Laser heat treatment control method and device based on visual recognition and application

Abstract

The invention relates to a laser heat treatment control method and device based on visual recognition and application. A laser heat treatment strategy is established; the method comprises the following steps: acquiring a three-dimensional point cloud of a workpiece to be subjected to heat treatment, performing mesh segmentation on the point cloud on a reference projection surface to obtain a plurality of point cloud combinations taking a grid as a unit, and collecting associated information of each point cloud combination; performing heat treatment on the to-be-heat-treated workpiece according to a laser heat treatment strategy, obtaining a dynamic feedback signal, adjusting output power, and realizing heat treatment performance consistency and uniformity control; the equipment comprises a base provided with a position transfer unit, a scanning modeling unit and a heat treatment unit are sequentially arranged on the position transfer unit in the translation direction, a control end controls the position transfer unit to translate and obtains data output by the scanning modeling unit, and after the method is adopted, the heat treatment unit is controlled to execute heat treatment operation; the heat treatment application is realized based on equipment. The quenching efficiency is improved, the quenching integrity and comprehensiveness are ensured, and high-quality and repeatable production can be achieved.

Description

Technical Field

[0001] This invention relates to the technical fields of brazing or desoldering; welding; cladding or plating by brazing or welding methods; localized heating cutting, such as flame cutting; and processing with laser beams, and particularly to a laser heat treatment control method, equipment, and application based on vision recognition. Background Technology

[0002] Laser surface modification is a technology system that alters the microstructure and chemical composition of material surfaces through laser irradiation. It is mainly divided into two categories: physical modification (such as quenching and solidification) and chemical modification (such as alloying and nitriding). It features high energy density and a small heat-affected zone. Because laser surface modification technology can significantly improve the hardness, wear resistance, corrosion resistance, and oxidation resistance of material surfaces, giving them better mechanical properties, chemical stability, and corrosion resistance, it has been widely used in aerospace, automotive manufacturing, and machinery manufacturing industries.

[0003] However, taking quenching as an example, traditional laser surface modification methods often have the following problems:

[0004] (1) The laser power parameters cannot be automatically adjusted according to different types, sizes and shapes of workpieces, resulting in poor modification effect;

[0005] (2) It cannot automatically adjust the laser modification execution area according to different types, sizes and shapes of workpieces, resulting in repeated processing energy loss and time loss;

[0006] (3) Complex surface materials need to be repeatedly processed, which affects processing efficiency and increases energy consumption.

[0007] Chinese patent CN203382790U discloses a power control system for laser quenching of complex shapes. It uses an infrared temperature sensor in the high-temperature zone to detect the temperature after heating by the laser head. The temperature signal is analyzed and processed by a high-temperature zone transmitter and then transmitted to the laser power controller. An ambient temperature sensor collects the ambient temperature signal, which is analyzed and processed by an ambient temperature transmitter and then transmitted to the laser power controller. The laser power controller controls the current power of the laser head and adjusts the output power of the laser head in a timely manner to keep the laser quenching temperature constant, thereby achieving the best quenching quality. Chinese patent CN114196820A discloses a unit device and method for closed-loop control of laser quenching temperature. One end of a transmission optical fiber is connected to a laser, and the other end is connected to a laser quenching head. An infrared thermometer's monitoring lens is mounted on the laser quenching head via a beam-splitting lens. The monitoring lens is connected to the infrared thermometer via an infrared temperature measurement transmission optical fiber. The infrared thermometer and laser are connected via a controller. Different quenching temperatures are set on the controller. During processing, corresponding quenching temperatures are triggered at different material interfaces. The laser power is adjusted in a closed loop based on the different emissivity of the materials to ensure the overall quality of the quenching. In the above quenching process, when the material surface morphology is complex, manual adjustment of the laser power is difficult. Commonly used non-contact temperature measurement and PID algorithms cannot regulate the laser power before the laser spot reaches the area to be heat-treated, resulting in lag. Furthermore, effective dynamic laser power adjustment is not possible when the workpiece has gaps or edge collapse, leading to energy loss and uneven heating at the edges, generally still requiring manual intervention. Summary of the Invention

[0008] This invention solves the problems existing in the prior art and provides a laser heat treatment control method, device and application based on visual recognition.

