JP7232943B1 - Welding system, welding method and program - Google Patents

Abstract

An object of the present invention is to reduce labor required for welding.
An aspect of the present invention includes a welding robot that moves in a predetermined direction on a guide rail arranged along a steel material and welds the steel material, and a welding robot that welds the steel material. A welding system for performing welding by the welding robot based on a first photographing device, which is a photographing device attached to the welding robot and capable of photographing a groove formed in the steel material, and the welding a second imaging device attached to a robot and different from the first imaging device and capable of imaging the groove; a result of imaging by the first imaging device; 2. Among the results of photographing by the photographing device, the image data of the image used as the groove image, which is the image used for the welding and is the image showing the groove, is used as the position of the welding robot on the guide rail. and a groove image acquisition unit that acquires according to the welding system.
[Selection drawing] Fig. 1

Description

The present invention relates to a welding system, welding method and program.

For the purpose of improving welding quality, there are cases where shape measurement of a base material to be welded is performed in a rail self-propelled welding robot applied to construction sites. However, when trying to measure the shape of the base material by image processing using a camera, and there is only one camera for imaging the tip of the welding wire and the shape of the groove for the welding robot, jigs, There is a concern that some areas may not be imaged due to interference with accessory equipment. Also, due to optical reasons such as sunlight conditions, there are cases where the image processing accuracy and execution of the processing itself cannot be completed by photographing with only one camera. Therefore, it has been proposed to use two cameras (see Patent Document 1).

JP 2010-253553 A

When a plurality of cameras are used, the burden of selecting images and cameras to be used is imposed on the worker, and the labor of the worker involved in welding may increase. Therefore, in the technique described in Patent Document 1, automatic selection is performed based on the image characteristics of the captured image such as brightness.

However, when a plurality of cameras are used, it is not always possible for each camera to shoot under the same shooting conditions. For this reason, with techniques that analyze images based on image features, there are cases where appropriate image analysis is not performed, such as when image analysis is performed using an image in which the subject cannot be captured. . As a result, the operator may have to select the camera and image to be used each time an image is taken, and the labor required for welding may not be reduced.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a technique for reducing labor required for welding.

One aspect of the present invention includes a welding robot that moves in a predetermined direction on a guide rail arranged along a steel material and welds the steel material, and based on an image showing a groove formed in the steel material, the welding robot A welding system that performs welding by a first imaging device attached to the welding robot and capable of imaging a groove formed in the steel material, and a first imaging device attached to the welding robot a second photographing device which is a photographing device different from the first photographing device and capable of photographing the groove; Image data of an image used as a groove image, which is an image used for the welding and is an image showing the groove, among the photographing results, according to the position of the welding robot on the guide rail, and a groove image acquisition unit that acquires the welding system.

ADVANTAGE OF THE INVENTION According to this invention, the technique which reduces the labor which welding requires can be provided.

1 is an overall view showing a welding system according to an embodiment; FIG. 1 is a block diagram for explaining an outline of a welding system according to an embodiment; FIG. The 1st perspective view which shows the welding robot and imaging device in embodiment. FIG. 4 is a side view for explaining a state in which the welding torch is at the welding position in the welding robot according to the embodiment; FIG. 4 is a side view for explaining a state in which the welding torch is at the retracted position in the welding robot according to the embodiment; FIG. 4 is a front view showing a state in which the welding torch is in an upright welding position in the welding robot according to the embodiment; FIG. 4 is a front view of the welding robot according to the embodiment, showing a state in which the welding torch is in an inclined welding position; The 2nd perspective view which shows the welding robot and imaging device in embodiment. The 3rd perspective view which shows the welding robot and imaging device in embodiment. The figure which shows an example of the hardware constitutions of the system control apparatus in embodiment. The figure which shows an example of a functional structure of the control part with which the system control apparatus in embodiment is provided. Explanatory diagram for explaining the process of determining the measurement position by the measurement position determination unit according to the embodiment. FIG. 11 is a first explanatory diagram for explaining the effects of measurement position determination information including radius information, intermediate position information, roller-to-roller distance information, and curvature center-to-center distance information in the embodiment. FIG. 7 is a second explanatory diagram for explaining the effect of measurement position determination information including radius information, intermediate position information, roller-to-roller distance information, and curvature center-to-center distance information in the embodiment. FIG. 11 is a third explanatory diagram for explaining the effect of measurement position determination information including radius information, intermediate position information, roller-to-roller distance information, and curvature center-to-center distance information in the embodiment. Explanatory drawing explaining the saving process in embodiment. 4 is a flowchart showing an example of the flow of processing executed by the system control device according to the embodiment;

[Embodiment]
A welding system 100 according to an embodiment of the present invention will now be described with reference to FIGS. 1-17. For simplicity of explanation, the welding system 100 will be described using a steel pipe as an example, but the welding system 100 is not limited to steel pipes and may be any steel material as long as it is a steel pipe. Steel materials other than steel pipes are, for example, flat plates and H-section steel.

As shown in FIG. 1, the welding system 100 is used to weld 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 arcuate corners and four straight parts connecting the corners. 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 the four straight portions, respectively.

[Overview of welding system]
First, an overview of the welding system 100 will be described with reference to FIGS. 1 to 3. FIG. FIG. 1 is an overall view showing a welding system 100 of 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.

A 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 .

A welding robot 1 moves in a predetermined direction on a guide rail 2 arranged along a steel pipe 8 and welds the steel pipe 8 . The welding robot 1 includes a controller 31 , a plurality of motors 32 , a welding torch 13 , first rollers 121 and second rollers 122 . The control unit 31 controls operations 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 . Motors 32 include servo motors that move welding robot 1 along guide rails 2 . The driving of the motor 32 causes the first roller 121 and the second roller 122 to rotate.

