Method for extracting welding seam milling track of robot

The invention discloses a method for extracting a milling track of a welding seam of a robot. The method comprises the following steps of: 1, refining a binarization mask image of the welding seam; and step 2, carrying out downsampling on the refined binarization mask image of the welding seam. And step 3, determining the start point and the end point of the weld track: fitting a straight line by using points close to the head and the tail parts of the weld in the weld track points, and solving the intersection points of the fitting straight line and the weld mask as the start point and the end point of the weld track. And step 4, segmenting a welding seam track point adjacent to a workpiece plane. And step 5, normal vector extraction of the welding seam track points: calculating the centroid of the adjacent working plane point cloud set corresponding to the points in each welding seam track point set and the eigenvector of the covariance matrix. And step 6, describing a welding seam track 6D: calculating a p