Automatic welding path planning device

Abstract

The present disclosure relates to a welding path planning method for welding a groove of a welding task by a welding machine, the method including the steps of determining dimensional characteristics of the groove at a plurality of locations along the groove, calculating at least one intermediate weld path solution for each of the locations along the groove based on the dimensional characteristics, thereby obtaining a plurality of intermediate weld path solutions, and generating at least one complete weld path solution for welding the entire groove based on the plurality of intermediate weld path solutions.

Description

[Technical Field]

[0001] The present disclosure relates to methods and systems for planning and executing a weld path for welding a groove. [Background technology]

[0002] Welding has become an essential tool for joining metals in modern industry. Joining metal plates, especially those with high thicknesses, often requires multiple weld layers and / or multiple weld passes. Two or more welds, each consisting of a single or multiple weld beads, are used to fill the entire groove and join two objects. Furthermore, multiple passes and layers can be deployed to achieve the required strength in the joint.

[0003] Welding paths are generally planned based on the know-how of experienced individual welders, who must try various solutions to find an efficient welding path solution for a given task. Such manual solutions are far from accurate and precise, and weld quality cannot be guaranteed.

[0004] Therefore, there is a trend to adopt robots. However, there are still significant limitations to the use of robots. As the number of welding passes (beads) in the welding process increases, the number of process parameters and material parameters associated with the welding process also increases. As a result, welding planning becomes very complicated.

[0005] Multi-pass welding involves large weld pools. Due to the heating and cooling cycles of the welding process, warping and residual stresses can occur in the weld. Distortion or warping can affect the aesthetics of the product, the mechanical properties of the joint, and the usability of the product. Additionally, residual stresses can cause fractures in the metal, potentially resulting in the failure of the welded product. Therefore, the solution to a welding task must take many parameters into account. However, controlling the weld pool in large groove welds is a significant challenge. While the effects of individual material and process properties during the welding process may be covered by state-of-the-art technology, advanced combination and control of these properties is not yet possible.

[0006] Furthermore, multi-pass and / or multi-layer welding is still primarily performed manually, requiring high labor intensity while reducing productivity. Due to the complexity of multi-pass and multi-layer welding processes, state-of-the-art solutions cannot do more than propose planning for individual weld passes at a time. In most cases, manual inspection is required between each weld pass. This results in production interruptions at the expense of efficiency.

[0007] Therefore, there is a further need to provide a weld path solution for multi-layer and multi-pass welding that features a high degree of automation with improved efficiency. A gap in the art extends to providing a weld path solution for automatically planning the entire groove weld. Summary of the Invention [Problem to be solved by the invention]

[0008] The present approach alleviates the above drawbacks and provides a system and method for planning a welding task to weld the entire groove of the welding task. [Means for solving the problem]

[0009] The present disclosure provides, in a first aspect, a welding path planning method for welding a groove of a welding task by a welding machine, comprising: - acquiring and / or receiving dimensional characteristics of the groove at a plurality of locations along the groove, preferably based on optical scanning; - calculating at least one intermediate weld path solution for each of said positions along the groove based on said dimensional characteristics, thereby obtaining a plurality of intermediate weld path solutions, preferably a plurality of intermediate solutions being calculated at each of said positions along the groove; - generating at least one complete weld path solution for welding the entire groove based on the plurality of intermediate weld path solutions; The present invention relates to a method comprising:

[0010] The present disclosure provides at least one complete weld path solution for welding the entire groove. Therefore, a significant advantage of the disclosed approach is increased efficiency of the welding process. The proposed approach can acquire and / or receive an optical scan of the groove and determine dimensional characteristics of the groove based on the optical scan, preferably cross-sectional dimensions of the groove at multiple locations along the extension of the groove. The groove geometry can be determined at multiple locations based on the optical scan. Scans can be acquired at multiple locations to determine the groove geometry at the multiple locations. At least one intermediate weld path solution is calculated for each groove geometry, each intermediate weld path solution including a weld path plan for welding at least a portion of the groove. At least one complete weld path solution for welding the entire groove is then generated. In this manner, at least one complete weld path solution, e.g., a complete solution, is generated based on the intermediate weld path solutions.

[0011] Each intermediate weld path solution preferably defines welding parameters for a welder for welding the groove at a specific position / location in the groove, the welding parameters being selected from the number of weld layers, the number of weld passes for each weld layer, a weaving profile for each weld pass, and a welding speed profile. The calculated intermediate weld path solutions associated with one position can be grouped within a working range, e.g., within the working range of the weaving profile and the welding speed profile, e.g., in the form of minimum and maximum values ​​of the weaving profile and the welding speed profile.

[0012] An intermediate weld path solution is calculated for each scan acquired from the same groove but at a different position on the groove. Preferably, multiple intermediate weld path solutions are calculated for each scan position. Thus, the intermediate weld path solutions can provide a solution for welding the portion for which the scan was acquired. At least one complete weld path solution is a complete solution for welding the entire groove, and is generated, e.g., selected and / or calculated, such that the complete solution can weld the entire groove. Thus, the proposed approach can generate at least one final weld path solution, e.g., based on evaluation of all intermediate solutions, such that at least one complete weld path solution can be configured to weld the entire groove. As a result, the at least one complete weld path solution can be easily executed to join objects, i.e., to perform a welding task, without the need for additional input from other devices or a user.

[0013] Another important aspect of the present disclosure is that dimensional characteristics of the groove are determined at multiple locations along the groove. The groove may be defined by the objects being joined and generally extends along an extension direction. The extension direction may be linear, circular, and the groove may extend in any direction. The dimensions of the groove may vary along the extension direction. The present disclosure obtains optical scans of the groove from multiple locations to evaluate the dimensional characteristics of the groove.

[0014] For each location, dimensional characteristics of the groove are determined. At least one intermediate weld path solution is calculated based on the dimensional characteristics. The intermediate weld path solution can be based on a cross-sectional area of ​​the scanned groove location. For each location, at least one intermediate weld path solution is calculated. Generally, the approach can calculate multiple possible welding scenarios. Each intermediate weld path solution includes a weld path plan for welding at least a corresponding portion of the groove for which a scan was obtained.

[0015] The intermediate weld path solution can include multiple weld layers and multiple passes within each layer. Because the dimensional characteristics of the groove may differ, the intermediate weld path solution calculated for each scan may be different. At the same time, the proposed approach can generate at least one complete weld path solution based on the intermediate solutions. Therefore, a major advantage of this approach is that it can take into account the dimensional variations and tolerances of the groove.

