Laser recognition positioning method and system, laser cutting system, device and medium

Abstract

The application provides a laser identification positioning method, system, device and medium. The positioning method uses an identification image obtained by a first image acquisition device to obtain coarse edge contour coordinate information of N plates, performs point cloud registration processing on the coarse edge contour coordinate information and M part drawings to determine corresponding part drawings of each plate and positioning coordinate information corresponding to each part graphic information, and generates a coarse positioning drawing accordingly; based on the coarse positioning drawing and the M part drawings, a fine scanning path is planned; a second image acquisition device is controlled to scan along the fine scanning path to obtain fine edge contour coordinate information of the N plates, the fine edge contour coordinate information is subjected to point cloud registration processing on the M part drawings or the coarse positioning drawing, the corresponding part drawings of each plate and the positioning coordinate information corresponding to the part graphic information are updated, and a fine positioning drawing is generated accordingly, so that the plates can be accurately positioned, material loss is small when the plates are beveled, and the precision and efficiency are high.

Description

Technical Field

[0001] This invention relates to the field of laser processing technology, and in particular to a laser identification and positioning method and system, a laser cutting system, equipment and medium. Background Technology

[0002] In existing laser processing systems, in order to improve the welding quality of plates and ensure the quality and strength of welded joints, it is necessary to bevel the plates so that the edges of the processed plates are cut at a specific angle.

[0003] Before beveling, the operator needs to manually position the workpiece to ensure that the cutting line matches the expected position. In addition, special fixtures and supports need to be designed to fix and support the workpiece. Therefore, the current beveling technology has a low level of automation and its accuracy is affected by human factors.

[0004] Beveling is generally divided into single-stage beveling and double-stage beveling. Single-stage beveling completes the entire processing directly, offering high precision, efficiency, and a large processing area. However, it results in significant material waste when beveling thicker plates. Double-stage beveling can be understood as dividing the beveling process into two stages: first, the plate is roughly processed (i.e., straight-cut blank) to produce a plate without a bevel; then, the plate is finely adjusted to cut the bevel corresponding to the part. However, it has lower precision and a smaller processing area.

[0005] Therefore, how to accurately position the board material to ensure minimal material loss and high precision and efficiency during beveling has become a pressing technical problem that the industry needs to solve. Summary of the Invention

[0006] This invention provides a laser identification and positioning method and system, a laser cutting system, equipment and medium to solve the problem of how to accurately position the sheet material, thereby ensuring less material loss and higher accuracy and efficiency when beveling the sheet material.

[0007] According to a first aspect of the present invention, a laser identification and positioning method is provided, comprising:

[0008] Based on the recognition image acquired by the first image acquisition device, the coordinate information of the coarse edge contour of N boards is obtained, where N is a positive integer and N≥1;

[0009] Obtain M part drawings, each part drawing includes the corresponding part graphic information, where M is a positive integer and M≥1;

[0010] The coarse edge contour coordinate information corresponding to the N plates is registered with the M part drawings using point cloud processing to determine the part drawing corresponding to each plate and the positioning coordinate information corresponding to each part graphic information, and a coarse positioning drawing is generated accordingly.

[0011] Based on the coarse positioning drawing and the M part drawings, plan the fine scanning path;

[0012] The second image acquisition device is controlled to scan along the fine scanning path to identify the edge contours of the N boards and obtain the fine edge contour coordinate information of the N boards.

[0013] The fine edge contour coordinate information corresponding to the N plates is registered with the M part drawings using point cloud processing, or the fine edge contour coordinate information corresponding to the N plates is registered with the coarse positioning drawings using point cloud processing. The positioning coordinate information corresponding to the part drawings and part graphic information corresponding to each plate is updated, and a fine positioning drawing is generated accordingly.

