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

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...

AI Technical Summary

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 that the wall-climbing robot is difficult to accurately identify and track weld seams during the working process, and realizes more intelligent through deep learning. Weld inspection and identification

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