CN120133706A - A laser sensor for tracking mirror stainless steel welds and a weld tracking and identification method - Google Patents

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

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Publication number
CN120133706A
CN120133706A CN202510551773.7A CN202510551773A CN120133706A CN 120133706 A CN120133706 A CN 120133706A CN 202510551773 A CN202510551773 A CN 202510551773A CN 120133706 A CN120133706 A CN 120133706A
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China
Prior art keywords
laser
receiving lens
stainless steel
tracking
adjustment mechanism
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CN202510551773.7A
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CN120133706B (en
Inventor
李永哲
黄曹玮
刘百恒
周怡君
王晓宇
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Southeast University
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Southeast University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/044—Seam tracking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2103/00—Materials to be soldered, welded or cut
    • B23K2103/02—Iron or ferrous alloys
    • B23K2103/04—Steel or steel alloys
    • B23K2103/05—Stainless steel

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Laser Beam Processing (AREA)

Abstract

The invention discloses a laser sensor for tracking a mirror stainless steel weld and a weld tracking identification method, comprising a laser transmitter, a laser receiving lens, a lens motion control system and a laser stripe image processing system, wherein the laser transmitter is used for transmitting laser; the laser receiving lens is used for receiving the laser after the mirror reflection; the lens motion control system is used for controlling the laser receiving lens to carry out periodical rotation motion and posture adjustment, and the laser stripe image processing system is used for processing the received reflected laser. According to the invention, through the periodical movement of the laser receiving lens, the conical rotary movement of the laser receiving lens around the laser reflection point in the possible laser reflection range can be realized, the multidirectional laser reflected by the mirror surface stainless steel is captured, and then the laser stripes collected at different moments are spliced through the laser stripe image processing system, so that a complete laser stripe image which can reflect the shape of a weld groove is formed, and the purpose of tracking and identifying the mirror surface stainless steel weld is realized.

Description

Laser sensor for mirror surface stainless steel weld tracking and weld tracking identification method
Technical Field
The invention belongs to the technical field of robot welding, and relates to a laser sensor for mirror surface stainless steel weld tracking and a weld tracking identification method.
Background
Robotic welding is one of the important scenarios for industrial robotics applications. The welding seam tracking sensor can help the robot to automatically find the center position of the welding seam, so that the welding track is adjusted, and the welding quality is improved. The relative positions of a laser transmitter and a laser receiving lens of the existing linear structure laser sensor are fixed, and when the linear structure laser sensor is applied to the recognition of a mirror stainless steel welding seam, the laser receiving lens cannot acquire complete laser stripe images due to the fact that the laser stripes are subjected to mirror reflection. This greatly limits the application of robotics in the field of automated welding of stainless steel.
Disclosure of Invention
The invention aims to provide the laser sensor for tracking the mirror surface stainless steel weld and the weld tracking and identifying method, and the periodic movement of the laser receiving lens is controlled to effectively obtain the laser stripe image capable of reflecting the complete appearance of the weld groove, so that the purposes of identifying and tracking the mirror surface stainless steel weld are realized.
The technical scheme is that the laser sensor for mirror stainless steel weld tracking comprises a laser transmitter, a laser receiving lens, a lens motion control system and a laser stripe image processing system, wherein the laser transmitter is used for transmitting laser, the laser receiving lens is used for receiving the laser after mirror reflection, the lens motion control system is used for controlling the laser receiving lens to conduct periodic rotary motion and posture adjustment, and the laser stripe image processing system is used for processing the received reflected laser and identifying the center of a weld groove.
The lens motion control system comprises a rotary motion mechanism, a triaxial angle adjusting mechanism, a distance adjusting mechanism and a motion controller, wherein the rotary motion mechanism is fixedly connected with the triaxial angle adjusting mechanism and the distance adjusting mechanism respectively, the distance adjusting mechanism is fixedly connected with a laser receiving lens, the motion controller is fixedly connected with the triaxial angle adjusting mechanism, the distance adjusting mechanism is used for adjusting the relative distance between the laser receiving lens and a laser reflection point, the triaxial angle adjusting mechanism is used for adjusting the posture of the laser receiving lens, the rotary motion mechanism is used for driving the distance adjusting mechanism to conduct rotary motion and further drive the laser receiving lens to conduct rotary motion, and the motion controller is used for controlling the rotary motion mechanism, the triaxial angle adjusting mechanism and the distance adjusting mechanism to conduct cooperative motion so as to achieve posture adjustment of the laser receiving lens.
