Arc welding seam extraction method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an arc welding seam extraction method, electronic equipment and a storage medium, and relates to the field of welding seam recognized.The method comprises the steps that a to-be-detected workpiece point cloud is collected, a rotation matrix and a translation vector of the to-be-detected workpiece point cloud are determined, and a three-face structure list and a two-face-only structure list in the to-be-detected workpiece point cloud are determined, the three-face structure list comprises concavity and convexity of each three-face structure, the only-two-face structure list comprises concavity and convexity of each only-two-face structure, based on a cylindrical surface structure screening algorithm, based on a rotation matrix and a translation vector, an arc welding seam of a to-be-detected workpiece point cloud is extracted from the three-face structure list and / or the only-two-face structure list, and the arc welding seam of the to-be-detected workpiece point cloud is obtained. A specific arc welding seam can be extracted, and the accuracy of arc welding seam recognition is improved.

Description

Technical Field

[0001] The present invention relates to the field of weld identification, and in particular to a circular arc weld extraction method, electronic equipment and storage medium. Background Art

[0002] The existing method for extracting arc welds from point clouds is as follows: first, detect the plane in the point cloud, delete the points on the plane, and then use the voting algorithm to detect the axis of the cylinder for the remaining points. Project the points that vote for the axis of the cylinder onto a plane perpendicular to the axis of the cylinder, detect the circle on the plane, and thus detect the cylinder. Find the intersection line between the cylindrical surface and the plane to obtain the position of the arc weld.

[0003] The existing method for extracting arc welds in point clouds has the following main disadvantages: the algorithm will detect all cylinders and planes in the point cloud and find the intersection line between the cylinder and the plane, so all arc welds in the point cloud will be extracted, but the specific arc welds required cannot be extracted.

[0004] Therefore, the existing arc weld extraction method is only a general method, which cannot distinguish different arc welds and cannot locate a specific arc weld. Summary of the invention

[0005] The object of the present invention is to provide a circular arc weld extraction method, electronic equipment and storage medium, which can improve the accuracy of circular arc welds.

[0006] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, an embodiment of the present invention provides a method for extracting an arc weld, the method comprising:

[0008] Collect the point cloud of the workpiece to be inspected;

[0009] Determine the rotation matrix and translation vector of the point cloud of the workpiece to be detected;

[0010] Determine a three-sided structure list and a two-sided structure list in the point cloud of the workpiece to be detected, wherein the three-sided structure list contains each three-sided structure, and the two-sided structure list contains each two-sided structure, the three-sided structure is composed of a cylinder and two planes, and there is an intersection line between the two planes, and there are intersection lines between the cylinder and the two planes, and the two-sided structure is composed of a cylinder and a plane, and there is an intersection line between the cylinder and the plane, and the two-sided structure does not exist in the three-sided structure list;

[0011] Based on the cylindrical structure screening algorithm, the arc weld of the to-be-detected workpiece point cloud is extracted from the three-sided structure list and / or the two-sided structure list based on the rotation matrix and the translation vector.

[0012] In an optional embodiment, the step of extracting the arc weld of the workpiece point cloud to be detected from the three-sided structure list and / or only the two-sided structure list based on the cylindrical structure screening algorithm and the rotation matrix and the translation vector comprises:

[0013] Acquire first structural information, reference surface information, and a first plane intersection direction vector corresponding to a first weld of the workpiece point cloud to be detected from a weld database;

[0014] Convert the reference surface information and the first plane intersection direction vector based on the rotation matrix and the translation vector to obtain converted reference surface information;

[0015] Based on the converted reference surface information, the arc weld corresponding to the target structure meeting the preset conditions is extracted from the three-surface structure list and / or the two-surface structure list.

[0016] In an optional implementation, the reference surface information includes a normal vector and reference surface parameters of the reference surface, and the step of converting the reference surface information and the first plane intersection direction vector based on the rotation matrix and the translation vector to obtain the converted reference surface information includes:

[0017] Calculate a first product of the normal vector of the reference surface and the rotation matrix as a conversion normal vector;

[0018] Calculating a second product of the first product and the translation vector;

[0019] Calculating the sum of the second product and the reference surface parameter as a conversion reference surface parameter;

[0020] Calculate the third product of the rotation matrix and the first plane intersection direction vector as the conversion intersection direction vector;

[0021] The conversion normal vector, the conversion reference surface parameter and the conversion intersection direction vector are used as the converted reference surface information.

[0022] In an optional embodiment, the step of extracting the arc weld corresponding to the target structure that meets the preset conditions from the three-surface structure list and / or the two-surface structure list based on the converted reference surface information includes:

[0023] Traversing the three-surface structure list, and acquiring a concave-concave-concave structure list that meets a first preset condition from the three-surface structure list based on the converted reference surface information;

[0024] When the number of elements in the concave-concave-concave structure list is greater than zero, traverse the concave-concave-concave structure list, and acquire a target concave-concave-concave structure from the concave-concave-concave structure list based on the converted reference surface information;

[0025] Determine the arc weld of the target concave-concave-concave structure.