[0014] Optionally, before obtaining the coarse edge contour coordinate information of the N plates based on the recognition image acquired by the first image acquisition device, the method further includes:

[0015] Obtain the coordinates of K marker points in the target area's base coordinate system, where K is a positive integer and K≥4;

[0016] Based on the recognition image acquired by the first image acquisition device, determine the pixel coordinates of the K marker points in the recognition image;

[0017] Based on the coordinates of the K marker points in the target region's base coordinate system and their pixel coordinates in the recognition image, the planar mapping homography matrix from the recognition image acquired by the first image acquisition device to the target region is determined, thus completing the calibration of the first image acquisition device to the target region.

[0018] Optionally, the N plates are placed within the target area.

[0019] Optionally, the fine edge contour coordinate information of the N plates includes the three-dimensional coordinate information of the fine edge contour of each plate.

[0020] Optionally, the second image acquisition device is controlled to scan along the fine scanning path to identify the edge contours of the N plates, specifically including:

[0021] The second image acquisition device is controlled to scan along the fine scanning path to identify the local edge contours of the N plates.

[0022] Optionally, the edge of the plate is the boundary line between the upper surface of the plate and its side surface or the endpoint of the upper surface of the plate.

[0023] Optionally, the first image acquisition device is a surveillance camera, a line laser sensor group, or a 3D camera.

[0024] Optionally, the second image acquisition device is a crosshair laser sensor, a line laser sensor with C-axis rotation, a line laser sensor group, or a 3D camera.

[0025] According to a second aspect of the present invention, a laser identification and positioning system is provided for determining the positioning coordinate information corresponding to the part drawing and part graphic information for each sheet metal plate, the system comprising:

[0026] The coarse edge contour acquisition module is used to obtain the coarse edge contour coordinate information of N plates based on the recognition image acquired by the first image acquisition device, where N is a positive integer and N≥1;

[0027] The part drawing acquisition module is used to acquire M part drawings. Each part drawing includes the corresponding part graphic information, where M is a positive integer and M≥1.

[0028] The coarse positioning module is used to perform point cloud registration processing on the coarse edge contour coordinate information corresponding to the N plates and the M part drawings to determine the positioning coordinate information corresponding to the part drawing and part graphic information of each plate, and generate a coarse positioning drawing accordingly.

[0029] The scanning path planning module is used to plan the fine scanning path based on the coarse positioning drawing and the M part drawings;

[0030] The fine edge contour acquisition module is used to control the second image acquisition device to scan along the fine scanning path to identify the edge contours of the N boards and obtain the fine edge contour coordinate information of the N boards.

[0031] The fine positioning module performs point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the M part drawings, or performs point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the coarse positioning drawings, updates the positioning coordinate information corresponding to the part drawings and part graphic information corresponding to each plate, and generates fine positioning drawings accordingly.

[0032] According to a third aspect of the present invention, a laser cutting system is provided, including the positioning mark graphic recognition system provided in the second aspect of the present invention.

[0033] According to a fourth aspect of the present invention, an electronic device is provided, including a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that the processor executes the program to implement the steps of the method described in any one of the first aspects of the present invention.

[0034] According to a fifth aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the method described in any of the first aspects of the present invention.

[0035] The laser identification and positioning method and system, laser cutting system, equipment, and medium provided by this invention utilize the identification image acquired by the first image acquisition device to obtain the coarse edge contour coordinate information of N plates. This information is then registered with M part drawings using point cloud technology to determine the positioning coordinate information corresponding to the part drawing and the graphic information of each part, thereby generating a coarse positioning drawing. Based on the coarse positioning drawing and the M part drawings, a fine scanning path is planned. The second image acquisition device is controlled to scan along the fine scanning path to obtain the fine edge contour coordinate information of the N plates. This information is then registered with the M part drawings or the coarse positioning drawing using point cloud technology to update the positioning coordinate information corresponding to the part drawing and the graphic information of each plate, and a fine positioning drawing is generated accordingly. This accurately positions the plates, ensuring minimal material loss during beveling and achieving high accuracy and efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating a laser identification and positioning method according to an embodiment of the present invention. Figure 1 ;

