Self-adaptive welding system, method and device for groove welding

The embodiment of the invention provides a self-adaptive welding system, method and device for groove welding, and relates to the technical field of automatic groove welding. The self-adaptive welding method comprises the steps from S1 to S6. The method comprises the following steps: S1, moving a welding seam scanning sensor for moving and locating to obtain an arc starting point and an arc stopping point; and S2, according to the arc starting point and the arc stopping point, weld groove scanning is conducted, and multiple groove section data in the weld direction are obtained. And S3, filtering the multiple pieces of groove section data to obtain the filtered groove section data. And S4, line segment fitting is performed on the filtered groove section data, segmentation is performed according to the change rate of line segments obtained through fitting, and multiple pieces of segmented groove section data are obtained. And S5, sending data of the plurality of segmented groove sections to an industrial contr