[0026] In an optional implementation, the step of traversing the three-surface structure list and acquiring a concave-concave-concave structure list that meets a first preset condition from the three-surface structure list based on the converted reference surface information includes:

[0027] Traversing the three-sided structure list, when the i-th three-sided structure is a concave-concave-concave three-sided structure, determining the first angle between the first plane and the second plane in the i-th three-sided structure, wherein the three-sided structures in the three-sided structure list are traversed from 0 to n using a variable i, and n is the number of three-sided structures in the three-sided structure list;

[0028] When the first included angle is greater than a first preset degree, determining a first direction vector of an intersection line of the first plane and the second plane in the i-th three-sided structure, wherein the i-th three-sided structure includes a cylinder and two planes, and a normal of the first plane is parallel to a cylinder axis of the cylinder;

[0029] Determine a second angle between the first direction vector and the conversion intersection direction vector;

[0030] Determining whether the second included angle approaches a second preset degree, wherein the second preset degree is smaller than the first preset degree;

[0031] When the second angle approaches the second preset degree, determining a third angle between the cylindrical axis of the i-th three-sided structure and the conversion normal vector;

[0032] When the third included angle is less than a third preset angle, the i-th three-sided structure is added to the concave-concave-concave structure list.

[0033] In an optional implementation, the step of acquiring the target concave-concave-concave structure from the concave-concave structure list based on the converted reference surface information includes:

[0034] Determine the plane parameters of the first plane in each concave-concave-concave structure in the concave-concave structure list;

[0035] Based on the plane parameters of each first plane, the conversion reference surface parameters and the preset minimum distance, the concave-concave-concave structure with the shortest distance from the conversion reference surface parameters is obtained from the concave-concave-concave structure list as the target concave-concave-concave structure.

[0036] In an optional embodiment, the step of extracting the arc weld corresponding to the target structure that meets the preset conditions from the three-surface structure list and / or the two-surface structure list based on the converted reference surface information includes:

[0037] Traversing the three-surface structure list, and acquiring a concave-concave-convex structure list satisfying a second preset condition from the three-surface structure list based on the converted reference surface information;

[0038] Traversing the two-surface structure list, and acquiring a target two-surface structure list satisfying a third preset condition from the two-surface structure list based on the converted reference surface information;

[0039] Acquire a target concave-concave-convex structure from the concave-concave-convex structure list, and acquire a first distance between the target concave-concave-convex structure and the conversion reference surface parameter;

[0040] Based on the first distance, determining whether there is a target two-surface structure in the two-surface structure list whose second distance from the conversion reference surface parameter is smaller than the first distance;

[0041] If so, the target two-face structure is taken as the target structure that meets the preset conditions;

[0042] If not, the target concave-convex structure is taken as the target structure that meets the preset conditions;

[0043] A circular arc weld of the target structure is determined.

[0044] In an optional embodiment, the step of extracting the arc weld corresponding to the target structure that meets the preset conditions from the three-surface structure list and / or the two-surface structure list based on the converted reference surface information includes:

[0045] Traversing the three-surface structure list, and acquiring a concave-convex-convex structure list satisfying a fourth preset condition from the three-surface structure list based on the converted reference surface information;

[0046] Traversing the two-surface structure list, and acquiring a target two-surface structure list satisfying a third preset condition from the two-surface structure list based on the converted reference surface information;

[0047] Acquire a target concave-convex-convex structure from the concave-convex-convex structure list, and acquire a third distance between the target concave-convex-convex structure and the conversion reference surface parameter;

[0048] Based on the third distance, determining whether there is a target two-surface structure in the two-surface structure list whose fourth distance from the conversion reference surface parameter is less than the third distance;

[0049] If so, the target two-face structure is taken as the target structure that meets the preset conditions;

[0050] If not, the target concave-convex-convex structure is taken as the target structure that meets the preset conditions;

[0051] A circular arc weld of the target structure is determined.

[0052] In a second aspect, an embodiment of the present invention provides a circular arc weld extraction device, the device comprising:

[0053] An acquisition module is used to acquire the point cloud of the workpiece to be inspected;

[0054] A determination module is used to determine the rotation matrix and translation vector of the workpiece point cloud to be detected; determine a three-sided structure list and a two-sided structure list in the workpiece point cloud to be detected, wherein the three-sided structure list contains each three-sided structure, and the two-sided structure list contains each two-sided structure, the three-sided structure is composed of a cylinder and two planes, and there is an intersection line between the two planes, and there are intersection lines between the cylinder and the two planes, and the two-sided structure is composed of a cylinder and a plane, and there is an intersection line between the cylinder and the plane, and the two-sided structure does not exist in the three-sided structure list;

[0055] The extraction module is used to extract the arc weld of the workpiece point cloud to be detected from the three-sided structure list and / or the two-sided structure list based on the cylindrical structure screening algorithm and the rotation matrix and the translation vector.

[0056] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the arc weld extraction method when executing the computer program.