Optionally, the rotary motion mechanism includes a crank and a first driving motor, the crank is fixedly connected with the distance adjustment mechanism, the first driving motor is fixedly connected to the triaxial angle adjustment mechanism, the motion controller controls the first driving motor to drive the crank to perform rotary motion, and then drives the distance adjustment mechanism to perform rotary motion, and finally drives the laser receiving lens to perform rotary motion, so as to control the laser receiving lens to rotate within a laser possible reflection range.
The three-axis angle adjusting mechanism comprises a first angle adjusting rod, a second driving motor, a second angle adjusting rod, a third driving motor, a third angle adjusting rod and a fourth driving motor, wherein one end of the first angle adjusting rod is fixedly connected with the first driving motor, the other end of the first angle adjusting rod is connected with an output shaft of the second driving motor, one end of the second angle adjusting rod is fixedly connected with the second driving motor, the other end of the second angle adjusting rod is connected with an output shaft of the third driving motor, one end of the third angle adjusting rod is fixedly connected with the third driving motor, the other end of the third angle adjusting rod is connected with an output shaft of the fourth driving motor, the fourth driving motor is fixedly connected to a motion controller, the motion controller respectively controls the second driving motor, the third driving motor and the fourth driving motor to move, and then the first angle adjusting rod, the second angle adjusting rod and the third angle adjusting rod are driven to move cooperatively to adjust the gesture of the laser receiving lens, so that the laser receiving lens rotates around an x axis, a y axis and a z axis.
Optionally, the distance adjusting mechanism comprises a driving connecting piece and a screw rod, wherein the lower end of the driving connecting piece is fixedly connected with the laser receiving lens, the upper part of the driving connecting piece is connected with the screw rod through threads, the screw rod is fixedly connected with the rotary motion mechanism, and the motion controller controls the driving connecting piece to move up and down along the screw rod so as to control the relative distance between the laser receiving lens and the laser reflecting point.
In another aspect of the invention, a method for tracking and identifying a mirror surface stainless steel weld joint, which adopts the laser sensor for tracking the mirror surface stainless steel weld joint, comprises the following steps:
S1, recording laser stripe images of a laser receiving lens at all times in a motion period;
s2, splicing recorded laser stripe images at different moments;
S3, calculating the relative positions of the laser receiving lenses at all times through kinematics in a motion period, and calculating a dynamic projection area corresponding to the corresponding laser stripe image on the workpiece;
S4, processing the laser stripe image and identifying the center of the groove, wherein the steps include noise processing, laser stripe image center extraction and groove center identification.
Further, the step S1 specifically includes:
the posture of the laser receiving lens and the relative distance between the laser receiving lens and the laser reflecting point are continuously adjusted through the distance adjusting mechanism, the rotary motion mechanism and the triaxial angle adjusting mechanism, and after reflected laser enters the laser receiving lens, the laser information at the moment is recorded and converted into a laser stripe image.
Further, the step S3 specifically includes:
The method comprises the steps of collecting pose data of a laser receiving lens in real time, calculating a real-time pose transformation matrix of the laser receiving lens under a basic coordinate system by combining a kinematic orthometric model, mapping pixel coordinates in a laser stripe image into a three-dimensional space on the surface of a workpiece frame by frame, and finally calculating a dynamic projection area of the laser stripe on the workpiece.
Further, the step S4 specifically includes:
And the center of the groove is fitted by identifying characteristic points of the laser stripe image and combining the symmetry of the groove.
In another aspect of the invention, an electronic device includes a memory, a processor, and a computer program/instruction stored on the memory and executable on the processor, wherein the computer program/instruction when executed by the processor implements the steps of the method for tracking and identifying a weld of a specular stainless steel.