[0016] This means that the unit volume of the groove may be different at different locations. By acquiring optical scans of the groove at multiple locations, the volume effect can be taken into account. Advantageously, the presently disclosed approach provides improved quality of the joined part, with significantly minimized weld defects. For example, taking the volume effect into account can minimize the risk of porosity and improve the mechanical properties of the welded joint.

[0017] In a second aspect, the present disclosure relates to a groove welding system for welding a groove. The system includes a welding machine with a welding gun configured to perform a groove welding operation and a robot controller configured to control the groove welding operation performed by the welding machine. The welding system further includes a sensor for acquiring at least one scan of the groove. The welding system further includes a processing unit configured to perform the method disclosed above. The proposed system is configured to perform the groove welding operation based on at least one complete weld path solution for welding the entire groove.

[0018] Variations along the groove to be welded can be considered and accommodated in the solution before the welding operation begins. Thus, the advantage of this approach is that the welding process can be planned and executed without requiring interruptions by the operator.

[0019] Additionally, the approach can automatically plan weld paths for multiple grooves of different sizes. The sensor can provide scan data that can be used to identify the groove geometry. A weld planner, such as a processing unit configured to perform the method disclosed above, can provide the weld sequence. The system can be configured to perform the weld sequence. The system can also be configured to compensate for variations and tolerances as disclosed.

[0020] In a third aspect, the present disclosure relates to a system for planning a welding path for welding a groove of a welding task, the system including a non-transitory computer-readable storage device storing instructions that, when executed by a processor, perform a welding path planning method for welding a groove of a welding task with a welder. Similarly, the presently disclosed method is computer-implementable to be performed automatically, for example, to further automate the heavy construction manufacturing industry.

[0021] Thus, the method and system according to the present disclosure achieves automatic planning of the entire welding path sequence of the groove at least before the welding operation begins, thereby improving production efficiency.

[0022] The invention will now be described in more detail with reference to the accompanying drawings. [Brief explanation of the drawings]

[0023] [Figure 1] Show the solution tree. [Figure 2] An example of a solution tree is shown below. [Figure 3-4] 1 shows an illustration of the groove and the corresponding welding path solution. [Figure 5-6] 1 illustrates an embodiment of a welding system. [Figure 7] An illustration of a V-groove and the corresponding welding path solution is shown. [Figure 8] 1 shows an illustration of a tulip groove and the corresponding weld path solution. [Figure 9A-B] 1 shows an illustration of a tulip groove and the corresponding weld path solutions at two different locations along the groove. [Figure 10A-B] 1 shows an illustration of a tulip groove and the corresponding weld path solutions at two different locations along the groove. DETAILED DESCRIPTION OF THE INVENTION

[0024] The present approach provides a welding path planning method for welding a groove in a welding task. As used herein, the groove in a welding task can be a groove defined by the objects to be joined. The groove can extend along an extension direction, which can be the welding direction. The weld bead can be formed by depositing a filler material in the groove between the metal objects such that the weld bead can extend along the extension direction.

[0025] In one embodiment, the disclosed method is for welding components in the automotive and / or marine and / or heavy industry and / or wind turbines. Joining large objects in industries such as heavy structure fabrication, pipelines, shipbuilding and repair, and pressure vessel fabrication may require multi-pass and multi-layer welding to fill large grooves. This means that the currently proposed approach can plan multi-layer and multi-pass weld paths to weld the entire groove.

[0026] In general, the thickness of the groove can be an indicator of the need for multiple passes and multi-pass welding. In one embodiment, the groove thickness can be any thickness. The groove thickness can be any thickness that is too large to be filed in one pass.

[0027] Groove characteristics Optical scans of the groove can be obtained at multiple positions along the groove. Groove scanning can be based on non-invasive methods, such as non-contact measurement scanning. For example, a scanner can provide light onto the groove, and the reflected light pattern can be detected by a sensor, such as a photodetector or image sensor, and converted into an image and / or dimensional characteristics of the groove. Any reflection-based scanning system, such as a line scanner, can be used to scan the groove. Alternatively or additionally, optical scanning can be performed using projection-based methods, such as with lidar technology, by sending a laser beam to the groove and measuring the reflected light with a photodetector to determine the distance to the groove and generate a map of the groove. Scanning can also be based on structured light projection. Thus, a known pattern can be projected onto the groove. When a camera views the pattern from one (or more) viewpoints, the surface features of the groove distort the pattern. The direction and size of the pattern distortion can be used to reconstruct the groove's surface shape.

[0028] In one embodiment, the multiple locations are along the extension of the groove. The multiple locations can be calculated based on the length of the groove. In one embodiment, the multiple locations are at a predetermined distance along the extension of the groove. In some examples, the distance between each scan can be based on the total number of scans taken. In some examples, the distance may be based on the length of the groove. Each of the locations at which a scan of the groove is taken may be equidistant to an adjacent location. Alternatively, the distance between each scan can vary. The distance between each scan can be an arbitrary selection. The distance between each location can be any distance.

[0029] In one embodiment, the distance between each of the multiple locations is between 1 and 5000 mm. In one embodiment, the distance between each of the multiple locations is between 10 and 200 mm, preferably between 50 and 100 mm. Alternatively, the distance between each location may be between 1 and 50 mm. The distance can be set based on the dimensions of the groove to capture potential geometric variations along the length of the groove. The distance can also be set based on the scanning speed to ensure the overall approach is performed efficiently and effectively. In this manner, acquiring (and / or receiving) multiple groove scans can provide improved flexibility for automatic welding path planning for various types of welding tasks.

[0030] The approach can be configured to receive sensor data representing a scan of the groove. In one embodiment, an optical scan of the groove is obtained by an optical sensor and / or scanner. The scan of the groove can be obtained by, for example, a laser scanner and / or a camera. The sensor can be any sensor capable of electronically capturing visual information of the groove in one dimension, two dimensions, and / or three dimensions.

[0031] An important aspect of the present disclosure is determining dimensional characteristics of the groove at multiple locations along the groove based on, for example, an optical scan as described above. This means that the dimensional characteristics of the groove can be calculated based on the optical scan. Furthermore, the present approach can be configured to acquire and / or receive multiple images of the groove. The dimensional characteristics of the groove can be related to dimensional characteristics of a cross-sectional area of ​​the groove, which can be transverse to the extension direction.

[0032] In one embodiment, the dimensional characteristic of each groove is selected from the following group: groove height, cross-sectional area of ​​the groove, distance between two vertices at the top of the cross section of the groove, distance between two vertices at the bottom of the cross section of the groove, groove angle between each side edge of the groove relative to the base of the groove, and angle of the groove base relative to a horizontal plane.

