Laser sensor for mirror surface stainless steel welding seam tracking and welding seam tracking identification method

Abstract

The invention discloses a laser sensor for mirror surface stainless steel welding seam tracking and a welding seam tracking identification method, the laser sensor comprises a laser emitter, a laser receiving lens, a lens motion control system and a laser stripe image processing system, the laser emitter is used for emitting laser; the laser receiving lens is used for receiving the laser reflected by the mirror surface; the lens motion control system is used for controlling the laser receiving lens to perform periodic rotary motion and posture adjustment; and the laser stripe image processing system is used for processing the received reflected laser. Through periodic motion of the laser receiving lens, conical rotary motion of the laser receiving lens around a laser reflection point in a possible laser reflection range can be realized, multi-direction laser reflected by mirror surface stainless steel is further captured, laser stripes collected at different moments are spliced through the laser stripe image processing system, and a laser stripe image is obtained. A complete laser stripe image capable of reflecting the appearance of the weld groove is formed, and the purpose of tracking and identifying the mirror stainless steel weld is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic welding, and relates to a laser sensor for mirror stainless steel weld seam tracking and a weld seam tracking and recognition method. Background Art

[0002] Robotic welding is one of the important application scenarios of industrial robot technology. A weld seam tracking sensor can help a robot automatically find the center position of a weld seam, and then adjust the welding trajectory to improve the welding quality. In the existing linear structured laser sensor, the relative positions of the laser emitter and the laser receiving lens are fixed. When it is applied to the recognition of mirror stainless steel weld seams, due to specular reflection of the laser stripes, the laser receiving lens cannot obtain a complete laser stripe image. This greatly limits the application of robot technology in the field of stainless steel automatic welding. Summary of the Invention

[0003] Object of the Invention: The object of the present invention is to provide a laser sensor for mirror stainless steel weld seam tracking and a weld seam tracking and recognition method. By controlling the periodic movement of the laser receiving lens, a laser stripe image that can reflect the complete morphology of the weld groove can be effectively obtained, so as to achieve the purpose of mirror stainless steel weld seam recognition and tracking.

[0004] Technical Solution: The laser sensor for mirror stainless steel weld seam tracking according to the present invention includes a laser emitter, a laser receiving lens, a lens motion control system, and a laser stripe image processing system. The laser emitter is used to emit laser; the laser receiving lens is used to receive the laser after specular reflection; the lens motion control system is used to control the laser receiving lens to perform periodic rotational motion and attitude adjustment; the laser stripe image processing system is used to process the received reflected laser and identify the center of the weld groove.

[0005] Optionally, the lens motion control system includes a rotational motion mechanism, a three-axis angle adjustment mechanism, a distance adjustment mechanism, and a motion controller. The rotational motion mechanism is fixedly connected to the three-axis angle adjustment mechanism and the distance adjustment mechanism respectively. The distance adjustment mechanism is fixedly connected to the laser receiving lens. The motion controller is fixedly connected to the three-axis angle adjustment mechanism. The distance adjustment mechanism is used to adjust the relative distance between the laser receiving lens and the laser reflection point; the three-axis angle adjustment mechanism is used to adjust the attitude of the laser receiving lens; the rotational motion mechanism is used to drive the distance adjustment mechanism to perform rotational motion, and then drive the laser receiving lens to perform rotational motion; the motion controller is used to control the coordinated motion of the rotational motion mechanism, the three-axis angle adjustment mechanism, and the distance adjustment mechanism to realize the pose adjustment of the laser receiving lens.

[0006] Optionally, the rotational motion mechanism includes a crank and a first driving motor. The crank is fixedly connected to the distance adjustment mechanism, and the first driving motor is fixedly connected to the three-axis angle adjustment mechanism. The motion controller controls the first driving motor to drive the crank to perform rotational motion, thereby driving the distance adjustment mechanism to perform rotational motion, and finally driving the laser receiving lens to perform rotational motion to control the rotation of the laser receiving lens within the possible reflection range of the laser.

