Control information generation device, control information generation method, control information generation program, welding system, and welding method

Abstract

To provide a control information generation device, a control information generation method, and a control information generation program, a welding system, and a welding method capable of generating a moving amount of a welding torch suited for movement control of the welding torch when gas shield arc-welding is carried out on an initial layer of a narrow groove.SOLUTION: A control information generation unit 23 in a control information generating device 20 processes an image captured by a photographing device 22 to generate a moving amount of a welding torch 11. The control information generation unit 23 includes a coordinate calculation unit 23d that calculates coordinates u1(yu1, zu1), u2(yu2, zu2) and l1(yl1, zl1), l2(yl2, zl2) of a top corner u1, u2 and a bottom corner l1, l2 of a narrow groove 30 from a light cutting line L1, L2, L3 in the image captured by the photographing device 22, and a moving amount calculation unit 23e that calculates a moving amount of the welding torch 11 on the basis of the coordinates of the top and bottom corners of the narrow groove 30 calculated by the coordinate calculation unit 23d.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a control information generation device, a control information generation method, a control information generation program, a welding system, and a welding method for generating a movement amount of a welding torch in a welding apparatus that performs gas shielded arc welding in the first layer of a narrow groove.

Background Art

[0002] Among the welding operations of steel materials, for example, gas shielded arc welding is generally a consumable electrode type that uses a gas of CO2 alone or a mixed gas of Ar and CO2 for shielding the molten part, and is widely used in the welding operations of general structures such as automobiles, buildings, bridges, and shipbuilding. By the way, in recent years, with the increase in the size and thickness of steel structures, the amount of welding in the manufacturing process, particularly the amount of welding in the butt welding of steel materials, has increased, and furthermore, a lot of time is required for welding operations, leading to an increase in construction costs.

[0003] As a method for improving this, the application of narrow groove gas shielded arc welding, in which a narrow groove with a small interval is multi-layer welded by the arc welding method for a thick plate thickness, can be considered. Here, "narrow groove" means that when welding steel plates with a thickness of 22 mm or more, the groove angle is 25° or less and the root gap of the groove is 7 mm to 18 mm. This narrow groove gas shielded arc welding has a smaller cross-sectional area of the welded part compared to the normal groove gas shielded arc welding, so that high welding efficiency and energy saving can be achieved, and as a result, the construction cost can be reduced. When welding steel plates with a thick plate thickness of 22 mm or more, by using narrow groove gas shielded arc welding, high welding efficiency and energy saving can be achieved, and the actual benefits are great.

[0004] However, in this "narrow groove" welding, repair work in the case of welding defects is more difficult than in normal groove welding. In particular, when gas shielded arc welding is performed in the first layer of a narrow groove, if a welding defect occurs, the repair work becomes difficult. Conventionally, as a processing device capable of suppressing the occurrence of defects in welding, for example, a processing device shown in Patent Document 1 has been proposed.

[0005] The processing device shown in Patent Document 1 is a determination process for determining the welding state using a first image that shows at least a part of the molten pool. The state includes a first state and a second state that is more unstable than the first state. When there are ripples in the molten pool, the welding is determined to be in the second state, and the determination process is executed. Then, when the welding is determined to be in the first state, the welding conditions are not corrected, and when the welding is determined to be in the second state, the welding conditions are corrected.

[0006] According to the processing device shown in Patent Document 1, the occurrence of defects in welding can be suppressed. Also, conventionally, for example, a welding automatic tracing device shown in Patent Document 2 has been proposed.

[0007] The welding automatic tracing device shown in Patent Document 2 calculates the groove shape obtained from the in-welding part visual information obtained by an ITV camera and the optical cutting line of the groove projected by laser slit light in an image processing device, obtains the torch deviation amount, and enables torch position control with a control device.

[0008] According to the welding automatic tracing device shown in Patent Document 2, by detecting and controlling the state of the welding part in real time with an ITV camera and a laser slit light emitting part, it can accurately respond to the deformation of the welding part and the backlash of the carriage, etc., and accurate welding line tracing control can be performed.

[0009] Also, conventionally, for example, an automatic welding device shown in Patent Document 3 has been proposed. The automatic welding apparatus shown in Patent Document 3 includes an optical device that irradiates a linear light beam substantially perpendicular to the welding line direction onto the weld groove, an imaging device that images the irradiated line image from a specific angle, a storage device that stores the imaged image, a coordinate extraction device that extracts the coordinates of necessary data from the stored image data, an estimation device that estimates the weld groove shape and position based on the extracted coordinate values, an arithmetic device that calculates welding conditions from the estimation results, and a control device that operates according to the welding conditions based on the calculation results.

[0010] According to the automatic welding apparatus shown in Patent Document 3, by processing the image information detected by the function of the estimation device with high precision, welding conditions can be determined with high accuracy. The weld groove position and shape can be estimated from a single piece of image information, and thereby a number of welding conditions can be determined.

Prior Art Documents

Patent Documents

[0011]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0012] However, the processing apparatus shown in the conventional Patent Document 1, the welding automatic tracing apparatus shown in Patent Document 2, and the automatic welding apparatus shown in Patent Document 3 had the following problems.

[0013] That is, in the case of the processing apparatus disclosed in Patent Document 1, the brightness of the image changes depending on the imaging state of the molten pool, and there is a high possibility of misjudgment, making it impossible to determine accurate welding conditions and potentially unable to suppress the occurrence of defects in welding. Also, when dealing with a narrow groove, especially when the thickness of the plate to be welded is thick, it becomes difficult to image the molten pool of the first layer, making it impossible to determine accurate welding conditions and potentially unable to suppress the occurrence of defects in welding.

[0014] Further, in the case of the automatic welding tracing apparatus disclosed in Patent Document 2, the groove shape in a state where welding has been once performed at the groove is calculated by an image processing apparatus, the deviation amount of the welding torch is obtained, and the torch position can be controlled by a control apparatus. Therefore, it is not suitable for the movement control of the welding torch when performing gas shielded arc welding in the first layer of a narrow groove.

[0015] Also, in the case of the automatic welding apparatus disclosed in Patent Document 3, the V-shaped groove shape and position are estimated by an estimation apparatus, and the welding conditions are calculated by an arithmetic apparatus from the estimation result by the estimation apparatus. Therefore, when welding steel plates with a thickness of 22 mm or more, it is not suitable for the movement control of the welding torch when performing gas shielded arc welding in the first layer of a "narrow groove" with a groove angle of 25° or less and a bottom groove gap of 7 mm to 18 mm.

[0016] Therefore, the present invention has been made to solve this conventional problem, and its object is to generate a movement amount of a welding torch suitable for the movement control of the welding torch when performing gas shielded arc welding in the first layer of a narrow groove, appropriately perform the position control of the welding torch, and provide a control information generation apparatus, a control information generation method, a control information generation program, a welding system, and a welding method capable of preventing the occurrence of defects during welding.

