Weld joint identification and path extraction method for wall-climbing robot navigation

A wall-climbing robot, robot technology, applied in character and pattern recognition, instruments, computer parts, etc., can solve the problem of difficulty in accurate identification and tracking of welding seams, achieve work efficiency, improve precision and accuracy, and save costs and time effects

Active Publication Date: 2020-12-18
SOUTHEAST UNIV
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Problems solved by technology

[0003] In order to solve the above problems, the present invention discloses a method for weld seam identification and path extraction for wall-climbing robot navigation, which solves the problem tha

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  • Weld joint identification and path extraction method for wall-climbing robot navigation

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Embodiment Construction

[0035] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "inner" and "outer ” refer to directions towards or away from the geometric center of a particular part, respectively.

[0036] like figure 1 , 2 As shown, this embodiment provides a method for weld seam identification and path extraction for wall-climbing robot navigation. The method is implemented by the following device, which includes an industrial camera, a recognition host, and a wall-climbing robot. The recognition camera is installed and climbed The center position of the wall robot cha...

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Abstract

The invention discloses a weld joint identification and path extraction method for wall-climbing robot navigation. The method comprises the steps that 1, a wall-climbing robot collects a metal wall surface weld joint, marks a weld joint object in an image, and builds a data set; 2, after an identification host initializes and sets network parameters, the weld defect data set is sent to a MaskRCNNdeep learning network for training, and a weight file is generated; 3, the wall-climbing robot operates on the metal wall surface, and the industrial camera acquires a welding seam image of the current position and sends the welding seam image to the recognition host; and 4, the identification host receives the image to perform identification test, sets deep learning network parameters, loads theweight obtained by training, and sends the weight into a MaskRCNN network to perform weld joint classification, regression and pixel mask generation. 5, image processing is carried out on a Mask-RCNNrecognition result; a welding seam path image is obtained, and a welding seam path is extracted; and 6, the identification host sends weld joint path information to the control end of the wall-climbing robot, and the control end adjusts the position and speed of the robot to realize weld joint tracking operation.

Description

technical field [0001] The invention belongs to the field of flaw detection robots, and in particular relates to a welding seam identification and path extraction method for wall-climbing robot navigation. Background technique [0002] In recent years, with the development of industry, the number of special equipment used has increased dramatically. In order to ensure the safe use of special equipment, the quality of materials and structures must be strictly controlled. In the entire structure of the equipment, the weld structure is the weakest, and it is very prone to defects, which will bring great safety hazards. In the welded parts and structures, cracks will lead to the loss of service life and performance. In order to ensure The safety of use requires regular inspection of welds. With the development of science and technology, the use of wall-climbing robot technology to replace manual inspection has become the development trend of the inspection industry. At presen...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/62G06N3/04
CPCG06V20/10G06V10/25G06N3/045G06F18/214
Inventor 王兴松李杰田梦倩
Owner SOUTHEAST UNIV
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