A laser sensor and a weld tracking identification method for mirror stainless steel weld tracking

Abstract

The application discloses a kind of laser sensor and weld tracking identification method for specular stainless steel weld tracking, including laser transmitter, laser receiving lens, lens motion control system and laser stripe image processing system, laser transmitter is used to emit laser;Laser receiving lens is used to receive the laser after specular reflection;Lens motion control system is used to control laser receiving lens to carry out periodic rotary motion and attitude adjustment;Laser stripe image processing system is used to process received reflected laser.The periodic motion of the present application through laser receiving lens, can realize its around laser reflection point in the conical rotary motion of the possible reflection range of laser, and then capture multidirectional laser reflected via specular stainless steel, and then the laser stripe of different time acquisition is spliced and processed by laser stripe image processing system, form complete and can reflect the laser stripe image of weld bevel topography, realize the purpose of specular stainless steel weld tracking identification.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robot welding, and relates to a laser sensor for mirror stainless steel weld tracking and a weld tracking and identification method. BACKGROUND

[0002] Robot welding is one of important scenes of industrial robot technology application. The weld tracking sensor can help the robot to automatically find the weld center position, and then adjust the welding track to improve the welding quality. The relative position of the laser emitter and the laser receiving lens of the existing linear structure laser sensor is fixed. When the laser sensor is applied to the mirror stainless steel weld identification, the mirror reflection of the laser stripe occurs, so that the laser receiving lens cannot obtain the complete laser stripe image. This greatly limits the application of robot technology in the field of automatic stainless steel welding. SUMMARY

[0003] The application aims to provide a laser sensor for mirror stainless steel weld tracking and a weld tracking and identification method. The periodic motion of the laser receiving lens can effectively obtain the laser stripe image that can reflect the complete appearance of the weld bevel, so as to realize the purpose of mirror stainless steel weld identification and tracking.

[0004] The laser sensor for mirror stainless steel weld tracking 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 reflected laser. The lens motion control system is used for controlling the periodic rotary motion and the attitude adjustment of the laser receiving lens. The laser stripe image processing system is used for processing the received reflected laser and identifying the weld bevel center.

[0005] Optionally, the lens motion control system comprises a rotary motion mechanism, a three-axis angle adjustment mechanism, a distance adjustment mechanism and a motion controller. The rotary motion mechanism is fixedly connected with the three-axis angle adjustment mechanism and the distance adjustment mechanism. The distance adjustment mechanism is fixedly connected with the laser receiving lens. The motion controller is fixedly connected with the three-axis angle adjustment mechanism. The distance adjustment mechanism is used for adjusting the relative distance between the laser receiving lens and the laser reflection point. The three-axis angle adjustment mechanism is used for adjusting the attitude of the laser receiving lens. The rotary motion mechanism is used for driving the distance adjustment mechanism to rotate, and then driving the laser receiving lens to rotate. The motion controller is used for controlling the cooperative motion of the rotary motion mechanism, the three-axis angle adjustment mechanism and the distance adjustment mechanism, so as to realize the position and attitude adjustment of the laser receiving lens.

[0006] Optionally, the rotating motion mechanism comprises a crank and a first driving motor, the crank is fixedly connected with the distance adjustment mechanism, the first driving motor is fixedly connected on the three-axis angle adjustment mechanism, the motion controller controls the first driving motor to drive the crank to rotate, and then drives the distance adjustment mechanism to rotate, and finally drives the laser receiving lens to rotate, so that the laser receiving lens rotates in the possible laser reflection range.

[0007] Optionally, the three-axis angle adjustment mechanism comprises 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 with the first driving motor, and the other end is connected with an output shaft of the second driving motor; one end of the second angle adjustment rod is fixedly connected with the second driving motor, and the other end is connected with an output shaft of the third driving motor; one end of the third angle adjustment rod is fixedly connected with the third driving motor, and the other end is connected with an output shaft of the fourth driving motor; the fourth driving motor is fixedly connected on the motion controller; the motion controller controls the second driving motor, the third driving motor and the fourth driving motor to move respectively, and then drives the first angle adjustment rod, the second angle adjustment rod and the third angle adjustment rod to move respectively; the angle adjustment rods move cooperatively 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 comprises a driving connecting piece and a lead screw, the lower end of the driving connecting piece is fixedly connected with the laser receiving lens, the upper part is connected with the lead screw through threads, and the lead screw is fixedly connected with the rotating motion mechanism; the motion controller controls the driving connecting piece to move up and down along the lead screw, and then controls the relative distance between the laser receiving lens and the laser reflection point.

