of the base material by image processing using a camera, and when there is only one camera for each welding robot that images the tip of the welding wire and the groove shape, the jig, There is a concern that some areas may not be able to be imaged due to interference with ancillary equipment. Further, due to optical reasons such as sunlight conditions, image processing accuracy and execution of the processing itself may not be completed by photographing with only one camera. Therefore, it has been proposed to use two cameras (see Patent Document 1).

Japanese Patent Application Publication No. 2010-253553

The present invention has been made in view of the above-mentioned circumstances, and it is an object of the present invention to provide a technique that reduces the probability of photographing at a position that cannot be measured.

One aspect of the present invention is a welding system that controls a welding robot that measures the cross-sectional shape of a groove provided in a steel pipe and that moves on a guide rail, the welding system controlling a welding robot that moves on a guide rail, and that controls a position at which the cross-sectional shape is measured. , a measurement position determination unit that determines based on measurement position determination information; a movement control unit that controls movement of the welding robot; and a distance between the center of curvature of the guide rail and the center of curvature of the steel pipe, a curvature center distance information acquisition unit that acquires curvature center distance information indicating a curvature center distance that is a distance along a direction perpendicular to a straight section of the rail, and the movement control unit is configured to control the welding robot. The welding robot is moved to a determined position determined by the measurement position determination unit by controlling movement, and the measurement position determination information is a distance between curvatures acquired by the distance between centers of curvature information acquisition unit. A welding system characterized by including information.

According to the present invention, it is possible to provide a technique that reduces the probability that measurement will be performed at a position that cannot be measured.

FIG. 1 is an overall diagram showing a welding system according to an embodiment. FIG. 1 is a block diagram illustrating an overview of a welding system according to an embodiment. FIG. 1 is a first perspective view showing a welding robot and an imaging device in an embodiment. FIG. 2 is a side view illustrating a state in which a welding torch is at a welding position in the welding robot according to the embodiment. FIG. 2 is a side view illustrating a state in which the welding torch is in a retracted position in the welding robot according to the embodiment. The welding robot according to the embodiment is a front view showing a state in which the welding torch is in an upright welding position. The welding robot according to the embodiment is a front view showing a state in which the welding torch is in an inclined welding position. The 2nd perspective view showing a welding robot and an imaging device in an embodiment. The third perspective view showing a welding robot and an imaging device in an embodiment. FIG. 1 is a diagram illustrating an example of a hardware configuration of a system control device in an embodiment. The figure which shows an example of the functional structure of the control part with which the system control apparatus in embodiment is provided. FIG. 6 is an explanatory diagram illustrating a process in which a measurement position determination unit determines a measurement position in the embodiment. The first explanatory diagram illustrating the effect of measurement position determination information including radius information, intermediate position information, inter-roller distance information, and center-of-curvature distance information in the embodiment. A second explanatory diagram illustrating the effect of measurement position determination information including radius information, intermediate position information, inter-roller distance information, and curvature center-to-center distance information in the embodiment. FIG. 3 is a third explanatory diagram illustrating the effect of measurement position determination information including radius information, intermediate position information, distance information between rollers, and distance information between centers of curvature in the embodiment. FIG. 3 is an explanatory diagram illustrating a save process in the embodiment. 5 is a flowchart illustrating an example of the flow of processing executed by the system control device in the embodiment.

[Embodiment]
Hereinafter, a welding system 100 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 17. In order to simplify the explanation, the welding system 100 will be described using a steel pipe as an example, but the welding system 100 is not limited to a steel pipe and may be any other steel material. Examples of steel materials other than steel pipes include flat plates and H-shaped steel.

As shown in FIG. 1, the welding system 100 is used to weld the ends of steel pipes 8 arranged side by side in the vertical direction Dv. The steel pipe 8 is a square steel pipe having four arc-shaped corners and four straight parts connecting the corners, respectively. The steel pipe 8 extends in the vertical direction Dv. In the initial state, the steel pipe 8 is temporarily fixed by the erection jig 9. The erection jig 9 is attached to the straight portion of the steel pipe 8. Four erection jigs 9 are attached to each of the four straight parts.

[Overview of welding system]
First, an overview of the welding system 100 will be explained with reference to FIGS. 1 to 3. FIG. 1 is an overall view showing a welding system 100 according to an embodiment. FIG. 2 is a block diagram illustrating an overview of the welding system 100 of the embodiment. FIG. 3 is a first perspective view showing the welding robot and imaging device in the embodiment.

The welding system 100 includes a welding robot 1 , a guide rail 2 , an imaging device 3 , a welding power source 4 , a wire feeding device 5 , and a system control device 6 .

The welding robot 1 moves in a predetermined direction on a guide rail 2 arranged along the steel pipe 8 and welds the steel pipe 8. The welding robot 1 includes a control section 31, a plurality of motors 32, a welding torch 13, a first roller 121, and a second roller 122. The control unit 31 controls the operation of the welding robot 1. The control unit 31 is communicably connected to the system control device 6 and controls the operation of the welding robot 1 under the control of the system control device 6. Note that the control unit 31 may be provided in the system control device 6.

The motor 32 is a motor that drives the welding robot 1. Motor 32 includes a servo motor that moves welding robot 1 along guide rail 2 . The first roller 121 and the second roller 122 are rotated by driving the motor 32 .

The welding torch 13 is used to weld the ends of the steel pipe 8 together. Welding by the welding torch 13 is performed, for example, by arc welding. A welding wire 113 is arranged within the welding torch 13.

The first roller 121 and the second roller 122 are rollers for moving the welding robot 1 on the guide rail 2. Therefore, the first roller 121 is a roller that moves the welding robot 1 along the guide rail 2 by rotating. The second roller 122 is a roller different from the first roller 121 and is a roller that moves the welding robot 1 along the guide rail 2 by rotating. A line connecting the centers of the first roller 121 and the second roller 122 is approximately parallel to the guide rail 2.

As shown in FIG. 1, the guide rail 2 is arranged along the steel pipe 8. The guide rail 2 is arranged annularly in the circumferential direction of the steel pipe 8 so as to surround the steel pipe 8. Welding robot 1 is movable along guide rails 2 . Hereinafter, the direction in which the welding robot 1 moves along the guide rail 2 will be referred to as the traveling direction Dr. That is, the traveling direction Dr is the direction in which the guide rail 2 extends. Further, a direction perpendicular to the vertical direction Dv and the running direction Dr is referred to as a proximity/separation direction Dh. For example, in the straight portion of the steel pipe 8, the proximity separation direction Dh is a direction perpendicular to the surface of the steel pipe 8.

The photographing device 3 is attached to the welding robot 1. The photographing device 3 photographs the welded portion of the steel pipe 8 and the erection jig 9 during sensing processing before welding. Furthermore, the photographing device 3 photographs the state of welding by the welding robot 1 during the welding process. The photographing device 3 includes, for example, a solid-state image sensor such as a CCD (Charge Coupled Device). The photographing device 3 is communicably connected to the system control device 6 , and images or videos (hereinafter referred to as photographic results) acquired by the photographing device 3 are transmitted to the system control device 6 .

More specifically, the welding system 100 includes a plurality of imaging devices 3 as shown in FIG. The welding system 100 in the example of FIG. 3 includes a photographing device 3-1 and a photographing device 3-2 as the photographing device 3. The photographing device 3-1 is a photographing device attached to the welding robot 1, and is a photographing device capable of photographing a groove 901 formed in a steel material. The photographing device 3-2 is a photographing device attached to the welding robot 1, which is different from the photographing device 3-1, and is a photographing device capable of photographing the groove 901. The photographing device 3-1 and the photographing device 3-2 are installed on both sides with the welding torch 13 in between.