Means for Solving the Problem

[0017] In order to solve the above problems, a control information generation device according to an aspect of the present invention is a control information generation device that generates the movement amount of a welding torch in a welding device that performs gas shielded arc welding on steel plates with a thickness of 22 mm or more in a first layer with a narrow groove having a groove opening angle of 25° or less and a bottom groove opening gap of 7 mm to 18 mm. In the control information generation device in which the welding device includes a welding torch, a welding torch movement mechanism that moves the welding torch, and a control device that controls the welding torch movement mechanism, a projection light irradiation device that irradiates the narrow groove with projection light, a photographing device that photographs a light cutting line formed by the projection light irradiated on the narrow groove by the projection light irradiation device, and a control information generation unit that performs image processing on the photographed image photographed by the photographing device to generate the movement amount of the welding torch. The control information generation unit includes a coordinate calculation unit that calculates the coordinates of the top surface corner and the bottom surface corner of the narrow groove from the light cutting line in the photographed image photographed by the photographing device, a movement amount calculation unit that calculates the movement amount of the welding torch based on the coordinates of the top surface corner and the bottom surface corner of the narrow groove calculated by the coordinate calculation unit, and a control information output unit that outputs the movement amount of the welding torch calculated by the movement amount calculation unit to the control device. The coordinate calculation unit distinguishes between a top surface projection light cutting line formed by the projection light irradiated on the top surface of the narrow groove, a bottom surface projection light cutting line formed by the projection light irradiated on the bottom surface of the narrow groove, and a side surface projection light cutting line formed by the projection light irradiated on the side surface of the narrow groove, performs linear approximation on the distinguished top surface projection light cutting line, bottom surface projection light cutting line, and side surface projection light cutting line to obtain approximate expressions, and calculates the coordinates of the top surface corner and the bottom surface corner of the narrow groove by calculating the intersection points of the respective approximate expressions.

[0018] Moreover, a control information generation method according to another aspect of the present invention is a control information generation method for generating the movement amount of a welding torch in a welding apparatus that performs gas shielded arc welding on steel plates with a thickness of 22 mm or more in a first layer with a narrow groove having a groove opening angle of 25° or less and a root opening gap of 7 mm to 18 mm. In the control information generation method, the welding apparatus includes a welding torch, a welding torch movement mechanism for moving the welding torch, and a control device for controlling the welding torch movement mechanism. The method includes a projection light irradiation step in which a projection light irradiation device irradiates the narrow groove with projection light, a photographing step in which a photographing device photographs a light cutting line formed by the projection light irradiated to the narrow groove in the projection light irradiation step, and a control information generation step in which a control information generation unit processes the photographed image obtained in the photographing step to generate the movement amount of the welding torch. The control information generation step includes a coordinate calculation step of calculating the coordinates of the top surface corner and the bottom surface corner of the narrow groove from the light cutting line in the photographed image obtained in the photographing step, a movement amount calculation step of calculating the movement amount of the welding torch based on the coordinates of the top surface corner and the bottom surface corner of the narrow groove calculated in the coordinate calculation step, and a control information output step of outputting the movement amount of the welding torch calculated in the movement amount calculation step to the control device. In the coordinate calculation step, the top surface projection light cutting line formed by the projection light irradiated to the top surface of the narrow groove, the bottom surface projection light cutting line formed by the projection light irradiated to the bottom surface of the narrow groove, and the side surface projection light cutting line formed by the projection light irradiated to the side surface of the narrow groove are distinguished, linear approximation is performed on the distinguished top surface projection light cutting line, bottom surface projection light cutting line, and side surface projection light cutting line to obtain approximate expressions, and the coordinates of the top surface corner and the bottom surface corner of the narrow groove are calculated by calculating the intersection points of the respective approximate expressions.

[0019] Further, a control information generation program according to another aspect of the present invention is a control information generation program that generates the movement amount of a welding torch in a welding apparatus that performs gas shielded arc welding on steel plates with a thickness of 22 mm or more in the first layer of a narrow groove with a groove opening angle of 25° or less and a bottom groove opening gap of 7 mm to 18 mm. In the control information generation program in which the welding apparatus includes a welding torch, a welding torch movement mechanism that moves the welding torch, and a control device that controls the welding torch movement mechanism, a control information generation unit that constitutes a computer includes a projection light irradiation control step of controlling a projection light irradiation device so as to irradiate the narrow groove with projection light, a photographing control step of controlling a photographing device so as to photograph a light cutting line formed by the projection light irradiated from the projection light irradiation device to the narrow groove by controlling the projection light irradiation device in the projection light irradiation control step, and a control information generation step of performing image processing on a photographed image photographed by the photographing device by controlling the photographing device in the photographing control step to generate the movement amount of the welding torch. The control information generation step includes a coordinate calculation step of calculating the coordinates of the top surface corner and the bottom surface corner of the narrow groove from the light cutting line in the photographed image, a movement amount calculation step of calculating the movement amount of the welding torch based on the coordinates of the top surface corner and the bottom surface corner of the narrow groove calculated in the coordinate calculation step, and a control information output step of outputting the movement amount of the welding torch calculated in the movement amount calculation step to the control device. In the coordinate calculation step, a top surface projection light cutting line formed by the projection light irradiated on the top surface of the narrow groove, a bottom surface projection light cutting line formed by the projection light irradiated on the bottom surface of the narrow groove, and a side surface projection light cutting line formed by the projection light irradiated on the side surface of the narrow groove are distinguished, a linear approximation is performed on the distinguished top surface projection light cutting line, bottom surface projection light cutting line, and side surface projection light cutting line to obtain an approximation formula, and the coordinates of the top surface corner and the bottom surface corner of the narrow groove are calculated by calculating the intersection points of the respective approximation formulas.

[0020] Further, a welding system according to another aspect of the present invention includes the above-described control information generation device and a welding device that performs gas shielded arc welding on steel plates with a thickness of 22 mm or more in a first layer with a narrow groove having a groove angle of 25° or less and a root opening gap of 7 mm to 18 mm. The welding device includes a welding torch, a welding torch moving mechanism that moves the welding torch, and a control device that controls the welding torch moving mechanism. The gist is that the control device controls the welding torch moving mechanism based on the movement amount of the welding torch generated and output by the control information generation device to move the welding torch.

[0021] Further, a welding method according to another aspect of the present invention is characterized in that, based on the movement amount of the welding torch generated and output by the above-described control information generation method, the control device controls the welding torch moving mechanism to move the welding torch, and gas shielded arc welding is performed on steel plates with a thickness of 22 mm or more in a first layer with a narrow groove having a groove angle of 25° or less and a root opening gap of 7 mm to 18 mm.