[0033] One or more of the dimensional characteristics of the groove can be determined by manual inspection. For example, the groove thickness can be determined manually. Advantageously, a scan of the groove may include data such that the groove thickness and other dimensional characteristics, such as those mentioned above, can be determined and / or calculated from the data. Thus, a weld path solution calculated based on an optical scan may be more reliable.

[0034] Weld grooves come in a variety of shapes and sizes. The groove can be a single groove or a double groove. The groove can be a V groove or a Y groove. The groove can also be a square groove. The groove can also be a bevel groove, or a J groove, or a U groove, or a flared groove, or a tulip groove. The groove can be a double-plane bevel groove or a double-plane V groove. Combinations of the above are also possible.

[0035] Dimensional characteristics such as the distance between the two vertices of the groove bottom and / or the angle of the groove bottom relative to the horizontal plane can be indicative of the type of groove. Therefore, different groove types may require different handling procedures. For example, if the distance between the two vertices of the groove bottom exceeds a predetermined value, the disclosed approach may include providing a backing plate configured to receive a weld pool during at least the first layer of welding. Therefore, the disclosed approach may plan the groove welding path while taking into account the groove width, backing plate requirements, and / or the physical, thermal, and / or mechanical properties of the backing plate. The backing plate may be positioned below the groove at the bottom of the groove. Depending on the angle of the groove bottom relative to the horizontal, the shape and / or position of the backing plate may be adapted so that the backing plate surface can receive the weld pool along the first weld layer.

[0036] Intermediate Weld Path Solution Based on the dimensional characteristics, intermediate weld path solutions can be calculated. In one embodiment, each of the intermediate weld path solutions specifies the number of weld layers and the number of passes in each weld layer. Thus, the intermediate weld path solutions can define how many weld layers and how many weld passes in each layer should be deposited to join the objects by welding. The intermediate weld path solutions can alternatively or additionally define a weaving profile for each weld pass, typically in the form of a weaving frequency and amplitude, and / or a welding speed profile for the welder.

[0037] Typically, multiple intermediate weld path solutions are calculated for each of the locations along the groove based on the dimensional characteristics, resulting in multiple intermediate weld path solutions for each location. Each intermediate weld path solution typically specifies the number of weld layers and the number of weld passes in each layer, as well as the associated weaving profile and welding speed profile for each weld pass. This can result in many possible intermediate weld path solutions for each location. One way to group the intermediate weld path solutions associated with a location is to specify working ranges, such as weaving profile and welding speed profile working ranges, in the form of minimum and maximum values ​​for the weaving profile and welding speed profile. These working ranges for the weaving profile and welding speed profile can indirectly provide ranges for the number of weld layers and the number of weld passes for each layer, because the weaving profile and welding speed profile directly determine the bead size, which is then linked to the number of passes and layers for each layer.

[0038] Thus, the intermediate weld path solutions associated with the groove locations can be defined by working ranges of weaving profiles and welding speed profiles, and possibly also the number of weld passes for each layer and the number of layers, as well as alternative or additional ranges for these numbers. The working ranges of welding parameters from each location along the groove can make it computationally easier to find at least one complete weld path solution that is common to at least one of the intermediate weld path solutions from each location.

[0039] Dimensional characteristics of the groove can be important for calculating an intermediate weld path solution. For example, the width of the groove along the height of the groove can be one of the important parameters for calculating the intermediate weld path solution. In addition to the width, the groove angle between each side edge of the groove relative to the base of the groove can also vary. Advantageously, the present disclosure can consider not only the variation in groove width but also the inclination of the side edges of the groove to calculate the intermediate weld path solution, thereby providing an improved weld path solution.

[0040] This means that the approach can combine the dimensional characteristics of the groove with the welding process parameters. For example, if the groove has different side edge slopes, the calculated intermediate solution can prescribe the welding speed profile for each pass adjacent to the side edge so as to maintain the final height of the weld layer.

[0041] In the examples presented herein, the number of weld layers ranges between 5 and 12, and the number of passes, i.e., beads, in each weld layer ranges between 1 and 6. Thus, the number of weld layers will generally range between 1 and 20, or 30 or 40, or even 50. The number of passes in each layer will typically range between 1 and 10, or up to 10 or 20, or even more for very large grooves.

[0042] With regard to the weaving profile, typical amplitudes range between 0.2 and 10 mm, which corresponds to an amplitude of 0.1 to 5 mm for the total weaving, i.e., the distance between the extremes. However, weaving amplitudes of up to 10 mm, or even 15, 20, or 30 mm, or even more, are also possible. Typical weaving frequencies range between 1 and 3 Hz, but frequencies in the range of 0 to 5 Hz or 0 to 10 Hz or even higher may also be possible.

[0043] Typical welding speeds are in the range of 25-50 cm / min, but ranges of 10-75 cm / min, and in some cases 0-100 cm / min or even higher are possible.

[0044] However, even with a limited working range of welding parameters, the number of possible welding solutions at a particular location of the groove can be very large because multiple welding parameters provide a large number of possible intermediate weld path solutions. However, this is also a major advantage of the presently disclosed solution, because multiple possible solutions increase the likelihood of identifying a complete weld path solution that is common to all locations of the groove. And preferably, not just one complete solution, but multiple complete solutions are possible, allowing the optimal solution to be selected under specific circumstances.

[0045] constraints In one embodiment, the presently disclosed approach further includes defining a set of welding constraints. Each welding process may result in many parameters, such as welding process parameters, material properties of the workpiece, and welding conditions defined by the welding equipment. The approach can be adapted according to these parameters. In a further embodiment, at least one intermediate weld path solution is generated based on the set of welding constraints. The constraints can be defined before calculating the intermediate weld path solution. Alternatively and / or additionally, the calculated intermediate weld path solutions can be filtered and / or evaluated such that one or more of the intermediate weld path solutions can be eliminated based on the defined constraints.

[0046] In a further embodiment, the set of welding constraints is selected from the group of welding wire type, welding gas type, welding position, welding angle such as welder positioning, welding gun type, welding process type, material properties of the welding task, groove type, and welding speed, so that the approach is flexible and can accommodate large spectrum changes during welding.

[0047] For example, a faster welding speed may result in less filler metal being deposited per unit time. Deposition may be critical when calculating intermediate weld path solutions because the weld bead is formed by depositing filler metal. In one embodiment, the welding speed of the welder may be defined as a constraint. Thus, the proposed approach can identify and / or calculate intermediate weld path solutions that comply with the defined welding speed. The welding speed of the welding gun may be limited by the welding equipment. Thus, the presently disclosed welding path approach can provide an adaptable and flexible weld path solution.