[0009] In another aspect of the present application, a mirror stainless steel weld tracking and identifying method is provided, which uses the laser sensor for mirror stainless steel weld tracking, and the method comprises the following steps:

[0010] S1, recording the laser stripe images of the laser receiving lens at each time in a motion cycle;

[0011] S2, splicing the recorded laser stripe images at different times;

[0012] S3, in a motion cycle, calculating the relative positions of the laser receiving lens at each time through kinematics, and calculating the dynamic projection areas on the workpiece corresponding to the corresponding laser stripe images;

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

[0014] Further, the step S1 is specifically:

[0015] The laser receiving lens continuously adjusts its orientation and relative distance to the laser reflection point through a distance adjustment mechanism, a rotation 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] Furthermore, step S3 specifically includes:

[0017] By acquiring the pose data of the laser receiving lens in real time and combining it with the forward kinematics model to calculate the real-time pose transformation matrix of the laser receiving lens in the base coordinate system, the pixel coordinates in the laser stripe image are mapped frame by frame to the three-dimensional space of the workpiece surface, and finally the dynamic projection area of ​​the laser stripe on the workpiece is calculated.

[0018] Furthermore, step S4 specifically involves:

[0019] Gaussian filtering is used to reduce noise, eliminating ambient light interference and weld spatter noise; feature points of the laser stripe image are identified, and the bevel center is fitted by combining the symmetry of the bevel.

[0020] In another aspect of the present invention, an electronic device includes a memory, a processor, and a computer program / instructions stored in the memory and executable on the processor, characterized in that the computer program / instructions, when executed by the processor, implement the steps of the mirror stainless steel weld seam tracking and identification method described above.

[0021] Beneficial Effects: Compared with existing technologies, the significant technical effects of this invention are as follows: By using the periodic rotational motion of the laser receiving lens and the image processing stitching algorithm, the problem of image loss caused by the mirror reflection of laser stripes in the automated welding of mirror stainless steel is effectively solved; The laser sensor proposed in this invention, through the lens motion control system, enables the laser receiving lens to dynamically capture effective lasers in different reflection directions, and combines the correspondence between the laser stripes and the workpiece recorded by kinematic calculations, and finally realizes the weld seam tracking of mirror stainless steel through the image processing stitching algorithm; Through the mechanical structure and recognition method in this invention, the laser receiving lens can realize the conical rotational motion around the laser reflection point within the possible reflection range of the laser, thereby capturing multi-directional lasers reflected by mirror stainless steel, solving the problem that laser weld seam tracking is difficult to apply to materials with a glossy surface such as stainless steel; Compared with existing linear structure laser sensors, the sensor and tracking recognition method of this invention significantly improve the weld seam tracking accuracy and welding efficiency of mirror materials. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an existing linear laser sensor.

[0023] Figure 2 A structural diagram of a laser sensor for tracking weld seams in mirror-finished stainless steel;

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

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

[0026] Figure 5 It is a schematic diagram of implementation;

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

[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-driving connecting piece, 332-screw rod. DETAILED DESCRIPTION

[0030] In order to deepen the understanding of the present application, the present application will be further described in detail below in conjunction with the drawings and specific embodiments, which are only used to explain the present application and do not constitute a limitation on the protection scope of the present application.

[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 mirror stainless steel weld seam identification, the mirror reflection of laser stripe occurs, which causes the laser receiving lens to be unable to obtain complete laser stripe image. By controlling the periodic motion of the laser receiving lens, multi-directional laser reflected by the mirror stainless steel is captured, and then the laser stripes collected at different times are spliced by the laser stripe image processing system to form a complete laser stripe image that can reflect the weld seam bevel topography, thereby achieving the purpose of mirror stainless steel weld seam identification and tracking. The present application proposes a laser sensor and 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 topography of the weld seam bevel can be effectively obtained, and the purpose of mirror stainless steel weld seam identification and tracking is achieved.