Advantages of the Invention

[0022] According to the control information generation device, control information generation method, control information generation program, welding system, and welding method of the present invention, it is possible to generate a movement amount of the welding torch suitable for movement control of the welding torch when performing gas shielded arc welding in the first layer with a narrow groove, appropriately perform position control of the welding torch, and prevent the occurrence of defects during welding. The narrow groove has a smaller angle between the side surface and the bottom surface compared to a general groove. Therefore, in the first-layer welding of the narrow groove, heat from the arc is likely to be insufficient at the bottom corner of the narrow groove, and incomplete penetration occurs when the distance between the welding torch and the bottom corner of the narrow groove increases. Also, when the distance between the welding torch and the side surface of the narrow groove decreases, an arc climbing phenomenon on the side surface of the narrow groove occurs, making the welding unstable. Thus, in the first-layer welding of the narrow groove, there was a specific problem that the soundness of the welded part and the weldability deteriorated due to the welding torch being in an inappropriate position. To solve this, in the control information generation device, control information generation method, control information generation program, welding system, and welding method according to the present invention, the coordinates of the top corner and bottom corner of the narrow groove are calculated, and the movement amount of the welding torch is calculated based on the calculated coordinates of the top corner and bottom corner of the narrow groove, and the movement of the welding torch is controlled. By performing such control, it becomes possible to perform welding with the position of the welding torch optimized over the entire length of the welding location, advantageously solving the problems of the soundness and weldability of the first-layer welded part of the narrow groove.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0024] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, the drawings are schematic. Therefore, it should be noted that the relationship between the thickness and the planar dimensions, the ratio, etc. are different from the actual ones, and there are also portions where the dimensional relationships and ratios are different between the drawings.

[0025] Also, the embodiments shown below are examples of devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention does not specify the materials, shapes, structures, arrangements, etc. of the components in the following embodiments.

[0026] FIG. 1 shows a welding system including a control information generation device according to an embodiment of the present invention. Also, FIG. 2 shows the state of the light cutting line by the projection light irradiated on the narrow groove. In FIGS. 1 and 2, reference numeral 31 is a backing material. The welding system 1 shown in FIG. 1 includes a welding device 10 that performs gas shielded arc welding on the steel plates S1 and S2 each having a plate thickness t1 and t2 (see FIG. 2) of 22 mm or more in the first layer of a narrow groove 30 having a groove angle θ of 25° or less and a root opening gap FG of 7 mm to 18 mm, and a control information generation device 20 that generates the movement amount of the welding torch 11 in the welding device 10.

[0027] As shown in FIG. 1, the welding device 10 includes a welding torch 11 that performs gas shielded arc welding for performing gas shielded arc welding on the above-mentioned steel plates S1 and S2 in the first layer of the narrow groove 30, a welding torch moving mechanism 12 that moves the welding torch 11 in the x direction in which the narrow groove 30 extends, the y direction orthogonal to the x direction in the horizontal plane, and the z direction orthogonal to the x direction and the y direction, and a control device 13 that controls the welding torch moving mechanism 12.

[0028] The narrow groove 30 has a groove angle θ of 25° or less and a root opening gap FG of 7 mm to 18 mm at the butting end of the two steel plates S1 and S2 to be welded. When the thicknesses t1 and t2 of the two steel plates S1 and S2 to be welded are both 22 mm or more, narrow groove gas shielded arc welding is applied to achieve high welding efficiency, energy saving, and reduction of construction costs.

[0029] When performing gas shielded arc welding in the first layer of this narrow groove, if welding defects occur, the repair work will be difficult. Therefore, the control information generation device 20 of this embodiment generates the movement amount of the welding torch 11 suitable for the movement control of the welding torch 11, and based on the generated movement amount of the welding torch 11, the control device 13 controls the welding torch movement mechanism 12 to move the welding torch 11 while performing gas shielded arc welding in the first layer of the aforementioned narrow groove 30.

[0030] Gas shielded arc welding by the welding torch 11 is, for example, TIG (Tungsten Inert Gas) welding, MIG (Metal Inert Gas) welding, MAG (Metal Active Gas) welding, or carbon dioxide gas arc welding.

[0031] A wire (consumable electrode) is supplied to the welding torch 11 from a wire supply unit (not shown), and shield gas is supplied from a gas supply unit (not shown). Then, the welding torch 11 moves in the direction in which the narrow groove 30 extends while ejecting the shield gas around the wire, and performs gas shielded arc welding in the first layer of the narrow groove 30 of the two steel plates S1 and S2 to be welded. The welding torch 11 also performs gas shielded arc welding in the second layer and subsequent layers of the narrow groove 30.

[0032] The welding torch movement mechanism 12 moves the welding torch 11 in the x direction in which the narrow groove 30 extends, the y direction orthogonal to the x direction in the horizontal plane, and the z direction orthogonal to the x direction and the y direction.

[0033] When performing gas shielded arc welding in the first layer of the narrow groove 30, the control device 13 controls the welding torch movement mechanism 12 based on the movement amount of the welding torch 11 generated by the control information generation device 20, and moves it in the x direction in which the narrow groove 30 extends, the y direction orthogonal to the x direction in the horizontal plane, and the z direction orthogonal to the x direction and the y direction. Further, the control device 13 controls each element of the welding torch 11, and also controls the wire supply speed by the wire supply unit, the flow rate of the shielding gas by the gas supply unit, the potential at the tip of the wire, the current flowing through the tip of the wire, and the like.

[0034] Further, the control information generation device 20 generates the movement amount of the welding torch 11 before welding the first layer of the narrow groove 30. The control information generation device 20 includes a projection light irradiation device 21 that irradiates the narrow groove 30 with projection light, a photographing device 22 that photographs the light cutting lines L1, L2, L3 (see FIG. 2) by the projection light irradiated on the narrow groove 30 by the projection light irradiation device 21, and a control information generation unit 23 that generates the movement amount of the welding torch 11 by performing image processing on the photographed image photographed by the photographing device 22.

[0035] The projection light irradiation device 21 is composed of, for example, a line laser irradiation device that irradiates the narrow groove 30 with laser light. The projection light irradiation device 21 irradiates the projection light in a direction perpendicular to the narrow groove 30. The projection light irradiation device 21 is attached to a moving device (not shown) that moves on a rail 24 extending parallel to the direction in which the narrow groove 30 extends, and moves on the rail 24 by the moving device. The projection light irradiation device 21 is controlled by a projection light irradiation control unit 23a (to be described later) of the control information generation unit 23, and irradiates the narrow groove 30 with projection light at predetermined intervals while moving on the rail 24 by the moving device.

[0036] As described above, the imaging device 22 captures the light cutting lines L1, L2, and L3 formed by the projection light irradiated on the narrow slit tip 30 by the projection light irradiation device 21. The imaging device 22 is configured by a camera. A band-pass filter may be attached to this camera. The imaging device 22 is also attached to the moving device to which the projection light irradiation device 21 is attached, and moves on the rail 24 simultaneously with the projection light irradiation device 21 by the moving device. The imaging device 22 is controlled by a later-described imaging control unit 23b of the control information generation unit 23 to move on the rail 24 by the moving device and capture the light cutting lines L1, L2, and L3 formed by the projection light irradiated on the narrow slit tip 30 at predetermined intervals.