[0007] Optionally, the three-axis angle adjustment mechanism includes a first angle adjustment rod, a second driving motor, a second angle adjustment rod, a third driving motor, a third angle adjustment rod, and a fourth driving motor. One end of the first angle adjustment rod is fixedly connected to the first driving motor, and the other end is connected to the output shaft of the second driving motor; one end of the second angle adjustment rod is fixedly connected to the second driving motor, and the other end is connected to the output shaft of the third driving motor; one end of the third angle adjustment rod is fixedly connected to the third driving motor, and the other end is connected to the output shaft of the fourth driving motor; the fourth driving motor is fixedly connected to the motion controller; the motion controller controls the second driving motor, the third driving motor, and the fourth driving motor to move respectively, thereby driving the first angle adjustment rod, the second angle adjustment rod, and the third angle adjustment rod to move respectively; the angle adjustment rods cooperate to adjust the posture of the laser receiving lens so that the laser receiving lens rotates around the x, y, and z axes.

[0008] Optionally, the distance adjustment mechanism includes a driving connecting piece and a lead screw. The lower end of the driving connecting piece is fixedly connected to the laser receiving lens, and the upper part is connected to the lead screw through a thread. The lead screw is fixedly connected to the rotational motion mechanism; the motion controller controls the driving connecting piece to move up and down along the lead screw, thereby controlling the relative distance between the laser receiving lens and the laser reflection point.

[0009] In another aspect of the present invention, a method for tracking and identifying mirror stainless steel welds uses the laser sensor for mirror stainless steel weld tracking. The method includes the following steps:

[0010] S1. Record the laser stripe images at each moment within a motion cycle of the laser receiving lens;

[0011] S2. Stitch the laser stripe images recorded at different moments;

[0012] S3. Within a motion cycle, calculate the relative positions of the laser receiving lens at each moment through kinematics, and deduce the dynamic projection area on the workpiece corresponding to the corresponding laser stripe image;

[0013] S4. Process the laser stripe image to identify the groove center; including noise processing, extraction of the center of the laser stripe image, and identification of the groove center.

[0014] Further, step S1 is specifically as follows:

[0015] The attitude of the laser receiving lens and the relative distance from the laser reflection point are continuously adjusted through a distance adjustment mechanism, a rotational motion mechanism, and a three-axis angle adjustment mechanism. When reflected laser light enters the laser receiving lens, the laser information at that moment is recorded and converted into a laser stripe image.

[0016] Further, step S3 is specifically as follows:

[0017] By collecting the pose data of the laser receiving lens in real time, combining with the forward kinematic model to calculate the real-time pose transformation matrix of the laser receiving lens in the base coordinate system, mapping the pixel coordinates in the laser stripe image frame by frame to the three-dimensional space of the workpiece surface, and finally calculating the dynamic projection area of the laser stripe on the workpiece.

[0018] Further, step S4 is specifically as follows:

[0019] Noise reduction is carried out through Gaussian filtering to eliminate ambient light interference and weld spatter noise; by identifying the feature points of the laser stripe image and combining with the symmetry of the groove, the center of the groove is fitted.

[0020] Another aspect of the present invention is an electronic device, including a memory, a processor, and a computer program / instructions stored on the memory and executable on the processor, wherein the computer program / instructions, when executed by the processor, implement the steps of the mirror stainless steel weld tracking and recognition method.

[0021] Beneficial effects: Compared with the prior art, the significant technical effects of the present invention are as follows: Through the periodic rotational motion of the laser receiving lens and the image processing stitching algorithm, the problem of image loss caused by specular reflection of laser stripes in the automatic welding of mirror stainless steel is effectively solved; the laser sensor proposed in the present invention enables the laser receiving lens to dynamically capture effective laser light in different reflection directions through the lens motion control system, combines the corresponding relationship between the laser stripes and the workpiece recorded by kinematic calculations, and finally realizes the weld tracking of mirror stainless steel through the image processing stitching algorithm; through the mechanical structure and recognition method in the present invention, the laser receiving lens can perform a conical rotational motion around the laser reflection point within the possible reflection range of the laser, thereby capturing multi-directional laser light reflected by the mirror stainless steel and solving the problem that laser weld tracking is difficult to apply to materials with a shiny surface such as stainless steel; compared with the existing linear structure laser sensor, the sensor and tracking recognition method of the present invention significantly improve the weld tracking accuracy and welding efficiency of mirror materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of an existing linear structure laser sensor;

[0023] Figure 2 It is a structural diagram of a laser sensor for mirror stainless steel weld tracking;

[0024] Figure 3 It is a schematic diagram of a lens motion control system;

[0025] Figure 4 It is a flow chart of an identification method for mirror stainless steel weld seam tracking;

[0026] Figure 5 It is an implementation schematic diagram;

[0027] Figure 6 It is a schematic diagram of the conical rotary motion of a laser receiving lens;