[0009] The technical solution adopted in this invention is a laser heat treatment control method based on visual recognition. The method establishes a laser heat treatment strategy; acquires a three-dimensional point cloud of the workpiece to be heat treated, confirms the reference projection surface, divides the point cloud into a mesh on the reference projection surface, obtains several point cloud combinations in units of mesh, and collects the association information of each point cloud combination.

[0010] The workpiece to be heat-treated is heat-treated according to the laser heat treatment strategy, dynamic feedback signals are obtained and output power is adjusted to achieve consistent and uniform control of heat treatment performance.

[0011] Preferably, point cloud correction is performed based on a protection threshold. The associated information of each effective point cloud combination includes the average height of the point cloud of each grid and the material properties of the workpiece to be heat-treated. The heat capacity required for heat treatment of any grid is calculated based on the associated information, and a laser power adjustment strategy is configured based on the established laser heat treatment strategy.

[0012] Preferably, the heat capacity satisfy,

[0013]

[0014] Here, i and j correspond to the position indices of the current grid under the global projection. For specific heat capacity, To achieve the target temperature rise for heat treatment, The equivalent mass corresponding to each grid satisfies the following:

[0015]

[0016] For material density, The projected area of ​​each grid. The average height of the point cloud for each grid;

[0017] The laser heat treatment strategy is designed based on the heat capacity required for heat treatment of each grid.

[0018] Preferably, the heat capacity of each grid is weighted and corrected based on the height gradient between grids and the temperature difference between adjacent cells.

[0019] Preferably, the grid size of the workpiece to be heat-treated, the shape and size of the laser spot, and the laser spot moving speed are set, and the average heating time of each grid is configured; the output power of the laser generator for heat treatment of each grid is calculated.

[0020] After deleting invalid grids, the optimal laser power output information is planned.

[0021] Preferably, if the surface of the workpiece to be heat-treated has a structural surface with a depth greater than a threshold, the laser power is adjusted to meet the strengthening requirements at the material edge or the laser generator is turned off.

[0022] A laser heat treatment device includes a base, and a position transfer unit is provided on the base for realizing the position transfer of the device other than the base;

[0023] The position transfer unit is provided with a scanning modeling unit and a heat treatment unit in sequence along the translation direction of the position transfer unit;

[0024] The position transfer unit, scanning modeling unit, and heat treatment unit are connected to the control terminal. The control terminal controls the position transfer unit to translate, acquires the data output by the scanning modeling unit, and then controls the heat treatment unit to perform heat treatment operations using the vision recognition-based laser heat treatment control method.

[0025] Preferably, the heat treatment unit includes a laser generator and a laser quenching head.

[0026] The application of the laser heat treatment equipment according to claim 7 includes the following steps:

[0027] S1 cleans the surface of any workpiece to be heat-treated and places it on the base; it divides the area to be processed into zones and sets the laser heat treatment zone.

[0028] S2 uses a scanning modeling unit to scan 3D point cloud data;

[0029] S3 controls the position transfer unit to move along the surface to be processed, and the scanning modeling unit scans the three-dimensional point cloud data of the workpiece surface to obtain the three-dimensional point cloud information of the workpiece surface.

[0030] The S4 control unit processes the coordinate information of the reference plane and the three-dimensional point cloud information to generate the corresponding laser power control strategy.

[0031] The S5 heat treatment unit obtains coordinate transformation data through calibration. After the spot position reaches the coordinates identified by the scanning modeling unit, it outputs the laser power control strategy to achieve consistency and uniformity control of heat treatment for complex surface workpieces.

[0032] Preferably, in S5, adjusting the power output of the heat treatment unit via the control terminal includes:

[0033] If there are protrusions on the workpiece surface, increase the power of the laser beam at the corresponding current position;

[0034] If there is a depression on the workpiece surface, reduce the power of the laser beam at the corresponding current position;

[0035] If the surface of the workpiece to be heat-treated has a structural surface with a depth greater than the threshold, then the workpiece has a gap or edge collapse, and the laser power is turned off.