[0037] As described above, the control information generation unit 23 performs image processing on the captured image captured by the imaging device 22 to generate the movement amount of the welding torch 11. Specifically describing the control information generation unit 23, as shown in FIG. 3, the control information generation unit 23 includes a projection light irradiation control unit 23a, an imaging control unit 23b, an imaging image acquisition unit 23c, a coordinate calculation unit 23d, a movement amount calculation unit 23e, a movement amount recording unit 23f, and a control information output unit 23g.

[0038] The projection light irradiation control unit 23a controls the projection light irradiation device 21 so as to irradiate the narrow slit tip 30 with the projection light while moving the projection light irradiation device 21 on the rail 24 by the moving device.

[0039] Further, the imaging control unit 23b controls the imaging device 22 to capture the light cutting lines L1, L2, and L3 formed by the projection light irradiated from the projection light irradiation device 21 to the narrow slit tip 30. Further, the imaging image acquisition unit 23c acquires the captured image captured by the imaging device 22.

[0040] Further, the coordinate calculation unit 23d performs image processing on the captured image acquired by the imaging image acquisition unit 23c to calculate the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corners u1, u2 of the narrow slit tip 30 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corners l1, l2 from the light cutting lines L1, L2, and L3 in the captured image. Specifically describing the coordinate calculation process by the coordinate calculation unit 23d, first, the coordinate calculation unit 23d distinguishes the horizontal light cutting lines L1 and L2 (left - right direction in FIG. 2) and the vertical light cutting line L3 (up - down direction in FIG. 2) in the captured image and acquires the coordinate information of these light cutting lines L1, L2, and L3. The horizontal light cutting line L1 is the top - surface projection light cutting line L1 formed by the projection light irradiated on one side (left side in FIG. 2) of the top surface 30a of the narrow slit tip 30 and the top - surface projection light cutting line L1 formed by the projection light irradiated on the other side (right side in FIG. 2) of the top surface 30b of the narrow slit tip 30. The horizontal light cutting line L2 is the bottom - surface projection light cutting line L2 formed by the projection light irradiated on the bottom surface 30c of the narrow slit tip 30. Also, the vertical light cutting line L3 is the side - surface projection light cutting line L3 formed by the projection light irradiated on one side surface 30d of the narrow slit tip 30 and the side - surface projection light cutting line L3 formed by the projection light irradiated on the other side surface 30e of the narrow slit tip 30 in the captured image.

[0041] Also, the coordinate calculation unit 23d performs a process of distinguishing the horizontal light cutting lines L1 and L2 in the captured image, and distinguishes the top - surface projection light cutting line L1 formed by the projection light irradiated on one side of the top surface 30a of the narrow slit tip 30 and the top - surface projection light cutting line L1 formed by the projection light irradiated on the other side of the top surface 30b of the narrow slit tip 30 from the bottom - surface projection light cutting line L2 formed by the projection light irradiated on the bottom surface 30c of the narrow slit tip 30.

[0042] Furthermore, the coordinate calculation unit 23d performs linear approximation on the distinguished top - surface projection light cutting line L1 formed by the projection light irradiated on one side of the top surface 30a of the narrow slit tip 30 and the top - surface projection light cutting line L1 formed by the projection light irradiated on the other side of the top surface 30b of the narrow slit tip 30, the bottom - surface projection light cutting line L2 formed by the projection light irradiated on the bottom surface 30c of the narrow slit tip 30, and the side - surface projection light cutting line L3 formed by the projection light irradiated on one side surface 30d of the narrow slit tip 30 and the side - surface projection light cutting line L3 formed by the projection light irradiated on the other side surface 30e of the narrow slit tip 30 in the captured image to obtain an approximate formula.

[0043] Further, the coordinate calculation unit 23d calculates the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corner portions u1, u2 of the narrow slit tip 30 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corner portions l1, l2 by calculating the intersection points of the approximate lines of the top surface projection light cutting line L1 formed by the projection light irradiated on the obtained one-sided top surface 30a, the top surface projection light cutting line L1 formed by the projection light irradiated on the other-sided top surface 30b, the bottom surface projection light cutting line L2, the side surface projection light cutting line L3 formed by the projection light irradiated on the one-sided side surface 30d, and the side surface projection light cutting line L3 formed by the projection light irradiated on the other-sided side surface 30e.

[0044] Further, the movement amount calculation unit 23e calculates the movement amount of the welding torch 11 based on the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corner portions u1, u2 of the narrow slit tip 30 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corner portions l1, l2 calculated by the coordinate calculation unit 23d. Specifically, the movement amount calculation unit 23e calculates the movement amount of the welding torch 11 from the information on the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corner portions u1, u2 of the narrow slit tip 30 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corner portions l1, l2 calculated by the coordinate calculation unit 23d, the position information of the welding torch 11, and the information on the appropriate position range of the welding torch 11 determined in advance. The movement amount of the welding torch 11 is the distance in the x direction in which the narrow slit tip 30 extends, the y direction orthogonal to the x direction in the horizontal plane, and the z direction orthogonal to the x direction and the y direction, which the welding torch 11 should be moved from the current position of the welding torch 11. The position information of the welding torch 11 is acquired by the movement amount calculation unit 23e from the control device 13.

[0045] Further, the movement amount recording unit 23f records the movement amount of the welding torch 11 calculated by the movement amount calculation unit 23e. Furthermore, the control information output unit 23g outputs the movement amount of the welding torch 11 recorded by the movement amount recording unit 23f to the control device 13.

[0046] Then, when welding the first layer of the narrow groove 30, the control device 13 controls the welding torch movement mechanism 12 based on the movement amount of the welding torch 11 generated by the control information generation device 20 and output from the control information output unit 23g, and while moving the welding torch 11 in the aforementioned x, y, and z directions, the welding torch 11 welds the steel plates S1 and S2 with plate thicknesses t1 and t2 of 22 mm or more by gas shielded arc welding in the first layer of the narrow groove 30 with a groove angle θ of 25° or less and a root gap G of 7 mm to 18 mm.

[0047] In addition, when welding the second layer and subsequent layers of the narrow groove 30, the control device 13 controls the welding torch movement mechanism 12 in a normal control pattern to move the welding torch 11 in the x, y, and z directions, and performs gas shielded arc welding in the second layer and subsequent layers of the narrow groove 30.

[0048] Next, referring to FIG. 6, the hardware configuration of the control information generation unit 23 will be described. The control information generation unit 23 is composed of an arithmetic processing unit 231 including a CPU 232. An internal storage device 234 such as a RAM and a ROM, an external storage device 235, an input device 236 such as a keyboard and a mouse, and an output device 237 that outputs the movement amount of the welding torch 11 are connected to the CPU 232 via an internal bus 233.