The imaging device 3 photographs a measurement site 911 including a cross-sectional shape 912 illuminated linearly by the illumination device 36, for example. The illumination device 36 is a line laser irradiation device attached to the welding robot 1. That is, the welding robot 1 includes a lighting device 36. The illumination device 36 irradiates the measurement area 911 of the groove 901 with a laser beam that spreads in the transverse direction of the groove 901 (that is, the illuminate in a shape. The measurement site 911 is a site to be measured by the imaging device 3 among the sites to be welded. Specifically, the object to be welded in the examples shown in FIGS. 1 to 3 is the steel pipe 8. By illuminating the measurement site 911 with a laser beam by the illumination device 36, the cross-sectional shape 912 appears brighter than the surrounding area.

Photographing by the photographing device 3 is performed, for example, after the welding robot 1 moving along the guide rail 2 reaches a welding location and before starting welding. For example, the image is input to a predetermined user such as the input unit 63, which is an instruction to the welding robot 1 based on the confirmation result, which is an instruction to improve the quality of welding, which will be described later. Used for user input into the interface. The image indicates, for example, that the system control device 6 analyzes the state of the groove 901 by image analysis, and controls the welding operation of the welding robot 1 based on the analysis result to further improve the quality of welding. May be used for. More specifically, the system control device 6 acquires groove cross-sectional shape information, which will be described later, based on the results of imaging by the photographing device 3, and further improves the quality of welding based on the acquired groove cross-sectional shape information. The welding operation of the welding robot 1 may be controlled in this way.

Images are used, for example, to improve welding quality or to ensure welding quality. Specifically, based on the groove cross-sectional shape information, the user plans the welding stacking procedure, and then determines parameters such as the wire target position and welding speed when welding each layer to realize the stacking. is used to allow the user to decide on an appropriate value.

In this way, the welding system 100 performs welding by the welding robot 1 based on the image showing the groove 901 formed in the steel pipe 8.

Welding power source 4 supplies power to wire feeding device 5 . Welding power source 4 applies voltage between steel pipe 8 and welding torch 13 . Wire feeding device 5 supplies welding wire 113 to welding torch 13 . Welding torch 13 is connected to wire feeding device 5 via welding torch cable 80 .

System controller 6 controls the operation of welding system 100. Specifically, the system control device 6 controls the operations of the welding robot 1, the photographing device 3, the lighting device 36, the welding power source 4, and the wire feeding device 5. Welding robot 1 is connected to system control device 6 via control cable 70 . The control cable 70 transmits, to the welding robot 1, a control signal that is a signal transmitted by the system control device 6 and controls the welding robot 1.

[Configuration of welding robot]
Next, the configuration of the welding robot 1 will be explained with reference to FIGS. 1 to 3. The welding robot 1 includes a main body portion 11, a welding torch 13, and a support portion 14. The main body portion 11 is a base of the welding robot 1. The main body section 11 includes a control section 31 and a motor 32. The main body part 11 includes a slide part 12 attached to the guide rail 2. The welding robot 1 moves in the running direction Dr as the slide portion 12 slides on the guide rail 2. The slide portion 12 slides on the guide rail 2 by rotating the first roller 121 and the second roller 122 by driving the motor 32 (servo motor).

The support section 14 is provided between the main body section 11 and the welding torch 13 and supports the welding torch 13. The support section 14 includes a case 21, a bracket 22, a panel 23, and a holder 24.

Case 21 is provided to cover the outside of main body 11 . The case 21 is movable in the proximity/separation direction Dh with respect to the main body 11, for example, by a feeding mechanism configured inside the case 21. The case 21 and the bracket 22 constitute a moving section 33. The moving unit 33 can move the welding torch 13 close to and away from the steel pipe 8 by moving the case 21 in the proximity/separation direction Dh with respect to the main body 11 .

Bracket 22 is connected to case 21. The bracket 22 extends from the lower end of the case 21 downward in the vertical direction Dv. Panel 23 is connected to the lower end of bracket 22. Holder 24 is connected to the lower surface of panel 23. Welding torch 13 is supported by holder 24 .

The panel 23 is rotatable relative to the bracket 22 around an axis 341 parallel to the traveling direction Dr. The bracket 22 and the panel 23 constitute a first angle adjustment section 34.

The holder 24 is rotatable with respect to the panel 23 around an axis 351 perpendicular to the surface of the panel 23. The panel 23 and the holder 24 constitute a second angle adjustment section 35.

The welding robot 1 includes a first angle adjustment section 34, a second angle adjustment section 35, and an attitude adjustment mechanism 40. The first angle adjustment section 34 will be described in detail with reference to FIGS. 4 and 5. FIG. 4 is a side view illustrating a state in which the welding torch 13 is at the welding position in the welding robot 1 according to the embodiment. FIG. 5 is a side view illustrating a state in which the welding torch 13 is in the retracted position in the welding robot 1 according to the embodiment.

As shown in FIG. 4, the first angle adjustment section 34 adjusts the aiming angle Aw of the welding torch 13 by adjusting the angle of the panel 23 with respect to the bracket 22. The aiming angle Aw is the orientation of the welding wire 113 supported at the tip of the welding torch 13 in the vertical direction Dv. The aiming angle Aw is appropriately adjusted depending on the condition of the welded portion of the steel pipe 8.

In FIG. 4, although the aiming angle Aw of the welding torch 13 is adjusted, the welding wire 113 at the tip of the welding torch 13 is in contact with or close to the welding part of the steel pipe 8, and the welding torch 13 does not cut the steel pipe 8. Welding is possible. The position of the welding torch 13 within a range where welding can be performed by the welding torch 13 is referred to as a welding position Pw.

Further, in the present embodiment, as shown in FIG. It also serves as an evacuation mechanism. That is, the first angle adjustment section 34 moves the welding wire 113 away from the welding site of the steel pipe 8 to the retreat position Pr by largely rotating the welding torch 13 around the axis 341. The retracted position Pr is a position of the welding torch 13 when the welding wire 113 and the tip of the welding torch 13 supporting the welding wire 113 do not interfere with the erection jig 9.

The second angle adjustment section 35 will be described in detail with reference to FIGS. 6 and 7. FIG. 6 is a front view showing a state in which the welding torch 13 is in an upright welding position in the welding robot 1 according to the embodiment. FIG. 7 is a front view showing a state in which the welding torch 13 is in an inclined welding position in the welding robot 1 according to the embodiment.

As shown in FIG. 6, the second angle adjustment section 35 adjusts the torch angle At of the welding torch 13 by adjusting the angle of the holder 24 with respect to the panel 23. The torch angle At is the direction of the running direction Dr of the welding wire 113 supported at the tip of the welding torch 13. The torch angle At is appropriately adjusted depending on the state of the welded portion of the steel pipe 8 and the relative position of the welding robot 1 and erection jig 9.

In FIG. 6, the torch angle At of the welding torch 13 is zero. The position of the welding torch 13 at this time is defined as an upright welding position Pw0. That is, when the welding torch 13 is located at the upright welding position Pw0, the welding torch 13 stands upright at right angles to the welding direction (travel direction Dr), and the same conditions apply regardless of whether the welding direction is bidirectional. Can perform welding.

Further, as shown in FIG. 7, the second angle adjustment unit 35 changes the torch angle At of the welding torch 13, tilts the welding torch 13, and aligns the tip of the welding torch 13 with the steel pipe 8. Insert it between it and the ingredient 9. Thereby, the portion of the steel pipe 8 covered by the erection jig 9 can be welded. The position of the welding torch 13 at this time is defined as an inclined welding position Pw1. Note that both the first angle adjustment section 34 and the second angle adjustment section 35 are operated by the drive of the motor 32.