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

The first roller 121 and the second roller 122 are rollers for the welding robot 1 to move 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 substantially 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 . A welding robot 1 is movable along guide rails 2 . Hereinafter, the direction in which the welding robot 1 moves along the guide rails 2 will be referred to as the running direction Dr. That is, the running direction Dr is the direction in which the guide rail 2 extends. Also, a direction orthogonal 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 close separation direction Dh is a direction perpendicular to the surface of the steel pipe 8 .

The imaging device 3 is attached to the welding robot 1 . The photographing device 3 photographs the welding part of the steel pipe 8 and the erection jig 9 in the sensing process before welding. In addition, the photographing device 3 photographs the state of welding by the welding robot 1 in the welding process. The imaging device 3 includes a solid-state imaging device such as a CCD (Charge Coupled Device). The imaging device 3 is communicably connected to the system control device 6 , and images or moving images (hereinafter referred to as imaging results) acquired by the imaging device 3 are transmitted to the system control device 6 .

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

The photographing device 3 photographs a measurement site 911 including a cross-sectional shape 912 linearly illuminated by the lighting 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 is equipped with the illumination device 36 . The illumination device 36 irradiates the measurement site 911 of the groove 901 with a laser beam that spreads in the transverse direction of the groove 901 (that is, the X-axis direction), so that the measurement site 911 is continuously linearized in the transverse direction of the groove 901. Illuminate in the shape of The measurement site 911 is a site measured by the imaging device 3 among the sites to be welded. Specifically, the object to be welded in the examples of FIGS. 1 to 3 is the steel pipe 8 . By illuminating the measurement site 911 with a laser beam from the lighting device 36, the cross-sectional shape 912 appears brighter than the surroundings.

The photographing by the photographing device 3 is performed, for example, after the welding robot 1 moving along the guide rail 2 reaches a welding place and before welding is started. For example, the user checks the state of the groove 901 by looking at the image, and an instruction to the welding robot 1 based on the confirmation result, which is an instruction to improve the quality of welding, is given by a predetermined user such as the input unit 63 described later. Used for user input to the interface. The image indicates that, for example, 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 so as to further improve the welding quality based on the analysis result. 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 imaging result of the imaging device 3, and based on the acquired groove cross-sectional shape information, the welding quality is further improved. The welding operation of the welding robot 1 may be controlled as follows.

The image is used, for example, for improving welding quality and securing welding quality. Specifically, parameters such as the wire target position and welding speed are used when the user plans the welding lamination procedure based on the groove cross-sectional shape information, and when each layer is welded to achieve the lamination. is set to an appropriate value by the user.

In this manner, 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. FIG.

Welding power source 4 supplies power to wire feeder 5 . Welding power supply 4 applies a voltage between steel pipe 8 and welding torch 13 . The wire feeder 5 feeds the welding wire 113 to the welding torch 13 . The welding torch 13 is connected to the wire feeder 5 via a welding torch cable 80 .

System controller 6 controls the operation of welding system 100 . The system control device 6 specifically 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 . Welding robot 1 is connected to system controller 6 via control cable 70 . The control cable 70 transmits to the welding robot 1 a control signal for controlling the welding robot 1 , which is a signal transmitted by the system control device 6 .

[Configuration of welding robot]
Next, the configuration of the welding robot 1 will be described with reference to FIGS. 1 to 3. FIG. The welding robot 1 includes a body portion 11 , a welding torch 13 and a support portion 14 . The body portion 11 is a base of the welding robot 1 . The body portion 11 includes a control portion 31 and a motor 32 . The body portion 11 includes a slide portion 12 attached to the guide rail 2 . The welding robot 1 moves in the traveling direction Dr by sliding the slide portion 12 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 portion 14 is provided between the body portion 11 and the welding torch 13 and supports the welding torch 13 . The support portion 14 has a case 21 , a bracket 22 , a panel 23 and a holder 24 .

Case 21 is provided so as to cover the outside of body portion 11 . The case 21 can be moved in the proximity/isolation direction Dh with respect to the main body 11 by, for example, a feed mechanism configured inside the case 21 . A moving portion 33 is configured by the case 21 and the bracket 22 . The moving part 33 can bring the welding torch 13 closer to and away from the steel pipe 8 by moving the case 21 with respect to the main body part 11 in the approaching and separating direction Dh.

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

The panel 23 is rotatable with respect to the bracket 22 around an axis 341 parallel to the running direction Dr. The bracket 22 and the panel 23 constitute a first angle adjuster 34 .

The holder 24 is rotatable with respect to the panel 23 around an axis 351 perpendicular to the surface of the panel 23 . A second angle adjuster 35 is configured by the panel 23 and the holder 24 .

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 adjuster 34 will be described in detail with reference to FIGS. 4 and 5. FIG. 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 at the retracted position in the welding robot 1 according to the embodiment.

As shown in FIG. 4 , the first angle adjuster 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 vertical direction Dv of the welding wire 113 supported by the tip of the welding torch 13 . The aiming angle Aw is appropriately adjusted according to the state of the welded portion of the steel pipe 8 .

Although the aiming angle Aw of the welding torch 13 is adjusted in FIG. Welding is possible. A position of the welding torch 13 within a range where welding by the welding torch 13 is possible is referred to as a welding position Pw.

Further, in the present embodiment, as shown in FIG. 5 , the first angle adjuster 34 moves the welding torch 13 from the welding position Pw to the retracted position Pr where the welding torch 13 does not interfere with the erection jig 9 . It also serves as a retraction mechanism for retracting to That is, the first angle adjuster 34 largely rotates the welding torch 13 about the axis 341 to move the welding wire 113 away from the welding portion of the steel pipe 8 to the retracted position Pr. The retracted position Pr is the position of the welding torch 13 when the welding wire 113 and the tip of the welding torch 13 supporting it do not interfere with the erection jig 9 .