[0028] Figure 7 It is a schematic diagram of laser stripe splicing;

[0029] Wherein: 1 - laser emitter, 2 - laser receiving lens, 3 - lens motion control system, 4 - laser stripe image processing system, 31 - rotary motion mechanism, 32 - three-axis angle adjustment mechanism, 33 - distance adjustment mechanism, 34 - motion controller, 311 - crank, 312 - first drive motor M1, 321 - first angle adjustment rod B1, 322 - second drive motor M2, 323 - second angle adjustment rod B2, 324 - third drive motor M3, 325 - third angle adjustment rod B3, 326 - fourth drive motor M4, 331 - drive connecting piece, 332 - lead screw. Specific implementation manner

[0030] To deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is only used to explain the present invention and does not constitute a limitation on the protection scope of the present invention.

[0031] As Figure 1 shown, the structure of the existing linear structure laser sensor includes a laser emitter, an imaging lens and an imaging array. When the existing linear structure laser sensor is applied to the identification of mirror stainless steel weld seams, due to the specular reflection of the laser stripes, the laser receiving lens cannot obtain a complete laser stripe image. By controlling the periodic motion of the laser receiving lens, multi-directional lasers reflected by the mirror stainless steel are captured, and then the laser stripes collected at different times are spliced and processed by the laser stripe image processing system to form a complete laser stripe image that can reflect the weld groove morphology, thereby achieving the purpose of mirror stainless steel weld seam identification and tracking. The present invention proposes a laser sensor and an identification method for mirror stainless steel weld seam tracking. By controlling the periodic motion of the laser receiving lens, a laser stripe image that can reflect the complete morphology of the weld groove can be effectively obtained, achieving the purpose of mirror stainless steel weld seam identification and tracking.

[0032] As Figure 2As shown in the figure, the laser sensor for mirror stainless steel weld seam tracking of the present invention includes a laser emitter 1, a laser receiving lens 2, a lens motion control system 3, and a laser stripe image processing system 4. The laser emitter 1 is used to emit laser; the laser receiving lens 2 is used to receive the laser after mirror reflection; the lens motion control system 3 is used to control the laser receiving lens 2 to perform periodic rotational motion and attitude adjustment; the laser stripe image processing system 4 is used to process the received reflected laser, including noise reduction, filtering, stripe center extraction, weld center extraction, etc., so as to identify the center of the weld groove.

[0033] As Figure 3 shown in the figure, the lens motion control system 3 includes a rotational motion mechanism 31, a three-axis angle adjustment mechanism 32, a distance adjustment mechanism 33, and a motion controller 34. The rotational motion mechanism 31 is fixedly connected to the three-axis angle adjustment mechanism 32 and the distance adjustment mechanism 33 respectively. The distance adjustment mechanism 33 is fixedly connected to the laser receiving lens 2, and the motion controller 34 is fixedly connected to the three-axis angle adjustment mechanism 32; the distance adjustment mechanism 33 is used to adjust the relative distance between the laser receiving lens 2 and the laser reflection point to enable clear imaging; the three-axis angle adjustment mechanism 32 is used to adjust the attitude of the laser receiving lens 2 to ensure that the reflected laser can directly enter the laser receiving lens 2; the rotational motion mechanism 31 is used to drive the distance adjustment mechanism 33 to perform rotational motion, and then drive the laser receiving lens 2 to perform rotational motion to capture the reflected laser in different directions; the motion controller 34 is used to control the coordinated motion of the rotational motion mechanism 31, the three-axis angle adjustment mechanism 32, and the distance adjustment mechanism 33 to realize the pose adjustment of the laser receiving lens 2.

[0034] First, the driving connection piece 331 of the distance adjustment mechanism 33 and the laser receiving lens 2 are fixedly connected together by threaded screws, and at the same time, one end of the lead screw 332 is fixed on the rotational motion mechanism 31; the crank 311 of the rotational motion mechanism 31 forms a detachable non-fixed connection with the first driving motor 312 through a shaft pin, so that the crank 311 can rotate around the shaft; finally, the three-axis angle adjustment mechanism 32 and the motion controller 34 also form a detachable non-fixed connection through a shaft pin.

