The invention relates to a three-dimensional trapezoidal weld joint identification method and
system based on
geometric analysis and Transform, and belongs to the technical field of
computer vision and robots. According to the method, the
geometric analysis algorithm and the neural
network model are combined, the three-dimensional
welding scene obtained through line
laser scanning is processed, and the key coordinate points of the trapezoidal
welding seam are automatically recognized. The
system comprises an acquisition module, a
point cloud data preprocessing module, a
geometric analysis module and a
deep learning optimization module which are respectively used for obtaining
point cloud, filtering, denoising and feature
processing, extracting geometric features and preliminarily estimating key points, and optimizing the key points based on a neural network of a Transform structure, and the output of the
system can be used for
robot path planning. According to the invention, high-precision and real-time
welding seam identification can be realized in a high-altitude or complex-posture pipeline welding scene, and the
automation and intelligence level of welding quality detection is improved. The method has high accuracy and robustness, the
robot can be efficiently guided to weld the high-altitude pipeline, and more accurate operation is achieved.