The application discloses a
pipe pile inner wall
welding method based on
visual perception and belongs to the technical field of
visual detection, and specifically comprises the following steps: firstly, installing an inner wall micro-texture light shielding ring and a root
light guide wedge on both sides of a weld, calibrating a camera and a
light field geometry, establishing and locking a local coordinate
system of the weld; then, starting a ring-shaped polarized
light field to light up along the weld in sections, and the
light guide wedge guides the
grazing light to approach the root to stabilize the incidence; then, acquiring a polarized separation
image pair through a double-channel orthogonal polarization acquisition unit, and synchronously recording an
azimuth marker and a sectional number; then, generating a polarized reflection map and a brightness
reference map through polarization unmixing and
curvature compensation, and corresponding to the local coordinate
system; then, constructing a feature dictionary, extracting a weld
toe profile, a root crack texture and a
heat affected zone boundary therefrom, and forming a
feature vector; finally, inputting the
feature vector into a recognizer, combining the brightness
reference map to obtain a defect
mask and a
label, and projecting back to the local coordinate
system of the weld to complete detection.