Welding seam identification method based on cylindrical surface structure and related device

Abstract

The invention provides a welding seam recognition method based on a cylindrical surface structure and a related device, and relates to the technical field of computers. The method comprises the following steps: obtaining a surface set corresponding to a target point cloud, wherein the surface set comprises a plane set and a cylindrical surface set obtained by detecting the target point cloud; according to the target point cloud and the surface set, cylindrical surface structure information of cylindrical surface structures included in the target point cloud is determined, the cylindrical surface structure information is used for indicating planes and cylindrical surfaces, located in the surface set, included in one cylindrical surface structure, the surfaces, belonging to the surface set, in the cylindrical surface structures intersect, and the cylindrical surface structure information comprises structure concavity and convexity; the structural concavity-convexity comprises respective concavity-convexity of intersecting lines of surfaces belonging to the surface set in the cylindrical surface structure; and according to the concavity and convexity of the target structure and the obtained cylindrical surface structure information, a target cylindrical surface structure is determined from the recognized cylindrical surface structures, and the welding seam is recognized according to the target cylindrical surface structure. In this way, the situation that the identified welding seam is not the actually needed welding seam can be reduced.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a weld identification method based on a cylindrical structure and a related device. Background Art

[0002] At present, when identifying welds based on point clouds, the corresponding surfaces are generally detected from the point clouds, and then the intersection lines between the surfaces are calculated, and then the weld positions are determined based on the intersection lines. However, the welds determined by the above method may not be the welds actually required. Summary of the invention

[0003] The embodiment of the present application provides a weld identification method based on a cylindrical structure and a related device, which can obtain cylindrical structure information of the cylindrical structure based on the target point cloud, and then screen the cylindrical structure according to the cylindrical structure requirements corresponding to the weld to be identified, and finally identify the weld based on the screened cylindrical structure, thereby reducing the situation where the identified weld is not the weld actually required.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a weld identification method, the method comprising:

[0006] Obtaining a face set corresponding to a target point cloud, wherein the face set includes a plane set and a cylindrical face set obtained by detecting the target point cloud;

[0007] According to the target point cloud and the face set, determining the cylindrical structure information of each cylindrical structure included in the target point cloud, wherein the cylindrical structure information is used to indicate the plane and cylindrical surface included in a cylindrical structure and located in the face set, the surfaces in the cylindrical structure belonging to the face set intersect, and the cylindrical structure information includes structural concavity and convexity, and the structural concavity and convexity includes the concavity and convexity of each intersection line of the surfaces in the cylindrical structure belonging to the face set;

[0008] According to the concavity and convexity of the target structure and the obtained cylindrical structure information, the target cylindrical structure is determined from the identified cylindrical structures, and the weld is identified according to the target cylindrical structure.

[0009] In a second aspect, an embodiment of the present application provides a weld identification device, the device comprising:

[0010] An acquisition module, used to obtain a surface set corresponding to a target point cloud, wherein the surface set includes a plane set and a cylindrical surface set obtained by detecting the target point cloud;

[0011] An analysis module, configured to determine, based on the target point cloud and the face set, the cylindrical structure information of each cylindrical structure included in the target point cloud, wherein the cylindrical structure information is used to indicate a plane and a cylindrical surface included in a cylindrical structure and located in the face set, the surfaces in the cylindrical structure belonging to the face set intersect, and the cylindrical structure information includes structural concavity and convexity, and the structural concavity and convexity includes the concavity and convexity of each intersection line of the surfaces in the cylindrical structure belonging to the face set;

[0012] The processing module is used to determine the target cylindrical structure from the identified cylindrical structures according to the concavity and convexity of the target structure and the obtained cylindrical structure information, and identify the weld according to the target cylindrical structure.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the weld identification method described in the aforementioned embodiment.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the weld identification method as described in the aforementioned embodiment is implemented.

