Method and system for automatically generating a weld plan for a (semi-)unique work piece

A method for automatically generating a weld plan for a work piece, in particular a (semi-)unique work piece,

• the work piece comprising a base plate and one or more profiles that protrude upwardly from the base plate, the profiles including at least a T-shaped profile, an angled profile and/or a bulb profile, and/or a bulb profile, a top portion of the profiles being spaced apart from the base plate,
• wherein use is made of a sensor comprising a laser source and a camera as well as a gantry,
• the sensor extending forwards with respect to gantry due to an extension element, the laser source in use projecting a laser line on the profiles at an angle of in between 10° and 25° compared to a line normal to the base plate,
• the camera arranged at a fixed position with respect to the laser source, at an angle of in between 10° and 60° with respect to the centre line of the laser beam emitted by the laser source,
• wherein the laser source is configured for generating a laser beam and the camera is configured for recording said laser beam, the sensor being movable with respect to the work piece, wherein the method comprises the steps of:
• a) moving the sensor across the work piece, while the laser source emits a laser beam that is projected on the work piece;
• b) obtaining laser line height data, representative of a local height of the laser line as projected on the work piece, using the camera;
• c) generating a 3D representation of the work piece, based on the local height data obtained with the sensor in step b);
• d) based on the 3D representation of the work piece:
• defining weld seams at contact lines between the profiles and the base plate;
• and
• e) generating a weld plan based on the set of weld seams.