Automatic welding control method, control device, welding system, program, and welding method

Abstract

To allow the welding quality to be secured and enable automatic welding with the excellent welding work efficiency to be performed even under a welding situation where a disturbance occurs.SOLUTION: A welding control method of welding that forms a weld pool comprises: an acquisition step of acquiring image data including the weld pool; a specification step of specifying a plurality of feature points in the vicinity of a boundary of the weld pool and a non-melt part on at least the welding advancing direction on the basis of the acquired image data; a calculation step of calculating geometric quantity data on the basis of information about the plurality of feature points; a determination step of determining adequacy of welding on the basis of the geometric quantity data and a predetermined threshold; and a correction step of correcting a welding condition on the basis of the determination result in the determination step.SELECTED DRAWING: Figure 16

Images