[0057] In a fourth aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, which implements the steps of the circular arc weld extraction method when executed by a processor.

[0058] The present invention has the following beneficial effects:

[0059] The present invention collects a point cloud of a workpiece to be detected, determines a rotation matrix and a translation vector of the point cloud of the workpiece to be detected, determines a three-sided structure list and a two-sided structure list in the point cloud of the workpiece to be detected, wherein the three-sided structure list contains the concavity and convexity of each three-sided structure, and the two-sided structure list contains the concavity and convexity of each two-sided structure. Based on a cylindrical structure screening algorithm, arc welds of the point cloud of the workpiece to be detected are extracted from the three-sided structure list and / or the two-sided structure list based on the rotation matrix and the translation vector, so that a specific arc weld can be extracted, thereby improving the accuracy of arc weld recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention;

[0062] Figure 2 One of the flow diagrams of a circular arc weld extraction method provided in an embodiment of the present invention;

[0063] Figure 3 A second flow chart of a circular arc weld extraction method provided in an embodiment of the present invention;

[0064] Figure 4 A schematic diagram of a circular arc weld extraction method provided in an embodiment of the present invention Figure 3 ;

[0065] Figure 5 A fourth flow chart of a circular arc weld extraction method provided in an embodiment of the present invention;

[0066] Figure 6 A fifth flow chart of a circular arc weld extraction method provided in an embodiment of the present invention;

[0067] Figure 7 A sixth flow chart of a circular arc weld extraction method provided in an embodiment of the present invention;

[0068] Figure 8 A structural block diagram of an arc weld extraction device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0070] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0072] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0073] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0074] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0075] After extensive research, it was found that the existing arc weld extraction method is only a general method that cannot distinguish different arc welds or locate a specific arc weld.

[0076] In view of the discovery of the above problems, the present embodiment provides a circular arc weld extraction method, an electronic device and a storage medium, which can determine the rotation matrix and translation vector of the point cloud of the workpiece to be detected by collecting the point cloud of the workpiece to be detected, and determine the three-sided structure list and the two-sided structure list in the point cloud of the workpiece to be detected, wherein the three-sided structure list contains the concavity and convexity of each three-sided structure, and the two-sided structure list contains the concavity and convexity of each two-sided structure. Based on the cylindrical structure screening algorithm, the circular arc weld of the point cloud of the workpiece to be detected is extracted from the three-sided structure list and / or the two-sided structure list based on the rotation matrix and translation vector, so that a specific circular arc weld can be extracted, thereby improving the accuracy of circular arc weld identification. The scheme provided in the present embodiment is elaborated in detail below.

[0077] This embodiment provides an electronic device that can extract arc welds. In a possible implementation, the electronic device can be a user terminal, for example, the electronic device can be, but is not limited to, a server, a smart phone, a personal computer (PC), a tablet computer, a personal digital assistant (PDA), a mobile Internet device (MID), and a weld recognition robot.

[0078] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0079] The electronic device 100 includes an arc weld extraction device 110 , a memory 120 and a processor 130 .

[0080] The memory 120 and the processor 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The arc weld extraction device 110 includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the electronic device 100. The processor 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the arc weld extraction device 110.

[0081] The memory 120 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the processor 130 executes the program after receiving an execution instruction.

[0082] Please refer to Figure 2 , Figure 2 For application Figure 1 A flow chart of a circular arc weld extraction method for an electronic device 100 is provided, and the method including each step is described in detail below.

[0083] S201: Collecting the point cloud of the workpiece to be inspected.

[0084] S202: Determine the rotation matrix and translation vector of the point cloud of the workpiece to be detected.

[0085] S203: Determine a three-surface structure list and a two-surface structure list in the point cloud of the workpiece to be detected.

[0086] S204: Based on the cylindrical structure screening algorithm, the arc weld of the workpiece point cloud to be inspected is extracted from the three-sided structure list and / or the two-sided structure list based on the rotation matrix and the translation vector.

[0087] The point cloud of the workpiece to be inspected is registered with the point cloud of the workpiece model to obtain the rotation matrix and translation vector from the point cloud of the workpiece model to the point cloud of the workpiece to be inspected.

[0088] The rotation matrix and translation vector of the point cloud of the workpiece to be inspected are very important parameters in point cloud registration, pose estimation and coordinate transformation. They are used to describe the transformation relationship of a point cloud from one coordinate system to another. The rotation matrix is ​​a 3x3 orthogonal matrix that represents the rotation of one coordinate system relative to another. The translation vector is a 3x1 vector that represents the translation of one coordinate system relative to another.

[0089] Determine a three-sided structure list and a two-sided structure list from the point cloud of the workpiece to be inspected. The three-sided structure refers to a structure composed of one cylinder and two planes, and there are intersection lines between the two planes, and there are intersection lines between the cylinder and the two planes. The two-sided structure consists of one cylinder and one plane, and there are intersection lines between the cylinder and the plane. The two-sided structure does not exist in the three-sided structure list.