[0048] The welding process may be, for example, metal inert gas welding, metal active gas welding, tungsten inert gas welding, submerged arc welding, etc. The filler metal may be, for example, a wire, such as a metal wire, a solid wire, a flux cored wire, a metal cored wire, etc.

[0049] For different groove geometries and / or applications and / or welding system configurations, the geometry of the welding gun, such as the angle of the welding gun and / or the diameter of the welding gun tip, may vary. Additionally, the tip of the welding gun may define where the filler material is deposited. Advantageously, the present disclosure can provide and accommodate weld path solutions that take into account the geometry of the welding system. Alternatively, the present approach can provide multiple solutions, each of which may define the angle of the welding gun.

[0050] During welding, metals can absorb the heat generated. The heat travels through the metal body away from the cut edge, creating a zone between the molten metal and the unaffected base metal. This zone can be called the heat-affected zone (HAZ). In the HAZ, heat can change the microstructure of the metal, potentially reducing its strength. The HAZ can contain the weakest point of the joint structure, and failure of a particular joint structure can occur within the HAZ zone. Therefore, it is important to understand the thermal characteristics of the welding task, i.e., the materials being joined, and the heat generation and transfer during the welding process.

[0051] The approach can take into account the thermal and mechanical properties of the HAZ. The heat input to the welded object can be calculated based on the welding process parameters, the material properties of the welded object and the filler metal. The parameters can be inputs for calculating an intermediate solution. Additionally or alternatively, the parameters can also be provided as constraints.

[0052] Alternatively, thermal coefficients can be defined. The heat generated during the welding process may be a function of the welding current, voltage, and welding speed. In one embodiment, the set of welding constraints includes a thermal factor for the welding task. The thermal coefficients can define a temperature window for each welding process so that the welding operation can be performed within the defined temperature window. The temperature window can be defined to allow materials to be joined without sacrificing the mechanical strength of the objects to be joined. The approach can be configured to calculate intermediate weld path solutions based on the thermal coefficients. For example, calculated intermediate weld path solutions can be recalculated to remove solutions that deviate from the defined thermal coefficients.

[0053] The proposed solution can calculate a first set of intermediate weld path solutions based on the geometry of the weld groove. This first set of weld path solutions may not be constrained by welding process parameters. The user can define the welding speed, welding temperature, thermal properties of the material used for welding, and many other process-specific parameters depending on the specific process and equipment used for welding. The proposed approach can generate at least a second set of intermediate weld path solutions that can comply with the defined constraints.

[0054] Alternatively, the constraints can be applied to the complete weld path solution. Thus, the approach can generate at least one complete weld path solution for welding the entire groove based on multiple intermediate weld path solutions, and then a set of welding constraints can be defined.

[0055] Complete Weld Path Solution In general, the proposed approach is based on generating at least one complete weld path solution for welding the entire groove based on multiple intermediate weld path solutions.

[0056] The intermediate weld path solution for each scan can be a tree of solutions with multiple solutions based on various constraints, parameters and aspects.

[0057] In one embodiment, a complete welding path solution defines the number of weld layers, the number of welding passes for each weld layer, the weaving profile for each welding pass, and the welding speed profile of the welder. This means that each intermediate welding path solution can define the number of weld layers, the number of welding passes for each weld layer, the weaving profile for each welding pass, and the welding speed profile of the welder. Thus, a tree of solutions can include multiple intermediate welding path solutions, with the multi-pass and multi-layer welding paths of each solution including the welding speed profile for welding the portion of the groove where the scan was taken, and the weaving profile for each pass.

[0058] After the step of calculating multiple intermediate weld path solutions for each position of the optical scan, the approach may further include the step of generating at least one complete weld path solution, wherein the at least one complete weld path solution is a common solution calculated for each position.

[0059] Selecting a complete welding path solution for welding the entire groove among multiple intermediate welding path solutions can be based on constraints. Multiple intermediate welding path solutions can be evaluated by calculating whether the solution can comply with the constraints. For example, a complete solution specifying three beads on one layer may not be feasible due to constraints compared to a complete solution specifying two beads on the same layer. For example, if the welding speed is slow, the specified welding speed may result in a higher heat coefficient for a three-pass weld due to more filler metal deposition. As a result, the predefined heat coefficient may be exceeded. As a result, a two-pass weld may be selected. Alternatively or additionally, the filler metal deposition rate may be adjusted.

[0060] Thus, the advantage of the proposed approach is the interaction of all constraints, so that intermediate weld path solutions, and thus weld path solutions for welding the entire groove, are automatically generated based on the application.

[0061] Finally, at least one complete weld path solution for welding the entire groove can be a common solution calculated for each scan location. In particular, if the groove dimensions are relatively uniform, the intermediate weld path solutions calculated for each scan can be similar. However, if the groove dimensions are not uniform along the groove extension, the calculated intermediate weld path solutions may differ.

[0062] In one embodiment, at least one complete weld path solution for welding the entire groove is generated such that an intermediate weld path solution for the same layer that specifies a higher number of passes is selected as the at least one complete weld path solution. For example, for the same layer height, a solution may specify a higher number of passes for a larger width. In such a case, the priority for generating the complete weld path solution may be based on selecting a higher number of passes. A larger number of passes may provide a sufficient amount of weld material to a wider section of the groove, thereby resulting in a stronger weld while preventing porosity. However, as previously mentioned, a solution with a smaller number of passes may also be selected so that the thermal coefficient of the solution falls within a predetermined value. This means that the height of each layer may vary.

[0063] In one embodiment, at least one complete weld path solution defines a variable number of layers, such that the number of layers for welding between adjacent locations differs while maintaining a predefined value for the weld height tolerance and / or spacing between all groove images. In a further embodiment, the approach includes calculating the height of at least one weld layer for each of the at least one complete weld path solution. This means that the proposed approach can be configured to calculate the height of the weld between and / or along each scan location. The height can be calculated for each weld pass. The weld can be calculated layer by layer. If the calculated height difference between adjacent scans exceeds a predefined value, further calculations can be performed to find the number of weld beads required to equalize the height. This can be the case, for example, for welding grooves with varying groove shapes, such as when welding two cylindrical objects with tilted central axes together.