[0049] The external storage device 235 of the control information generation unit 23 includes a disk drive capable of reading, such as a hard disk drive or a solid state drive, and a drive device such as a CD, DVD, or BD drive that reads data from the recording medium 238. A recording medium 238 storing a control information generation program for causing the control information generation unit 23 to execute a determination step (step S1 described later), a projection light irradiation control step (step S2 described later) for controlling the projection light irradiation device 21 to irradiate the narrow slit tip 30 with projection light, a photographing control step (step S4 described later) for controlling the photographing device 22 to photograph the light cutting lines L1, L2, and L3 formed by the projection light irradiated from the projection light irradiation device 21 to the narrow slit tip 30, and a control information generation step (step S6 described later) for performing image processing on the photographed image captured by the photographing device 22 to generate the movement amount of the welding torch 11 is set in this external storage device 235, and the read control information generation program is installed in the disk drive. The installation of this control information generation program is not limited to the case of using the recording medium 238, and the control information generation program may be downloaded via a network.

[0050] The CPU 232 of the control information generation unit 23 executes a projection light irradiation control step (step S2 described later), a photographing control step (step S4 described later), and a control information generation step (step S6 described later) according to the instructions of the installed program, and outputs a command to output the generated information on the movement amount of the welding torch 11 from the output device 237 to the control device 13.

[0051] Next, the processing flow in the control information generation device 20 will be described with reference to FIGS. 4 and 5. FIG. 4 is a flowchart for explaining the processing flow in the control information generation device shown in FIG. 1. FIG. 5 is a flowchart for explaining the processing flow of step S6 (control information generation step) in the flowchart shown in FIG. 4.

[0052] First, in step S1, the control information generation unit 23 of the control information generation device 20 determines whether it is before the welding of the first layer of the narrow groove 30 (determination step). The control information generation unit 23 acquires information on the welding state of the narrow groove 30 from the control device 13.

[0053] If the determination result is YES, the process proceeds to step S2. If the determination result is NO, the process in the control information generation device 20 ends. In step S2, since it is the welding of the first layer of the narrow groove 30, before performing the welding, the projection light irradiation control unit 23a of the control information generation unit 23 of the control information generation device 20 controls the projection light irradiation device 21 to irradiate the narrow groove 30 with projection light at a predetermined interval while moving the projection light irradiation device 21 on the rail 24 by a moving device (projection light irradiation control step).

[0054] Then, in step S3, the projection light irradiation device 21 of the control information generation device 20 irradiates the narrow groove 30 with projection light in a direction perpendicular to the narrow groove 30 at a predetermined interval (projection light irradiation step).

[0055] Next, in step S4, the imaging control unit 23b of the control information generation unit 23 of the control information generation device 20 controls to image the light cutting lines L1, L2, and L3 formed by the projection light irradiated from the projection light irradiation device 21 to the narrow groove 30 in step S3 (projection light irradiation step) (imaging control step). At this time, the imaging control unit 23b moves the imaging device 22 on the rail 24 by a moving device.

[0056] Then, in step S5, the imaging device 22 of the control information generation device 20 images the light cutting lines L1, L2, and L3 formed by the projection light irradiated to the narrow groove 30 in step S3 (projection light irradiation step) (imaging step).

[0057] Next, in step S6, the control information generation unit 23 of the control information generation device 20 performs image processing on the captured image captured in step S5 (imaging step) to generate the movement amount of the welding torch 11 (control information generation step).

[0058] Referring to Fig. 5, the specific process of the processing in this step S6 (control information generation step) will be described. First, in step S61, the captured image acquisition unit 23c of the control information generation unit 23 acquires the captured image captured in step S5 (imaging step) (captured image acquisition step).

[0059] Next, in step S62, the coordinate calculation unit 23d of the control information generation unit 23 performs image processing on the captured image acquired in step S61 (captured image acquisition step), and calculates the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corners u1, u2 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corners l1, l2 of the narrow opening tip 30 from the light cutting lines L1, L2, L3 in the captured image (coordinate calculation step).

[0060] Specifically describing the coordinate calculation process by the coordinate calculation unit 23d, as described above, first, the coordinate calculation unit 23d distinguishes the horizontal light cutting lines L1, L2 and the vertical light cutting line L3 in the captured image and acquires the coordinate information of these light cutting lines L1, L2, L3. The horizontal light cutting line L1 is the top surface projection light cutting line L1 formed by the projection light irradiated on one side (the left side in Fig. 2) of the top surface 30a of the narrow opening tip 30 and the top surface projection light cutting line L1 formed by the projection light irradiated on the other side (the right side in Fig. 2) of the top surface 30b of the narrow opening tip 30. The horizontal light cutting line L2 is the bottom surface projection light cutting line L2 formed by the projection light irradiated on the bottom surface 30c of the narrow opening tip 30. Also, the vertical light cutting line L3 is the side surface projection light cutting line L3 formed by the projection light irradiated on one side surface 30d of the narrow opening tip 30 and the side surface projection light cutting line L3 formed by the projection light irradiated on the other side surface 30e of the narrow opening tip 30 in the captured image.

[0061] In addition, the coordinate calculation unit 23d performs a process of distinguishing the horizontal light cutting lines L1, L2 in the captured image, and distinguishes the top surface projection light cutting line L1 formed by the projection light irradiated on one side top surface 30a of the narrow opening tip 30 and the top surface projection light cutting line L1 formed by the projection light irradiated on the other side top surface 30b of the narrow opening tip 30 from the bottom surface projection light cutting line L2 formed by the projection light irradiated on the bottom surface 30c of the narrow opening tip 30.

[0062] Furthermore, the coordinate calculation unit 23d performs linear approximation on the top surface projection light cut line L1 formed by the projection light irradiated on one side top surface 30a of the narrow slit tip 30 and the top surface projection light cut line L1 formed by the projection light irradiated on the other side top surface 30b of the narrow slit tip 30 in the distinguished captured image, the bottom surface projection light cut line L2 formed by the projection light irradiated on the bottom surface 30c of the narrow slit tip 30, and the side surface projection light cut lines L3 formed by the projection light irradiated on one side side surface 30d of the narrow slit tip 30 and the side surface projection light cut lines L3 formed by the projection light irradiated on the other side side surface 30e of the narrow slit tip 30 in the captured image to obtain an approximate formula.

[0063] Also, the coordinate calculation unit 23d calculates the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corners u1, u2 of the narrow slit tip 30 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corners l1, l2 of the narrow slit tip 30 by calculating the intersection points of the approximate lines of the top surface projection light cut line L1 formed by the projection light irradiated on the calculated one side top surface 30a, the top surface projection light cut line L1 formed by the projection light irradiated on the other side top surface 30b, the bottom surface projection light cut line L2, the side surface projection light cut line L3 formed by the projection light irradiated on one side side surface 30d, and the side surface projection light cut line L3 formed by the projection light irradiated on the other side side surface 30e.

