Welding control device, welding control method, and welding control program

A welding control device configured to control a position control target including at least one of a weld wire used in welding of a weld target or an electrode for melting the weld wire, the welding control device comprising:

• a processor;
• and
• a non-transitory memory having stored thereon instructions, which when executed, cause the processor to perform:
• determining an actual position of the position control target on the basis of a weld characteristic amount detected from a captured image captured so as to include at least the position control target, the welding characteristic amount including at least one of a wire position of the weld wire or an electrode position of the electrode;
• determining a target position being a target of the actual position corresponding to a weld condition for welding the weld target;
• and
• executing a position control of the position control target to bring the actual position to the target position,
• wherein in determining the actual position the processor performs:
• acquiring the captured image from a capturing part configured to capture the captured image;
• detecting the weld characteristic amount from the captured image in each of a predetermined control period;
• and
• calculating the actual position on the basis of the weld characteristic amount,
• wherein in determining the actual position the processor further performs
• determining a detection abnormality of the weld characteristic amount in each of the control period, and
• wherein in determining the actual position the processor performs:
• calculating, in a normal control period being the control period in which the detection abnormality is determined to be absent, the actual position on the basis of the weld characteristic amount detected from the captured image acquired in the normal control period;
• and
• calculating, in an abnormal control period being the control period in which the detection abnormality is determined to be present, the actual position on the basis of the weld characteristic amount detected from the captured image acquired in the normal control period previous to the abnormal control period.

A method of controlling welding configured to control a position control target including both a weld wire used in welding of a weld target and an electrode for melting the weld wire, the method comprising:

• determining an actual position of the position control target on the basis of a weld characteristic amount detected from a captured image captured so as to include at least the position control target, the weld characteristic amount including both a wire position of the weld wire and an electrode position of the electrode;
• determining a target position being a target of the actual position corresponding to a weld condition for welding the weld target;
• and
• executing a position control of the position control target to bring the actual position to the target position,
• wherein in executing the position control, the weld wire and the electrode are each configured to move relatively to each other in each of a first horizontal direction and a second horizontal direction, the first horizontal direction being a direction in which the weld target extends, the second horizontal direction being a direction orthogonal to the first horizontal direction.

A non-transitory memory having stored therein a welding control program configured to control a position control target including both a weld wire used in welding of a weld target and an electrode for melting the weld wire, the welding control program, which when executed, causing a computer to implement:

• determining an actual position of the position control target on the basis of a weld characteristic amount detected from a captured image captured so as to include at least the position control target, the welding characteristic amount including both a wire position of the weld wire and an electrode position of the electrode;
• determining a target position being a target of the actual position corresponding to a weld condition for welding the weld target;
• and
• executing a position control of the position control target to bring the actual position to the target position,
• wherein in executing the position control, the weld wire and the electrode are each configured to move relatively to each other in each of a first horizontal direction and a second horizontal direction, the first horizontal direction being a direction in which the weld target extends, the second horizontal direction being a direction orthogonal to the first horizontal direction.