FIG. 8 is a second perspective view showing the welding robot and imaging device in the embodiment. FIG. 9 is a third perspective view showing the welding robot and imaging device in the embodiment. As shown in FIGS. 8 and 9, the imaging device 3 is attached to the welding robot 1 via the posture adjustment mechanism 40. The photographing device 3 is attached to the welding robot 1 in a state that is not affected by the attitude of the welding torch 13. The posture adjustment mechanism 40 and the photographing device 3 are provided at positions where they do not interfere with the erection jig 9 even when the welding robot 1 is traveling.

A pair of photographing devices 3 and a pair of posture adjustment mechanisms 40 are installed on both sides of the welding robot 1 in the width direction. Note that the width direction of the welding robot 1 is a direction parallel to the traveling direction Dr. By providing a pair of photographing devices 3, even if the welding robot 1 travels in either direction in the traveling direction Dr, one of the photographing devices 3 can detect the welding part in front of the welding robot 1, that is, the part to be welded from now on. The welding part behind the welding robot 1, that is, the welded part, can be photographed using the other photographing device 3.

As shown in FIG. 9, the attitude adjustment mechanism 40 includes a rail 401, a slider 402, an arm 403, and a mount 404. Rail 401 is attached to case 21. The rail 401 extends along the vertical direction Dv. The slider 402 is attached to the rail 401 so as to be movable along the rail 401. The slider 402 can be stopped at any position on the rail 401. Thereby, the imaging device 3 can be moved to any position in the vertical direction Dv with respect to the welding robot 1.

Arm 403 extends from slider 402. A mount 404 is attached to the tip of the arm 403. The photographing device 3 is supported on the mount 404 . The imaging device 3 is attached to the mount 404 so as to be rotatable around an axis in the vertical direction Dv. Thereby, the imaging device 3 can be rotated to any angle around the axis along the vertical direction Dv.

In this way, the imaging device 3 can move to any position in the vertical direction Dv with respect to the welding robot 1, and can rotate at any arbitrary angle around the axis along the vertical direction Dv. Thereby, the degree of freedom of the photographing angle of the photographing device 3 can be increased.

Further, the slider 402 can be pulled out above the rail 401. Thereby, the photographing device 3 can be attached to and detached from the welding robot 1.

[Welding system control system]
Next, the control system of the welding system 100 will be described with reference to FIGS. 10 to 17. FIG. 10 is a diagram showing an example of the hardware configuration of the system control device 6 in the embodiment. The system control device 6 includes a processor 91 such as a CPU (Central Processing Unit) and a memory 92 connected via a bus, and executes programs. The system control device 6 functions as a device including a control section 61, a communication section 62, an input section 63, a storage section 64, and an output section 65 by executing a program.

More specifically, in the system control device 6, the processor 91 reads a program stored in the storage unit 64, and stores the read program in the memory 92. When the processor 91 executes the program stored in the memory 92, the system control device 6 functions as a device including a control section 61, a communication section 62, an input section 63, a storage section 64, and an output section 65.

The control unit 61 controls the operations of various functional units included in the system control device 6. The control unit 61 controls the operation of the welding robot 1, for example. The control unit 61 causes the welding robot 1 to perform welding, for example. For example, when controlling the operation of the welding robot 1, the control unit 61 may control the operation of the welding robot 1 by controlling the operation of the welding power source 4 and the operation of the wire feeding device 5. The control unit 61 causes the photographing device 3 to perform photographing, for example. The control unit 61 controls lighting by the lighting device 36, for example.

The communication unit 62 includes a communication interface for connecting the system control device 6 to an external device. The communication unit 62 communicates with an external device via wire or wireless. The external device is, for example, a welding robot 1. The communication unit 62 communicates with the welding robot 1 via a control cable 70, for example. The communication unit 62 transmits a control signal to the welding robot 1, for example. The external device is, for example, the photographing device 3. The communication unit 62 acquires the photographing results through communication with the photographing device 3 . The external device is, for example, the welding power source 4. The external device is, for example, the wire feeding device 5. The external device is, for example, the lighting device 36.

The communication unit 62 acquires information regarding the position of the welding robot 1 (hereinafter referred to as welding robot position information) via the control cable 70, for example. The welding robot position information is, for example, a target value (hereinafter also simply referred to as target value) for controlling the servo motor (motor 32) regarding the movement of the welding robot 1.

The input unit 63 includes input devices such as a mouse, a keyboard, and a touch panel. The input unit 63 may be configured as an interface that connects these input devices to the system control device 6. The input unit 63 receives input of various information to the system control device 6. For example, an instruction to start welding is input to the input unit 63. For example, a user's instruction may be input to the input unit 63.

The storage unit 64 is configured using a computer-readable storage medium device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 64 stores various information regarding the welding system 100 including the system control device 6 itself. The storage unit 64 stores information input via the communication unit 62 or the input unit 63, for example. The storage unit 64 stores various information generated by execution of processing by the control unit 61, for example. The storage unit 64 stores, for example, the photographing results obtained by the photographing device 3.

The storage unit 64 stores, for example, the target value (welding robot position information). The storage unit 64 stores in advance construction jig shape information indicating the shape of the construction jig 9. The erection jig shape information includes width information indicating the width of the erection jig 9. The erection jig shape information includes the height of the side surface of the erection jig 9 that is opposite to the steel pipe 8 (hereinafter also referred to as the height of the erection jig 9), and the height of the side surface of the erection jig 9 that is opposite to the steel pipe 8. Contains height information indicating the height of the side surface of the steel pipe 8 side (hereinafter also referred to as the height of the bottom surface of the erection jig 9 from the steel pipe 8).

The storage unit 64 stores in advance the rotatable range of the welding torch 13 around the axis 351 by the second angle adjustment unit 35 (hereinafter also referred to as the movable range of the torch angle At) and the welding wire 113 at the tip of the welding torch 13. The movable length range (hereinafter also referred to as the movable radius of the welding torch 13) is stored.

The storage unit 64 stores in advance retraction operation information regarding an operation for moving the welding torch 13 from the welding position Pw to the retraction position Pr. The retraction operation information includes, for example, the amount of rotation of the welding torch 13 from the welding position Pw to the retraction position Pr.

The output unit 65 outputs various information. The output unit 65 includes a display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, and an organic EL (Electro-Luminescence) display. The output unit 65 may be configured as an interface that connects these display devices to the system control device 6. The output unit 65 outputs, for example, information input to the input unit 63. The output unit 65 may output an image captured by the imaging device 3, for example.

FIG. 11 is a diagram showing an example of the functional configuration of the control unit 61 in the embodiment. The control unit 61 includes a system operation control unit 601, a position determination unit 602, a groove image acquisition unit 603, a generation unit 604, a measurement position determination unit 605, a measurement position determination information acquisition unit 606, a storage control unit 607, and an input control unit 608. and an output control section 609.

The system operation control unit 601 controls the operations of the welding robot 1 , the imaging device 3 , the lighting device 36 , the welding power source 4 , and the wire feeding device 5 . The control of the operation of the welding robot 1 by the system operation control unit 601 includes, for example, welding by the welding robot 1, movement of the welding robot 1, and operation of the first angle adjustment unit 34 and the second angle adjustment unit 35. including control of

The system operation control section 601 includes a welding execution control section 611, a movement control section 612, an evacuation control section 613, and an imaging control section 614.