[0035] The rotational motion mechanism 31 includes a crank 311 and a first driving motor 312. The crank 311 is fixedly connected to the distance adjustment mechanism 33, and the first driving motor 312 is fixedly connected to the three-axis angle adjustment mechanism 32. The motion controller 34 controls the first driving motor 312 to drive the crank 311 to perform rotational motion, and then drives the distance adjustment mechanism 33 to perform rotational motion, and finally drives the laser receiving lens 2 to perform rotational motion to control the rotation of the laser receiving lens 2 within the possible reflection range of the laser.

[0036] Furthermore, the crank 311 and the first driving motor 312 are connected by a shaft pin.

[0037] The three-axis angle adjustment mechanism 32 includes a first angle adjustment rod 321, a second drive motor 322, a second angle adjustment rod 323, a third drive motor 324, a third angle adjustment rod 325, and a fourth drive motor 326. One end of the first angle adjustment rod 321 is fixedly connected to the first drive motor 312, and the other end is connected to the output shaft of the second drive motor 322; one end of the second angle adjustment rod 323 is fixedly connected to the second drive motor 322, and the other end is connected to the output shaft of the third drive motor 324; one end of the third angle adjustment rod 325 is fixedly connected to the third drive motor 324, and the other end is connected to the output shaft of the fourth drive motor 326; the fourth drive motor 326 is fixedly connected to the motion controller 34; the motion controller 34 controls the movements of the second drive motor 322, the third drive motor 324, and the fourth drive motor 326 respectively, and then drives the first angle adjustment rod 321, the second angle adjustment rod 323, and the third angle adjustment rod 325 to move respectively; each angle adjustment rod moves in coordination to adjust the posture of the laser receiving lens 2, so that the laser receiving lens 2 can rotate around the x, y, and z axes to ensure that the reflected laser can directly enter the laser receiving lens 2.

[0038] Further, one end of the first angle adjustment rod 321 forms a detachable fixed connection with the first drive motor 312 through a shaft pin, and the other end forms a detachable non-fixed connection with the second drive motor 322 through a shaft pin; one end of the second angle adjustment rod 323 forms a detachable fixed connection with the second drive motor 322 through a shaft pin, and the other end forms a detachable non-fixed connection with the third drive motor 324 through a shaft pin; one end of the third angle adjustment rod 325 forms a detachable fixed connection with the third drive motor 324 through a shaft pin, and the other end forms a detachable non-fixed connection with the fourth drive motor 326 through a shaft pin.

[0039] The distance adjustment mechanism 33 includes a drive connecting piece 331 and a lead screw 332. The lower end of the drive connecting piece 331 is threadedly connected to the laser receiving lens 2, and its function is to fix the laser receiving lens 2. The upper part is threadedly connected to the lead screw 332, and the lead screw 332 is fixedly connected to the rotary motion mechanism 31; the motion controller 34 controls the drive connecting piece 331 to move up and down along the lead screw 332 through the drive motor inside the drive connecting piece 331, and then controls the relative distance between the laser receiving lens 2 and the laser reflection point.

[0040] During operation, the laser receiving lens 2 rotates periodically driven by the rotary motion mechanism 31 and moves onto the laser path reflected by the mirror stainless steel; the second drive motor 322, the third drive motor 324, and the fourth drive motor 326 drive the three-axis angle adjustment mechanism 32 to make the laser path vertically enter the laser receiving lens; the distance adjustment mechanism 33 moves to keep the relative distance between the laser receiving lens and the reflection point constant.

[0041] The present invention also provides a method for tracking and identifying a mirror stainless steel weld seam based on the laser sensor, including: splicing the fringe images obtained by the laser receiving lens at different times to form a complete laser fringe image, and then realizing the tracking and identification of the stainless steel weld seam through steps such as noise processing, fringe center extraction, and weld center identification. As Figure 4 shown, the specific steps are as follows:

[0042] S1. Record the laser fringe images of the laser receiving lens 2 at each moment within a motion cycle;

[0043] Each moment within the motion cycle refers to the time point when the laser receiving lens 2 captures the reflected laser during a complete rotational motion driven by the rotational motion mechanism 31.