[0090] The cylindrical structure screening algorithm is used to combine the rotation matrix and the translation vector to screen out the required target structure from the three-sided structure list and / or the two-sided structure list, so that the corresponding weld can be obtained.

[0091] There are many implementation methods for extracting arc welds of the workpiece point cloud to be inspected from the three-sided structure list and / or only the two-sided structure list based on the cylindrical structure screening algorithm and the rotation matrix and the translation vector. In one implementation method, Figure 3 As shown, the following steps are included:

[0092] S301: Acquire first structural information, reference surface information, and a first plane intersection direction vector corresponding to a first weld of a workpiece point cloud to be detected from a weld database.

[0093] The weld database contains weld information corresponding to different workpiece models. The workpiece model corresponding to the workpiece to be detected is obtained from the weld database, and the first weld of the workpiece model and the structural information, reference surface information and first plane intersection direction vector of the workpiece model are obtained.

[0094] The structural information of the workpiece model indicates the concavity and convexity of the workpiece structure.

[0095] The first plane intersection direction vector is the intersection direction vector of the first plane and the second plane in the three-surface structure corresponding to the matched workpiece model.

[0096] S302: Convert the reference surface information and the first plane intersection direction vector based on the rotation matrix and the translation vector to obtain converted reference surface information.

[0097] The specific implementation method of converting the reference surface information and the first plane intersection direction vector based on the rotation matrix and the translation vector to obtain the converted reference surface information may be:

[0098] Calculate the first product of the normal vector of the reference plane and the rotation matrix as the conversion normal vector, calculate the second product of the first product and the translation vector, calculate the sum of the second product and the reference plane parameters as the conversion reference plane parameters, calculate the third product of the rotation matrix and the first plane intersection direction vector as the conversion intersection direction vector, and use the conversion normal vector, the conversion reference plane parameters and the conversion intersection direction vector as the converted reference plane information.

[0099] The transformation normal vector can be calculated by the following formula: trans =R·n, where n trans is the transformation normal vector, R is the rotation matrix, and n is the normal vector of the reference surface.

[0100] The conversion reference surface parameter can be calculated by the following formula: trans =(R·n)·T+ρ,ρ trans is the reference surface parameter, T is the translation vector, and ρ is the reference surface parameter.

[0101] It should be noted that the parameter equation of the reference surface is: Ax+By+Cz=D, where D is the reference surface parameter.

[0102] The transformation intersection direction vector can be calculated by the following formula: trans =R·t,t trans is the conversion intersection direction vector, and t is the first plane intersection direction vector.

[0103] S303: Extracting arc welds corresponding to the target structure that meets preset conditions from the three-surface structure list and / or the two-surface structure list based on the converted reference surface information.

[0104] There are multiple implementation methods for extracting arc welds corresponding to target structures that meet preset conditions from the three-sided structure list and / or the two-sided structure list based on the converted reference surface information. In one implementation method, Figure 4 As shown, the following steps are included:

[0105] When the concavity of the first structural information corresponding to the first weld of the to-be-detected workpiece point cloud obtained from the weld database is concave-concave-concave, the arc weld is extracted in the following manner.

[0106] S401: traverse the three-surface structure list, and acquire a concave-concave-concave structure list that meets a first preset condition from the three-surface structure list based on the converted reference surface information.

[0107] S402: When the number of elements in the concave-concave-concave structure list is greater than zero, traverse the concave-concave-concave structure list, and obtain a target concave-concave-concave structure from the concave-concave-concave structure list based on the converted reference surface information.

[0108] S403: Determine the arc weld of the target concave-concave-concave structure.

[0109] Exemplarily, the three-sided structure list is traversed, and when the i-th three-sided structure is a concave-concave-concave three-sided structure, the first angle between the first plane and the second plane in the i-th three-sided structure is determined, wherein the variable i is used to traverse each three-sided structure in the three-sided structure list from 0 to n, and n is the number of three-sided structures in the three-sided structure list, and when the first angle is greater than a first preset degree, the first direction vector of the intersection line of the first plane and the second plane in the i-th three-sided structure is determined, wherein the i-th three-sided structure includes a cylinder and two planes, and the normal of the first plane is parallel to the cylindrical axis of the cylinder, and the second angle between the first direction vector and the converted intersection line direction vector is determined, and it is determined whether the second angle tends to the second preset degree, wherein the second preset degree is less than the first preset degree, and when the second angle tends to the second preset degree, the third angle between the cylindrical axis of the i-th three-sided structure and the converted normal vector is determined, and when the third angle is less than the third preset angle, the i-th three-sided structure is added to the concave-concave-concave structure list.

[0110] The variable i can be used to traverse the three-sided structure list, obtain the i-th three-sided structure from the three-sided structure list, and determine whether the i-th three-sided structure is a concave-concave-concave structure. If not, directly jump to the step of increasing i and determine the i+1-th three-sided structure. If the i-th three-sided structure is a concave-concave-concave structure, determine the first angle between the first plane and the second plane in the i-th three-sided structure, and compare the first angle with the first preset degree. When the first angle is less than or equal to the first preset degree, directly jump to the step of increasing i. When the first angle is greater than the first preset degree, find the first direction vector of the intersection line of the first plane and the second plane in the i-th three-sided structure, and determine whether the direction vector is consistent with the conversion intersection line direction vector t. trans Whether the second included angle between them approaches the second preset angle, if not, directly jump to the step of increasing i.