[0038] Figure 2 This is a flowchart illustrating a laser identification and positioning method according to an embodiment of the present invention. Figure 2 ;

[0039] Figure 3 This is a schematic diagram of the laser identification and positioning system in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram illustrating the structure of an exemplary electronic device in one embodiment of the present invention;

[0041] Explanation of reference numerals in the attached figures:

[0042] 31- Coarse edge contour acquisition module;

[0043] 32-Parts drawing acquisition module;

[0044] 33 - Coarse positioning module;

[0045] 34 - Scan Path Planning Module;

[0046] 35 - Fine edge contour acquisition module;

[0047] 36-Precision positioning module;

[0048] 41-Processor;

[0049] 42-Memory;

[0050] 43-bus. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0052] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0053] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0054] Given the difficulty in accurately positioning sheet metal in existing technologies to minimize material loss and achieve high accuracy and efficiency during beveling, this invention provides a laser recognition positioning method. This method utilizes recognition images acquired by a first image acquisition device to obtain the coarse edge contour coordinates of N sheet metal pieces. These coordinates are then registered with M part drawings to determine the positioning coordinates of the corresponding part drawing and part graphic information for each sheet metal piece, generating a coarse positioning drawing. Based on the coarse positioning drawing and the M part drawings, a fine scanning path is planned. A second image acquisition device is controlled to scan along the fine scanning path to obtain the fine edge contour coordinates of the N sheet metal pieces. These coordinates are then registered with the M part drawings or the coarse positioning drawing to update the positioning coordinates of the corresponding part drawing and part graphic information for each sheet metal piece, generating a fine positioning drawing. This method accurately positions the sheet metal, ensuring minimal material loss and high accuracy and efficiency during beveling.

[0055] Please refer to Figure 1 This invention provides a laser identification and positioning method, characterized by comprising:

[0056] S11: Based on the recognition image obtained by the first image acquisition device, obtain the coarse edge contour coordinate information of N plates, where N is a positive integer and N≥1;

[0057] In one embodiment, the first image acquisition device has a low profile recognition accuracy. For example, it can be a surveillance camera, which is inexpensive. Of course, it can also be a line laser sensor group, a 3D camera, etc. The line laser sensor group can be composed of multiple line laser sensors spliced ​​together to achieve functions such as scanning the entire machine tool area, generating point clouds, extracting the profile of the sheet metal and the graphic profile of the part. Those skilled in the art can select a suitable image acquisition device as needed.

[0058] In one embodiment, the sheet material is a straight-cut sheet material.

[0059] S12: Obtain M part drawings, each part drawing includes the corresponding part graphic information, where M is a positive integer and M≥1;

[0060] In one example, the part drawing is a two-dimensional drawing;

[0061] S13: Perform point cloud registration processing on the coarse edge contour coordinate information corresponding to the N plates and the M part drawings to determine the part drawing corresponding to each plate and the positioning coordinate information corresponding to each part graphic information, and generate a coarse positioning drawing accordingly.

[0062] S14: Based on the coarse positioning drawing and the M part drawings, plan the fine scanning path;

[0063] S15: Control the second image acquisition device to scan along the fine scanning path to identify the edge contours of the N plates and obtain the fine edge contour coordinate information of the N plates;

[0064] In one embodiment, the second image acquisition device can be a line laser sensor, such as a crosshair laser sensor, a line laser sensor with C-axis rotation, etc., or it can be a line laser sensor group or a 3D camera. Those skilled in the art can select a suitable image acquisition device as needed.

[0065] When the second image acquisition device is a crosshair laser sensor, controlling the second image acquisition device to scan along the fine scanning path specifically includes:

[0066] The intersection of the cross lasers emitted by the cross laser sensor is controlled to scan along the fine scanning path to identify the edge contours of the N plates.