[0064] Groove characteristics update The presently disclosed approach is based on calculating multiple intermediate weld path solutions based on dimensional characteristics of the groove at multiple locations along the groove, and then calculating at least one complete weld path solution based on the intermediate weld path solutions. The actual welding operation is performed based on one of the at least one complete weld path solutions, thereby welding the groove based on the selected complete weld path solution. However, in some situations, it may be advantageous to obtain the dimensional characteristics of the groove during the welding operation, for example, by optically scanning the groove. For example, during the welding operation, or after the completion of each weld layer or two or three weld layers, the groove may be scanned again, preferably at the same location, to, for example, confirm that everything is going according to plan. One advantage is that the at least partially filled groove can be considered a “new” groove to be welded, and the presently disclosed weld path planning approach can be performed on this at least partially filled groove. One possible outcome is that the welding process proceeds as planned, allowing the groove welding system to continue with the selected complete weld path solution. Another possible outcome is that another complete weld path solution generated based on the recalculated multiple intermediate weld path solutions is more optimal under the new circumstances regarding the at least partially filled groove.

[0065] Receiving and / or obtaining updated dimensional characteristics of the groove is particularly relevant when the groove is large and requires many weld layers and several weld passes at each layer, because energy generated from the welding process, especially from the repeated heating and subsequent cooling process, can affect the metallic material in the groove. In some cases, this can result in the groove shrinking / contracting, thereby clearly affecting the dimensional characteristics of the groove. In such cases, it is quite reasonable and advantageous to recalibrate the welding process by receiving and / or obtaining updated dimensional characteristics at multiple locations along the groove during the welding process, recalculating at least one intermediate weld path solution for each of the locations along the groove based on the dimensional characteristics, and generating at least one complete weld path solution for welding the entire (remaining) groove based on the multiple intermediate weld path solutions.

[0066] An example of this type of recalibration using updated groove dimensional characteristics and a new complete weld path solution can be seen in Figures 9-10, which are described in more detail below.

[0067] Accordingly, the present disclosure also relates to a groove welding method that includes planning a weld path as described herein and initiating a groove welding operation, for example by the presently disclosed groove welding system, based on the generated at least one complete weld path solution for welding the entire groove.

[0068] After at least one layer of the groove is welded, a new / updated weld path can be planned as described herein, resulting in an updated weld path planned for the at least partially welded groove. Preferably, the weld path plan is automatically updated at least once, preferably at least twice, and more preferably at least three times during the welding operation, such as after each weld layer, after each second weld layer, after each third weld layer, after each fourth weld layer, during each quarter of the welding process, during each third of the welding process, or during each half of the welding process, or any combination thereof. Whether and when the dimensional characteristics of the groove need to be updated during welding can be determined, for example, by an operator, and this can be determined prior to planning and / or prior to the welding operation, for example, based on the characteristics of the groove.

[0069] A groove welding operation can be performed, for example, by a groove welding system disclosed herein, based on the generated at least one complete weld path solution for welding the entire groove, during which a set of welding parameters can be adaptively adjusted.

[0070] system The present disclosure further relates to a groove welding system. The system includes a welder with a welding gun configured to perform a groove welding operation. The welder may be any welder with a robotic arm and a welding gun. The groove welding operation performed by the welder may be controlled by a robot controller. The system is configured to perform the groove welding operation based on at least one generated complete weld path solution for welding the entire groove.

[0071] The system further includes at least one sensor for acquiring at least one scan of the groove, which may be a scanner mounted on a rail system such that the scanner can be moved relative to the welding task to thereby acquire multiple scans.

[0072] The system can include sensors configured to monitor the welding process. The controller can control the welding process based on the monitored data. In one embodiment, the system is configured so that the welding speed and / or weaving frequency of the welder are adaptively adjusted during welding. For example, a robotic arm can move the welding gun so that the welding speed can be adjusted. In one embodiment, the system is configured so that the amount of welding wire used in the weld is adaptively adjusted during welding. Controlling the deposition of filler metal can control the weld pool of each bead, thereby improving weld quality.

[0073] In one embodiment, the system is configured to: 1) acquire, by a sensor, at least one rescan of the groove during the groove welding operation to obtain updated dimensional characteristics of the at least partially welded groove, and 2) execute the presently disclosed weld planning method based on the updated dimensional characteristics of the at least partially welded groove to generate at least one updated complete weld path solution for welding the at least partially welded groove. In that regard, the groove can be rescanned at least once, at least twice, at least three times, or at least four times during the welding process, for example, after each weld layer, after each second weld layer, after each third weld layer, after each fourth weld layer, during each quarter of the welding process, during each third of the welding process, or halfway through the welding process, or any combination thereof.

[0074] In this manner, the present approach can plan a welding path, perform a groove welding operation based on the generated welding path solution for welding the entire groove, and adaptively adjust a set of welding parameters during welding. In one embodiment, the set of welding parameters is one or more of a weaving profile of the welder, such as a weaving frequency and amplitude, and a welding wire amount. In one embodiment, the groove being welded is tracked in real time. In one embodiment, the present approach includes defining a thermal coefficient for the welding task, and the set of welding parameters is adjusted based on the thermal coefficient.

[0075] As a result, the present approach provides for planning welding paths for various welding tasks, and the calculated welding path solution can be adapted before and during the welding operation based on various interconnected parameters and / or inputs and / or constraints, thereby achieving efficient and flexible welding operations.

[0076] Detailed description of the drawings The presently disclosed approach can calculate all possible solutions or a set of possible solutions for welding the groove for each scan or multiple scans along the groove. In one example, the system finds a set of common solutions between the scans and selects one that meets a need. The need may be fast run time, fewer beads, heat input priority, etc. This process can also be an iterative process, where a first set of solutions for each scan is calculated, and if no common solution is found, the limiting constraints are changed and the process is repeated until a solution is found or all possible solutions have been explored.

[0077] Figures 1 and 2 show a solution tree. Figure 1 further shows the specifications for each bead on each layer. After determining the dimensional characteristics of the groove at locations along the groove, at least one intermediate weld path solution is calculated based on the dimensional characteristics. Figures 1 and 2 show intermediate solutions calculated for determined groove dimensions, for example, based on a scan of the groove cross section.

[0078] Figure 1 shows five intermediate welding path solutions A, B, C, D, and E. Each intermediate welding path solution A, B, C, D, and E specifies at least the number of welding layers and the number of welding passes for each welding layer. The solutions are st It starts by calculating the possible welding scenarios for welding the first layer 1 according to Figure 1. st has a single possible scenario, e.g., 1 pass (bead). Second layer 2 nd The scenarios are calculated based on the scenarios in the first layer. As shown, the second layer 2 nd For the third layer 3, one pass or two passes are possible. rd The second layer 2 nd The calculations are based on these two different scenarios. th For ,four scenarios are proposed, the first two of which (from left to right) are rd The scenarios are calculated based on the scenarios of the previous layers. Each of these dependent scenarios defines a branch of the tree. Thus, each intermediate solution A, B, C, D, E represents a branch of the tree. According to the calculations, intermediate solutions A and B define five layers, while intermediate solutions C, D, E define four layers to fill the groove.