[0111] Since the workpiece model point cloud is registered with the collected workpiece point cloud to be detected, the first direction vector of the intersection line of the first plane and the second plane should be consistent with the conversion intersection line direction vector t trans Approximately parallel, therefore, judging whether the second angle between the first direction vector and the conversion intersection direction vector approaches the second preset angle can be used to filter out three-sided structures with inconsistent directions.

[0112] The first direction vector and the transformation intersection direction vector t trans The second angle between them tends to the second preset angle. In order to filter out the three-sided structures that do not conform to the direction, it is determined that the cylindrical axis in the i-th three-sided structure is consistent with the conversion normal vector n trans Does the angle meet the threshold? If not, jump directly to the step of increasing i. If yes, store the i-th three-sided structure i in the concave-concave-concave structure list.

[0113] It should be noted that, for a three-sided structure, its first plane and the second plane are generally perpendicular. Therefore, it can be determined whether it is a qualified three-sided structure based on the first angle between the first plane and the second plane. The first preset angle can be set to 45°, 60°, 90°, etc., and the embodiment of the present invention does not impose specific restrictions on this. Since the workpiece model point cloud is registered with the collected workpiece point cloud to be detected, the first direction vector of the intersection line of the first plane and the second plane should be consistent with the conversion intersection line direction vector t trans Approximately parallel, therefore, the second preset angle and the third preset angle can be set to 10°, 5°, 3°, 0°, etc.

[0114] There are multiple implementation methods for obtaining the target concave-concave structure from the concave-concave structure list based on the converted reference surface information. In one implementation method, Figure 5 As shown, the following steps are included:

[0115] S501: Determine the plane parameters of the first plane in each concave-concave-concave structure in the concave-concave structure list.

[0116] S502: Based on the plane parameters of each first plane, the conversion reference plane parameters and the preset minimum distance, obtain the concave-concave-concave structure with the shortest distance from the conversion reference plane parameters from the concave-concave-concave structure list as the target concave-concave-concave structure.

[0117] Determine whether the elements in the concave-concave-concave structure list are greater than zero. If not, it means that there is no three-sided structure that meets the requirements, and the algorithm can be terminated directly.

[0118] If the elements in the concave-concave structure list are greater than zero, the preset minimum distance is initialized, and the variable i is used to traverse the concave-concave structure list, determine the first plane in the i-th structure concave-concave structure, and determine the plane parameter ρ of the first plane. Calculate the distance between the plane parameter of the first plane and the conversion reference plane parameter, and calculate it using the following formula: distance = |ρ-ρ trans |, if the distance is less than the preset minimum distance, then update the preset minimum distance = |ρ-ρ trans |, and record the index i of the current concave-concave structure, that is, index = i. After traversing the concave-concave structure list, the concave-concave structure with the smallest distance from the conversion reference surface parameter in the concave-concave structure list can be obtained, which is the target concave-concave structure.

[0119] It is determined that the intersection line between the cylindrical surface of the target concave-concave-concave structure and the first plane is the arc weld.

[0120] When the concavo-convexity of the first structural information corresponding to the first weld of the workpiece point cloud to be detected obtained from the weld database is concavo-convex, the arc weld is extracted by the following method: Figure 6, including the following steps:

[0121] S601: traverse the three-surface structure list, and acquire a concave-convex structure list satisfying a second preset condition from the three-surface structure list based on the converted reference surface information.

[0122] S602: traverse the two-surface structure list only, and acquire a target two-surface structure list only that meets a third preset condition from the two-surface structure list only based on the converted reference surface information.

[0123] S603: Obtain a target concave-concave-convex structure from the concave-concave-convex structure list, and obtain a first distance between the target concave-concave-convex structure and the conversion reference surface parameter.

[0124] S604: Based on the first distance, determine whether there is a target two-surface structure in the two-surface structure list whose second distance from the conversion reference surface parameter is smaller than the first distance.

[0125] S605: If yes, the target two-sided structure is used as the target structure that meets the preset conditions.

[0126] S606: If not, taking the target concave-convex structure as a target structure that meets the preset conditions.

[0127] S607: Determine the arc weld of the target structure.