The welding execution control unit 611 controls the operation of the welding robot 1 and causes the welding robot 1 to perform welding. The welding execution control unit 611 may control the operation of the welding robot 1 based on, for example, instructions input by the user and may cause the welding robot 1 to perform welding. The user's instruction is, for example, an instruction based on the result of imaging by the imaging device 3, and is an instruction to improve the quality of welding. The welding execution control unit 611 may, for example, perform an image analysis on the result of imaging by the imaging device 3, control the operation of the welding robot 1 based on the result of the image analysis, and cause the welding robot 1 to perform welding. More specifically, the operation of the welding robot 1 may be controlled to cause the welding robot 1 to perform welding based on groove cross-sectional shape information, which will be described later and is information acquired by the generation unit 604.

The welding execution control unit 611 operates the welding robot 1 based on the groove cross-sectional shape information, for example, to improve welding quality or ensure welding quality. Specifically, the welding execution control unit 611 plans the welding stacking procedure based on the groove cross-sectional shape information, and further determines the wire target position and when welding each layer to realize the stacking. Determine appropriate values for parameters such as welding speed.

Note that planning the welding lamination procedure means determining the layer structure (number of layers) in which the groove is filled with metal during welding and the number of passes constituting each layer. When the welding execution control unit 611 plans the welding lamination procedure, it means that the welding execution control unit 611 executes a predetermined computer program to plan the layer structure (number of layers) in which the groove will be filled with metal during welding and each layer. This means determining the number of passes that make up the . However, the welding execution control unit 611 does not necessarily need to plan the welding lamination procedure. The planning of the welding lamination procedure may be carried out by a human, for example. A human inputs the results of the execution into the system control device 6 via the input unit 63 or the like. In such a case, the welding execution control unit 611 obtains the results input by a human instead of planning the welding lamination procedure. Note that a human may further modify the results planned by the welding execution control section 611 via the input section 63 or the like.

The movement control unit 612 controls the operation of the motor 32 and drives the motor 32 to rotate the first roller 121 and the second roller 122 and move the welding robot 1. That is, the movement control unit 612 controls the movement of the welding robot 1 by controlling the operations of the first roller 121 and the second roller 122. The movement control unit 612 stores the control history in the storage unit 64. The control history of the first roller 121 and the second roller 122 is also the history of the movement of the welding robot 1, since the rollers move the welding robot 1. Therefore, the control history is information indicating the position of the welding robot 1, and is an example of welding robot position information.

The evacuation control unit 613 executes contact determination processing and evacuation processing. The contact determination process is a process for determining whether or not the welding torch 13 will come into contact with the erection jig 9 if welding continues. The evacuation process is a process that includes a process of controlling the operation of the welding robot 1 so that the welding robot 1 does not come into contact with the erection jig 9 based on the determination result of the contact determination process. Details of the contact determination process and the evacuation process will be described later.

The photographing control unit 614 controls the operation of the photographing device 3 and the operation of the illuminating device 36, and causes the photographing device 3 to photograph a location illuminated by the illuminating device 36.

The position determination unit 602 determines which of the first section, second section, or third section on the guide rail 2 the welding robot 1 is located based on the welding robot position information. The first section is a section in which the imaging device on the side in the predetermined direction can image the groove 901. The second section is a section in which the opposite side imaging device can image the groove 901. The third section is a section in which both the predetermined direction side photographing device and the opposite side photographing device can image the groove 901.

The predetermined direction side photographing device is the photographing device 3 located on the side of the welding robot 1 in the predetermined direction. The predetermined direction is a predetermined direction, and is, for example, the traveling direction Dr of the welding robot 1. Therefore, the predetermined direction side photographing device is, for example, the photographing device 3-1. The opposite side photographing device is a photographing device 3 located on the side opposite to the side of the welding robot 1 in the predetermined direction. Therefore, the opposite photographing device is, for example, the photographing device 3-2 when the photographing device on the side in the predetermined direction is the photographing device 3-1.

The groove image acquisition unit 603 transmits the image data of the image to be used as the groove image from the results of the imaging by the imaging device 3-1 and the result of imaging by the imaging device 3-2 to the welding robot on the guide rail 2. Acquire according to the position of 1. That is, the groove image acquisition unit 603 acquires image data of an image used as a groove image based on the determination result of the position determination unit 602. The groove image is an image used for welding and is an image showing the groove 901. The image data of the image acquired by the groove image acquisition unit 603 is, for example, image data acquired via the communication unit 62, and is image data of an image photographed by the photographing device 3-1 or the photographing device 3-2. be.

For example, when the position determination unit 602 determines that the welding robot 1 is located in the first section, the groove image acquisition unit 603 acquires the result of imaging by the imaging device on the side in a predetermined direction as image data of the groove image. . For example, when the position determination unit 602 determines that the welding robot 1 is located in the second section, the groove image acquisition unit 603 acquires the result of imaging by the opposite side imaging device as image data of the groove image. For example, when the position determination unit 602 determines that the welding robot 1 is located in the third section, the groove image acquisition unit 603 performs imaging using one or both of the imaging device on the side in a predetermined direction and the imaging device on the opposite side. Obtain the result as image data of the groove image.

The generation unit 604 generates either or both of a first image generated by photographing the groove 901 by the photographing device on the side in a predetermined direction and a second image generated by photographing the groove 901 by the photographing device on the opposite side. Based on the data, groove cross-sectional shape information indicating the cross-sectional shape of the groove is generated. For example, if the groove image acquisition unit 603 acquires the result of imaging by the imaging device on the side of the predetermined direction but does not acquire the result of imaging with the imaging device on the opposite side, the generation unit 604 generates the result of imaging by the imaging device on the side of the predetermined direction. Generate groove cross-sectional shape information using the results. For example, if the groove image acquisition unit 603 does not acquire the results of imaging with the imaging device on the side in a predetermined direction but acquires the results of imaging with the imaging device on the opposite side, the generation unit 604 generates the results of imaging with the imaging device on the opposite side. to generate groove cross-sectional shape information. When the position determination unit 602 determines that the welding robot 1 is located in the third section, the generation unit 604 generates a first image and a second image according to predetermined rules (hereinafter referred to as “generation rules”). Groove cross-sectional shape information is generated based on either or both of the following.

The generation rule is, for example, a rule that groove cross-sectional shape information is generated based on image data of both the first image and the second image. The generation rule is, for example, a rule that generates groove cross-sectional shape information using image data of an image designated by the user as an image to be used for generating groove cross-sectional shape information among the first image and second image. There may be. The user's instructions are input into the input unit 63 by the user, for example. The content of the user's instruction is, for example, an instruction to use the image data of both the first image and the second image to generate groove cross-sectional shape information. The content of the user's instruction may be, for example, the content of instructing one of the first image and the second image as the image to be used for generating the groove cross-sectional shape information.

The measurement position determination unit 605 determines a position at which the cross-sectional shape of the groove 901 is measured (hereinafter referred to as a "measurement position") based on measurement position determination information that is predetermined information regarding determination of the measurement position. Hereinafter, the measurement position determined by the measurement position determining unit 605 will be referred to as the determined position. After the determination position is determined by the measurement position determination unit 605, in the welding system 100, for example, a process is executed in which the movement control unit 612 moves the welding robot 1 to the determination position that is the measurement position determined by the measurement position determination unit 605. .

The measurement position determination information acquisition unit 606 includes a construction jig position information acquisition unit 661, a curve end information acquisition unit 662, an intermediate position information acquisition unit 663, a welding edge information acquisition unit 664, a measurement number information acquisition unit 665, and radius information. It includes an acquisition section 666, an inter-roller distance information acquisition section 667, and a center-of-curvature distance information acquisition section 668, and acquires measurement position determination information.