[0064] Next, in step S63, the movement amount calculation unit 23e of the control information generation unit 23 calculates the movement amount of the welding torch based on the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corners u1, u2 of the narrow slit tip 30 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corners l1, l2 of the narrow slit tip 30 calculated in step S62 (coordinate calculation step) (movement amount calculation step). Specifically, the movement amount calculation unit 23e calculates the movement amount of the welding torch 11 from the information on the coordinates u1(yu1, zu1), u2(yu2, zu2) of the top surface corners u1, u2 of the narrow slit tip 30 and the coordinates l1(yl1, zl1), l2(yl2, zl2) of the bottom surface corners l1, l2 calculated by the coordinate calculation unit 23d, the position information of the welding torch 11, and the information on the proper position range of the welding torch 11 determined in advance.

[0065] Next, in step S64, the movement amount recording unit 23f of the control information generation unit 23 records the movement amount of the welding torch calculated in step S63 (movement amount calculation step) (movement amount recording step).

[0066] Next, in step S65, the control information output unit 23g of the control information generation unit 23 outputs the movement amount of the welding torch 11 recorded in step S64 (movement amount recording step) to the control device 13 (control information output step).

[0067] Thereby, step S6 (control information generation step) ends, and the processing in the control information generation device 20 ends. Then, when welding the first layer of the narrow groove 30, the control device 13 controls the welding torch movement mechanism 12 based on the movement amount of the welding torch 11 generated by the control information generation device 20 and output from the control information output unit 23g, and moves the welding torch 11 in the aforementioned x, y, and z directions. While moving, gas shielded arc welding is performed on the first layer of the narrow groove 30 with the groove angle θ of 25° or less and the bottom groove gap G of 7 mm to 18 mm between the steel plates S1 and S2 with plate thicknesses t1 and t2 of 22 mm or more.

[0068] As described above, according to the control information generation device 20 according to the present embodiment, there are provided a projection light irradiation device 21 that irradiates the slit tip 30 with projection light, a photographing device 22 that photographs the light cutting lines L1, L2, and L3 formed by the projection light irradiated on the slit tip 30 by the projection light irradiation device 21, and a control information generation unit 23 that performs image processing on the photographed image photographed by the photographing device 22 to generate the movement amount of the welding torch 11. Further, the control information generation unit 23 includes a coordinate calculation unit 23d that calculates the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top surface corner portions u1, u2 and the bottom surface corner portions l1, l2 of the slit tip 30 from the light cutting lines L1, L2, and L3 in the photographed image photographed by the photographing device 22. The control information generation unit 23 includes a movement amount calculation unit 23e that calculates the movement amount of the welding torch 11 based on the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top surface corner portions u1, u2 and the bottom surface corner portions l1, l2 of the slit tip 30 calculated by the coordinate calculation unit 23d, and a movement amount recording unit 23f that records the movement amount of the welding torch 11 calculated by the movement amount calculation unit 23e. The control information generation unit 23 includes a control information output unit 23g that outputs the movement amount of the welding torch 11 recorded by the movement amount recording unit 23f to a control device 13 that controls a welding torch movement mechanism 12 that moves the welding torch 11. Then, in the coordinate calculation unit 23d, the top surface projection light cutting lines L1, L1 formed by the projection light irradiated on the top surfaces 30a, 30b of the slit tip 30, the bottom surface projection light cutting line L2 formed by the projection light irradiated on the bottom surface 30c of the slit tip 30, and the side surface projection light cutting lines L3, L3 formed by the projection light irradiated on the side surfaces 30d, 30e of the slit tip 30 are distinguished. Further, in the coordinate calculation unit 23d, linear approximation is performed on the distinguished top surface projection light cutting lines L1, L1, the bottom surface projection light cutting line L2, and the side surface projection light cutting lines L3, L3 to obtain approximation formulas, and the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top surface corner portions u1, u2 and the bottom surface corner portions l1, l2 of the slit tip 30 are calculated by calculating the intersection points of the respective approximation formulas.

[0069] As a result, when performing gas shielded arc welding in the first layer of the narrow groove 30, it is possible to generate the moving amount of the welding torch 11 suitable for the movement control of the welding torch 11, and to appropriately perform the position control of the welding torch 11. As a result, it is possible to prevent the occurrence of defects during welding. Also, according to the control information generation method according to this embodiment, a projection light irradiation step (step S3) in which the projection light irradiation device 21 irradiates the narrow slit tip 30 with projection light, a photographing step (step S5) in which the photographing device 22 photographs the light cutting lines L1, L2, and L3 formed by the projection light irradiated to the narrow slit tip 30 in the projection light irradiation step (step S3), and a control information generation step (step S6) in which the control information generation unit 23 performs image processing on the photographed image photographed in the photographing step (step S5) to generate the movement amount of the welding torch 11. Further, the control information generation step (step S6) includes a coordinate calculation step (step S62) for calculating the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top surface corners u1, u2 and the bottom surface corners l1, l2 of the narrow slit tip 30 from the light cutting lines L1, L2, and L3 in the photographed image photographed in the photographing step (step S5). Further, the control information generation step (step S6) includes a movement amount calculation step (step S63) for calculating the movement amount of the welding torch 11 based on the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top surface corners u1, u2 and the bottom surface corners l1, l2 of the narrow slit tip 30 calculated in the coordinate calculation step (step S62), and a movement amount recording step (step S64) for recording the movement amount of the welding torch 11 calculated in the movement amount calculation step (step S63). Further, the control information generation step (step S6) includes a control information output step (step S65) for outputting the movement amount of the welding torch 11 recorded in the movement amount recording step (step S64) to the control device 13 that controls the welding torch movement mechanism 12 that moves the welding torch 11. And in the coordinate calculation step (step S62), the top surface projection light cutting lines L1, L1 formed by the projection light irradiated to the top surfaces 30a, 30b of the narrow slit tip 30, the bottom surface projection light cutting line L2 formed by the projection light irradiated to the bottom surface 30c of the narrow slit tip 30, and the side surface projection light cutting lines L3, L3 formed by the projection light irradiated to the side surfaces 30d, 30e of the narrow slit tip 30 are distinguished.In the coordinate calculation step (step S62), linear approximation is performed on the distinguished top surface projection light cutting lines L1, L1, bottom surface projection light cutting lines L2, and side surface projection light cutting lines L3, L3 to obtain approximate expressions, and the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), l2(yl2, zl2) of the top surface corners u1, u2 and bottom surface corners l1, l2 of the narrow opening tip 30 are calculated by calculating the intersection points of the respective approximate expressions.