The laser sensor provided by the invention has the beneficial effects that the problem of image deletion caused by the specular reflection of the laser stripes in the automatic welding of the mirror surface stainless steel is effectively solved through the periodical rotary motion of the laser receiving lens and an image processing splicing algorithm, the laser sensor provided by the invention enables the laser receiving lens to dynamically capture the effective lasers in different reflection directions through the lens motion control system, the corresponding relation between the recorded laser stripes and a workpiece is calculated by combining kinematics, and finally the seam tracking of the mirror surface stainless steel is realized through the image processing splicing algorithm, the conical rotary motion of the laser receiving lens around the laser reflection point in the possible laser reflection range can be realized through the mechanical structure and the identification method, so that the multidirectional laser reflected by the mirror surface stainless steel is captured, the problem that the seam tracking of the laser is difficult to be applied to materials with luster on the surfaces of the stainless steel is solved, and compared with the traditional linear structure laser sensor, the seam tracking precision and the seam tracking identification method of the mirror surface material are remarkably improved.
Drawings
FIG. 1 is a schematic diagram of a prior art linear structure laser sensor;
FIG. 2 is a block diagram of a laser sensor for mirror stainless steel weld tracking;
FIG. 3 is a schematic diagram of a lens motion control system;
FIG. 4 is a flow chart of an identification method for mirror stainless steel weld tracking;
FIG. 5 is a schematic illustration of an implementation;
FIG. 6 is a schematic view of a conical rotary motion of a laser receiving lens;
FIG. 7 is a schematic diagram of laser stripe tiling;
The device comprises a 1-laser emitter, a 2-laser receiving lens, a 3-lens motion control system, a 4-laser stripe image processing system, a 31-rotary motion mechanism, a 32-triaxial angle adjusting mechanism, a 33-distance adjusting mechanism, a 34-motion controller, 311-cranks, 312-first driving motor M1,321-first angle adjusting rod B1, 322-second driving motor M2,323, second angle adjusting rod B2,324-third driving motor M3,325-third angle adjusting rod B3,326-fourth driving motor M4,331-driving connecting piece and 332-lead screw.
Detailed Description
The invention will be further described in detail with reference to the drawings and specific examples, which are only for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1, the structure of the laser sensor with the existing linear structure comprises a laser emitter, an imaging lens and an imaging array, and aims at solving the problem that when the laser sensor with the existing linear structure is applied to the recognition of a mirror surface stainless steel welding seam, the laser receiving lens cannot acquire complete laser stripe images due to the fact that the laser stripes are subjected to mirror reflection. The periodic movement of the laser receiving lens is controlled, multidirectional laser reflected by the mirror surface stainless steel is captured, and laser stripes collected at different moments are spliced through the laser stripe image processing system, so that a complete laser stripe image capable of reflecting the shape of a weld groove is formed, and the purposes of mirror surface stainless steel weld joint identification and tracking are achieved. The invention provides a laser sensor for mirror surface stainless steel weld tracking and an identification method, wherein a laser stripe image which can reflect the complete appearance of a weld groove can be effectively obtained by controlling the periodical motion of a laser receiving lens, so that the purpose of mirror surface stainless steel weld tracking and identification is realized.
As shown in fig. 2, the laser sensor for mirror stainless steel weld tracking according to the present invention includes a laser transmitter 1, a laser receiving lens 2, a lens motion control system 3, and a laser stripe image processing system 4. The laser transmitter 1 is used for transmitting laser, the laser receiving lens 2 is used for receiving the laser after specular reflection, the lens motion control system 3 is used for controlling the laser receiving lens 2 to perform periodic rotary motion and posture adjustment, and the laser stripe image processing system 4 is used for processing the received reflected laser, including noise reduction, filtering, stripe center extraction, weld center extraction and the like, so as to further identify the center of a weld groove.