The second angle adjuster 35 will be described in detail with reference to FIGS. 6 and 7. FIG. FIG. 6 is a front view showing a state in which the welding torch 13 is in the 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 adjuster 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 traveling direction Dr of the welding wire 113 supported by the tip of the welding torch 13 . The torch angle At is appropriately adjusted according to the state of the welded portion of the steel pipe 8 and the relative position between the welding robot 1 and the 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 erect welding position Pw0. That is, when the welding torch 13 is positioned at the upright welding position Pw0, the welding torch 13 stands upright at right angles to the welding direction (running direction Dr), and the same conditions apply regardless of whether the welding direction is bidirectional. Welding can be performed.

Further, as shown in FIG. 7 , the second angle adjuster 35 changes the torch angle At of the welding torch 13 to incline the welding torch 13 so that the tip of the welding torch 13 is aligned with the steel pipe 8 for assembly. Crawl between the tool 9. As a result, the portion of the steel pipe 8 covered with 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. Both the first angle adjusting section 34 and the second angle adjusting section 35 are driven by 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 photographing device 3 is attached to the welding robot 1 via an attitude adjustment mechanism 40. As shown in FIG. The photographing device 3 is attached to the welding robot 1 in a state that is not affected by the posture of the welding torch 13 . The attitude adjustment mechanism 40 and the photographing device 3 are provided at positions that do not interfere with the construction jig 9 even when the welding robot 1 is traveling.

A pair of imaging 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 running 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 capture the welding site in front of the welding robot 1, that is, the site to be welded from now on. The welding part behind the welding robot 1, that is, the welded part can be photographed by the other photographing device 3. FIG.

As shown in FIG. 9 , the attitude adjustment mechanism 40 has rails 401 , sliders 402 , arms 403 and mounts 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 photographing 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 imaging device 3 is supported by the mount 404 . The imaging device 3 is attached to the mount 404 so as to be rotatable about an axis in the vertical direction Dv. Thereby, the photographing device 3 can be rotated at an arbitrary angle around the axis along the vertical direction Dv.

Thus, the photographing device 3 can move to any position in the vertical direction Dv with respect to the welding robot 1 and can rotate at any 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.

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

[Welding system control system]
Next, the control system of welding system 100 will be described with reference to FIGS. 10 to 17. FIG. 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 programs.

More specifically, the system controller 6 causes the processor 91 to read the program stored in the storage unit 64 and store the read program in the memory 92 . The processor 91 executes a program stored in the memory 92 , whereby the system control device 6 functions as a device comprising 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 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 feeder 5 . The control unit 61 causes the imaging device 3 to perform imaging, for example. The control unit 61 controls illumination by the illumination 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 the welding robot 1, for example. The communication unit 62 communicates with the welding robot 1 via a control cable 70, for example. The communication unit 62 transmits control signals to the welding robot 1, for example. The external device is, for example, the photographing device 3 . The communication unit 62 acquires the photographing result through communication with the photographing device 3 . The external device is the welding power source 4, for example. The external device is the wire feeding device 5, for example. The external device is, for example, the illumination device 36 .

The communication unit 62 acquires information about 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 simply referred to as a target value) for control of a servo motor (motor 32) regarding movement of the welding robot 1. FIG.

The input unit 63 includes input devices such as a mouse, keyboard, and 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 . An instruction to start welding, for example, 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, for example, various information generated by execution of processing by the control unit 61 . The storage unit 64 stores, for example, the photographing result 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 erection jig shape information indicating the shape of the erection jig 9 in advance. 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 opposite to the steel pipe 8 (hereinafter also referred to as the height of the erection jig 9), and the height of the erection jig 9 and height information indicating the height of the side surface on the side of the steel pipe 8 (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 range in which the welding torch 13 can be rotated about 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. (hereinafter also referred to as the movable radius of the welding torch 13).

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, an organic EL (Electro-Luminescence) display, or the like. The output section 65 may be configured as an interface that connects these display devices to the system control device 6 . The output unit 65 outputs information input to the input unit 63, for example. 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 section 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 unit 609 .

A system operation control unit 601 controls operations of the welding robot 1 , imaging device 3 , lighting device 36 , welding power source 4 and wire feeding device 5 . 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, 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 , a retraction control section 613 and an imaging control section 614 .

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

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

The planning of welding lamination procedure means determining the layer structure (the number of layers) in which grooves are filled with metal by welding and the number of passes constituting each layer. The welding execution control unit 611 planning the welding lamination procedure means that the welding execution control unit 611 executes a predetermined computer program to determine the layer structure (number of layers) in which the groove is filled with metal by welding and each layer to determine the number of passes that make up the . However, it is not always necessary for the welding execution control section 611 to execute the planning of the welding lamination procedure. Welding stack-up planning may be performed by humans, for example. The human inputs the execution result to the system control device 6 via the input unit 63 or the like. In such a case, the welding execution control unit 611 acquires the result of human input instead of planning the welding lamination procedure. The result planned by the welding execution control unit 611 may be further modified by a human via the input unit 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 to move the welding robot 1 . That is, the movement control section 612 controls 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 movement history of the welding robot 1 because 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 when welding is continued. The retraction process is a process including a process of controlling the operation of the welding robot 1 so that the welding robot 1 does not come into contact with the construction jig 9 based on the determination result of the contact determination process. Details of the contact determination process and the save process will be described later.

The photographing control unit 614 controls the operation of the photographing device 3 and the operation of the lighting device 36 to cause the photographing device 3 to photograph the place illuminated by the lighting device 36 .