[0128] The method of traversing the three-surface structure list and obtaining the concave-concave-convex structure list that meets the second preset condition from the three-surface structure list based on the converted reference surface information is similar to the method of traversing the three-surface structure list and obtaining the concave-concave-concave structure list that meets the first preset condition from the three-surface structure list based on the converted reference surface information. The three-surface structure list is traversed, and when the i-th three-surface structure is a concave-concave-convex three-surface structure, a first angle between the first plane and the second plane in the i-th three-surface structure is determined, wherein each three-surface structure in the three-surface structure list is traversed from 0 to n using a variable i, and n is the number of three-surface structures in the three-surface structure list; when the first angle is greater than the first preset angle, the first angle between the first plane and the second plane in the i-th three-surface structure is determined. When determining a number, determine a first direction vector of the intersection line of the first plane and the second plane in the ith three-sided structure, wherein the ith three-sided structure includes a cylinder and two planes, and the normal of the first plane is parallel to the cylindrical axis of the cylinder; determine a second angle between the first direction vector and the direction vector of the converted intersection line; determine whether the second angle tends to a second preset degree, wherein the second preset degree is less than the first preset degree; when the second angle tends to the second preset degree, determine a third angle between the cylindrical axis of the ith three-sided structure and the converted normal vector; when the third angle is less than the third preset angle, add the ith three-sided structure to the concave-convex structure list.

[0129] Because when photographing a concave-convex weld, it is very likely that only two surfaces will be photographed, namely a cylinder and a plane. At this time, the structure is a two-face structure in the collected point cloud, so it is also necessary to traverse the list of structures with only two faces.

[0130] Specifically: Use variable i to traverse the list of only two-sided structures, and determine the axis of the cylinder and the conversion normal vector n in only two-sided structure i. trans The angle between i and ii meets the threshold. If not, directly jump to the step of increasing i. If yes, store the two-sided structure i in the target two-sided structure list.

[0131] Determine whether the number of elements in the concave-convex structure list is greater than 0 or whether the number of elements in the target two-sided structure list is greater than 0. If both are 0, it means that there is no three-sided structure or only two-sided structure that meets the requirements, and the algorithm terminates.

[0132] If at least one is greater than 0, perform the following steps to determine whether the number of elements in the concave-convex structure list is greater than 0. If so, select the three-surface structure closest to the conversion reference surface parameter from the concave-convex structure list. Initialize the preset minimum distance min_dis, use the variable i to traverse the concave-convex structure list, determine the first plane in structure i, obtain the plane parameter ρ of the first plane, and calculate the distance |ρ-ρ trans |, if the distance is less than min_dis, update min_dis = |ρ-ρ trans |, and record the current index i, that is, index = i. Determine whether the number of elements in the target two-sided structure list is greater than 0. If so, initialize the preset minimum distance = the first distance, the first distance is the distance between the target concave-convex structure and the conversion reference surface parameter, set the preset index of the target two-sided structure to index_1 = -1, use the variable i to traverse the target two-sided structure list, determine the first plane in the target two-sided structure i, obtain the plane parameter ρ of the first plane, and calculate |ρ-ρ trans |, if |ρ-ρ trans |<first distance, then update the preset minimum distance = |ρ-ρ trans |, record number, that is, index_1=i.

[0133] If index>0, and index_1==-1, it means that the structure closest to the conversion reference surface parameter is a three-sided structure, and the structure corresponding to index is selected. If not, it means that the structure closest to the conversion reference surface parameter is a two-sided structure, and the structure corresponding to index_1 is selected.

[0134] When the concavo-convexity of the first structural information corresponding to the first weld of the workpiece point cloud to be detected obtained from the weld database is a concavo-convex-convex structure, there are multiple implementations of extracting the arc weld in the following manner. In one implementation, Figure 7 As shown, the following steps are included:

[0135] S701: traverse the three-surface structure list, and obtain a concave-convex-convex structure list that meets a fourth preset condition from the three-surface structure list based on the converted reference surface information.

[0136] S702: Traverse the two-surface structure list only, and acquire a target two-surface structure list only that meets a third preset condition from the two-surface structure list only based on the converted reference surface information.

[0137] S703: Obtain a target concave-convex-convex structure from the concave-convex-convex structure list, and obtain a third distance between the target concave-convex-convex structure and the conversion reference surface parameter.

[0138] S704: Based on the third distance, determine whether there is a target two-surface structure in the two-surface structure list whose fourth distance to the conversion reference surface parameter is smaller than the third distance.

[0139] S705: If yes, the target two-sided structure is used as the target structure that meets the preset conditions.

[0140] S706: If not, taking the target concave-convex-convex structure as a target structure that meets the preset conditions.

[0141] S707: Determine the arc weld of the target structure.

[0142] Traverse the three-sided structure list, and when the i-th three-sided structure is a concave-convex-convex three-sided structure, determine the first angle between the first plane and the second plane in the i-th three-sided structure, wherein the variable i is used to traverse each three-sided structure in the three-sided structure list from 0 to n, and n is the number of three-sided structures in the three-sided structure list; when the first angle is greater than the first preset degree, determine the first direction vector of the intersection line of the first plane and the second plane in the i-th three-sided structure, wherein the i-th three-sided structure includes a cylinder and two planes, and the normal of the first plane is parallel to the cylinder axis of the cylinder; determine the second angle between the first direction vector and the conversion intersection direction vector; determine whether the second angle tends to the second preset degree, wherein the second preset degree is less than the first preset degree; when the second angle tends to the second preset degree, determine the third angle between the cylinder axis of the i-th three-sided structure and the conversion normal vector; when the third angle is less than the third preset angle, add the i-th three-sided structure to the concave-convex-convex structure list.