As shown in fig. 3, the lens motion control system 3 comprises a rotary motion mechanism 31, a triaxial angle adjustment mechanism 32, a distance adjustment mechanism 33 and a motion controller 34, wherein the rotary motion mechanism 31is fixedly connected with the triaxial angle adjustment mechanism 32 and the distance adjustment mechanism 33 respectively, the distance adjustment mechanism 33 is fixedly connected with the laser receiving lens 2, the motion controller 34 is fixedly connected with the triaxial angle adjustment mechanism 32, the distance adjustment mechanism 33 is used for adjusting the relative distance between the laser receiving lens 2 and a laser reflection point so as to enable the relative distance to be clearly imaged, the triaxial angle adjustment mechanism 32 is used for adjusting the posture of the laser receiving lens 2 so as to ensure that reflected laser can directly enter the laser receiving lens 2, the rotary motion mechanism 31is used for driving the distance adjustment mechanism 33 to perform rotary motion and further driving the laser receiving lens 2 to perform rotary motion so as to capture reflected laser in different directions, and the motion controller 34 is used for controlling the rotary motion mechanism 31, the triaxial angle adjustment mechanism 32 and the distance adjustment mechanism 33 to perform collaborative motion so as to achieve pose adjustment of the laser receiving lens 2.
The driving connection piece 331 of the distance adjusting mechanism 33 is fixedly connected with the laser receiving lens 2 through a threaded screw, and is fixed on the rotary motion mechanism 31 through one end of a lead screw 332, a crank 311 of the rotary motion mechanism 31 is detachably and non-fixedly connected with the first driving motor 312 through a shaft pin, so that the crank 311 can rotate around the shaft, and finally the triaxial angle adjusting mechanism 32 and the motion controller 34 are detachably and non-fixedly connected through the shaft pin.
The rotary motion mechanism 31 comprises a crank 311 and a first driving motor 312, the crank 311 is fixedly connected with the distance adjustment mechanism 33, the first driving motor 312 is fixedly connected to the triaxial angle adjustment mechanism 32, and the motion controller 34 controls the first driving motor 312 to drive the crank 311 to perform rotary motion, so as to drive the distance adjustment mechanism 33 to perform rotary motion, and finally drive the laser receiving lens 2 to perform rotary motion, so that the laser receiving lens 2 is controlled to rotate within a laser possible reflection range.
Further, the crank 311 is connected with the first driving motor 312 through a shaft pin.
The triaxial angle adjusting mechanism 32 comprises a first angle adjusting rod 321, a second driving motor 322, a second angle adjusting rod 323, a third driving motor 324, a third angle adjusting rod 325 and a fourth driving motor 326, wherein one end of the first angle adjusting rod 321 is fixedly connected with the first driving motor 312, the other end of the first angle adjusting rod is connected with an output shaft of the second driving motor 322, one end of the second angle adjusting rod 323 is fixedly connected with the second driving motor 322, the other end of the second angle adjusting rod 323 is connected with an output shaft of the third driving motor 324, one end of the third angle adjusting rod 325 is fixedly connected with the third driving motor 324, the other end of the third angle adjusting rod 325 is connected with an output shaft of the fourth driving motor 326, the fourth driving motor 326 is fixedly connected to the motion controller 34, the motion controller 34 respectively controls the second driving motor 322, the third driving motor 324 and the fourth driving motor 326 to move, and then respectively drives the first angle adjusting rod 321, the second angle adjusting rod 323 and the third angle adjusting rod 325 to move cooperatively to adjust the gesture of the laser receiving lens 2, so that the laser receiving lens 2 can do rotary motion around x, y and z axes to ensure that the reflected laser beam can directly enter the laser receiving lens 2.
Further, one end of the first angle adjusting rod 321 is detachably and fixedly connected with the first driving motor 312 through a shaft pin, the other end of the first angle adjusting rod is detachably and non-fixedly connected with the second driving motor 322 through a shaft pin, one end of the second angle adjusting rod 323 is detachably and fixedly connected with the second driving motor 322 through a shaft pin, the other end of the second angle adjusting rod is detachably and non-fixedly connected with the third driving motor 324 through a shaft pin, one end of the third angle adjusting rod 325 is detachably and non-fixedly connected with the third driving motor 324 through a shaft pin, and the other end of the third angle adjusting rod is detachably and non-fixedly connected with the fourth driving motor 326 through a shaft pin.