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

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

The groove image acquiring unit 603 acquires the image data of the image used as the groove image from among the results of 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. Acquired according to the position of 1. That is, the groove image acquisition unit 603 acquires image data of an image used as the groove image based on the determination result of the position determination unit 602 . The groove image is an image used for welding and showing the groove 901 . The image data of the image acquired by the groove image acquisition unit 603 is, for example, the image data acquired via the communication unit 62, and is the image data of the image captured by the imaging device 3-1 or the imaging device 3-2. be.

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

The generation unit 604 generates either or both of a first image generated by imaging the groove 901 with the imaging device on the predetermined direction side and a second image generated by imaging the groove 901 with the imaging device on the opposite side. Groove cross-sectional shape information indicating the cross-sectional shape of the groove is generated based on the data. For example, when the groove image obtaining unit 603 obtains the photographing result of the predetermined direction side photographing device but does not obtain the photographing result of the opposite side photographing device, the generation unit 604 obtains the photographing result of the predetermined direction side photographing device. The results are used to generate groove cross-sectional shape information. For example, when the groove image acquisition unit 603 does not acquire the imaging result of the imaging device on the predetermined direction side and acquires the imaging result of the opposite side imaging device, the generation unit 604 obtains the imaging result of the opposite side imaging device. is used to generate groove cross-sectional shape information. When the position determination unit 602 determines that the welding robot 1 is positioned in the third section, the generation unit 604 generates the first image and the second image according to a predetermined rule (hereinafter referred to as "generation rule"). Groove cross-sectional shape information is generated based on either one or both of.

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

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

The measurement position determination information acquisition unit 606 includes a erection jig position information acquisition unit 661, a curve end information acquisition unit 662, an intermediate position information acquisition unit 663, a weld end information acquisition unit 664, a measurement number information acquisition unit 665, and radius information. An acquisition unit 666, a roller distance information acquisition unit 667, and a curvature center distance information acquisition unit 668 are provided to acquire measurement position determination information.

The erection jig position information acquisition unit 661 acquires erection jig position information indicating the position of the erection 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 erection jig position information may be input by the user, for example, to the input unit 63, which will be described later. In this case, the erection jig position information acquired by the erection jig position information acquisition unit 661 may be the erection jig position information input to the input unit 63 . The erection jig position information is an example of information included in the measurement position determination information. Here, a more detailed example of acquisition of the erection jig position information will be described.

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

The erection jig position information acquisition unit 661 acquires the imaging result from the imaging device 3 via the storage unit 64 and the communication unit 62 . The erection jig position information acquisition unit 661 specifies the position of the marker by performing image recognition processing on the imaging result acquired by the imaging device 3 . The positions of the markers are indicated by the one-dimensional coordinates. 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 erection jig 9 in the width direction is indicated by the one-dimensional coordinates.

The curve end information acquisition unit 662 acquires curve portion start point position information indicating the start point of the curve portion of the guide rail 2 (hereinafter referred to as “curve portion start point”) and the end point of the curve portion of the guide rail 2. (hereafter referred to as “curve portion end point”). The curve portion start point position information and the curve portion end point position information are stored in advance in the storage unit 64, for example. is read out, the curve portion start point position information and the curve portion end point position information are acquired. The curve portion start point position information and the curve portion end point position information are examples of information included in the measurement position determination information.

Intermediate position information acquisition section 663 acquires intermediate position information indicating an intermediate position between the curve portion start point and the curve portion end point. The intermediate position information is stored in the storage unit 64 in advance, for example, and the intermediate position information acquisition unit 663 reads out the intermediate position information from the storage unit 64 to acquire the intermediate position information. The intermediate position information acquisition section 663 may acquire the intermediate position information by calculation based on the curve section start point position information and the curve section end point position information stored in the storage section 64 in advance, for example. Intermediate position information is an example of information included in measured position determination information.

The welding end information acquisition unit 664 acquires start end information indicating the start end of welding and end end information indicating the end end of welding. The starting point is the position of the welding robot 1 on the guide rail 2 where welding by the welding robot 1 starts. The end point is the position of the welding robot 1 on the guide rail 2 where welding by the welding robot 1 ends. The start end information and the end end information are stored in advance in the storage unit 64, for example, and the welding end information acquisition unit 664 reads out the start end information and the end end information from the storage unit 64, thereby acquiring the start end information and the end end information. get. The start edge information and the end edge 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 processing for determining the measurement position by the measurement position determination unit 605 when the measurement number information includes the erection jig position information, the start end information, the end end information, and the measurement number information will be described.

<Example of processing for determining measurement position>
FIG. 12 is an explanatory diagram for explaining the process of determining the measurement position by the measurement position determination unit 605 according to the embodiment. Position T1 in FIG. 12 is an example of the starting edge indicated by the starting edge information. A position T2 in FIG. 12 is an example of the position of the erection jig 9 indicated by the erection jig position information. In FIG. 12, the position T3 is an example of the ending edge indicated by the ending edge information. In FIG. 12, positions P1 to P14 are examples of determined positions. 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 among the positions in the candidate section as the determined positions based on the erection jig position information, the start end information, and the end end information. . The candidate section is, for example, a section on the guide rail 2 along the running direction from the start end to the end end, which satisfies the condition that the position of the erection jig 9 is not included. The determined position is a position that satisfies the condition that the guide rails 2 are positioned at regular intervals along the running direction from the start end to the end end, for example.

The radius information acquisition unit 666 acquires radius information indicating the radius of curvature of the curved portion of the guide rail 2 . For example, the radius information is already stored in the storage unit 64 in advance, 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 measured 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 roller distance information is stored in the storage unit 64 in advance, for example, and the roller distance information acquisition unit 667 reads the roller distance information from the storage unit 64 to acquire the roller distance information. The inter-roller distance information is an example of information included in the measurement position determination information.