[0044] The specific method is: the distance adjustment mechanism 33, the rotational motion mechanism 31, and the three-axis angle adjustment mechanism 32 continuously adjust the attitude of the laser receiving lens 2 and the relative distance from the laser reflection point under the drive of each motor. When the reflected laser enters the laser receiving lens 2, record the laser information at this moment and convert it into a laser fringe image;

[0045] S2. Splice the laser fringe images recorded at different times;

[0046] S3. Within a motion cycle, calculate the relative positions of the laser receiving lens 2 at each moment through kinematics, and deduce the dynamic projection area of the corresponding laser fringe image on the workpiece. Specifically:

[0047] By collecting the pose data of the laser receiving lens 2 in real time, combining with the forward kinematic model to calculate the real-time pose transformation matrix of the laser receiving lens 2 in the base coordinate system, map the pixel coordinates in the laser fringe image frame by frame to the three-dimensional space of the workpiece surface, and finally calculate the dynamic projection area of the laser fringe on the workpiece.

[0048] S4. Process the laser fringe image to identify the groove center; including noise processing, laser fringe image center extraction, and groove center identification. Specifically:

[0049] Reduce noise through Gaussian filtering to eliminate ambient light interference and sputtering noise during the welding process, and identify the feature points with significant geometric morphology or brightness changes in the laser fringe image, including but not limited to the brightness mutation points corresponding to the edge positions, the curvature mutation points at the shape change positions at the bottom of the groove or the groove inflection points, and the symmetrically distributed points that appear in pairs, etc., and fit the groove center in combination with the symmetry of the groove.

[0050] Figure 5 、 Figure 6 and Figure 7 show a specific embodiment of mirror stainless steel weld seam tracking. AsFigure 5 As shown, the laser emitter projects a line laser onto the mirror stainless steel workpiece, and the lasers at different positions undergo specular reflection in different directions. At the same time, as Figure 6 shown, at each reflection point, the lens motion control system drives the laser receiving lens to perform a conical periodic rotational motion around the reflection point within the range where the laser may be reflected. Furthermore, as Figure 7 shown, within one motion cycle, the laser stripe image processing system records, processes, and stitches together the laser stripe images at different times t1, t2 ··· t6 to achieve the recognition of the center of the weld groove.

[0051] Another aspect of the present invention is an electronic device, including a memory, a processor, and a computer program / instructions stored on the memory and executable on the processor, wherein the computer program / instructions, when executed by the processor, implement the steps of the mirror stainless steel weld tracking and recognition method described above.

[0052] In summary, the present invention captures multi-directional lasers reflected by the mirror stainless steel through controlling the periodic motion of the laser receiving lens, and then stitches and processes the laser stripes collected at different times through the laser stripe image processing system to form a complete laser stripe image that can reflect the morphology of the weld groove, thereby achieving the purpose of mirror stainless steel weld recognition and tracking. The present invention can solve the problem that when a traditional linear structure laser sensor recognizes a mirror stainless steel weld, the receiving lens cannot obtain the laser stripe image due to specular reflection.

Claims

1. A laser sensor for tracking mirror stainless steel welds, characterized in that: The invention comprises a laser transmitter (1), a laser receiving lens (2), a lens motion control system (3) and a laser stripe image processing system (4), wherein the laser transmitter (1) is used to transmit laser light; the laser receiving lens (2) is used to receive laser light after being reflected by a mirror surface; the lens motion control system (3) is used to control the laser receiving lens (2) to perform periodic rotational motion and posture adjustment; and the laser stripe image processing system (4) is used to process the received reflected laser light and identify the center of the weld groove.

2. The laser sensor for tracking mirror stainless steel welds according to claim 1, characterized in that: The lens motion control system (3) comprises a rotary motion mechanism (31), a three-axis angle adjustment mechanism (32), a distance adjustment mechanism (33) and a motion controller (34); the rotary motion mechanism (31) is fixedly connected to the three-axis angle adjustment mechanism (32) and the distance adjustment mechanism (33) respectively; the distance adjustment mechanism (33) is fixedly connected to the laser receiving lens (2); and the motion controller (34) is fixedly connected to the three-axis angle adjustment mechanism (32); the distance adjustment mechanism (33) is used to adjust the relative distance between the laser receiving lens (2) and the laser reflection point; the three-axis angle adjustment mechanism (32) is used to adjust the posture of the laser receiving lens (2); the rotary motion mechanism (31) is used to drive the distance adjustment mechanism (33) to perform rotary motion, thereby driving the laser receiving lens (2) to perform rotary motion; and the motion controller (34) is used to control the rotary motion mechanism (31), the three-axis angle adjustment mechanism (32) and the distance adjustment mechanism (33) to move in coordination, thereby achieving the adjustment of the position and posture of the laser receiving lens (2).