[0036] This invention relates to a laser heat treatment control method, device, and application based on visual recognition. The method establishes a laser heat treatment strategy; acquires a three-dimensional point cloud of the workpiece to be heat-treated, identifies a reference projection surface, and performs mesh segmentation on the reference projection surface to obtain several point cloud combinations in grid units; collects the association information of each point cloud combination; performs heat treatment on the workpiece according to the laser heat treatment strategy, acquires dynamic feedback signals, and adjusts the output power to achieve consistent and uniform heat treatment performance control; the device includes a base with a position transfer unit on it, and a scanning modeling unit and a heat treatment unit sequentially arranged along the translation direction of the position transfer unit; a control terminal controls the translation of the position transfer unit, acquires the data output by the scanning modeling unit, and controls the heat treatment unit to perform heat treatment operations using the method; and implements its heat treatment application based on the device.

[0037] The beneficial effects of this invention are as follows:

[0038] (1) The surface type, size and shape of the workpiece are quickly obtained by scanning, and the laser power is automatically planned based on the obtained three-dimensional model, thereby improving the quenching efficiency and completing the intelligent selection of laser output power;

[0039] (2) Verify the path based on the selection results to avoid situations such as material property damage caused by quenching or workpiece impact caused by motion interference;

[0040] (3) By disassembling the three-dimensional model, multiple partitions are obtained, and the heat capacity required for each partition during the quenching process is established. The heat capacity required for quenching is correlated with the laser output power to obtain the overall laser output power plan for the workpiece to be quenched. This reduces the redundancy and repetition of the quenching process, improves quenching efficiency, reduces energy loss, ensures the integrity and comprehensiveness of quenching, and is conducive to achieving high-quality and repeatable production.

[0041] (4) It can ensure the uniformity of surface temperature of complex components, improve the surface hardness and uniformity of microstructure distribution of workpieces, avoid local soft spots or areas with excessive hardness, reduce stress concentration, thereby improving wear resistance, fatigue strength and corrosion resistance, and is also applicable to a variety of processing equipment. Attached Figure Description

[0042] Figure 1 This is a flowchart of the method of the present invention;

[0043] Figure 2 This is a mesh pattern of the workpiece surface in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the structure of the device in this invention;

[0045] Figure 4 This is a flowchart used in this invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] This invention relates to a laser thermal treatment control method based on visual recognition, the method comprising the following steps:

[0048] (1) Establish a laser heat treatment strategy;

[0049] (2) Obtain the three-dimensional point cloud of the workpiece to be heat-treated;

[0050] (3) Confirm the reference projection plane, and perform mesh segmentation on the reference projection plane to obtain several point cloud combinations in units of mesh;

[0051] (4) Collect the association information of each point cloud combination;

[0052] (5) Heat treatment is performed on the workpiece to be heat treated according to the laser heat treatment strategy, dynamic feedback signals are obtained and output power is adjusted to achieve consistent and uniform control of heat treatment performance.

[0053] Taking quenching as an example, the above steps will be explained in detail.

[0054] (1) Establish a laser heat treatment strategy;

[0055] In this invention, the laser heat treatment strategy is related to the heat capacity required per unit voxel. The heat capacity is related to the characterization of the unit voxel. By calculating the heat capacity, the heat required for the heat treatment modification of the unit voxel unit in the workpiece to be heat-treated can be obtained.

[0056] (2) Obtain the three-dimensional point cloud of the workpiece to be heat-treated;

[0057] In this invention, three-dimensional point clouds are generally generated by setting up a scanning mechanism or similar equipment; specifically, a binocular camera is used to acquire two-dimensional images of the surface of the workpiece to be quenched from different angles using a line laser emitter, and a processor is used to process the acquired two-dimensional images, specifically including the following steps:

[0058] (2-1) Confirm the internal parameters of the binocular camera, such as the intrinsic parameter matrix, focal length, principal point coordinates, etc., and confirm the external parameters of the camera, such as the position and orientation of the camera. This is usually done through the camera calibration process, which can be done using a specific calibration plate or an object of known size.

[0059] (2-2) Utilizing the characteristics of the material surface enhanced by line laser, a binocular camera is used to collect and extract line laser points. Feature points are extracted in each image, and the line laser collected by the camera is extracted in the left and right binoculars respectively.

[0060] (2-3) Using the matched feature points and camera parameters, the three-dimensional point cloud data is calculated by triangulation or other methods to obtain some discrete points on the surface of the workpiece.