[0079] Each circle in Figure 1 can be called a node. Each node defines the layer volume range (minU-maxU) of the previous layer and the layer volume range (minL-maxL) of the current layer. This means that the deposition rate can be defined for the previous and current layers. Therefore, one of the parameters of the calculation is the fill volume and deposition rate of the previous layer, and therefore the welding speed profile. Each node also defines a channel containing the welder specifications, such as the welding energy and / or voltage and / or current used for welding.

[0080] A tree of solutions is calculated for multiple positions along the extension of the groove. After calculating multiple intermediate weld path solutions for all positions scanned along the groove, at least one complete weld path solution is calculated for welding the entire groove. A branch (one intermediate solution) calculated for one position may be calculated for another position. The at least one complete weld path solution may be a common solution calculated for each position, e.g., each position scanned.

[0081] Furthermore, in the proposed approach, a set of welding constraints can be defined, for example, after computing all possible welding path solutions, the set of constraints can be applied such that solutions that cannot satisfy the given constraints are eliminated.

[0082] The set of constraints may be, for example, one or more of process and / or material properties. The set of constraints may relate to the deposition rate, filler metal type, thermal and mechanical properties of the workpiece and welding wire, welding speed, welding energy, etc. Some constraints, such as the welding angle, may be applied after calculating the welding solution. Alternatively or additionally, the set of constraints may be considered while calculating the welding solution. For example, the deposition rate of each pass may be calculated based on predefined thermal coefficients, such as heat input. The heat input may vary depending on the welding process and the welded workpiece. The heat input may vary based on the filler metal, melting temperature, and deposition rate. Therefore, changes in the heat input requirements may affect the calculated volume range of each bead. Thermal coefficients may also be set as constraints after calculating all possible complete welding path solutions. Another constraint may relate to, for example, welding energy and / or voltage and / or current, which may change based on the channel. The user may manually inspect the calculated complete welding path solutions and select one from among all solutions. This approach can also automatically select one or more of the complete solutions.

[0083] Figure 3 shows an illustration of a groove cross section and the corresponding complete weld path solution. The small circles in the groove cross section indicate the weld beads in the final solution. The weld beads are numbered with Arabic numerals. According to the intermediate weld path solution shown, the first layer has one bead 1, the second layer defines two beads 2 and 3, and the third layer includes three beads 4, 5, and 6. According to this illustration of the complete weld path solution, a total of 52 beads are required to fill the groove.

[0084] Figure 4 is an illustration of another groove cross section with axes in a plot showing the dimensional characteristics of the average groove cross section. Thus, the average groove height is approximately 45 mm. The groove width increases along the groove height from approximately 15 mm to approximately 30 mm. The proposed solution includes 11 layers, with the first layer having one bead 1 and the second layer having two beads 2 and 3. The calculated solution defines two beads through the eighth layer. Layer 8 includes three beads 14, 15, and 16. From layer 8 onward, the number of beads remains stable; that is, three beads are calculated for each of layers 9, 10, and 11. The variation in the number of beads in each layer is smaller when the groove has steeper side edges. Furthermore, the solid lines derived from each bead (shown as small circles) represent the weaving profile, with the substantially horizontal lines indicating the weaving amplitude. As shown, the solid lines can have an inclination relative to the horizontal. Therefore, the solid line also indicates the angle of the welding gun. The welding gun follows the path shown by the solid line for each weld bead. As can be seen, the bead adjacent to the side of the groove is welded by moving the welding gun upward toward the top of the side of the groove. This is calculated to fill the groove while maintaining a similar weld height for each bead in each layer. It may be desirable to maintain a similar weld height for each weld bead in the same layer. However, the thickness of each weld layer may vary.

[0085] Figure 7 shows an illustration of a V-groove groove cross section and the corresponding weld path solution. The small circles in the groove cross section indicate the weld beads in the final solution. The weld beads are numbered with Arabic numerals. According to the weld path solution shown, there is one bead on the first four layers, but three on the final layer. As can be seen from the solution shown, a V-groove with less steep edges is easier to plan and execute, in part because the welding gun angle can be kept constant.

[0086] Figure 8 shows an illustration of the groove cross section and the corresponding final weld path solution. According to the shown weld path solution, the first nine layers have two beads, while the last two layers have three beads each. Similar to Figure 4, the steep edges of the groove require the welding gun angle to be changed accordingly. Line 81 shows a new scan of the groove obtained after the first layer, with beads 1 and 2, has been welded. Such a scan can be used to update the groove characteristics to check whether the first layer was welded correctly, and new rounds of intermediate and final weld path solutions can be calculated based on the new scan. As can be seen from line 81, the initially calculated final weld path solution still applies.

[0087] 9A and 9B show illustrations of groove cross sections at two different locations along the groove and the corresponding complete weld path solution for the groove, i.e., FIG. 9A shows one location along the groove and FIG. 9B shows another location. This groove is an example of a so-called tulip groove. The complete weld path solution preferably covers the entire groove based on all scans from different locations along the groove. As can be seen from FIGS. 9A and 9B, the groove is welded in 10 layers with a total of 24 passes, and the weld path solution shown is common to FIGS. 9A and 9B, with two passes in the first six layers and three passes in the top four layers.

[0088] FIGS. 10A and 10B show illustrations of groove cross sections of a tulip groove at two different locations along the groove. This is the same groove as FIGS. 9A and 9B, but the scans in FIGS. 10A and 10B were acquired after welding the first plies with beads "1" and "2" in FIGS. 9A and 9B. That is, the groove characteristics have been updated with new optical scans that provide updated dimensional characteristics of the at least partially filled groove. Using the new dimensional characteristics, the process of calculating intermediate and complete weld path solutions can be repeated, with the complete weld path solution shown in FIGS. 10A and 10B being the preferred solution for the groove seen in FIGS. 10A and 10B. Comparing FIGS. 9 and 10, it can be seen that the complete weld path solution generated from the groove in FIGS. 9A and 9B includes six plies with two passes and four upper plies with three passes. After welding the first layer and rescanning the groove, the generated complete weld path solution in Figures 10A and 10B includes five bottom layers, each with two passes. This corresponds to the solution in Figures 9A and 9B, minus the completed bottom layer. However, as seen in Figures 10A and 10B, there are only three top layers, each with three passes. This differs from the solution in Figures 9A and 9B, which includes four top layers, each with three passes. This is because the energy generated from the welding process, which involves heating and cooling the material, caused the top layers of the groove to shrink, i.e., the groove height decreased after welding the first bottom layer. Scanning the groove anew after welding the first layer and repeating the weld path planning method ensures that the welding system can account for changes in the groove characteristics.

