Ship ladder robot fold line fillet weld intelligent recognition device and method

The invention disclosed a ship ladder robot fold line fillet weld intelligent recognition device and method. The device includes a laser visual sensor assembly arranged on a welding gun of an ABB welding robot, an image acquisition card and a computer; the laser visual sensor assembly is connected to a computer through the image acquisition card. The laser visual sensor assembly includes a semiconductor laser, a CCD camera, a lens, and a spike filter. The method includes: fixing the semiconductor laser and the CCD camera on an arm tail end of the ABB welding robot, irradiating laser emitted from the semiconductor laser onto a ship ladder workpiece fillet weld joint, and using the CCD camera to shoot a weld joint laser image; using the image acquisition card to transmit the image processedby the spike filter to the computer, performing image analysis processing to acquire a ship ladder fillet weld joint path, and feeding the ship ladder fillet weld joint path back to the ABB welding robot so as to achieve auto