The distance adjusting mechanism 33 comprises a driving connecting piece 331 and a screw rod 332, the lower end of the driving connecting piece 331 is connected with the laser receiving lens 2 through threads, the upper portion of the driving connecting piece 331 is connected with the screw rod 332 through threads, the screw rod 332 is fixedly connected with the rotary motion mechanism 31, and the motion controller 34 controls the driving connecting piece 331 to move up and down along the screw rod 332 through a driving motor in the driving connecting piece 331, so that the relative distance between the laser receiving lens 2 and a laser reflection point is controlled.
In operation, the laser receiving lens 2 is driven by the rotary motion mechanism 31 to periodically rotate and move onto 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 triaxial angle adjusting mechanism 32 to enable the laser path to vertically enter the laser receiving lens, and the distance adjusting mechanism 33 moves to enable the relative distance between the laser receiving lens and the reflection point to be kept constant.
The invention also provides a mirror surface stainless steel weld joint tracking and identifying method based on the laser sensor, which comprises the steps of splicing stripe images acquired by the laser receiving lens at different moments to form a complete laser stripe image, and realizing stainless steel weld joint tracking and identifying through noise treatment, stripe center extraction, weld joint center identification and the like. As shown in fig. 4, the method specifically comprises the following steps:
S1, recording laser stripe images of the laser receiving lens 2 at all times in a motion period;
The time points in the movement period refer to the time points when the laser receiving lens 2 is driven by the rotary movement mechanism 31 to capture the reflected laser in one complete rotation movement.
The distance adjusting mechanism 33, the rotary motion mechanism 31 and the triaxial angle adjusting mechanism 32 continuously adjust the posture of the laser receiving lens 2 and the relative distance between the laser receiving lens and the laser reflection point under the drive of each motor, and after reflected laser enters the laser receiving lens 2, the laser information at the moment is recorded and converted into a laser stripe image;
s2, splicing recorded laser stripe images at different moments;
And S3, calculating the relative position of the laser receiving lens 2 at each moment in a motion period through kinematics, and calculating a dynamic projection area corresponding to the corresponding laser stripe image on the workpiece. The method comprises the following steps:
The method comprises the steps of collecting pose data of a laser receiving lens 2 in real time, calculating a real-time pose transformation matrix of the laser receiving lens 2 under a basic coordinate system by combining a kinematic orthometric solution model, mapping pixel coordinates in a laser stripe image into a three-dimensional space on the surface of a workpiece frame by frame, and finally calculating a dynamic projection area of the laser stripe on the workpiece.
S4, processing the laser stripe image and identifying the center of the groove, wherein the steps include noise processing, laser stripe image center extraction and groove center identification. The method comprises the following steps:
The method comprises the steps of eliminating sputtering noise in the process of ambient light interference and welding through Gaussian filtering and noise reduction, and identifying characteristic points with remarkable geometric morphology or brightness change in a laser stripe image, wherein the characteristic points comprise but are not limited to brightness abrupt change points corresponding to edge positions, curvature abrupt change points at groove bottom shape change positions or groove inflection points, symmetrical distribution points appearing in pairs and the like, and fitting out the center of the groove by combining the symmetry of the groove.
FIGS. 5, 6 and 7 illustrate a specific embodiment of a mirror stainless steel weld tracking. As shown in fig. 5, the laser transmitter strikes a line of laser light on a mirror stainless steel workpiece, and the laser light at different positions is specularly reflected in different directions. Meanwhile, as shown in fig. 6, at each reflection point, the lens movement control system drives the laser receiving lens to perform a conical periodical rotation movement around the reflection point within a range in which the laser light may be reflected. Further, as shown in fig. 7, in one movement period, the laser stripe image processing system records and processes and splices the laser stripe images of different times t1, t 2. T6 together, so as to realize the identification of the center of the weld groove.
In another aspect of the invention, an electronic device includes a memory, a processor, and a computer program/instruction stored on the memory and executable on the processor, wherein the computer program/instruction when executed by the processor implements the steps of the method for tracking and identifying a weld of a specular stainless steel.
