Weld bead contour determination method and device, processor and system

Abstract

The invention provides a weld bead contour determining method and device, a processor and a system. The determining method comprises the steps: obtaining an initial weld bead image; performing first edge detection on the initial weld bead image to obtain a middle weld bead image; determining a region of interest according to the middle weld bead image; and performing predetermined processing on the region of interest to obtain a weld bead contour, the predetermined processing at least comprising second edge detection. According to the determination method, the first edge detection, the region of interest determination and the second edge detection are sequentially carried out on the obtained initial welding bead image, so that a relatively accurate welding bead contour can be obtained in a relatively short time; the problem that in the prior art, due to the fact that base metal is polished to form light reflection in the welding process, the edge contour of the welding bead is not clear and not obvious is solved, it is guaranteed that the welding bead contour can be rapidly and accurately extracted from the welding bead image, and then it is guaranteed that the effect of follow-up automatic welding according to the welding bead contour is good.

Description

technical field [0001] The present application relates to the field of weld bead, in particular, to a method, device, computer-readable storage medium, processor and system for determining a weld bead profile. Background technique [0002] The trackless crawling robot can rely on external visual sensors to automatically find the position of the welding bead, and adjust the position and posture of the robot body and welding torch accordingly. Vision-based weld bead detection is a very important module, which directly affects the accuracy of subsequent welding. [0003] At present, welding robots based on visual servoing generally determine the center point position of the weld bead by finding the left and right inflection points of the weld seam, and directly adjust the robot body and welding torch according to the center point position. However, in the actual application process, the attitude of the welding torch cannot be accurately controlled only based on the position of...

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Problems solved by technology

[0005] The main purpose of this application is to provide a method, device, computer-readable storage medium, processor and system for determi

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