Tightly-arranged pipe space curve laser welding track planning method under welding seam tracking

The invention discloses a densely-arranged pipe space curve laser welding track planning method under welding seam tracking. The method comprises the following steps that a tracking sensor is connected with a laser welding head through a connecting tool; establishing a relative position relation between the tracking sensor and the laser welding head by adopting a ten-point calibration method; carrying out plane calibration on the focal distance of the laser welding head; adjusting the posture of the laser welding head by adopting a two-vertical and one-alignment method; laser head focus distance alignment aiming at a space curve is completed; adjusting a tracking field of view of the tracking sensor; and four teaching points of the space curve track of the spray pipe welding seam are found out, the four teaching points are input into a robot control system, and the robot control system controls the six-axis industrial robot to conduct space curve track movement according to the four teaching points. Accurate