[0061] (2-4) Generate a three-dimensional mesh model of the workpiece surface based on the calculated point cloud data;

[0062] (2-5) Further optimize and process the generated 3D model, such as removing noise, filling holes, and smoothing surfaces, to improve the quality of the model.

[0063] The coordinate transformation relationship between the pixel coordinates of the camera (scanning modeling unit) and world coordinates is as follows:

[0064]

[0065] Where R and T are the rotation and translation matrices during the transformation process, respectively, and u and v are the pixel coordinates, o w -x w y w z w M is a self-established world coordinate system. 1、 M2 represents the intrinsic and extrinsic parameter matrices of the camera, respectively;

[0066] The camera coordinate system coordinates of the workpiece feature points are o. c -x c y c z c The relationship between the camera coordinates of the workpiece feature points in a single image and the pixel coordinates in the image is as follows.

[0067]

[0068] Where u0 and v0 are the pixel coordinates of the principal point of the stereo camera, u l v l Let u be the pixel coordinates of the workpiece feature point in the left camera in the pixel coordinate system. r v r Let be the pixel coordinates of the workpiece feature points in the right camera in the pixel coordinate system, and b and d be the baseline length between the binocular cameras and the sensor size, respectively.

[0069] After obtaining the three-dimensional coordinates of the workpiece feature points from a single image, the point cloud data is stitched together based on the moving speed of the laser on the horizontal moving platform and the acquisition frame rate of the binocular camera to generate a complete three-dimensional point cloud model.

[0070] (3) Confirm the reference projection plane, and perform mesh segmentation on the reference projection plane to obtain several point cloud combinations in units of mesh;

[0071] Generally, the extracted 3D point cloud model of the workpiece is meshed on the XOY plane, the size of each mesh is set, and the 3D point cloud map is uniformly divided.

[0072] (4) Collect the association information of each point cloud combination;

[0073] Point cloud correction is performed based on a protection threshold. The associated information of each effective point cloud combination includes the average height of the point cloud of each grid and the material properties of the workpiece to be heat-treated. The heat capacity required for heat treatment of any grid is calculated based on the associated information. A laser power adjustment strategy is configured based on the established laser heat treatment strategy.

[0074] Using the height of the initial position obtained from workpiece scanning as the reference height, and taking the height direction of the workpiece surface point cloud as the Z-axis, a thickness model from the workpiece surface to the reference plane is established.

[0075] heat capacity satisfy,

[0076]

[0077] Here, i and j correspond to the position indices of the current grid under the global projection. For specific heat capacity, To achieve the target temperature rise for heat treatment, , The target quenching temperature. The initial temperature. The equivalent mass corresponding to each grid satisfies the following:

[0078]

[0079] For material density, The projected area of ​​each grid. The average height of the point cloud for each grid;

[0080] The laser heat treatment strategy is designed based on the heat capacity required for heat treatment of each grid.

[0081] Based on the height gradient between grids and the temperature difference between adjacent cells, the heat capacity of each grid is weighted and corrected to improve the uniformity of heat distribution. For example, raised areas dissipate heat faster and require more energy to reach the target temperature, while recessed areas accumulate heat and dissipate heat more slowly, requiring appropriate reduction of energy to prevent overheating.

[0082] (5) Heat treatment is performed on the workpiece to be heat treated according to the laser heat treatment strategy, dynamic feedback signals are obtained and output power is adjusted to achieve consistent and uniform control of heat treatment performance.

[0083] Set the grid size of the workpiece to be heat-treated, the shape and size of the laser spot, and the laser spot moving speed; configure the average heating time of each grid being irradiated; based on the preset parameters as the basis for judging the laser power, calculate the output power of the laser generator for the heat treatment of each grid;

[0084] Based on the preset spot size and the relative position of the laser, the optimal laser power output information is planned after deleting invalid grids; here, invalid grids are grid positions that are not within the preset laser hardening range.

[0085] If the surface of the workpiece to be heat-treated has a structural surface with a depth greater than the threshold, adjust the laser power to meet the strengthening requirements at the material edge or turn off the laser generator.

[0086] like Figure 2 As shown, one embodiment is given;

[0087] In the diagram, region A is defined as a depression, region B as a flat area, region C as a convex area, and region D as a hole.