[0067] In one example, the edge contour of the N plates is the boundary line between the upper surface and the side surface of the plate;

[0068] In other examples, if the corresponding line laser sensor can rotate, the edge contours of the N plates can also be the angle between the upper surface of the plate and its side surface.

[0069] If the corresponding line laser sensor is fixed on the crossbeam and cannot rotate, then the edge contours of the N plates can also be the endpoints of the upper surface of the plates.

[0070] Of course, the present invention is not limited thereto. Those skilled in the art can select appropriate features as the endpoints of the edge contours of the N plates according to the installation method of the second image acquisition device.

[0071] S16: Perform point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the M part drawings, or perform point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the coarse positioning drawings, update the positioning coordinate information corresponding to the part drawings and part graphic information of each plate, and generate fine positioning drawings accordingly.

[0072] Specifically, the actual sheet material dimensions (i.e., the fine edge contour coordinate information corresponding to the N sheet materials obtained) may deviate from the previously obtained sheet material dimensions (i.e., the coarse edge contour coordinate information corresponding to the N sheet materials obtained), or there may be cases where some sheet materials do not match the previously corresponding part drawings.

[0073] Therefore, the fine edge contour coordinate information corresponding to the N sheet metals is registered with the M part drawings using point cloud processing, or the fine edge contour coordinate information corresponding to the N sheet metals is registered with the coarse positioning drawing using point cloud processing. Based on the obtained fine edge contour coordinate information corresponding to the N sheet metals, the coarse positioning drawing is modified accordingly (e.g., the dimensions of the coarse positioning drawing are modified, etc.) to obtain the fine positioning drawing.

[0074] Alternatively, point cloud registration processing can be performed on the fine edge contour coordinate information corresponding to the N plates and the M part drawings to redetermine the part drawings corresponding to each plate and the positioning coordinate information, size information, etc. corresponding to each part graphic information, and generate the fine positioning drawings accordingly.

[0075] In one embodiment, the precise positioning drawing can be a two-dimensional drawing or a three-dimensional drawing.

[0076] In this context, in one implementation, the fine edge contour coordinate information of the N plates in step S15 includes the three-dimensional coordinate information of the fine edge contour of each plate.

[0077] In one example, step S15, controlling the second image acquisition device to scan along the fine scanning path to identify the edge contours of the N plates, specifically includes:

[0078] The second image acquisition device is controlled to scan along the fine scanning path to identify the local edge contours of the N plates.

[0079] In this case, the point cloud registration process in step S16 is to perform point cloud registration processing on the fine edge contour coordinate information corresponding to the local edge contours of the N plates and the M part drawings or the coarse positioning drawings.

[0080] In summary, this invention first uses the first image acquisition device to perform coarse position recognition on the sheet metal, obtaining the estimated part drawings and positioning coordinates corresponding to each part's graphic information for each sheet metal, thus generating a coarse positioning drawing. Based on the part drawings and the coarse positioning drawing, a fine positioning scanning path is planned, and the second image acquisition device is controlled to scan along the fine scanning path to obtain the fine edge contour coordinates of the N sheet metals. By performing point cloud registration processing on the fine edge contour coordinates of the N sheet metals with the M part drawings or the coarse positioning drawing, the precise position of the sheet metal can be obtained, and the precise positioning coordinates corresponding to each part's graphic information for each sheet metal can be obtained, generating a fine positioning drawing. Therefore, this invention can accurately position the sheet metal, ensuring minimal material loss during beveling of the sheet metal, while achieving high accuracy and efficiency.

[0081] In practice, before step S11, the first image acquisition device needs to be calibrated. For one embodiment, please refer to... Figure 2 ,include:

[0082] S21: Obtain the coordinates of K marker points in the target area's base coordinate system, where K is a positive integer and K≥4;

[0083] Specifically, K fixed marker points are placed in the target area, and the coordinates of the K marker points in the target area base coordinate system are obtained, where K is a positive integer and K≥4.