3. The laser sensor for tracking mirror stainless steel welds according to claim 2, characterized in that: The rotary motion mechanism (31) comprises a crank (311) and a first drive motor (312); the crank (311) is fixedly connected to the distance adjustment mechanism (33); the first drive motor (312) is fixedly connected to the three-axis angle adjustment mechanism (32); a motion controller (34) controls the first drive motor (312) to drive the crank (311) to perform a rotary motion, thereby driving the distance adjustment mechanism (33) to perform a rotary motion, and finally driving the laser receiving lens (2) to perform a rotary motion, so as to control the laser receiving lens (2) to rotate within a laser reflection range.

4. The laser sensor for tracking mirror stainless steel welds according to claim 2, characterized in that: The three-axis angle adjustment mechanism (32) comprises a first angle adjustment rod (321), a second drive motor (322), a second angle adjustment rod (323), a third drive motor (324), a third angle adjustment rod (325) and a fourth drive motor (326); one end of the first angle adjustment rod (321) is fixedly connected to the first drive motor (312), and the other end is connected to the output shaft of the second drive motor (322); one end of the second angle adjustment rod (323) is fixedly connected to the second drive motor (322), and the other end is connected to the output shaft of the third drive motor (324); one end of the third angle adjustment rod (325) is fixedly ... The three drive motors (324) are fixedly connected, and the other end is connected to the output shaft of the fourth drive motor (326); the fourth drive motor (326) is fixedly connected to the motion controller (34); the motion controller (34) controls the movement of the second drive motor (322), the third drive motor (324) and the fourth drive motor (326), respectively, and then drives the movement of the first angle adjustment rod (321), the second angle adjustment rod (323) and the third angle adjustment rod (325), respectively; the angle adjustment rods move in coordination to adjust the posture of the laser receiving lens (2), so that the laser receiving lens (2) rotates around the x, y and z axes.

5. The laser sensor for tracking mirror stainless steel welds according to claim 2, characterized in that: The distance adjustment mechanism (33) comprises a driving connecting piece (331) and a lead screw (332); the lower end of the driving connecting piece (331) is fixedly connected to the laser receiving lens (2), and the upper part is connected to the lead screw (332) via a thread; the lead screw (332) is fixedly connected to the rotary motion mechanism (31); the motion controller (34) controls the driving connecting piece (331) to move up and down along the lead screw (332), thereby controlling the relative distance between the laser receiving lens (2) and the laser reflection point.

6. A mirror stainless steel weld tracking and identification method, characterized in that: Using the laser sensor for mirror stainless steel weld tracking according to any one of claims 1 to 5, the method comprises the following steps: S1, recording the laser stripe images of the laser receiving lens (2) at each moment in a motion cycle; S2, stitching the laser stripe images recorded at different times; S3, within a motion cycle, the relative position of the laser receiving lens (2) at each moment is calculated by kinematics, and the dynamic projection area corresponding to the corresponding laser stripe image on the workpiece is deduced; S4, processing the laser stripe image and identifying the groove center; including noise processing, laser stripe image center extraction, and groove center identification.

7. A mirror stainless steel weld tracking and identification method according to claim 6, characterized in that: Step S1 is specifically as follows: The posture of the laser receiving lens (2) and the relative distance to the laser reflection point are continuously adjusted by means of a distance adjustment mechanism (33), a rotational motion mechanism (31) and a three-axis angle adjustment mechanism (32); when reflected laser light enters the laser receiving lens (2), the laser information at that moment is recorded and converted into a laser stripe image.

8. A mirror stainless steel weld tracking and identification method according to claim 6, characterized in that: Step S3 is specifically as follows: By collecting the posture data of the laser receiving lens (2) in real time, the real-time posture transformation matrix of the laser receiving lens (2) in the base coordinate system is calculated in combination with the kinematic forward solution model, and the pixel coordinates in the laser stripe image are mapped to the three-dimensional space of the workpiece surface frame by frame, and finally the dynamic projection area of ​​the laser stripe on the workpiece is solved.

9. A mirror stainless steel weld tracking and identification method according to claim 6, characterized in that: Step S4 is specifically as follows: Gaussian filtering is used to reduce noise and eliminate ambient light interference and weld spattering noise. The center of the groove is fitted by identifying the feature points of the laser stripe image and combining the symmetry of the groove.

10. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program / instruction stored in the memory and executable on the processor, wherein the computer program / instruction, when executed by the processor, implements the steps of the mirror stainless steel weld tracking and identification method as described in any one of claims 6 to 9.

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