[0088] To maintain the consistency of quenching and strengthening, when laser quenching and strengthening surfaces with different morphologies such as A, B, and C, the laser power output is adjusted according to the surface morphology. To improve heating efficiency and avoid unnecessary energy loss, when the laser spot moves to region D, the laser power is adjusted to meet the strengthening requirements at the material edge, or the laser is turned off to reduce energy loss. This invention does not require path planning; the path of the laser spot movement is always uniform and moves in a single direction. Instead, the consistency of heat treatment is achieved by controlling the laser output power according to the surface morphology (height) of the scanned material. When special structures such as holes are identified, the laser power is adjusted.

[0089] In this invention, workpiece surface information is acquired using a thermal imager or infrared thermometer, dynamic feedback signals are obtained, and the laser output power is fine-tuned to achieve closed-loop control, thus realizing consistent control of heat treatment performance. Specifically, the local instantaneous temperature obtained by thermal imaging / infrared thermometry is used as feedback and compared with the gridded target temperature to generate an error. PID, feedforward, or a hybrid PID method is used to fine-tune the laser power in real time for each grid / point, while compensating for measurement delay and spatial misalignment caused by scanning motion, ensuring that the temperature is within the target range when reaching the grid. In this embodiment, the feedforward is used to obtain the workpiece surface morphology, generate a point cloud, divide it into grids, and calculate the generated power distribution. The sampling point temperature is mapped back to the grid index i. Alternatively, if the thermometer is fixed, the coordinates of the thermometer pixels and the workpiece are first transformed using calibration. The control terminal calculates the error e between the target temperature and the actual temperature at the sampling point. i(t) =T target -T meas The system outputs the laser adjustment power calculated by the PID algorithm and limits the rate and upper and lower bounds; the calculated laser power is sent to the laser / driver, and the slope of the power switching is limited to process the workpiece.

[0090] The present invention also relates to a laser heat treatment device, the device including a base, the base being provided with a position transfer unit 1 for realizing position transfer of the device other than the base;

[0091] The position transfer unit 1 is provided with a scanning modeling unit 4 and a heat treatment unit in sequence along the translation direction of the position transfer unit;

[0092] The position transfer unit 1, the scanning modeling unit 4, and the heat treatment unit are connected to the control terminal 5. The control terminal 5 controls the position transfer unit 1 to translate, obtains the data output by the scanning modeling unit 4, and then controls the heat treatment unit to perform heat treatment operations using the vision recognition-based laser heat treatment control method.

[0093] The heat treatment unit includes a laser generator 2 and a laser quenching head 3.

[0094] Generally, the position transfer unit 1 includes a planar stroke control mechanism mounted on the base and a longitudinal stroke control mechanism mounted on the planar stroke control mechanism.

[0095] The present invention also relates to an application of the aforementioned laser heat treatment equipment, comprising the following steps:

[0096] S1 cleans the surface of any workpiece to be heat-treated and places it on the base; it divides the area to be processed into zones and sets the laser heat treatment zone.

[0097] S2 uses scanning modeling unit 4 to scan 3D point cloud data;

[0098] S3 controls the position transfer unit 1 to move along the surface to be processed, and the scanning modeling unit 4 scans the three-dimensional point cloud data of the workpiece surface to obtain the three-dimensional point cloud information of the workpiece surface.

[0099] The S4 control terminal 5 processes the coordinate information of the reference plane and the three-dimensional point cloud information to generate the corresponding laser power control strategy.

[0100] The S5 heat treatment unit obtains coordinate transformation data through calibration. After the spot position reaches the coordinates identified by the scanning modeling unit 4, it outputs the laser power control strategy to achieve consistency and uniformity control of heat treatment for complex surface workpieces.

[0101] In S5, when the surface morphology of the workpiece changes, the power output of the heat treatment unit is adjusted via control terminal 5, including:

[0102] If there are protrusions on the workpiece surface, increase the power of the laser beam at the corresponding current position;

[0103] If there is a depression on the workpiece surface, reduce the power of the laser beam at the corresponding current position;

[0104] If the surface of the workpiece to be heat-treated has a structural surface with a depth greater than the threshold, then the workpiece has a gap or edge collapse, and the laser power is turned off.