[0084] S22: Based on the recognition image acquired by the first image acquisition device, determine the pixel coordinates of the K marker points in the recognition image;

[0085] Specifically, for example, the pixel coordinates of K marker points in the identified image can be identified by image recognition, and the image recognition includes grayscale processing, threshold segmentation processing, feature fitting processing, etc.

[0086] Of course, this invention does not limit the specific image recognition method, which is existing technology and will not be described in detail here for the sake of simplicity.

[0087] S23: Based on the coordinates of the K marker points in the target region base coordinate system and their pixel coordinates in the recognition image, determine the planar mapping homography matrix from the recognition image to the target region acquired by the first image acquisition device, and complete the calibration of the first image acquisition device to the target region.

[0088] The calibration of the first image acquisition device to the target area can be understood as ensuring that the pixel coordinates of the recognition image acquired by the first image acquisition device correspond one-to-one with the coordinates in the base coordinate system of the target area.

[0089] In this case, the N plates are placed within the target area.

[0090] In practical work, the first image acquisition device can also perform periodic self-checks and automatic calibration verification to ensure that the pixel coordinates of the recognition image acquired by the first image acquisition device correspond one-to-one with the coordinates in the base coordinate system of the target area.

[0091] In a preferred embodiment, the first image acquisition device may further be configured as follows:

[0092] If the error between the pixel coordinates of the recognition image acquired by the first image acquisition device and the coordinates in the base coordinate system of the target area is greater than a first threshold, then the first image acquisition device is recalibrated.

[0093] Furthermore, this invention also provides a laser identification and positioning system for determining the positioning coordinates of the part drawing and part graphic information corresponding to each sheet metal. Please refer to [reference needed]. Figure 3 The system includes:

[0094] The coarse edge contour acquisition module 31 is used to obtain the coarse edge contour coordinate information of N plates based on the recognition image acquired by the first image acquisition device, where N is a positive integer and N≥1;

[0095] The part drawing acquisition module 32 is used to acquire M part drawings, each part drawing including the corresponding part graphic information, where M is a positive integer and M≥1;

[0096] The coarse positioning module 33 is used to perform point cloud registration processing on the coarse edge contour coordinate information corresponding to the N plates and the M part drawings to determine the positioning coordinate information corresponding to the part drawing and part graphic information of each plate, and generate a coarse positioning drawing accordingly.

[0097] Scanning path planning module 34 is used to plan a fine scanning path based on the coarse positioning drawing and the M part drawings;

[0098] The fine edge contour acquisition module 35 is used to control the second image acquisition device to scan along the fine scanning path to identify the edge contours of the N boards and obtain the fine edge contour coordinate information of the N boards.

[0099] The fine positioning module 36 performs point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the M part drawings, or performs point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the coarse positioning drawings, updates the positioning coordinate information corresponding to the part drawings and part graphic information corresponding to each plate, and generates fine positioning drawings accordingly.

[0100] In addition, the present invention also provides a laser cutting system, including the above-mentioned positioning mark graphic recognition system.

[0101] In addition, embodiments of the present invention also provide an electronic device, please refer to... Figure 4 ,like Figure 4 As shown, the electronic device includes a memory 42, a processor 41, and a program stored in the memory 42 and executable on the processor 41. When the processor 41 executes the program, it can implement the steps of the laser identification and positioning method described in the foregoing scheme of the present invention. The processor 41 can communicate with the memory 42 via a bus 43.

[0102] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the laser identification and positioning method in the aforementioned scheme of the present invention.