[0032] As Figure 2As shown, the laser sensor for tracking mirror-finished stainless steel welds according to 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 emits laser light; the laser receiving lens 2 receives the laser light reflected from the mirror surface; the lens motion control system 3 controls the laser receiving lens 2 to perform periodic rotational motion and attitude adjustment; the laser stripe image processing system 4 processes the received reflected laser light, including noise reduction, filtering, stripe center extraction, and weld center extraction, thereby identifying the weld bevel center.

[0033] like Figure 3 As shown, 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 so that it can form a clear image. The three-axis angle adjustment mechanism 32 is used to adjust the posture 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 rotate, thereby driving the laser receiving lens 2 to rotate to capture reflected lasers from different directions. The motion controller 34 is used to control the rotational motion mechanism 31, the three-axis angle adjustment mechanism 32, and the distance adjustment mechanism 33 to coordinate their movements and realize the posture adjustment of the laser receiving lens 2.

[0034] First, the drive connecting piece 331 of the distance adjustment mechanism 33 is fixedly connected to the laser receiving lens 2 by a threaded screw, and at the same time, it is fixed to the rotary motion mechanism 31 by one end of the lead screw 332. The crank 311 of the rotary motion mechanism 31 is detachably and non-fixedly connected to the first drive motor 312 by a shaft pin, so that the crank 311 can rotate around the axis. Finally, the three-axis angle adjustment mechanism 32 and the motion controller 34 are also detachably and non-fixedly connected by a shaft pin.

[0035] The rotary motion mechanism 31 includes a crank 311 and a first drive motor 312. The crank 311 is fixedly connected to the distance adjustment mechanism 33, and the first drive motor 312 is fixedly connected to the three-axis angle adjustment mechanism 32. The motion controller 34 controls the first drive motor 312 to drive the crank 311 to rotate, which in turn drives the distance adjustment mechanism 33 to rotate, and finally drives the laser receiving lens 2 to rotate, so as to control the laser receiving lens 2 to rotate within the range where the laser may be reflected.

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

[0037] The three-axis angle adjustment mechanism 32 comprises a first angle adjustment rod 321, a second driving motor 322, a second angle adjustment rod 323, a third driving motor 324, a third angle adjustment rod 325, and a fourth driving motor 326. One end of the first angle adjustment rod 321 is fixedly connected with the first driving motor 312, and the other end is connected with the output shaft of the second driving motor 322. One end of the second angle adjustment rod 323 is fixedly connected with the second driving motor 322, and the other end is connected with the output shaft of the third driving motor 324. One end of the third angle adjustment rod 325 is fixedly connected with the third driving motor 324, and the other end is connected with the output shaft of the fourth driving motor 326. The fourth driving motor 326 is fixedly connected with the motion controller 34. The motion controller 34 controls the movements of the second driving motor 322, the third driving motor 324, and the fourth driving motor 326, thereby driving the movements 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 cooperatively 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 is detachably fixedly connected with the first driving motor 312 through a shaft pin, and the other end is detachably non-fixedly connected with the second driving motor 322 through a shaft pin. One end of the second angle adjustment rod 323 is detachably fixedly connected with the second driving motor 322 through a shaft pin, and the other end is detachably non-fixedly connected with the third driving motor 324 through a shaft pin. One end of the third angle adjustment rod 325 is detachably fixedly connected with the third driving motor 324 through a shaft pin, and the other end is detachably non-fixedly connected with the fourth driving motor 326 through a shaft pin.

[0039] 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 threadedly connected with the laser receiving lens 2 to fix the laser receiving lens 2. The upper part is threadedly connected with the lead screw 332, and the lead screw 332 is fixedly connected with 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 through the internal driving motor of the driving connecting piece 331, thereby controlling the relative distance between the laser receiving lens 2 and the laser reflection point.