[0143] Use variable i to traverse the list of only two-sided structures and determine the cylindrical axis and the conversion normal vector n in only two-sided structure itrans The angle between i and ii meets the threshold. If not, directly jump to the step of increasing i. If yes, store the two-sided structure i in the target two-sided structure list.

[0144] Determine whether the number of elements in the concave-convex-convex structure list is greater than 0 or whether the number of elements in the target two-sided structure list is greater than 0. If both are 0, it means that there is no three-sided structure or only two-sided structure that meets the requirements, and the algorithm terminates.

[0145] If at least one is greater than 0, perform the following steps to determine whether the number of elements in the concave-convex structure list is greater than 0. If so, select the three-surface structure closest to the conversion reference surface parameter from the concave-convex structure list. Initialize the preset minimum distance min_dis, use the variable i to traverse the concave-convex structure list, determine the first plane in structure i, obtain the plane parameter ρ of the first plane, and calculate the distance |ρ-ρ trans |, if the distance is less than min_dis, update min_dis = |ρ-ρ trans |, and record the current index i, that is, index = i. Determine whether the number of elements in the target two-sided structure list is greater than 0. If so, initialize the preset minimum distance = the third distance, the third distance is the distance between the target concave-convex structure and the conversion reference surface parameter, set the preset index of the target two-sided structure to index_1 = -1, use the variable i to traverse the target two-sided structure list, determine the first plane in the target two-sided structure i, obtain the plane parameter ρ of the first plane, and calculate |ρ-ρ trans |, if |ρ-ρ trans |<third distance, then update the preset minimum distance = |ρ-ρ trans |, record number, that is, index_1=i.

[0146] If index>0, and index_1==-1, it means that the structure closest to the conversion reference surface parameters is a three-sided structure, and the structure corresponding to the index number is selected. If not, it means that the structure closest to the conversion reference surface parameters is a two-sided structure, and the structure corresponding to index_1 is selected to determine the intersection of the cylinder and the plane as the arc weld.

[0147] Please refer to Figure 8 The embodiment of the present invention also provides a method for applying Figure 1 The arc weld extraction device 110 of the electronic device 100 includes:

[0148] The acquisition module 111 is used to acquire the point cloud of the workpiece to be detected;

[0149] A determination module 112 is used to determine the rotation matrix and translation vector of the workpiece point cloud to be detected; determine a three-sided structure list and a two-sided structure list in the workpiece point cloud to be detected, wherein the three-sided structure list contains each three-sided structure, and the two-sided structure list contains each two-sided structure, the three-sided structure is composed of a cylinder and two planes, and there is an intersection line between the two planes, and there are intersection lines between the cylinder and the two planes, and the two-sided structure is composed of a cylinder and a plane, and there is an intersection line between the cylinder and the plane, and the two-sided structure does not exist in the three-sided structure list;

[0150] The extraction module 113 is used to extract the arc weld of the workpiece point cloud to be detected from the three-sided structure list and / or the two-sided structure list based on the cylindrical structure screening algorithm and the rotation matrix and the translation vector.

[0151] The present invention further provides an electronic device 100, which includes a processor 130 and a memory 120. The memory 120 stores computer executable instructions, and when the computer executable instructions are executed by the processor 130, the arc weld extraction method is implemented.

[0152] The embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by the processor 130, the arc weld extraction method is implemented.

[0153] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0154] In addition, each functional module in each embodiment of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0155] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0156] The above are only various embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A circular arc weld extraction method, characterized in that: The method comprises: Collect the point cloud of the workpiece to be inspected; Determine the rotation matrix and translation vector of the point cloud of the workpiece to be detected; Determine a three-sided structure list and a two-sided structure list in the point cloud of the workpiece to be detected, wherein the three-sided structure list contains each three-sided structure, and the two-sided structure list contains each two-sided structure, the three-sided structure is composed of a cylinder and two planes, and there is an intersection line between the two planes, and there are intersection lines between the cylinder and the two planes, and the two-sided structure is composed of a cylinder and a plane, and there is an intersection line between the cylinder and the plane, and the two-sided structure does not exist in the three-sided structure list; Based on the cylindrical structure screening algorithm, the arc weld of the to-be-detected workpiece point cloud is extracted from the three-sided structure list and / or the two-sided structure list based on the rotation matrix and the translation vector.

2. The method according to claim 1, characterized in that The step of extracting the arc weld of the workpiece point cloud to be detected from the three-sided structure list and / or the two-sided structure list based on the cylindrical structure screening algorithm and the rotation matrix and the translation vector comprises: Acquire first structural information, reference surface information, and a first plane intersection direction vector corresponding to a first weld of the workpiece point cloud to be detected from a weld database; Convert the reference surface information and the first plane intersection direction vector based on the rotation matrix and the translation vector to obtain converted reference surface information; Based on the converted reference surface information, the arc weld corresponding to the target structure meeting the preset conditions is extracted from the three-surface structure list and / or the two-surface structure list.