[0103] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which can take the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0104] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0105] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0106] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser recognition positioning method, characterized by, include: Based on the recognition image acquired by the first image acquisition device, the coordinate information of the coarse edge contour of N boards is obtained, where N is a positive integer and N≥1; Obtain M part drawings, each part drawing includes the corresponding part graphic information, where M is a positive integer and M≥1; The coarse edge contour coordinate information corresponding to the N plates is registered with the M part drawings using point cloud processing to determine the part drawing corresponding to each plate and the positioning coordinate information corresponding to each part graphic information, and a coarse positioning drawing is generated accordingly. Based on the coarse positioning drawing and the M part drawings, plan the fine scanning path; The second image acquisition device is controlled to scan along the fine scanning path to identify the edge contours of the N boards and obtain the fine edge contour coordinate information of the N boards. The fine edge contour coordinate information corresponding to the N plates is registered with the M part drawings using point cloud processing, or the fine edge contour coordinate information corresponding to the N plates is registered with the coarse positioning drawings using point cloud processing. The positioning coordinate information corresponding to the part drawings and part graphic information corresponding to each plate is updated, and a fine positioning drawing is generated accordingly.

2. The laser recognition positioning method according to claim 1, characterized in that, Before obtaining the coarse edge contour coordinate information of the N plates based on the recognition image acquired by the first image acquisition device, the process further includes: Obtain the coordinates of K marker points in the target area's base coordinate system, where K is a positive integer and K≥4; Based on the recognition image acquired by the first image acquisition device, determine the pixel coordinates of the K marker points in the recognition image; Based on the coordinates of the K marker points in the target region's base coordinate system and their pixel coordinates in the recognition image, the planar mapping homography matrix from the recognition image acquired by the first image acquisition device to the target region is determined, thus completing the calibration of the first image acquisition device to the target region.

3. The laser identification and positioning method according to claim 2, characterized in that, The N plates are placed within the target area.

4. The laser recognition positioning method according to claim 1, wherein, The fine edge contour coordinate information of the N plates includes the three-dimensional coordinate information of the fine edge contour of each plate.

5. The laser identification and positioning method according to claim 4, characterized in that, Controlling the second image acquisition device to scan along the fine scanning path to identify the edge contours of the N plates, specifically including: The second image acquisition device is controlled to scan along the fine scanning path to identify the local edge contours of the N plates.

6. The laser identification and positioning method according to claim 5, characterized in that, The edge of the plate is the boundary line between the upper surface of the plate and its side surface or the endpoint of the upper surface of the plate.

7. The laser recognition positioning method according to claim 1, wherein, The first image acquisition device is a surveillance camera, a line laser sensor group, or a 3D camera.

8. The laser recognition positioning method according to claim 7, characterized in that, The second image acquisition device is a crosshair laser sensor, a line laser sensor with C-axis rotation, or a 3D camera.

9. A laser recognition positioning system, characterized by The system is used to determine the positioning coordinates of the part drawings and part graphic information corresponding to each sheet metal. It includes: The coarse edge contour acquisition module is used to obtain the coarse edge contour coordinate information of N boards based on the recognition image acquired by the first image acquisition device, where N is a positive integer and N≥1; The part drawing acquisition module is used to acquire M part drawings. Each part drawing includes the corresponding part graphic information, where M is a positive integer and M≥1. The coarse positioning module is used to perform point cloud registration processing on the coarse edge contour coordinate information corresponding to the N plates and the M part drawings to determine the positioning coordinate information corresponding to the part drawing and part graphic information of each plate, and generate a coarse positioning drawing accordingly. The scanning path planning module is used to plan the fine scanning path based on the coarse positioning drawing and the M part drawings; The fine edge contour acquisition module is used to control the second image acquisition device to scan along the fine scanning path to identify the edge contours of the N boards and obtain the fine edge contour coordinate information of the N boards. The fine positioning module performs point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the M part drawings, or performs point cloud registration processing on the fine edge contour coordinate information corresponding to the N plates and the coarse positioning drawings, updates the positioning coordinate information corresponding to the part drawings and part graphic information corresponding to each plate, and generates fine positioning drawings accordingly.

10. A laser cutting system, characterized by, Including the laser identification and positioning system as described in claim 9.

11. An electronic device, characterized in that, The method includes a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that the processor, when executing the program, implements the steps of the method according to any one of claims 1-8.

12. A computer readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-8.

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