The erecting jig position information acquisition unit 661 acquires erecting jig position information indicating the position of the erecting jig 9 provided on the steel pipe 8. For example, the erection jig position information acquisition unit 661 executes sensing processing, and based on the result, the erection jig position information acquisition unit 661 acquires erection jig position information indicating the position of the erection jig 9. do. The construction jig position information may be input by the user into an input section 63, which will be described later, for example. In this case, the construction jig position information acquired by the construction jig position information acquisition section 661 may be the construction jig position information input to the input section 63. The erection jig position information is an example of information included in the measurement position determination information. Here, a more detailed example of acquiring the erection jig position information will be explained.

<Example of acquiring construction jig position information>
For example, a marker is attached to the center position of the construction jig 9 in the width direction. An example of a marker is a QR code (registered trademark) (Quick Response Code). Note that the width direction of the erection jig 9 is a direction parallel to the traveling direction Dr. In sensing processing before welding, the welding robot 1 is moved along the guide rail 2 while the imaging device 3 photographs the marker attached to the erection jig 9. The photographing results acquired by the photographing device 3 are stored in the storage section 64 via the communication section 62. Note that, for example, at the start of photographing by the photographing device 3, the origin of the axis (one-dimensional coordinates) along the traveling direction Dr is set. The origin of the axis can be set arbitrarily and is stored in the storage unit 64. For example, the origin of the axis can be the position of the welding robot 1 when the instruction to start imaging is input to the input unit 63.

The erection jig position information acquisition section 661 acquires the photographing result from the photographing device 3 via the storage section 64 and the communication section 62. The erection jig position information acquisition unit 661 specifies the position of the marker by performing image recognition processing on the photographing result acquired by the photographing device 3. The position of the marker is indicated by the one-dimensional coordinates described above. The erection jig position information acquisition unit 661 acquires the position of this marker as erection jig position information. That is, in this case, the erection jig position information is the center position of the erection jig 9 in the width direction. The center position of the construction jig 9 in the width direction is indicated by the one-dimensional coordinates described above.

The curved end information acquisition unit 662 obtains curved part starting point position information indicating the starting point of the curved part that the guide rail 2 has (hereinafter referred to as "curved part starting point") and the end point of the curved part that the guide rail 2 has. (hereinafter referred to as "curved part ending point"). The curved part starting point position information and the curved part ending point position information are stored in the storage unit 64 in advance, for example, and the curved end information acquisition unit 662 obtains the curved part starting point position information and the curved part ending point positional information from the storage unit 64. By reading out, the curved part starting point position information and the curved part ending point positional information are acquired. The curved part starting point position information and the curved part ending point positional information are examples of information included in the measurement position determination information.

The intermediate position information acquisition unit 663 acquires intermediate position information indicating an intermediate position between the curved part start point and the curved part end point. The intermediate position information is, for example, previously stored in the storage unit 64, and the intermediate position information acquisition unit 663 acquires the intermediate position information by reading the intermediate position information from the storage unit 64. The intermediate position information acquisition unit 663 may acquire the intermediate position information by calculation based on, for example, the curved part start point position information and the curved part end point position information stored in the storage unit 64 in advance. The intermediate position information is an example of information included in the measured position determination information.

The welding edge information acquisition unit 664 acquires starting edge information indicating the starting edge of welding and ending edge information indicating the ending edge of welding. The starting end is the position of the welding robot 1 on the guide rail 2 where the welding robot 1 starts welding. The end end is the position of the welding robot 1 on the guide rail 2 where welding by the welding robot 1 ends. The starting edge information and the ending edge information are stored in the storage unit 64 in advance, for example, and the welding edge information acquisition unit 664 reads out the starting edge information and the ending edge information from the storage unit 64 to obtain the starting edge information and the ending edge information. get. The starting end information and the ending end information are examples of information included in the measurement position determination information.

The measurement number information acquisition unit 665 acquires measurement number information indicating the number of positions at which the cross-sectional shape of the groove 901 is measured. The measurement number information is stored in the storage unit 64 in advance, for example, and the measurement number information acquisition unit 665 reads the measurement number information from the storage unit 64 to acquire the measurement number information. The measurement number information is an example of information included in the measurement position determination information.

Here, an example of a process in which the measurement position determining unit 605 determines the measurement position when the measurement number information includes erection jig position information, starting end information, ending end information, and measurement number information will be described.

<Example of process for determining measurement position>
FIG. 12 is an explanatory diagram illustrating a process in which the measurement position determination unit 605 determines the measurement position in the embodiment. In FIG. 12, position T1 is an example of the start end indicated by the start end information. In FIG. 12, position T2 is an example of the position of the erection jig 9 indicated by the erection jig position information. In FIG. 12, position T3 is an example of the end indicated by the end end information. In FIG. 12, each of positions P1 to P14 is an example of a determined position. In the example of FIG. 12, the position of the erection jig 9 is not the determined position.

Therefore, in the example of FIG. 12, the measurement number information is 14. In this way, the measurement position determination unit 605 determines the number of positions indicated by the number of measurements information as determined positions among the positions within the candidate section based on the erection jig position information, starting end information, and ending end information. . The candidate section is, for example, a section on the guide rail 2 along the traveling direction from the start end to the end end, and is a section that satisfies the condition that it does not include the position of the erection jig 9. The determined positions are, for example, positions that satisfy the condition of being located at equal intervals on the guide rail 2 along the running direction from the start end to the end end.

The radius information acquisition unit 666 acquires radius information indicating the radius of curvature of the curved portion of the guide rail 2. The radius information is stored in advance in the storage unit 64, for example, and the radius information acquisition unit 666 acquires the radius information by reading the radius information from the storage unit 64. Radius information is an example of information included in measurement position determination information.

The inter-roller distance information acquisition unit 667 acquires inter-roller distance information indicating the distance between the first roller 121 and the second roller 122. The distance indicated by the inter-roller distance information is, for example, the distance between the center of the first roller 121 and the center of the second roller 122. The inter-roller distance information is, for example, previously stored in the storage unit 64, and the inter-roller distance information acquisition unit 667 acquires the inter-roller distance information by reading the inter-roller distance information from the storage unit 64. The inter-roller distance information is an example of information included in the measurement position determination information.

The distance between centers of curvature information acquisition unit 668 obtains the distance between centers of curvature, which is the distance between the center of curvature of the guide rail 2 and the center of curvature of the steel pipe 8, and is the distance along the direction perpendicular to the straight section of the guide rail 2. The distance information between the centers of curvature shown is obtained. The distance information between centers of curvature is, for example, stored in advance in the storage unit 64, and the distance between centers of curvature information acquisition unit 668 acquires the distance information between centers of curvature by reading the distance information between centers of curvature from the storage unit 64. The distance information between centers of curvature is an example of information included in the measurement position determination information.

<Effects achieved when measurement position determination information includes radius information, intermediate position information, distance information between rollers, and distance information between centers of curvature>
Here, the effects achieved when the measurement position determination information includes radius information, intermediate position information, distance information between rollers, and distance information between centers of curvature will be explained using FIGS. 13 to 15.

FIG. 13 is a first explanatory diagram illustrating the effect of measurement position determination information including radius information, intermediate position information, inter-roller distance information, and curvature center-to-center distance information in the embodiment. FIG. 14 is a second explanatory diagram illustrating the effect of measurement position determination information including radius information, intermediate position information, inter-roller distance information, and center-of-curvature distance information in the embodiment. FIG. 15 is a third explanatory diagram illustrating the effect of measurement position determination information including radius information, intermediate position information, inter-roller distance information, and curvature center-to-center distance information in the embodiment.