The curvature center-to-center distance information acquisition unit 668 obtains the curvature center-to-center distance, which is the distance between the center of curvature of the guide rail 2 and the center of curvature of the steel pipe 8, which is the distance along the direction perpendicular to the straight portion of the guide rail 2. Get the curvature center-to-center distance information shown. The curvature center-to-center distance information is stored in advance in the storage unit 64, for example, and the curvature center-to-center distance information acquisition unit 668 reads the curvature center-to-center distance information from the storage unit 64 to acquire the curvature center-to-center distance information. The curvature center-to-center distance information is an example of information included in the measurement position determination information.

<Effects when Measurement Position Determination Information Includes Radius Information, Intermediate Position Information, Roller Distance Information, and Curvature Center Distance Information>
Here, the effects obtained when the measurement position determination information includes radius information, intermediate position information, inter-roller distance information, and curvature center-to-center distance information will be described with reference to FIGS. 13 to 15. FIG.

13A and 13B are first explanatory diagrams for explaining effects of measurement position determination information including radius information, intermediate position information, roller-to-roller distance information, and curvature center-to-center distance information in the embodiment. FIG. 14 is a second explanatory diagram for explaining the effect of measurement position determination information including radius information, intermediate position information, roller-to-roller distance information, and curvature center-to-center 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 the sake of simplicity, in the description, a coordinate system having a U-axis and a V-axis that are orthogonal to each other is used as a two-dimensional orthogonal coordinate system. Both the U-axis and the V-axis are orthogonal to the straight portion of the guide rail 2 . 13 to 15, curve C indicates the outer surface shape of steel pipe 8. In FIGS. FIG. 13 shows the relationship between the slide 12 and the steel pipe 8 at two locations.

A point P _L and a point P _F located on the slide portion 12 are the first roller 121 and the 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, the information indicating the position of the 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 U and V axes. In FIGS. 13 to 15, length L _roll indicates the distance between point P _L and point P _F. In FIGS. Therefore, the length L _roll is an example of inter-roller distance information.

One of the two locations (hereinafter referred to as the "first _{location "} ) is defined by an angle θ ₁ place. The other of the two locations (hereinafter referred to as the “second location”) is the location where the angle between the second straight line in the radial direction and the V-axis is (θ ₁ +θ ₂ ). The second radial straight line is perpendicular to the straight line connecting the points P _rail and P _F .

A point P _aim in FIGS. 13 to 15 is the position of the groove sensing object. Sensing is a process of photographing the welded portion of the steel pipe 8 and the erection jig 9 . The point P _aim is specifically the intersection of the straight line in the radial direction and the curve C. As shown in FIG. 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. 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, the point P _col indicates the center of curvature of the steel pipe 8. 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 the directions parallel to the V-axis and the U-axis. Therefore, the information indicating the distance d is an example of curvature center-to-center distance information.

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

FIG. 14 shows that it is possible to sense the groove of the steel pipe 8 located at the point P _aim when the slide part 12 is located at the first location. The reason why sensing is possible when the sliding portion 12 is positioned at the first location is that when the sliding portion 12 is positioned at the first location, the sliding portion 12 exists at the symmetrical center position of the R portion, so that the point This is because the straight line extending perpendicular to the straight line connecting the points P _L and P _F is perpendicular to the steel pipe 8 . The center position of symmetry means the middle position between the start point and the end point of the R portion.

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

The first location condition is that the point _PLF of the slide portion 12 is positioned 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 linear portion and the R portion of the guide rail 2 or the linear portion of the guide rail 2 . The third location condition is that the straight line connecting the points P _LF and P _col is orthogonal to the straight line connecting the points P _L and _PF .

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

FIG. 15 shows that sensing of the groove of the steel pipe 8 located at the point P _aim is possible when the sliding part 12 is located at the fourth location. A 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 positioned at the fourth location is the slide portion F1.

The fourth location condition is that the straight line connecting the points P _LF and P _col is not orthogonal to the straight line connecting the points P _L and _PF . The fourth location condition is met specifically when the distance d is greater than a predetermined value.

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

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

By moving the slide portion 12 away from the R portion of the guide rail 2 by a distance d−(L _roll /2), the point P _aim is closest to the center of symmetry of the R portion of the guide rail. 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 interval between the points P _aim at which the groove of the steel pipe 8 can be sensed can be minimized, and it is also easy to widen the interval.

On the other hand, in the case of d−(L _roll /2)<0, no movement is necessary, and sensing is performed in a state in which the roller closer to the R portion is positioned at the boundary between the R portion and the straight portion of the guide rail 2. It is possible.

In this way, when the measurement position determination information includes radius information, intermediate position information, inter-roller distance information, and curvature center-to-center distance information, it is possible to determine the position where sensing is possible and the position where sensing is not possible. Since the position where sensing is possible is a candidate for the measurement position, by determining the determination position based on the radius information, the intermediate position information, the distance information between the rollers, and the distance information between the curvature centers, the position that cannot be measured is used as the determination position. You can reduce the chance of getting stuck.

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.

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

<Details of contact determination processing>
Details of the contact determination process will be described. 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 when welding is continued. Contact position information, tilt welding start position information, and welding robot position information are used for the determination. The contact position information is information on the position of the welding robot 1 when the welding torch 13 contacts the erection jig 9 (hereinafter also referred to as contact position).

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

The contact determination process will be described in more detail. In the contact determination process, a process of 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 erection jig position information (for example, the center position of the erection jig 9 in the width direction) and the width information included in the erection jig shape information. A process of calculating the position is performed. 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 one-dimensional coordinates.

