Collaborative weld seam tracking method based on laser line scanning sensing and platform thereof

A collaborative weld seam tracking method based on laser line scanning sensing, comprising:

• during a welding process, implementing the following steps:
• scanning, by using a laser line scanning sensor, a weld seam to obtain an original sampling deviation value;
• coordinate converting the original sampling deviation value to obtain a converted sampling deviation value, and then obtaining a first converted sampling deviation coordinate based on a current position coordinate of a motion mechanism;
• in response to an absolute difference between the converted sampling deviation value and a position value of a projection point of the converted sampling deviation value on a preset path is less than a processing range of a swing galvanometer, performing, by the swing galvanometer, a weld seam tracking on the weld seam;
• and
• in response to the absolute difference between the converted sampling deviation value and the position value of the projection point of the converted sampling deviation value on the preset path is greater than or equal to the processing range of the swing galvanometer, performing Hermite interpolation using the current position coordinate of the motion mechanism, the first converted sampling deviation coordinate, a corner point coordinate corresponding to a maximum sampling deviation coordinate of the weld seam, an endpoint coordinate of the weld seam, a motion ending point coordinate of the motion mechanism, a derivative of the current position coordinate of the motion mechanism, a derivative of the first converted sampling deviation coordinate, a derivative of the corner point coordinate corresponding to the maximum sampling deviation coordinate of the weld seam, a derivative of the endpoint coordinate of the weld seam, and a derivative of the motion ending point coordinate of the motion mechanism as interpolation points, thereby obtaining an interpolation function as a motion trajectory of the motion mechanism.