In summary, the invention captures the multidirectional laser reflected by the mirror stainless steel by controlling the periodical motion of the laser receiving lens, and then splices the laser stripes collected at different moments by the laser stripe image processing system to form a complete laser stripe image which can reflect the shape of the weld groove, thereby realizing the purpose of recognizing and tracking the mirror stainless steel weld. The invention can solve the problem that the receiving lens cannot acquire the laser stripe image due to specular reflection when the traditional linear structure laser sensor identifies the mirror stainless steel weld.

Claims (10)

1.一种用于镜面不锈钢焊缝跟踪的激光传感器，其特征在于，包括激光发射器(1)、激光接收镜头(2)、镜头运动控制系统(3)以及激光条纹图像处理系统(4)，激光发射器(1)用于发射激光；激光接收镜头(2)用于接收镜面反射后的激光；镜头运动控制系统(3)用于控制激光接收镜头(2)进行周期性回转运动和姿态调整；激光条纹图像处理系统(4)用于处理接收到的反射激光，识别焊缝坡口中心。1. A laser sensor for tracking a mirror stainless steel weld, characterized in that it 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 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.根据权利要求1所述的用于镜面不锈钢焊缝跟踪的激光传感器，其特征在于，镜头运动控制系统(3)包括旋转运动机构(31)、三轴角度调整机构(32)、距离调整机构(33)以及运动控制器(34)，旋转运动机构(31)分别与三轴角度调整机构(32)和距离调整机构(33)固定连接，距离调整机构(33)与激光接收镜头(2)固定连接，运动控制器(34)与三轴角度调整机构(32)固定连接；距离调整机构(33)用于调整激光接收镜头(2)与激光反射点之间的相对距离；三轴角度调整机构(32)用于调整激光接收镜头(2)的姿态；旋转运动机构(31)用于驱动距离调整机构(33)作旋转运动，进而带动激光接收镜头(2)作旋转运动；运动控制器(34)用于控制旋转运动机构(31)、三轴角度调整机构(32)和距离调整机构(33)协同运动，实现激光接收镜头(2)位姿调整。2. The laser sensor for tracking mirror stainless steel welds according to claim 1 is 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), wherein 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 a rotary motion, thereby driving the laser receiving lens (2) to perform a 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 to achieve the adjustment of the position and posture of the laser receiving lens (2). 3.根据权利要求2所述的用于镜面不锈钢焊缝跟踪的激光传感器，其特征在于，旋转运动机构(31)包括曲柄(311)和第一驱动电机(312)，曲柄(311)与距离调整机构(33)固定连接，第一驱动电机(312)固定连接在三轴角度调整机构(32)上，运动控制器(34)控制第一驱动电机(312)驱动曲柄(311)作旋转运动，进而带动距离调整机构(33)作旋转运动，最终带动激光接收镜头(2)作旋转运动，以控制激光接收镜头(2)在激光反射范围内旋转。3. According to claim 2, the laser sensor for tracking mirror stainless steel welds is characterized in that the rotational 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), the first drive motor (312) is fixedly connected to the three-axis angle adjustment mechanism (32), and the motion controller (34) controls the first drive motor (312) to drive the crank (311) to perform rotational motion, thereby driving the distance adjustment mechanism (33) to perform rotational motion, and finally driving the laser receiving lens (2) to perform rotational motion, so as to control the laser receiving lens (2) to rotate within the laser reflection range. 4.根据权利要求2所述的用于镜面不锈钢焊缝跟踪的激光传感器，其特征在于，三轴角度调整机构(32)包括第一角度调整杆(321)、第二驱动电机(322)、第二角度调整杆(323)、第三驱动电机(324)、第三角度调整杆(325)及第四驱动电机(326)，第一角度调整杆(321)一端与第一驱动电机(312)固定连接，另一端与第二驱动电机(322)的输出轴连接；第二角度调整杆(323)一端与第二驱动电机(322)固定连接，另一端与第三驱动电机(324)的输出轴连接；第三角度调整杆(325)一端与第三驱动电机(324)固定连接，另一端与第四驱动电机(326)的输出轴连接；第四驱动电机(326)固定连接在运动控制器(34)上；运动控制器(34)分别控制第二驱动电机(322)、第三驱动电机(324)和第四驱动电机(326)运动，进而分别驱动第一角度调整杆(321)、第二角度调整杆(323)和第三角度调整杆(325)运动；各角度调整杆协同运动以调整激光接收镜头(2)的姿态，使得激光接收镜头(2)绕x、y、z轴旋转运动。