3. The method according to claim 2, characterized in that The reference surface information includes a normal vector and reference surface parameters of the reference surface, and the step of converting the reference surface information and the first plane intersection direction vector based on the rotation matrix and the translation vector to obtain the converted reference surface information includes: Calculate a first product of the normal vector of the reference surface and the rotation matrix as a conversion normal vector; Calculating a second product of the first product and the translation vector; Calculating the sum of the second product and the reference surface parameter as a conversion reference surface parameter; Calculate the third product of the rotation matrix and the first plane intersection direction vector as the conversion intersection direction vector; The conversion normal vector, the conversion reference surface parameter and the conversion intersection direction vector are used as the converted reference surface information.

4. The method according to claim 2 or 3, characterized in that: The step of extracting arc welds corresponding to target structures that meet preset conditions from the three-surface structure list and / or the two-surface structure list based on the converted reference surface information comprises: Traversing the three-surface structure list, and acquiring a concave-concave-concave structure list that meets a first preset condition from the three-surface structure list based on the converted reference surface information; When the number of elements in the concave-concave-concave structure list is greater than zero, traverse the concave-concave-concave structure list, and acquire a target concave-concave-concave structure from the concave-concave-concave structure list based on the converted reference surface information; Determine the arc weld of the target concave-concave-concave structure.

5. The method according to claim 4, characterized in that The step of traversing the three-surface structure list and acquiring a concave-concave-concave structure list that meets a first preset condition from the three-surface structure list based on the converted reference surface information includes: Traversing the three-sided structure list, when the i-th three-sided structure is a concave-concave-concave three-sided structure, determining the first angle between the first plane and the second plane in the i-th three-sided structure, wherein the three-sided structures in the three-sided structure list are traversed from 0 to n using a variable i, and n is the number of three-sided structures in the three-sided structure list; When the first included angle is greater than a first preset degree, determining a first direction vector of an intersection line of the first plane and the second plane in the i-th three-sided structure, wherein the i-th three-sided structure includes a cylinder and two planes, and a normal of the first plane is parallel to a cylinder axis of the cylinder; Determine a second angle between the first direction vector and the conversion intersection direction vector; Determining whether the second included angle approaches a second preset degree, wherein the second preset degree is smaller than the first preset degree; When the second angle approaches the second preset degree, determining a third angle between the cylindrical axis of the i-th three-sided structure and the conversion normal vector; When the third included angle is less than a third preset angle, the i-th three-sided structure is added to the concave-concave-concave structure list.

6. The method according to claim 5, characterized in that The step of acquiring the target concave-concave-concave structure from the concave-concave structure list based on the converted reference surface information comprises: Determine the plane parameters of the first plane in each concave-concave-concave structure in the concave-concave structure list; Based on the plane parameters of each first plane, the conversion reference surface parameters and the preset minimum distance, the concave-concave-concave structure with the shortest distance from the conversion reference surface parameters is obtained from the concave-concave-concave structure list as the target concave-concave-concave structure.

7. The method according to claim 3, characterized in that The step of extracting arc welds corresponding to target structures that meet preset conditions from the three-surface structure list and / or the two-surface structure list based on the converted reference surface information comprises: Traversing the three-surface structure list, and acquiring a concave-concave-convex structure list satisfying a second preset condition from the three-surface structure list based on the converted reference surface information; Traversing the two-surface structure list, and acquiring a target two-surface structure list satisfying a third preset condition from the two-surface structure list based on the converted reference surface information; Acquire a target concave-concave-convex structure from the concave-concave-convex structure list, and acquire a first distance between the target concave-concave-convex structure and the conversion reference surface parameter; Based on the first distance, determining whether there is a target two-surface structure in the two-surface structure list whose second distance from the conversion reference surface parameter is smaller than the first distance; If so, the target two-face structure is taken as the target structure that meets the preset conditions; If not, the target concave-convex structure is taken as the target structure that meets the preset conditions; A circular arc weld of the target structure is determined.

8. The method according to claim 2, characterized in that The step of extracting arc welds corresponding to target structures that meet preset conditions from the three-surface structure list and / or the two-surface structure list based on the converted reference surface information comprises: Traversing the three-surface structure list, and acquiring a concave-convex-convex structure list satisfying a fourth preset condition from the three-surface structure list based on the converted reference surface information; Traversing the two-surface structure list, and acquiring a target two-surface structure list satisfying a third preset condition from the two-surface structure list based on the converted reference surface information; Acquire a target concave-convex-convex structure from the concave-convex-convex structure list, and acquire a third distance between the target concave-convex-convex structure and the conversion reference surface parameter; Based on the third distance, determining whether there is a target two-surface structure in the two-surface structure list whose fourth distance from the conversion reference surface parameter is less than the third distance; If so, the target two-face structure is taken as the target structure that meets the preset conditions; If not, the target concave-convex-convex structure is taken as the target structure that meets the preset conditions; A circular arc weld of the target structure is determined.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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