[0070] Thereby, when performing gas shielded arc welding in the first layer of the narrow opening tip 30, a movement amount of the welding torch 11 suitable for movement control of the welding torch 11 is generated, and the position control of the welding torch 11 can be appropriately performed. As a result, the occurrence of defects during welding can be prevented. In addition, the control information generation program according to the present embodiment causes the control information generation unit 23 that constitutes the computer to execute a projection light irradiation control step (step S2) of controlling the projection light irradiation device 21 so as to irradiate the narrow slit tip 30 with projection light, a photographing control step (step S4) of controlling the photographing device 22 so as to photograph the light cutting lines L1, L2, and L3 formed by the projection light irradiated from the projection light irradiation device 21 to the narrow slit tip 30, and a control information generation step (step S6) of performing image processing on the captured image captured by the photographing device 22 by controlling the photographing device 22 in the photographing control step (step S4) to generate the movement amount of the welding torch 11. Further, the control information generation step (step S6) includes a coordinate calculation step (step S62) of calculating the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top surface corners u1 and u2 and the bottom surface corners l1 and l2 of the narrow slit tip 30 from the light cutting lines L1, L2, and L3 in the captured image. Further, the control information generation step (step S6) includes a movement amount calculation step (step S63) of calculating the movement amount of the welding torch 11 based on the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top surface corners u1 and u2 and the bottom surface corners l1 and l2 of the narrow slit tip 30 calculated in the coordinate calculation step (step S62), and a movement amount recording step (step S64) of recording the movement amount of the welding torch 11 calculated in the movement amount calculation step (step S63). Further, the control information generation step (step S6) includes a control information output step (step S65) of outputting the movement amount of the welding torch 11 recorded in the movement amount recording step (step S64) to the control device 13 that controls the welding torch movement mechanism 12 that moves the welding torch 11.Then, in the coordinate calculation step (step S62), the top surface projection light cutting lines L1, L1 formed by the projection light irradiated on the top surfaces 30a, 30b of the narrow groove tip 30, the bottom surface projection light cutting line L2 formed by the projection light irradiated on the bottom surface 30c of the narrow groove tip 30, and the side surface projection light cutting lines L3, L3 formed by the projection light irradiated on the side surfaces 30d, 30e of the narrow groove tip 30 are distinguished. Linear approximation is performed on the distinguished top surface projection light cutting lines L1, L1, bottom surface projection light cutting line L2, and side surface projection light cutting lines L3, L3 to obtain approximate expressions, and the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), l2(yl2, zl2) of the top surface corners u1, u2 and bottom surface corners l1, l2 of the narrow groove tip 30 are calculated by calculating the intersection points of the respective approximate expressions.

[0071] Thereby, when performing gas shielded arc welding in the first layer of the narrow groove tip 30, a movement amount of the welding torch 11 suitable for the movement control of the welding torch 11 is generated, and the position control of the welding torch 11 can be appropriately performed. As a result, the occurrence of defects during welding can be prevented.

[0072] Further, according to the welding system 1 according to the present embodiment, the above-described control information generation device 20 and steel plates S1, S2 having plate thicknesses t1, t2 of 22 mm or more are subjected to gas shielded arc welding in the first layer of a narrow groove having a groove opening angle θ of 25° or less and a bottom groove gap G of 7 mm to 18 mm. The welding device 10 includes a welding torch 11, a welding torch moving mechanism 12 for moving the welding torch 11, and a control device 13 for controlling the welding torch moving mechanism 12. Then, the control device 13 controls the welding torch moving mechanism 12 based on the movement amount of the welding torch 11 generated and output by the control information generation device 20 to move the welding torch 11.

[0073] Thereby, when performing gas shielded arc welding in the first layer of the narrow groove tip 30, a movement amount of the welding torch 11 suitable for the movement control of the welding torch 11 is generated, and after appropriately performing the position control of the welding torch 11, gas shielded arc welding can be performed in the first layer of the narrow groove tip 30. As a result, the occurrence of defects during welding can be prevented. Further, according to the welding method according to this embodiment, based on the movement amount of the welding torch 11 generated and output by the above-described control information generation method, the control device 13 controls the welding torch movement mechanism 12 to move the welding torch 11, while the welding torch 11 performs gas shielded arc welding on the steel plates S1 and S2 with plate thicknesses t1 and t2 of 22 mm or more in the first layer of the narrow groove 30 having a groove opening angle θ of 25° or less and a root opening gap G of 7 mm to 18 mm.

[0074] Thereby, when performing gas shielded arc welding in the first layer of the narrow groove 30, a movement amount of the welding torch 11 suitable for movement control of the welding torch 11 is generated, and after appropriately performing position control of the welding torch 11, gas shielded arc welding can be performed in the first layer of the narrow groove 30. As a result, the occurrence of defects during welding can be prevented. The narrow groove tip 30 has a smaller angle between the side surfaces 30d and 30e and the bottom surface 30c compared to a general groove tip. Therefore, in the first layer welding of the narrow groove tip 30, heat from the arc is likely to be insufficient at the bottom corner portions l1 and l2 of the narrow groove tip 30, and lack of penetration occurs when the distance between the welding torch 11 and the bottom corner portions l1 and l2 of the narrow groove tip 30 becomes large. Further, when the distance between the welding torch 11 and the side surfaces 30d and 30e of the narrow groove tip 30 becomes small, an arc climbing phenomenon on the side surfaces 30d and 30e of the narrow groove tip 30 occurs, and welding becomes unstable. Thus, in the first layer welding of the narrow groove tip 30, there is a specific problem that the soundness of the welded portion and the weldability deteriorate due to the welding torch 11 being in an inappropriate position. To solve this, in the control information generation device 20, control information generation method, control information generation program, welding system 1, and welding method according to the present embodiment, the coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top corner portions u1 and u2 and the bottom corner portions l1 and l2 of the narrow groove tip 30 are calculated, and the movement amount of the welding torch 11 is calculated based on the calculated coordinates u1(yu1, zu1), u2(yu2, zu2), l1(yl1, zl1), and l2(yl2, zl2) of the top corner portions u1 and u2 and the bottom corner portions l1 and l2 of the narrow groove tip 30, and the movement of the welding torch 11 is controlled. By performing such control, it becomes possible to perform welding with the position of the welding torch 11 optimized over the entire length of the welding location, and advantageously solve the problems of the soundness and weldability of the first layer welded portion of the narrow groove tip 30.

[0075] As described above, the embodiments of the present invention have been described, but the present invention is not limited thereto and various changes and improvements can be made.

[0076] For example, a band-pass filter may be attached to the camera constituting the imaging device 22.

[0077] Further, the welding torch movement mechanism 12 that moves the welding torch 11 and the moving device that moves the projection light irradiation device 21 and the imaging device 22 are not limited to being separate, and may be the same. Further, the control information generation unit 23 does not necessarily need to include a movement amount recording unit 23f that records the movement amount of the welding torch 11 calculated by the movement amount calculation unit 23e, and the control information output unit 23g may output the movement amount of the welding torch 11 calculated by the movement amount calculation unit 23e to the control device 13.

[0078] Further, the control information generation step (step S6) does not necessarily need to include a movement amount recording step (step S64) that records the movement amount of the welding torch 11 calculated in the movement amount calculation step (step S63), and in the control information output step (step S65), the movement amount of the welding torch 11 calculated in the movement amount calculation step (step S63) may be output to the control device 13.