For simplicity, in the description, a coordinate system having a U axis and a V axis that are orthogonal to each other will be used as a two-dimensional orthogonal coordinate system. Both the U axis and the V axis are perpendicular to the straight portion of the guide rail 2. In FIGS. 13 to 15, a curve C indicates the outer surface shape of the steel pipe 8. In FIGS. FIG. 13 shows the relationship between the slide portion 12 and the steel pipe 8 at two locations.

A point _PL and a point _PF located on the slide portion 12 are a first roller 121 and a second roller 122, respectively. A point _PLF located on the slide portion 12 is the center position between the first roller 121 and the second roller 122. Therefore, information indicating the position of point _PLF is an example of intermediate position information.

A point P _rail in FIGS. 13 to 15 indicates the position of the center of curvature of the guide rail 2. The point P _rail is the origin of a coordinate system having a U axis and a V axis. In FIGS. 13 to 15, the length L _roll indicates the distance between the point P _L and the point P _F. Therefore, the length L _roll is an example of inter-roller distance information.

At one of the two locations (hereinafter referred to as the "first location"), the angle between the straight line connecting the point P _rail and the point P _LF (hereinafter referred to as the "first radial straight line") and the V axis is θ. This is the _{number 1} location. The other of the two locations (hereinafter referred to as the "second location") is a location where the angle between the second radial straight line and the V-axis is (θ ₁ +θ ₂ ). The second radial straight line is perpendicular to the straight line connecting point P _rail and point P _F .

In FIGS. 13 to 15, the point P _aim is the position of the sensing target of the groove. Sensing is a process of photographing the welding site of the steel pipe 8 and the erection jig 9. Specifically, the point P _aim is the intersection of the radial straight line and the curve C. In FIGS. 13 to 15, L _rail indicates the distance from the curve C in the straight portion of the guide rail 2 to the guide rail 2. In FIGS. In FIGS. 13 to 15, R _col indicates the radius of curvature of the steel pipe 8. In FIGS. 13 to 15, R _rail indicates the radius of curvature of the guide rail 2. In FIGS. Therefore, information indicating R _rail is an example of radius information.

13 to 15, a point P _col indicates the center of curvature of the steel pipe 8. In FIGS. In FIGS. 13 to 15, d represents the distance between the center of curvature of the steel pipe 8 and the center of curvature of the guide rail 2 in a direction parallel to each of the V-axis and the U-axis. Therefore, information indicating the distance d is an example of distance information between centers of curvature.

Note that the distances L _roll , L _rail , R _col and R _rail are all positive real numbers. Moreover, d is a real number. d may be a negative value.

FIG. 14 shows that when the slide portion 12 is located at the first location, it is possible to sense the groove of the steel pipe 8 located at the point P _aim . The reason why sensing is possible when the slide section 12 is located at the first location is because when the slide section 12 is located at the first location, the slide section 12 is located at the symmetrical center position of the R section. This is because the straight line extending perpendicularly to the straight line connecting P _L and point P _F is perpendicular to the steel pipe 8 . Note that the symmetry center position means a position midway between the starting point and ending point of the R section.

FIG. 14 shows that when the slide portion 12 is located at the third location, sensing of the groove of the steel pipe 8 located at the point P _aim is possible. The third location is a location that satisfies the first location condition, the second location condition, and the third location condition.

The first location condition is that the point _PLF of the slide portion 12 is located on the straight portion of the guide rail 2. The second location condition is that the points P _L and P _F are located on either the boundary between the straight portion of the guide rail 2 and the R portion, or the straight portion of the guide rail 2 . The third location condition is that the straight line connecting the point P _LF and the point P _col is perpendicular to the straight line connecting the point P _L and the point P _F.

The reason for this is that the roller on the side closer to the R section of the slide section 12 is located at the boundary between the R section and the straight section of the guide rail 2, and at that time, the P _aim is between the straight section and the R section of the steel pipe 8. This is because the straight line located at the boundary point of and extending perpendicularly to the straight line connecting point _PL and point _PF is perpendicular to the steel pipe 8.

FIG. 15 shows that when the slide portion 12 is located at the fourth location, sensing of the groove of the steel pipe 8 located at the point P _aim is possible. The fourth location is a location that satisfies the first location condition, the second location condition, and the fourth location condition. In FIG. 15, the slide portion 12 located at the fourth location is the slide portion F1.

The fourth location condition is that the straight line connecting the point P _LF and the point P _col is not orthogonal to the straight line connecting the point _PL and the point _PF . Specifically, the fourth location condition is satisfied when the distance d is greater than a predetermined value.

The reason for this is that when the fourth location condition is satisfied, the straight line extending perpendicularly to the straight line connecting point _PL and point _PF does not intersect perpendicularly at the R portion of the steel pipe 8. In such a case, in order to perform sensing, it is necessary to move the slide portion 12 away from the R portion of the guide rail 2.

Specifically, the distance of movement is d-(L _roll /2). If d-(L _roll /2)>0, it is necessary to move the slide portion 12 away from the R portion of the guide rail 2 by a distance d-(L _roll /2).

In addition, by moving the slide part 12 away from the R part of the guide rail 2 by a distance d - (L _roll /2), the point closest to the center of symmetry of the R part of the guide rail among the points P _aim It is possible to sense the groove of the steel pipe 8 located at the point P _aim . By finding the closest point P _aim , the intervals between the points P _aim at which the groove of the steel pipe 8 can be sensed can be made the narrowest, and these intervals can also be easily widened.

On the other hand, if d-(L _roll /2)<0, no movement is necessary, and sensing is performed with the roller closer to the R section located at the boundary between the R section and the straight section of the guide rail 2. It is possible.

In this way, when the measurement position determination information includes radius information, intermediate position information, distance information between rollers, and distance information between centers of curvature, it is possible to determine which positions can be sensed and which positions cannot be sensed. Since positions where sensing is possible are candidates for measurement positions, by determining the determined position based on radius information, intermediate position information, distance information between rollers, and distance information between centers of curvature, positions that cannot be measured can be set as determined positions. You can reduce the probability of getting lost.

The storage control unit 607 records various information in the storage unit 64. The storage control unit 607 records various information generated by the operation of the control unit 61 in the storage unit 64, for example.

Input control section 608 controls the operation of input section 63. Output control section 609 controls the operation of output section 65.

<Details of contact determination processing>
Details of the contact determination process will be explained. The contact determination process is a process for determining whether or not the welding torch 13 will come into contact with the erection jig 9 if welding continues. Contact position information, inclined welding start position information, and welding robot position information are used for the determination. The contact position information is information regarding the position of the welding robot 1 when the welding torch 13 contacts the erection jig 9 (hereinafter also referred to as the contact position).

The tilted welding start position information is the position of the welding robot 1 when tilting the welding torch 13 to start welding the portion of the steel pipe 8 covered by the erection jig 9 (hereinafter referred to as the "tilted welding start position"). ).

The contact determination process will be explained in more detail. In the contact determination process, a process for acquiring contact position information (hereinafter referred to as "contact position information acquisition process") is executed. In the contact position information acquisition process, the contact position of the welding robot 1 is determined based on the construction jig position information (for example, the center position in the width direction of the construction jig 9) and the width information included in the construction jig shape information. Processing to calculate the position is executed. Information indicating the calculated contact position is an example of contact position information. The contact position of the welding robot 1 is indicated by the above-mentioned one-dimensional coordinates.