[0089] The timing of accepting and / or acquiring new dimensional characteristics of the groove varies depending on the groove and welding conditions. A small V-shaped groove, such as that shown in Figure 7, may not require rescanning during welding, whereas rescanning a larger groove with a +20 bead, such as that shown in Figures 8–10, may be advantageous. The frequency with which groove characteristics are updated during the welding process may also vary. While updating groove characteristics after the completion of each layer may be a simple implementation, it extends the welding process. As can be seen from the comparison of Figures 9 and 10, only the top layers change in the generated complete weld path solution; that is, at least the first two, three, four, five, or six bottom layers could likely be completed without rescanning the groove. Therefore, groove characteristic updates during the welding process can be provided after each layer, after every second layer, after every third layer, after every fourth layer, or one-quarter of the way through the welding process, one-third of the way through the welding process, or halfway through the welding process, or any combination thereof.

[0090] 5 and 6 show an embodiment of a welding system including a welding machine with welding guns 54, 64 configured to perform groove welding operations and robotic arms 55, 65. The welding system further includes scanners 51, 61. The scanner 51 shown in FIG. 5 is located near the welding gun 54 so that the robotic arm 55 controlling the welding gun 54 can move the scanner 51 to a position where groove scanning is performed. Alternatively, the scanner can be fixed. In FIG. 6, multiple fixed scanners 61 (two scanners are shown) are positioned along a rail 66, and welding tasks can be performed along the rail. The welding system includes welding machine centers (53, 63) for controlling welding machine parameters such as welding energy through selection of multiple welding channels. The welding system further includes robot controllers (52, 62) for controlling the groove welding operation performed by the welding machine.

[0091] item 1. A welding path planning method for welding a groove of a welding task by a welding machine, comprising: - obtaining and / or receiving dimensional characteristics of the groove at a plurality of locations along the groove; - calculating at least one intermediate weld path solution for each of said locations along the groove based on said dimensional characteristics, thereby obtaining a plurality of intermediate weld path solutions; - generating at least one complete weld path solution for welding the entire groove based on the plurality of intermediate weld path solutions; A method comprising: 2. The method of claim 1, including acquiring and / or receiving a scan of the groove to determine dimensional characteristics. 3. The method according to item 2, wherein the scan of the groove is obtained by an optical sensor and / or scanner. 4. The method of any of the preceding items, wherein a plurality of locations are present along the extension of the groove. 5. The method of any of the preceding items, wherein the plurality of locations are at predetermined distances along the extension of the groove. 6. The method according to item 5, wherein the distance between each of the plurality of positions is between 1 and 5000 mm, between 10 and 200 mm, and preferably between 50 and 100 mm. 7. The dimensional characteristics of each groove are Groove height, Cross-sectional area of ​​the groove, The distance between the top two vertices of the cross section of the groove, The distance between the two bottom vertices of the cross section of the groove, The groove angle between each side edge of the groove relative to the base of the groove, and The angle of the bottom of the groove relative to the horizontal plane The method of any of the preceding items, wherein the method is selected from the group consisting of: 8. The method of any of the preceding items, further comprising the step of defining a set of welding constraints. 9. The method according to item 8, wherein the set of welding constraints is selected from the group consisting of welding wire type, welding gas type, welding position, welding angle, welding gun type, welding process type, material properties of the welding task, groove type, and welding speed. 10. The method of any one of items 8-9, wherein the set of welding constraints includes a thermal coefficient for the welding task. 11. The method of any one of items 8 to 10, wherein at least one intermediate weld path solution is generated based on a set of welding constraints. 12. The method of any of the preceding items, wherein each of the intermediate weld path solutions defines a number of weld layers and a number of passes in each of the weld layers. 13. A method according to any of the preceding items, comprising the steps of calculating a plurality of intermediate weld path solutions for each location and generating at least one complete weld path solution, the at least one complete weld path solution being a common solution calculated for each location. 14. The method according to item 12, wherein at least one complete weld path solution for welding the entire groove is generated such that an intermediate weld path solution at a location that defines a higher number of passes for the same layer is selected as the at least one complete weld path solution. 15. A method according to any of the preceding items, wherein at least one complete weld path solution defines a variable number of layers such that the number of layers for welding between adjacent locations varies while maintaining a predefined weld height tolerance between all groove images. 16. The method of item 12, including calculating the height of at least one weld layer for each of at least one complete weld path solution. 17. The method of any of the preceding items, wherein each of the intermediate welding path solutions and / or welding path solutions defines the number of welding layers, the number of welding passes for each welding layer, the weaving profile for each welding pass, and the welding speed profile for the welder. 18. The method according to any of the preceding items, wherein the method is for welding parts in the automotive industry and / or the marine industry and / or heavy industry and / or wind turbines. 19. A system for planning a welding path for welding a groove of a welding task, the system comprising: a non-transient computer-readable storage device for storing instructions that, when executed by a processor, perform a welding path planning method for welding a groove of a welding task using a welding machine according to any one of the preceding items 1 to 18. 20. A groove welding system for welding a groove, comprising: a welding machine comprising a welding gun configured to perform a groove welding operation; a robot controller configured to control a groove welding operation performed by a welder; a sensor for obtaining at least one scan of the groove; a processing unit configured to carry out the method according to any one of the preceding items 1 to 18, The groove welding system, wherein the system is configured to perform a groove welding operation based on the generated at least one complete weld path solution for welding the entire groove. 21. The system of item 20, wherein the welding speed, such as the weaving profile of the welder, is configured to be adaptively adjusted during welding. 22. A system according to any one of items 20 to 21, configured to adaptively adjust the amount of welding wire used in welding during welding. 23. A groove welding method comprising: - planning a welding path according to any one of items 1 to 18; - performing a groove welding operation based on the generated at least one complete weld path solution for welding the entire groove by the groove welding system according to any one of items 20 to 22; -adaptively adjusting a set of welding parameters during welding; A method comprising: 24. The method according to item 23, wherein the set of welding parameters is one or more of a weaving profile of a welding machine, such as a weaving frequency and amplitude, and a welding wire amount. 25. The method according to any one of items 23 to 24, further comprising the step of tracking the groove being welded in real time. 26. The method according to any one of items 23 to 25, further comprising the step of determining a thermal coefficient for the welding task, wherein the set of welding parameters is adjusted based on the thermal coefficient.