Explanation of Signs

[0079] 1 Welding system 10 Welding apparatus 11 Welding torch 12 Welding torch movement mechanism 13 Control device 20 Control information generation device 21 Projection light irradiation device 22 Imaging device 23 Control information generation unit 23a Projection light irradiation control unit 23b Imaging control unit 23c Imaging image acquisition unit 23d Coordinate calculation unit 23e Movement amount calculation unit 23f Movement amount recording unit 23g Control information output unit 24 Rail 30 Narrow groove 30a Top surface on one side of the narrow groove 30b Top surface on the other side of the narrow groove 30c Bottom surface of the narrow groove 30d Side surface on one side of the narrow groove 30e Side surface on the other side of the narrow groove 31 Backing material 231 Arithmetic processing unit 232 CPU 233 Internal Bus 234 Internal Memory Device 235 External Memory Device 236 Input Device 237 Output Device 238 Recording Medium S1, S2 Steel Plates θ Groove Angle G Bottom Groove Gap

Claims

1. A control information generation device that generates the movement amount of a welding torch in a welding apparatus that performs gas shielded arc welding on steel plates with a thickness of 22 mm or more in the first layer of a narrow groove with a groove angle of 25° or less and a root opening gap of 7 mm to 18 mm. In the control information generation device, the welding apparatus includes a welding torch, a welding torch movement mechanism that moves the welding torch, and a control device that controls the welding torch movement mechanism. A projection light irradiation device that irradiates the narrow groove with projection light, a photographing device that photographs the light cutting line formed by the projection light irradiated on the narrow groove by the projection light irradiation device, and a control information generation unit that processes the photographed image photographed by the photographing device to generate the movement amount of the welding torch. The control information generation unit includes a coordinate calculation unit that calculates the coordinates of the top surface corner and the bottom surface corner of the narrow groove from the light cutting line in the photographed image photographed by the photographing device, a movement amount calculation unit that calculates the movement amount of the welding torch based on the coordinates of the top surface corner and the bottom surface corner of the narrow groove calculated by the coordinate calculation unit, and a control information output unit that outputs the movement amount of the welding torch calculated by the movement amount calculation unit to the control device. The coordinate calculation unit distinguishes between the top surface projection light cutting line formed by the projection light irradiated on the top surface of the narrow groove, the bottom surface projection light cutting line formed by the projection light irradiated on the bottom surface of the narrow groove, and the side surface projection light cutting line formed by the projection light irradiated on the side surface of the narrow groove, performs linear approximation on the distinguished top surface projection light cutting line, bottom surface projection light cutting line, and side surface projection light cutting line to obtain approximate expressions, and calculates the coordinates of the top surface corner and the bottom surface corner of the narrow groove by calculating the intersection points of the respective approximate expressions. A control information generation device characterized by this.

2. A control information generation method for generating the movement amount of a welding torch in a welding apparatus that performs gas shielded arc welding on steel plates with a thickness of 22 mm or more in the first layer of a narrow groove with a groove angle of 25° or less and a root opening gap of 7 mm to 18 mm. In the control information generation method, the welding apparatus includes a welding torch, a welding torch movement mechanism that moves the welding torch, and a control device that controls the welding torch movement mechanism. a projection light irradiation step of irradiating the slit tip with projection light by a projection light irradiation device; a photographing step of photographing, by a photographing device, a light cutting line formed by the projection light irradiated to the slit tip in the projection light irradiation step; and a control information generation step of generating a movement amount of the welding torch by subjecting a captured image captured in the photographing step to image processing by a control information generation unit, the control information generation step includes a coordinate calculation step of calculating coordinates of a top surface corner and a bottom surface corner of the slit tip from a light cutting line in the captured image captured in the photographing step; a movement amount calculation step of calculating a movement amount of the welding torch based on the coordinates of the top surface corner and the bottom surface corner of the slit tip calculated in the coordinate calculation step; and a control information output step of outputting the movement amount of the welding torch calculated in the movement amount calculation step to the control device, in the coordinate calculation step, a top surface projection light cutting line formed by projection light irradiated to the top surface of the slit tip, a bottom surface projection light cutting line formed by projection light irradiated to the bottom surface of the slit tip, and a side surface projection light cutting line formed by projection light irradiated to the side surface of the slit tip are distinguished, linear approximation is performed on the distinguished top surface projection light cutting line, bottom surface projection light cutting line, and side surface projection light cutting line to obtain approximate expressions, and coordinates of the top surface corner and the bottom surface corner of the slit tip are calculated by calculating intersection points of the respective approximate expressions. A control information generation method characterized by this.

3. A control information generation program for generating a movement amount of a welding torch in a welding apparatus that performs gas shielded arc welding in a first layer of a slit groove having a groove angle of 25° or less and a bottom groove gap of 7 mm to 18 mm for welding steel plates with a plate thickness of 22 mm or more. In the control information generation program, the welding apparatus includes a welding torch, a welding torch movement mechanism for moving the welding torch, and a control device for controlling the welding torch movement mechanism, in a control information generation unit constituting a computer, a projection light irradiation control step of controlling a projection light irradiation device to irradiate the slit tip with projection light; a photographing control step of controlling a photographing device to photograph a light cutting line formed by the projection light irradiated from the projection light irradiation device to the slit tip; and a control information generation step of generating a movement amount of the welding torch by subjecting a captured image captured by the photographing device controlled in the photographing control step to image processing, which is executed. The control information generation step includes a coordinate calculation step of calculating the coordinates of the top and bottom corner portions of the narrow groove tip from the optical cutting line in the captured image, a movement amount calculation step of calculating the movement amount of the welding torch based on the coordinates of the top and bottom corner portions of the narrow groove tip calculated in the coordinate calculation step, and a control information output step of outputting the movement amount of the welding torch calculated in the movement amount calculation step to the control device. In the coordinate calculation step, the top surface projection light cutting line by the projection light irradiated on the top surface of the narrow groove tip, the bottom surface projection light cutting line by the projection light irradiated on the bottom surface of the narrow groove tip, and the side surface projection light cutting line by the projection light irradiated on the side surface of the narrow groove tip are distinguished, linear approximation is performed on the distinguished top surface projection light cutting line, bottom surface projection light cutting line, and side surface projection light cutting line to obtain an approximate formula, and the coordinates of the top and bottom corner portions of the narrow groove tip are calculated by calculating the intersection points of the respective approximate formulas. A control information generation program characterized by this.

4. A control information generation device according to claim 1, and a welding device that performs gas shielded arc welding in the first layer of a narrow groove having a groove opening angle of 25° or less and a bottom groove gap of 7 mm to 18 mm between steel plates having a thickness of 22 mm or more. The welding device includes a welding torch, a welding torch movement mechanism for moving the welding torch, and a control device for controlling the welding torch movement mechanism. A welding system, wherein the control device controls the welding torch movement mechanism based on the movement amount of the welding torch generated and output by the control information generation device to move the welding torch.

5. Based on the movement amount of the welding torch generated and output by the control information generation method according to claim 2, while the control device controls the welding torch movement mechanism to move the welding torch, the welding torch performs gas shielded arc welding on steel plates having a thickness of 22 mm or more in the first layer of a narrow groove having a groove opening angle of 25° or less and a bottom groove gap of 7 mm to 18 mm. A welding method characterized by this.

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