In the contact determination process, a process for acquiring tilt welding start position information (hereinafter referred to as "tilt welding start position information acquisition process") is executed. In the tilt welding start position information acquisition process, the welding robot 1 is tilted at a position that is a predetermined margin α in front of the contact position of the welding robot 1 in the one-dimensional coordinates (i.e., the coordinates on the axis along the traveling direction Dr). Processing to calculate the welding start position is executed. Information indicating the calculated inclined welding start position is inclined welding start position information. The inclined welding start position of the welding robot 1 is indicated by the above-mentioned one-dimensional coordinates. Note that the predetermined allowance α is stored in the storage unit 64 in advance.

In the contact position information acquisition process, a process of estimating the position of the welding robot 1 while it is running (hereinafter also referred to as a running position) is executed based on the welding robot position information. The traveling position is indicated by the above-mentioned one-dimensional coordinates. In the contact determination process, a process is executed to determine whether or not the welding torch 13 will come into contact with the erection jig 9 if welding continues, based on the estimated traveling position and contact position information or inclined welding start position information. be done. In this way, in the contact determination process, it is determined whether or not the welding torch 13 will come into contact with the erection jig 9 if welding continues.

An example of contact determination processing will be explained. In the contact determination process, for example, by determining whether the traveling position of the welding robot 1 has reached the inclined welding start position, it is determined whether the welding torch 13 will come into contact with the erection jig 9 if welding continues. do. In the contact determination process, for example, by determining whether the traveling position of the welding robot 1 has reached the contact position, it is determined whether the welding torch 13 will come into contact with the erection jig 9 if welding continues. Good too.

<Details of backup processing>
The details of the save process will be explained. The evacuation process is executed at the position of the erection jig 9, thereby allowing the welding robot 1 to move without being hindered by the erection jig 9. As a result, by executing the evacuation process at the position of the erection jig 9, the welding robot 1 can continuously perform initial welding on the entire circumference or a part of the welding part of the steel pipe 8. The evacuation process includes a process of tilting the welding torch 13 and welding the portion of the steel pipe 8 covered by the erection jig 9.

The saving process will be described in detail with reference to FIG. 16. FIG. 16 is an explanatory diagram illustrating the saving process in the embodiment. When it is determined that the traveling position of the welding robot 1 has reached the inclined welding start position, the retraction control unit 613 changes the torch angle At of the welding torch 13 using the second angle adjustment unit 35 (to the welding position Pw1). , the front half of the portion of the steel pipe 8 covered by the erection jig 9 is welded. Note that at this time, the movement of the welding robot 1 is not interrupted. Specifically, the evacuation control section 613 acquires the erection jig shape information via the storage section 64 or the communication section 62.

The evacuation control unit 613 acquires the movable range of the torch angle At and the movable radius of the welding torch 13 via the storage unit 64 or the communication unit 62. The evacuation control unit 613 moves the erection jig 9 out of the steel pipe 8 based on the width information and height information included in the erection jig shape information, the movable range of the torch angle At, and the movable radius of the welding torch 13. control to weld the front half of the part covered by.

When the welding of the front half is completed, the evacuation control unit 613 stops the welding robot 1 and interrupts the welding by the welding robot 1. The retraction control unit 613 causes the second angle adjustment unit 35 to return the torch angle At of the welding torch 13 to 0, and the first angle adjustment unit 34 to retract the welding torch 13 from the welding position Pw (Pw1) to the retraction position Pr. let Specifically, the evacuation control section 613 acquires evacuation operation information via the storage section 64 or the communication section 62. The retreat control unit 613 moves the welding torch 13 from the welding position Pw to the retreat position Pr based on the retreat operation information.

Thereafter, the evacuation control unit 613 moves the welding robot 1 by a predetermined distance in the traveling direction Dr, and causes it to pass over the erection jig 9. That is, the evacuation control unit 613 moves the welding robot 1 to a position where the welding torch 13 does not come into contact with the erection jig 9 based on the width information included in the erection jig shape information obtained by executing the contact determination process. Move it in the direction Dr.

When the welding robot 1 is moved by a predetermined distance, the retraction control unit 613 stops the movement of the welding robot 1, and the first angle adjustment unit 34 moves the welding torch 13 from the retraction position Pr to the welding position Pw (Pw2). approach the steel pipe 8. The evacuation control unit 613 restarts the movement of the welding robot 1, and while changing the torch angle At of the welding torch 13 by the second angle adjustment unit 35 (welding position Pw2), Weld the covered parts. The evacuation control unit 613 moves the erection jig 9 out of the steel pipe 8 based on the width information and height information included in the erection jig shape information, the movable range of the torch angle At, and the movable radius of the welding torch 13. control to weld the rear half of the part covered by.

FIG. 17 is a flowchart showing an example of the flow of processing executed by the system control device 6 in the embodiment. The measurement position determination unit 605 causes the measurement position determination information acquisition unit 606 to acquire a predetermined type of measurement position determination information, and determines a measurement position based on the acquired measurement position determination information (step S101). Next, the movement control unit 612 moves the welding robot 1 to the closest measurement position on the traveling direction Dr side as seen from the position of the welding robot 1 among the measurement positions determined in step S101 (step S102). . The welding robot position information is updated through the process of step S102. Furthermore, if the erection jig 9 is present during movement, contact determination processing and evacuation processing may be executed. Therefore, the evacuation control unit 613 may also operate while the process of step S102 is being executed.

Next, the position determining unit 602 determines in which of the first, second, or third sections on the guide rail 2 the welding robot 1 is located based on the welding robot position information (step S103). Next, the groove image acquisition unit 603 acquires the image data of the image to be used as the groove image from among the photographing results by the photographing device 3-1 and the photographing result by the photographing device 3-2. The information is acquired based on the result of the determination (step S104).

In the process of step S104, the groove image acquisition unit 603 makes the determination performed in step S103, for example, as to whether the photographing device 3-1 or the photographing device 3-2 is to be photographed, or both are to be photographed. The decision is made based on the results of Next, the groove image acquisition unit 603 controls the operation of the imaging control unit 614 to cause the determined imaging device 3 to perform imaging. In this way, the groove image acquisition unit 603 acquires the image data of the image to be used as the groove image, for example, from the photographing result by the photographing device 3-1 and the photographing result by the photographing device 3-2. Good too.

Furthermore, in the process of step S104, the groove image acquisition unit 603 causes both the photographing device 3-1 and the photographing device 3-2 to take images, for example. Next, the groove image acquisition unit 603 determines which of the two photographic results or whether to acquire both, based on the result of the determination executed in step S103, and uses the determined result. Obtain the image data of the image to follow. In this way, the groove image acquisition unit 603 acquires the image data of the image to be used as the groove image, for example, from the photographing result by the photographing device 3-1 and the photographing result by the photographing device 3-2. Good too.

After step S104, the generation unit 604 generates groove cross-sectional shape information indicating the cross-sectional shape of the groove based on the image data obtained in step S104 (step S105). Next, the welding execution control unit 611 determines whether there is a measurement position to which the welding robot 1 has not yet moved, among the measurement positions determined in step S101. That is, the welding execution control unit 611 determines whether the next measurement position exists (step S106).

If the next measurement position does not exist (step S106: NO), the welding execution control unit 611 calculates welding execution parameters based on the groove cross-sectional shape information (step S107). Note that the welding execution parameter is a parameter related to the execution of welding, and is, for example, a wire aiming position. Next, the welding execution control unit 611 causes the welding robot 1 to execute welding based on the groove cross-sectional shape information. Specifically, the welding robot 1 performs welding using the calculated welding execution parameters (step S108). The process then ends. On the other hand, if the next measurement position exists (step S106: YES), the process of step S102 is executed.