[0105] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0107] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0109] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0110] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A laser thermal treatment control method based on visual recognition, characterized in that: The method establishes a laser heat treatment strategy; obtains a three-dimensional point cloud of the workpiece to be heat treated, confirms the reference projection surface, divides the point cloud into a mesh on the reference projection surface, obtains several point cloud combinations in units of mesh, and collects the association information of each point cloud combination. The workpiece to be heat-treated is heat-treated according to the laser heat treatment strategy, dynamic feedback signals are obtained and output power is adjusted to achieve consistent and uniform control of heat treatment performance.

2. The laser thermal treatment control method based on visual recognition according to claim 1, characterized in that: Point cloud correction is performed based on a protection threshold. The associated information of each effective point cloud combination includes the average height of the point cloud of each grid and the material properties of the workpiece to be heat-treated. The heat capacity required for heat treatment of any grid is calculated based on the associated information. A laser power adjustment strategy is configured based on the established laser heat treatment strategy.

3. The laser thermal treatment control method based on visual recognition according to claim 2, characterized in that: heat capacity satisfy, ， Here, i and j correspond to the position indices of the current grid under the global projection. For specific heat capacity, To achieve the target temperature rise for heat treatment, The equivalent mass corresponding to each grid satisfies the following: ， For material density, The projected area of ​​each grid. The average height of the point cloud for each grid; The laser heat treatment strategy is designed based on the heat capacity required for heat treatment of each grid.

4. The laser thermal treatment control method based on visual recognition according to claim 3, characterized in that: The heat capacity of each grid is weighted and corrected based on the height gradient between grids and the temperature difference between adjacent cells.

5. The laser thermal treatment control method based on visual recognition according to claim 3, characterized in that: Set the grid size of the workpiece to be heat-treated, the shape and size of the laser spot, the laser spot moving speed, and configure the average heating time of each grid; calculate the output power of the laser generator for heat treatment of each grid; After deleting invalid grids, the optimal laser power output information is planned.

6. The laser thermal treatment control method based on visual recognition according to claim 5, characterized in that: If the surface of the workpiece to be heat-treated has a structural surface with a depth greater than the threshold, adjust the laser power to meet the strengthening requirements at the material edge or turn off the laser generator.

7. A laser heat treatment device, characterized in that: The device includes a base, and a position transfer unit is provided on the base for realizing the position transfer of the device other than the base; The position transfer unit is provided with a scanning modeling unit and a heat treatment unit in sequence along the translation direction of the position transfer unit; The position transfer unit, scanning modeling unit, and heat treatment unit are connected to the control terminal. The control terminal controls the position transfer unit to translate, acquires the data output by the scanning modeling unit, and then controls the heat treatment unit to perform heat treatment operations using the laser heat treatment control method based on vision recognition as described in any one of claims 1 to 6.

8. The laser heat treatment equipment according to claim 7, characterized in that: The heat treatment unit includes a laser generator and a laser quenching head.

9. An application of the laser heat treatment equipment according to claim 7, characterized in that: Includes the following steps: S1 cleans the surface of any workpiece to be heat-treated and places it on the base; it divides the area to be processed into zones and sets the laser heat treatment zone. S2 uses a scanning modeling unit to scan 3D point cloud data; S3 controls the position transfer unit to move along the surface to be processed, and the scanning modeling unit scans the three-dimensional point cloud data of the workpiece surface to obtain the three-dimensional point cloud information of the workpiece surface. The S4 control unit processes the coordinate information of the reference plane and the three-dimensional point cloud information to generate the corresponding laser power control strategy. The S5 heat treatment unit obtains coordinate transformation data through calibration. After the spot position reaches the coordinates identified by the scanning modeling unit, it outputs the laser power control strategy to achieve consistency and uniformity control of heat treatment for complex surface workpieces.

10. The application according to claim 9, characterized in that: In S5, when the surface morphology of the workpiece changes, the power output of the heat treatment unit is adjusted via the control terminal, including: If there are protrusions on the workpiece surface, increase the power of the laser beam at the corresponding current position; If there is a depression on the workpiece surface, reduce the power of the laser beam at the corresponding current position; If the surface of the workpiece to be heat-treated has a structural surface with a depth greater than the threshold, then the workpiece has a gap or edge collapse, and the laser power is turned off.

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