In the contact determination process, a process of acquiring the 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 tilts a position ahead of the contact position of the welding robot 1 by a predetermined allowance α in the one-dimensional coordinates (that is, the coordinates on the axis along the traveling direction Dr). A process of calculating the welding start position is executed. Information indicating the calculated tilt welding start position is the tilt welding start position information. The tilt welding start position of the welding robot 1 is indicated by the 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 during travel (hereinafter also referred to as travel position) is executed based on the welding robot position information. The travel position is indicated by the one-dimensional coordinates. In the contact determination process, a process of determining whether or not the welding torch 13 will come into contact with the construction jig 9 if welding is continued is executed based on the estimated travel position and the contact position information or the tilt welding start position information. be done. Thus, 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 is continued.

An example of contact determination processing will be described. In the contact determination process, for example, it is determined whether or not the traveling position of the welding robot 1 has reached the tilt welding start position, thereby determining whether or not the welding torch 13 will come into contact with the construction jig 9 if welding is continued. do. In the contact determination process, for example, by determining whether or not the traveling position of the welding robot 1 has reached the contact position, it is determined whether or not the welding torch 13 will come into contact with the construction jig 9 if welding is continued. good too.

<Details of save processing>
The details of the saving process will be explained. The retraction process is performed at the position of the erection jig 9 to allow the welding robot 1 to move without being hindered by the erection jig 9 . As a result, the welding robot 1 can continuously perform the initial welding of the entire circumference or a portion of the welding portion of the steel pipe 8 by executing the evacuation process at the position of the erection jig 9 . The retraction process includes a process of inclining the welding torch 13 and welding the portion of the steel pipe 8 covered with the erection jig 9 .

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

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

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

After moving the welding robot 1 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). It is brought close to the steel pipe 8. The retraction control unit 613 restarts the movement of the welding robot 1, and changes the torch angle At of the welding torch 13 by the second angle adjustment unit 35 (welding position Pw2). Weld the covered part. The retraction 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 flow chart 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 the 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 viewed from the position of the welding robot 1 among the measurement positions determined in step S101 (step S102). . The processing of step S102 updates the welding robot position information. Moreover, when the erection jig 9 exists during movement, the contact determination process and the evacuation process may be executed. Therefore, the evacuation control unit 613 may also operate during execution of the process of step S102.

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

In the process of step S104, the groove image acquisition unit 603 determines, for example, whether the imaging device 3-1 or the imaging device 3-2 should be used for imaging, or whether both should be used for imaging. decision 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 manner, the groove image obtaining unit 603 obtains the image data of the image to be used as the groove image, for example, from the result of imaging by the imaging device 3-1 and the result of imaging by the imaging device 3-2. good too.

In addition, in the process of step S104, the groove image acquiring unit 603 causes both the imaging device 3-1 and the imaging device 3-2 to take an image, for example. Next, the groove image acquisition unit 603 determines which of the two imaging results to acquire, or whether to acquire both, based on the result of the determination performed in step S103. Acquire the image data for the following image. In this manner, the groove image obtaining unit 603 obtains the image data of the image to be used as the groove image, for example, from the result of imaging by the imaging device 3-1 and the result of imaging by the imaging 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 or not 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, welding execution control unit 611 determines whether or not 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). The welding execution parameter is a parameter related to welding execution, such as a wire aim position. Next, the welding execution control unit 611 causes the welding robot 1 to perform welding based on the groove cross-sectional shape information. Specifically, the welding robot 1 performs welding using the calculated welding execution parameters (step S108). Processing 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 either or both of the image captured by the imaging device 3-1 and the image captured by the imaging device 3-2. The image data of which image is to be adopted as the image data used to generate the groove cross-sectional shape information is determined. Therefore, when 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 sunshine conditions, a more appropriate image can be selected. , can improve the quality of welding. Since the welding system 100 includes the groove image acquisition unit 603 that automatically selects image data that improves the welding quality, the welding system 100 can reduce the labor required for welding. Appropriate means that image characteristics such as brightness and resolution meet predetermined standards.

(Modification)
The groove image acquisition unit 603 acquires the position of the welding robot 1 on the guide rail 2 and the position information of the erection jig from the result of the imaging by the imaging device 3-1 and the result of the imaging by the imaging device 3-2. The image data of the image corresponding to the erection jig position information acquired by the unit 661 may be acquired as the image data of the image used as the groove image.

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 the process of step S104, the groove image acquisition unit 603 determines in step S103 which of the imaging device 3-1 and the imaging device 3-2 should be used for imaging, or whether both should be used for imaging. In the case of making a decision based on the determination result, the photographing device 3 determined to be photographed is an example of a decided photographing device. It should be noted that the groove image acquisition unit 603 determines which of the imaging device 3-1 and the imaging device 3-2, or whether both should be used for imaging, based on the result of the determination executed in step S103. is an example of the imaging device determination process.

All or part of each function of the welding system 100 may be implemented 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. Computer-readable recording media include portable media such as flexible disks, magneto-optical disks, ROMs and CD-ROMs, and storage devices such as hard disks incorporated in computer systems. The program may be transmitted over telecommunications lines.

Note that the control unit 61 may be implemented using a plurality of information processing devices that are communicably 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 apparatuses.
For example, when the position determination unit 602 determines that the welding robot 1 is positioned in the third section, the groove image acquisition unit 603 obtains the groove image as a result of imaging by the imaging device on the predetermined direction side or the opposite side. You may acquire as image data of an image.

In addition, it is possible to appropriately replace the constituent elements in the above-described embodiment with well-known constituent elements without departing from the spirit of the present invention, and the modifications described above may be combined as appropriate.