Claims

1. A welding path planning method for welding a groove of a welding task by a welding machine, comprising: - acquiring and / or receiving dimensional characteristics of the groove at a plurality of locations along the groove; - calculating, for each of the locations along the groove, a plurality of intermediate weld path solutions based on the dimensional characteristics, each intermediate weld path solution defining welding parameters for the welder for welding the groove at the location, the welding parameters including a number of weld layers, a number of weld passes for each weld layer, a weaving profile for each weld pass, and a welding speed profile, thereby obtaining a plurality of intermediate weld path solutions at each of the locations; - generating at least one complete welding path solution for welding the entire groove based on the plurality of intermediate welding path solutions, wherein the at least one complete welding path solution defines welding parameters of the welding machine for welding the entire groove, the welding parameters including a number of welding layers, a number of welding passes for each welding layer, a weaving profile for each welding pass, and a welding speed profile of the welding machine for welding the entire groove.

2. The method of claim 1 , comprising obtaining and / or receiving a scan of the groove to determine dimensional characteristics, the scan of the groove being obtained by an optical sensor and / or scanner.

3. 3. The method according to claim 1 or 2, wherein the plurality of positions are located along the extension of the groove at a predetermined distance along the extension of the groove, and / or the distance between each of the plurality of positions is between 1 and 5000 mm, between 10 and 200 mm, preferably between 50 and 100 mm.

4. 4. The method of claim 1, wherein a plurality of intermediate weld path solutions are calculated for each of the positions of the groove, and welding parameters associated with a position are grouped into working ranges that define working ranges for the weaving profile and the welding speed profile.

5. The method according to any one of claims 1 to 4, wherein welding parameters of the intermediate welding path solutions and / or the at least one complete solution comprise an angle of a welding gun of the welding machine, preferably an angle relative to the horizontal.

6. The dimensional characteristics of each groove are: The height of the groove, The cross-sectional area of ​​the groove; The distance between the upper two vertices of the cross section of the groove, The distance between the two bottom vertices of the cross section of the groove, The groove angle between each side edge of the groove relative to the base of the groove, and the angle of the groove bottom relative to the horizontal plane; The method according to any one of claims 1 to 5, wherein the compound is selected from the group consisting of:

7. 7. The method of claim 1, further comprising the step of defining a set of welding constraints, wherein the set of welding constraints is selected from the group of: a type of welding wire, a type of welding gas, a welding position, a welding angle, a type of welding gun, a type of welding process, a material property of a welding task, a type of the groove, and a welding speed, and wherein the at least one intermediate welding path solution and / or the at least one complete welding path solution is generated based on the set of welding constraints.

8. The method of any one of claims 1 to 7, wherein the set of welding constraints includes thermal coefficients, and the at least one intermediate weld path solution and / or the at least one complete weld path solution are generated based on the set of welding constraints.

9. 9. The method according to any one of claims 1 to 8, comprising the step of calculating a plurality of the intermediate weld path solutions for each location and / or generating at least one complete weld path solution, wherein the at least one complete weld path solution is a common solution calculated for each location.

10. The method of any one of claims 1 to 9, wherein each of the intermediate weld path solutions defines a number of weld layers and a number of passes in each of the weld layers.

11. 11. The method of claim 1, wherein the at least one complete weld path solution defines a variable number of layers such that the number of layers for welding between adjacent locations is different while maintaining a predefined weld height tolerance between all groove images.

12. The method of claim 10 , comprising calculating a height of at least one weld layer for each of the at least one complete weld path solution.

13. The method according to any one of claims 1 to 12, wherein said method is a method for welding parts in the automotive industry and / or the marine industry and / or heavy industry and / or wind turbines.

14. A groove welding system for welding a groove, comprising: a welding machine comprising a welding gun configured to perform a groove welding operation; a robot controller configured to control the groove welding operation performed by the welding machine; a sensor for obtaining at least one scan of said groove to obtain dimensional characteristics of said groove; a processing unit configured to carry out the method according to any one of claims 1 to 13, The groove welding system is configured to perform the groove welding operation based on at least one generated complete weld path solution for welding the entire groove.

15. 15. The system of claim 14, wherein a welding speed, such as a weaving profile, of the welder is configured to be adaptively adjusted during welding, and / or an amount of welding wire used for welding is configured to be adaptively adjusted during welding.

16. The system of claim 14 or 15, wherein the system is configured to: 1) obtain by the sensor at least one re-scan of the groove during a groove welding operation to obtain updated dimensional characteristics of the at least partially welded groove; and 2) perform the method of any one of claims 1 to 13 based on the updated dimensional characteristics of the at least partially welded groove to generate at least one updated complete weld path solution for welding the at least partially welded groove.

17. 17. The system of claim 16, wherein the groove is rescanned after each weld layer, after every second weld layer, after every third weld layer, after every fourth weld layer, midway through each quarter of the welding process, midway through each third of the welding process, or midway through the welding process, or any combination thereof.

18. - planning a welding path according to any one of claims 1 to 13; - initiating a groove welding operation based on the generated at least one complete weld path solution for welding the entire groove, e.g. by a groove welding system according to any one of claims 14 to 17; A groove welding method including:

19. 19. The groove welding method according to claim 18, comprising planning the welding path according to any one of claims 1 to 13, such that an updated welding path is planned for the at least partially welded groove after at least one layer of the groove is welded.

20. 20. The groove welding method of claim 19, wherein the welding path plan is automatically updated at least once during the welding operation, such as after each weld layer, after each second weld layer, after each third weld layer, after each fourth weld layer, during each quarter of the welding process, during each third of the welding process, or halfway through the welding process, or any combination thereof.

21. A groove welding method according to any one of claims 18 to 20, comprising performing a groove welding operation based on at least one generated complete weld path solution for welding the entire groove, e.g. by a groove welding system according to any one of claims 14 to 17, and

22. A groove welding method according to any one of claims 18 to 21, comprising adaptively adjusting the set of welding parameters during welding.

23. The groove welding method according to any one of claims 18 to 22, wherein the set of welding parameters is one or more of a weaving profile of the welding machine, such as a weaving frequency and amplitude, and a welding wire amount;

24. A groove welding method according to any one of claims 18 to 23, comprising the step of tracking the groove being welded in real time;

25. 25. The groove welding method of claim 18, wherein the method further comprises determining a thermal coefficient for a welding task, and the set of welding parameters is adjusted based on the thermal coefficient.

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