[0040] In operation, the laser receiving lens 2 is periodically rotated under the driving of the rotary motion mechanism 31 and moves to the laser path reflected by the mirror stainless steel. The second driving motor 322, the third driving motor 324, and the fourth driving motor 326 drive the three-axis angle adjustment mechanism 32 to realize the vertical entry of the laser path into the laser receiving lens. The movement of the distance adjustment mechanism 33 realizes the constant relative distance between the laser receiving lens and the reflection point.

[0041] The application also provides a mirror stainless steel weld seam tracking and identifying method based on the laser sensor, which comprises the following steps of splicing the laser stripe images obtained by the laser receiving lens at different time points to form a complete laser stripe image, and then identifying the stainless steel weld seam through noise processing, stripe center extraction and weld seam center identification. Figure 4 as shown, specifically comprising the following steps:

[0042] S1, recording the laser stripe images of the laser receiving lens 2 at each time point in a motion cycle;

[0043] Each time point in the motion cycle refers to the time point when the reflected laser is captured by the laser receiving lens 2 in a complete rotation motion process driven by the rotation motion mechanism 31.

[0044] Specifically, the distance adjusting mechanism 33, the rotation motion mechanism 31 and the three-axis angle adjusting mechanism 32 continuously adjust the posture of the laser receiving lens 2 and the relative distance between the laser receiving lens 2 and the laser reflection point under the driving of the motors, and when the reflected laser enters the laser receiving lens 2, the laser information at this time point is recorded and converted into a laser stripe image;

[0045] S2, splicing the recorded laser stripe images at different time points;

[0046] S3, in a motion cycle, the relative positions of the laser receiving lens 2 at each time point are calculated through kinematics to calculate the dynamic projection area of the corresponding laser stripe image on the workpiece. Specifically,

[0047] By collecting the pose data of the laser receiving lens 2 in real time, combining the kinematics forward solution model to calculate the real-time pose transformation matrix of the laser receiving lens 2 in the base coordinate system, 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 calculated.

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

[0049] Through Gaussian filtering denoising, the environmental light interference and the sputtering noise in the welding process are eliminated, and the feature points with significant geometric features or brightness changes in the laser stripe image are identified, including but not limited to the brightness abrupt change points corresponding to the edge positions, the curvature abrupt change points at the shape change positions or groove inflection points at the bottom of the groove, and the symmetrically distributed points appearing in pairs, etc., and the groove center is fitted combined with the symmetry of the groove.

[0050] Figure 5 、 Figure 6 and Figure 7 shows a specific embodiment of mirror stainless steel weld seam tracking.Figure 5 As shown, the laser transmitter shoots a line laser on the mirror stainless steel workpiece, and the laser at different positions is reflected in different directions. Figure 6 As shown, at each reflection point, the lens motion control system drives the laser receiving lens to make a conical periodic rotation motion around the reflection point within the range where the laser can be reflected. Figure 7 As shown, within one motion cycle, the laser stripe image processing system records and processes the laser stripe images at different times t1, t2,..., t6 and splices them together to realize the identification of the weld bevel center.

[0051] Another aspect of the present application is an electronic device comprising a memory, a processor and a computer program / instructions stored on the memory and executable on the processor, characterized in that the computer program / instructions, when executed by the processor, implement the steps of the mirror stainless steel weld tracking and identification method.

[0052] In summary, the present application captures multi-directional laser reflected by the mirror stainless steel by controlling the periodic motion of the laser receiving lens, and then splices the laser stripes collected at different times by the laser stripe image processing system to form a complete laser stripe image that can reflect the weld bevel topography, thereby achieving the purpose of mirror stainless steel weld identification and tracking. The present application can solve the problem that the receiving lens cannot obtain the laser stripe image due to mirror reflection when the traditional linear structure laser sensor identifies the mirror stainless steel weld.