The welding system 100 of the embodiment configured as described above includes a groove image acquisition unit 603, and is configured to capture either or both of the image taken by the photographing device 3-1 and the image taken by the photographing device 3-2. It is determined which image's image data is to be adopted as image data to be used for generating groove cross-sectional shape information. Therefore, if there is an imaging device 3 that cannot properly photograph the groove due to the relationship between the position of the steel material, the location to be welded, the orientation of the welding robot 1, and weather conditions or sunlight conditions, a more appropriate image can be selected. , the quality of welding can be improved. Since the welding system 100 includes a groove image acquisition unit 603 that automatically selects image data that improves the quality of welding, the welding system 100 can reduce the labor required for welding. Note that "appropriate" means that image characteristics such as brightness and resolution satisfy predetermined standards.

(Modified example)
Note that the groove image acquisition unit 603 acquires information on the position of the welding robot 1 on the guide rail 2 and the position of the erection jig from the results of photography by the photography device 3-1 and the results of photography by the photography device 3-2. Image data of an image corresponding to the erection jig position information acquired by the section 661 may be acquired as image data of an image used as a groove image.

Note that the erection jig position information may indicate the position of the erection jig in the width direction of the erection jig 9. Moreover, the erection jig position information may indicate the position of the end of the erection jig 9 in the width direction of the erection jig 9.

Note that the photographing device 3-1 is an example of a first photographing device, and the photographing device 3-2 is an example of a second photographing device. In addition, in the process of step S104, the groove image acquisition unit 603 determines which of the imaging device 3-1 and the imaging device 3-2, or both of the imaging device 3-2, should perform the processing in step S103. When the determination is made based on the result of the determination, the photographing device 3 that is determined to be photographed is an example of the photographing device to be determined. Note that the groove image acquisition unit 603 determines which of the imaging device 3-1 and the imaging device 3-2, or both of the imaging device 3-2, should perform the imaging based on the result of the determination performed in step S103. The process of determining the photographing device is an example of the photographing device determination process.

Note that all or part of each function of the welding system 100 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, magneto-optical disk, ROM, or CD-ROM, or a storage device such as a hard disk built into a computer system. The program may be transmitted via a telecommunications line.

Note that the control unit 61 may be implemented using a plurality of information processing devices communicatively connected via a network. In this case, each functional unit included in the control unit 61 may be distributed and implemented in a plurality of information processing devices.
Note that, for example, when the position determination unit 602 determines that the welding robot 1 is located in the third section, the groove image acquisition unit 603 acquires the results of imaging by the imaging device on the side in a predetermined direction or the imaging device on the opposite side. It may also be acquired as image data of an image.

In addition, without departing from the spirit of the present invention, the components in the embodiments described above may be replaced with well-known components as appropriate, and the above-described modifications may be combined as appropriate.

100...Welding system, 1...Welding robot, 2...Guide rail, 3...Photography device, 6...System control device, 8...Steel pipe, 9...Erection jig, 13...Welding torch, 121...First roller, 122... 2nd roller, 31... Control section, 32... Motor, 33... Moving section, 34... First angle adjustment section, 35... Second angle adjustment section, 61... Control section, 62... Communication section, 63... Input section , 64... Storage section, 65... Output section, 601... System operation control section, 602... Position determination section, 603... Groove image acquisition section, 604... Generation section, 605... Measurement position determination section, 606... Measurement position determination information Acquisition unit, 607...Storage control unit, 608...Input control unit, 609...Output control unit, 611...Welding execution control unit, 612...Movement control unit, 613...Evacuation control unit, 614...Photography control unit, 661...Construction Jig position information acquisition unit, 662...Curve end information acquisition unit, 663...Intermediate position information acquisition unit, 664...Welding end information acquisition unit, 665...Measurement number information acquisition unit, 666...Radius information acquisition unit, 667...Roller 668...Distance information acquisition unit between centers of curvature, Pw...Welding position, Pr...Retreat position, 91...Processor, 92...Memory

Claims (9)

A welding system that controls a welding robot that moves on a guide rail and that measures the cross-sectional shape of a groove provided in a steel pipe,
a measurement position determination unit that determines a position for measuring the cross-sectional shape based on measurement position determination information;
a movement control unit that controls movement of the welding robot;
A curvature for obtaining center-of-curvature distance information indicating a distance between centers of curvature, which is a distance between a center of curvature of the guide rail and a center of curvature of the steel pipe, and is a distance along a direction perpendicular to a straight portion of the guide rail. Center-to-center distance information acquisition unit;
Equipped with
The movement control unit moves the welding robot to a determined position that is a position determined by the measurement position determination unit by controlling movement of the welding robot,
The measurement position determination information includes curvature center distance information acquired by the curvature center distance information acquisition unit,
A welding system characterized by: a first roller that rotates to cause the welding robot to move in a predetermined direction on the guide rail;
a second roller that is different from the first roller and rotates to cause the welding robot to move on the guy rail in the predetermined direction;
an inter-roller distance information acquisition unit that acquires inter-roller distance information indicating a distance between the first roller and the second roller;
further comprising;
The measurement position determination information includes inter-roller distance information acquired by the inter-roller distance information acquisition unit,
The welding system according to claim 1, characterized in that: A welding system that controls a welding robot that moves on a guide rail and that measures the cross-sectional shape of a groove provided in a steel pipe,
a measurement position determination unit that determines a position for measuring the cross-sectional shape based on measurement position determination information;
a movement control unit that controls movement of the welding robot;
a guide rail curved portion information acquisition unit that acquires guide rail curved portion information that is information regarding the curved portion of the guide rail;
Equipped with
The movement control unit moves the welding robot to a determined position that is a position determined by the measurement position determination unit by controlling movement of the welding robot,
The measurement position determination information includes guide rail curved part information acquired by the guide rail curved part information acquisition unit,
A welding system characterized by: The guide rail curved portion information includes intermediate position information indicating an intermediate position between a starting point of a curved portion of the guide rail and an end point of the curved portion.
The welding system according to claim 3, characterized in that: The guide rail curved portion information includes starting point position information indicating the starting point of the curved portion of the guide rail, and end point position information indicating the ending point of the curved portion.
The welding system according to claim 4, characterized in that: The guide rail curved portion information includes radius information indicating a radius of curvature of a curved portion of the guide rail.
The welding system according to claim 5, characterized in that: A welding system that controls a welding robot that moves on a guide rail and that measures the cross-sectional shape of a groove provided in a steel pipe,
a measurement position determination unit that determines a position for measuring the cross-sectional shape based on measurement position determination information;
a movement control unit that controls movement of the welding robot;
a construction jig position information acquisition unit that acquires position information of a construction jig provided on the steel pipe;
Equipped with
The movement control unit moves the welding robot to a determined position that is a position determined by the measurement position determination unit by controlling movement of the welding robot,
The measurement position determination information includes position information of the erection jig acquired by the erection jig position information acquisition unit,
A welding system characterized by: starting edge information indicating a position on the guide rail where welding by the welding robot starts; and ending edge information indicating a position on the guide rail where welding by the welding robot ends. a welding end information acquisition unit that acquires ,
Furthermore,
The measurement position determination information includes starting end information and ending end information acquired by the welding end information acquisition unit,
The welding system according to claim 7, characterized in that: a measurement number information acquisition unit that acquires measurement number information indicating the number of positions at which the cross-sectional shape is measured;
Furthermore,
The measurement position determination information includes measurement number information acquired by the measurement number information acquisition unit,
The welding system according to claim 7 or 8, characterized in that:

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