DESCRIPTION OF SYMBOLS 100... Welding system 1... Welding robot 2... Guide rail 3... Photographing device 6... System control device 8... Steel pipe 9... Construction jig 13... Welding torch 121... First roller 122... Second roller 31 Control unit 32 Motor 33 Moving unit 34 First angle adjustment unit 35 Second angle adjustment unit 61 Control unit 62 Communication unit 63 Input unit 64... Storage unit 65... Output unit 601... System operation control unit 602... Position determination unit 603... Groove image acquisition unit 604... Generation unit 605... Measurement position determination unit 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 Retreat 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 Weld end information acquisition unit 665 Measurement number information acquisition unit 666 Radius information acquisition unit 667 Roller Distance information acquisition unit 668 Curvature center distance information acquisition unit Pw Welding position Pr Retracted position 91 Processor 92 Memory

Claims (18)

A welding system that includes a welding robot that moves in a predetermined direction on a guide rail arranged along a steel material and welds the steel material, wherein the welding robot performs welding based on an image showing a groove formed in the steel material. There is
a first imaging device attached to the welding robot and capable of imaging the groove formed in the steel material;
a second imaging device which is an imaging device attached to the welding robot and which is different from the first imaging device and capable of imaging the groove;
Image data of an image used as a groove image that is an image that is used for welding and that is an image that captures the groove, out of the results of photography by the first photography device and the results of photography by the second photography device. a groove image acquisition unit that acquires, according to the position of the welding robot on the guide rail;
with
The groove image acquiring unit predetermines the position of the welding robot on the guide rail as a determined imaging device, which is an imaging device for imaging the groove, from among the first imaging device and the second imaging device. If the photographing position of the first photographing device is determined, the photographing device is determined as the first photographing device, and if the photographing position of the predetermined second photographing device is determined, the photographing device is determined as the second photographing device. obtaining image data of an image captured by the determined imaging device as image data of an image to be used as the groove image;
Welding system. A welding system that includes a welding robot that moves in a predetermined direction on a guide rail arranged along a steel material and welds the steel material, wherein the welding robot performs welding based on an image showing a groove formed in the steel material. There is
a first imaging device attached to the welding robot and capable of imaging the groove formed in the steel material;
a second imaging device which is an imaging device attached to the welding robot and which is different from the first imaging device and capable of imaging the groove;
Image data of an image used as a groove image that is an image that is used for welding and that is an image that captures the groove, out of the results of photography by the first photography device and the results of photography by the second photography device. a groove image acquisition unit that acquires, according to the position of the welding robot on the guide rail;
with
The first imaging device is a predetermined direction side imaging device positioned on the predetermined direction side of the welding robot,
The second photographing device is an opposite side photographing device located on the side opposite to the predetermined direction side of the welding robot,
Sections on the guide rail, a first section that is a section in which the predetermined direction side imaging device can photograph the groove, and a second section that is a section in which the opposite side imaging device can photograph the groove a position determination unit that determines in which of the section the welding robot is positioned;
comprising
Welding system. The groove image acquisition unit acquires the result of photography by the predetermined direction side photography device as image data of the groove image when the position determination unit determines that the welding robot is positioned in the first section. When the position determination unit determines that the welding robot is positioned in the second section, the image data of the groove image is acquired by the imaging device on the opposite side, and the position determination unit When it is determined that the welding robot is positioned in a third section, which is a section in which both the predetermined direction side imaging device and the opposite side imaging device can photograph the groove, the predetermined direction side imaging device or the Acquiring the result of imaging by the opposite side imaging device as image data of the groove image;
Welding system according to claim 2 . image data of either one or both of a first image generated by photographing the groove by the predetermined direction side photographing device and a second image generated by photographing the groove by the opposite side photographing device; a generation unit that generates groove cross-sectional shape information indicating the cross-sectional shape of the groove based on
further comprising
When the position determination unit determines that the welding robot is positioned in the third section, the generation unit generates one or both of the first image and the second image according to a predetermined rule. Generate the groove cross-sectional shape information based on
Welding system according to claim 3 . The rule is to generate the groove cross-sectional shape information based on the image data of both the first image and the second image.
The welding system according to claim 4 . According to the rule, the groove cross-sectional shape information is generated using image data of an image designated by the user as an image used for generating the groove cross-sectional shape information, out of the first image and the second image. is a rule,
The welding system according to claim 4 . The user's instruction instructs to use image data of both the first image and the second image to generate the groove cross-sectional shape information.
Welding system according to claim 6 . The user's instruction designates one of the first image and the second image as an image used to generate the groove cross-sectional shape information.
Welding system according to claim 6 . a measurement position determination unit that determines a position for measuring the cross-sectional shape of the groove based on measurement position determination information that is predetermined information regarding determination of the measurement position;
a movement control unit that controls movement of the welding robot;
further comprising
The movement control unit controls the movement of the welding robot to move the welding robot to the determined position determined by the measurement position determining unit,
After the welding robot has moved to the determined position under the control of the movement control unit, the groove image obtaining unit obtains the result of the photographing by the first photographing device and the result of photographing by the second photographing device by: acquiring image data of an image corresponding to the position of the welding robot on the guide rail as image data of an image used as the groove image;
Welding system according to any one of claims 2 to 8 . a erection jig position information acquisition unit that acquires erection jig position information indicating the position of the erection jig provided on the steel material;
further comprising
The measurement position determination information includes the erection jig position information acquired by the erection jig position information acquisition unit.
Welding system according to claim 9 . a curve end information acquisition unit for acquiring curve portion start point position information indicating a start point of a curve portion of the guide rail and curve portion end point position information indicating an end point of the curve portion;
further comprising
The measurement position determination information includes the curve portion start point position information and the curve portion end point position information acquired by the curve end information acquisition unit.
Welding system according to claim 9 or 10 . an intermediate position information acquisition unit that acquires intermediate position information indicating an intermediate position between a start point of a curved portion of the guide rail and an end point of the curved portion;