Claims

1. A laser sensor for tracking weld seams in mirror-finished stainless steel, characterized in that, The system 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 light; the laser receiving lens (2) is used to receive laser light reflected from a mirror; the lens motion control system (3) is used to control the laser receiving lens (2) to perform periodic rotational motion and attitude adjustment, including 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 connected to the laser receiving lens (2) for periodic rotational motion and attitude adjustment, and includes a rotational motion mechanism (31), a three-axis angle adjustment mechanism (32), a distance adjustment mechanism (33), and a motion controller (34). The three-axis angle adjustment mechanism (32) and the distance adjustment mechanism (33) are fixedly connected. The rotary motion mechanism (31) includes a crank (311) and a first drive motor (312). The crank (311) is fixedly connected to the distance adjustment mechanism (33), and the first drive motor (312) is fixedly connected to the three-axis angle adjustment mechanism (32). The motion controller (34) controls the first drive motor (312) to drive the crank (311) to rotate, thereby driving the distance adjustment mechanism (33) to rotate, and finally driving the laser receiving lens (2) to rotate. The rotating motion mechanism (31) is used to control the laser receiving lens (2) to rotate within the laser reflection range; 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 rotating motion mechanism (31) is used to drive the distance adjustment mechanism (33) to rotate, thereby driving the laser receiving lens (2) to rotate; the motion controller (34) is used to control the rotating motion mechanism (31), the three-axis angle adjustment mechanism (32) and the distance adjustment mechanism (33) to move in coordination, thereby realizing the posture adjustment of the laser receiving lens (2); the laser stripe image processing system (4) is used to process the received reflected laser and identify the center of the weld groove; the laser stripe images collected at different times are stitched together by the laser stripe image processing system to form a complete laser stripe image that can reflect the morphology of the weld groove, thereby realizing the purpose of identifying and tracking the mirror stainless steel weld.

2. The laser sensor for tracking mirror-finish stainless steel welds according to claim 1, characterized in that, 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 first drive motor (312), and the other end is connected to the output shaft of the third drive motor (326). 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 second drive motor (322), the third drive motor (324) and the fourth drive motor (326) to move 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; 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.

3. The laser sensor for tracking mirror-finish stainless steel welds according to claim 1, characterized in that, The distance adjustment mechanism (33) includes a drive connecting plate (331) and a lead screw (332). The lower end of the drive connecting plate (331) is fixedly connected to the laser receiving lens (2), and the upper part is connected to the lead screw (332) by a thread. The lead screw (332) is fixedly connected to the rotary motion mechanism (31). The motion controller (34) controls the drive connecting plate (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.

4. A method for tracking and identifying weld seams in mirror-finish stainless steel, characterized in that, The method using the laser sensor for tracking mirror-finish stainless steel welds as described in any one of claims 1-3 includes the following steps: S1. Record the laser stripe images of the laser receiving lens (2) at various moments within one motion cycle; S2, stitched together laser stripe images from different moments; S3. Within one motion cycle, the relative position of the laser receiving lens (2) at each moment is calculated by kinematics, and the dynamic projection area of ​​the corresponding laser stripe image on the workpiece is calculated. S4. Process the laser stripe image and identify the bevel center; including noise processing, laser stripe image center extraction, and bevel center identification.

5. The method for tracking and identifying mirror-finish stainless steel welds according to claim 4, characterized in that, Step S1 is as follows: The laser receiving lens (2) and its relative distance to the laser reflection point are continuously adjusted by the distance adjustment mechanism (33), the rotation mechanism (31) and the three-axis angle adjustment mechanism (32). When a reflected laser enters the laser receiving lens (2), the laser information at that moment is recorded and converted into a laser stripe image.

6. The method for tracking and identifying mirror-finish stainless steel welds according to claim 4, characterized in that, Step S3 is as follows: By acquiring the pose data of the laser receiving lens (2) in real time and combining it with the kinematic forward model to calculate the real-time pose transformation matrix of the laser receiving lens (2) in the base coordinate system, 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 calculated.

7. The method for tracking and identifying mirror-finish stainless steel welds according to claim 4, characterized in that, Step S4 is as follows: Gaussian filtering is used to reduce noise, eliminating ambient light interference and weld spatter noise; feature points of the laser stripe image are identified, and the bevel center is fitted by combining the symmetry of the bevel.

8. An electronic device, characterized in that, The invention includes a memory, a processor, and a computer program / instruction stored in the memory and executable on the processor, characterized in that, when the computer program / instruction is executed by the processor, it implements the steps of the mirror stainless steel weld seam tracking and identification method according to any one of claims 4-7.

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