4. The laser sensor for tracking mirror stainless steel welds according to claim 2 is 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). The invention relates to a laser receiving lens (2) and a laser beam receiving lens (326). The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. The laser receiving lens (2) is connected to the laser beam receiving lens (326) by a plurality of moving parts. 5.根据权利要求2所述的用于镜面不锈钢焊缝跟踪的激光传感器，其特征在于，距离调整机构(33)包括驱动连接片(331)和丝杠(332)，驱动连接片(331)下端与激光接收镜头(2)固定连接，上部通过螺纹与丝杆(332)连接，丝杠(332)与旋转运动机构(31)固定连接；运动控制器(34)控制驱动连接片(331)沿丝杠(332)上下运动，进而控制激光接收镜头(2)与激光反射点的相对距离。5. The laser sensor for tracking mirror stainless steel welds according to claim 2 is 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) through a thread, and 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. 6.一种镜面不锈钢焊缝跟踪识别方法，其特征在于，采用权利要求1-5任一项所述用于镜面不锈钢焊缝跟踪的激光传感器，方法包括以下步骤：6. A mirror stainless steel weld tracking and identification method, characterized in that the laser sensor for mirror stainless steel weld tracking according to any one of claims 1 to 5 is used, and the method comprises the following steps: S1、记录激光接收镜头(2)在一个运动周期内各个时刻的激光条纹图像；S1, recording the laser stripe images of the laser receiving lens (2) at each moment in a motion cycle; S2、拼接记录的不同时刻的激光条纹图像；S2, stitching the laser stripe images recorded at different times; S3、在一个运动周期内，通过运动学计算各时刻激光接收镜头(2)的相对位置，推算对应的激光条纹图像所对应在工件上的动态投影区域；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、处理激光条纹图像，识别坡口中心；包括噪声处理、激光条纹图像中心提取、坡口中心识别。S4, processing the laser stripe image and identifying the groove center; including noise processing, laser stripe image center extraction, and groove center identification. 7.根据权利要求6所述一种镜面不锈钢焊缝跟踪识别方法，其特征在于，步骤S1具体为：7. The mirror stainless steel weld tracking and identification method according to claim 6, characterized in that step S1 specifically comprises: 通过距离调整机构(33)、旋转运动机构(31)和三轴角度调整机构(32)不断调整激光接收镜头(2)的姿态和与激光反射点间的相对距离，当有反射激光进入激光接收镜头(2)后，记录下该时刻的激光信息并转换为激光条纹图像。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.根据权利要求6所述一种镜面不锈钢焊缝跟踪识别方法，其特征在于，步骤S3具体为：8. According to the mirror stainless steel weld tracking and identification method of claim 6, it is characterized in that step S3 specifically comprises: 通过实时采集激光接收镜头(2)的位姿数据，结合运动学正解模型计算激光接收镜头(2)在基坐标系下的实时位姿变换矩阵，将激光条纹图像中的像素坐标逐帧映射至工件表面三维空间，最终解算出激光条纹在工件上的动态投影区域。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.根据权利要求6所述一种镜面不锈钢焊缝跟踪识别方法，其特征在于，步骤S4具体为：9. The mirror stainless steel weld tracking and identification method according to claim 6, characterized in that step S4 specifically comprises: 通过高斯滤波降噪，消除环境光干扰与焊缝溅射噪声；通过识别激光条纹图像的特征点，并结合坡口的对称性拟合出坡口中心。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. 10.一种电子设备，其特征在于，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序/指令，其特征在于，所述计算机程序/指令被处理器执行时实现权利要求6-9任一项所述的镜面不锈钢焊缝跟踪识别方法的步骤。10. An electronic device, characterized in that it comprises 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, the steps of the mirror stainless steel weld tracking and identification method according to any one of claims 6 to 9 are implemented.
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