further comprising
the measurement position determination information includes the intermediate position information acquired by the intermediate position information acquisition unit;
Welding system according to any one of claims 9 to 11. a erection jig position information acquisition unit that acquires erection jig position information indicating the position of the erection jig provided on the steel material;
a weld end information acquisition unit that acquires starting end information indicating the start end of the welding and end end information indicating the end end of the welding;
a measurement number information acquisition unit that acquires measurement number information indicating the number of positions at which the cross-sectional shape of the groove is measured;
with
The measurement position determination information includes the erection jig position information acquired by the erection jig position information acquisition unit, the start end information and the end end information acquired by the weld end information acquisition unit, and measurement number information acquired by the measurement number information acquisition unit,
Welding system according to any one of claims 9 to 12. a radius information acquisition unit that acquires radius information indicating the radius of the guide rail;
an intermediate position information acquisition unit that acquires intermediate position information indicating an intermediate position between a start point of a curved portion of the guide rail and an end point of the curved portion;
a first roller that rotates to cause the welding robot to move on the guide rail in the predetermined direction;
a second roller that is different from the first roller and rotates to cause the welding robot to move on the guide rail in the predetermined direction;
a roller-to-roller distance information acquisition unit that acquires roller-to-roller distance information indicating the distance between the first roller and the second roller;
Curvature for acquiring curvature center-to-center distance information indicating a curvature center-to-center distance that is the distance between the center of curvature of the guide rail and the center of curvature of the steel material along the direction perpendicular to the straight portion of the guide rail a center-to-center distance information acquisition unit;
further comprising
The measurement position determination information includes the radius information acquired by the radius information acquisition unit, the intermediate position information acquired by the intermediate position information acquisition unit, and the roller distance information acquired by the inter-roller distance information acquisition unit. including distance information and the curvature center-to-center distance information acquired by the curvature center-to-center distance information acquiring unit;
Welding system according to any one of claims 9 to 13. A welding system that includes a welding robot that moves in a predetermined direction on a guide rail arranged along a steel material and welds the steel material, wherein the welding robot performs welding based on an image showing a groove formed in the steel material. There is
a first imaging device attached to the welding robot and capable of imaging the groove formed in the steel material;
a second imaging device which is an imaging device attached to the welding robot and which is different from the first imaging device and capable of imaging the groove;
Image data of an image used as a groove image that is an image that is used for welding and that is an image that captures the groove, out of the results of photography by the first photography device and the results of photography by the second photography device. a groove image acquisition unit that acquires, according to the position of the welding robot on the guide rail;
a erection jig position information acquisition unit that acquires erection jig position information indicating the position of the erection jig provided on the steel material by sensing processing or user input ;
has
The groove image acquisition unit selects the position of the welding robot on the guide rail and the position information of the erection jig from the results of imaging by the first imaging device and the results of imaging by the second imaging device. If the position of the welding robot and the erection jig position information obtained by the acquisition unit are the predetermined photographing positions of the first photographing device, the first photographing is performed. If it is the predetermined photographing position of the second photographing device of the device, the image data of the image of the second photographing device is acquired as the image data of the image used as the groove image .
Welding system. A welding system that includes a welding robot that moves in a predetermined direction on a guide rail arranged along a steel material and welds the steel material, wherein the welding robot performs welding based on an image showing a groove formed in the steel material. a first imaging device attached to the welding robot and capable of imaging a groove formed in the steel; and a first imaging device attached to the welding robot. Of the second imaging device, which is a different imaging device from the first imaging device and is an imaging device capable of imaging the groove, the result of imaging by the first imaging device, and the result of imaging by the second imaging device, A groove image acquisition unit that acquires image data of an image used as a groove image that is an image that is used for welding and is an image that shows the groove, according to the position of the welding robot on the guide rail. and a welding system comprising:
The image data of the image used as the groove image, out of the result of photography by the first photography device and the result of photography by the second photography device, is selected according to the position of the welding robot on the guide rail, a groove image acquisition step to be acquired;
has
In the groove image acquiring step, a determined photographing device, which is a photographing device for photographing the groove, is selected from the first photographing device and the second photographing device, and the position of the welding robot on the guide rail is predetermined. If the photographing position of the first photographing device is determined, the photographing device is determined as the first photographing device, and if the photographing position of the predetermined second photographing device is determined, the photographing device is determined as the second photographing device. and acquiring image data of an image captured by the determined imaging device as image data of an image to be used as the groove image . A welding system that includes a welding robot that moves in a predetermined direction on a guide rail arranged along a steel material and welds the steel material, wherein the welding robot performs welding based on an image showing a groove formed in the steel material. a first imaging device attached to the welding robot and capable of imaging a groove formed in the steel; and a first imaging device attached to the welding robot. Of the second imaging device, which is a different imaging device from the first imaging device and is an imaging device capable of imaging the groove, the result of imaging by the first imaging device, and the result of imaging by the second imaging device, A groove image acquisition unit that acquires image data of an image used as a groove image that is an image that is used for welding and is an image that shows the groove, according to the position of the welding robot on the guide rail. and a welding system comprising:
The image data of the image used as the groove image, out of the result of photography by the first photography device and the result of photography by the second photography device, is selected according to the position of the welding robot on the guide rail, a groove image acquisition step to be acquired;
The first photographing device is a predetermined direction side photographing device positioned on the predetermined direction side of the welding robot, and the second photographing device is positioned on the side opposite to the predetermined direction side of the welding robot. and a first section, which is a section on the guide rail and in which the predetermined direction side imaging device can photograph the groove, and the opposite side imaging device can photograph the groove. a position determination step of determining in which of a second section, which is an imageable section, the welding robot is positioned;
A welding method . A program for causing a computer to function as the welding system according to any one of claims 1 to 15 .

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