[0015] The weld identification method based on cylindrical structure and related device provided by the embodiment of the present application, first, obtain a face set obtained by detecting the target point cloud, the face set includes a plane set and a cylindrical face set; then, according to the above target point cloud and face set, determine the cylindrical structure information of each cylindrical structure included in the target point cloud, the cylindrical structure information of a cylindrical structure is used to indicate the plane and cylindrical face included in the face set, the faces belonging to the face set in the cylindrical structure intersect, the cylindrical structure information includes structural concavity, and the structural concavity includes the concavity of each intersection line of the faces belonging to the face set in the cylindrical structure; finally, according to the target structure concavity and convexity and the obtained cylindrical structure information, determine the target cylindrical structure from the identified cylindrical structure, and then identify the weld according to the target cylindrical structure. In this way, by screening out the required target cylindrical structure based on the cylindrical structure information obtained from the target point cloud, and then performing weld identification on the target cylindrical structure, the situation that the identified weld is not the weld actually required can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application 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 paying creative work.

[0017] Figure 1 A block diagram of an electronic device provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of a flow chart of a weld identification method based on a cylindrical structure provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of a first cylindrical structure provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the concavity and convexity of the intersection line provided in an embodiment of the present application;

[0021] Figure 5 for Figure 2 One of the flowchart diagrams of the sub-steps included in step S200;

[0022] Figure 6 for Figure 5 One of the flow charts of the sub-steps included in sub-step S240;

[0023] Figure 7 for Figure 5 The second schematic flow chart of the sub-steps included in the neutron step S240;

[0024] Figure 8 A schematic diagram of a second cylindrical structure provided in an embodiment of the present application;

[0025] Fig. 9 for Figure 2 The second flowchart of the sub-steps included in step S200;

[0026] Fig.10 A block diagram of a weld identification device based on a cylindrical structure provided in an embodiment of the present application.

[0027] Icon: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication unit; 200 - weld identification device based on cylindrical structure; 210 - acquisition module; 220 - analysis module; 230 - processing module. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0030] It should be noted that relational terms such as "first" and "second" are used only 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.

[0031] Currently, when identifying welds on cylinders, the cylinder and plane in the point cloud are generally detected, and then the intersection of the cylinder and the plane is calculated, and the weld position is determined based on the intersection. The above method can only determine the position of the cylinder in the point cloud and the points on the cylinder, the position of the plane in the point cloud and the points on the plane in the structure recognition, but cannot determine whether there is an intersection between the cylinder and other planes, and the concave-convexity of the intersection. In other words, only the most basic information is obtained, and no more information can be provided, which leads to the situation that the identified weld is not the weld actually required.

[0032] In response to the above situation, an embodiment of the present application provides a weld recognition method based on a cylindrical structure, and a related device, which obtains the cylindrical structure information of the cylindrical structure in the target point cloud based on the target point cloud, and then performs cylindrical structure screening according to the cylindrical structure requirements corresponding to the weld to be identified, and finally performs weld recognition based on the screened cylindrical structure. This can reduce the situation where the identified weld is not the weld actually required.

[0033] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0034] Please refer to Figure 1 , Figure 1 A block diagram of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 may be, but is not limited to, a computer, a server, a welding robot, etc. The electronic device 100 includes a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0035] The memory 110 is used to store programs or data. The memory 110 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 programmable read-only memory (EEPROM), etc.

[0036] The processor 120 is used to read / write data or programs stored in the memory 110 and perform corresponding functions. For example, the memory 110 stores a weld identification device 200 based on a cylindrical structure, and the weld identification device 200 based on a cylindrical structure includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the weld identification device 200 based on a cylindrical structure in the embodiment of the present application, that is, realizing the weld identification method based on a cylindrical structure in the embodiment of the present application.

[0037] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.

[0038] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0039] Please refer to Figure 2 , Figure 2 The schematic diagram of the flow chart of the weld seam identification method based on the cylindrical structure provided in the embodiment of the present application. The method can be applied to the above-mentioned electronic device. The specific flow chart of the weld seam identification method based on the cylindrical structure is described in detail below. In this embodiment, the method may include steps S100 to S300.

[0040] Step S100, obtaining a face set corresponding to the target point cloud.

[0041] In this embodiment, the target point cloud is a point cloud used when weld identification is required, and the specific point cloud can be determined in combination with actual needs. The face set corresponding to the target point cloud can be obtained in any way, and the face set includes a plane set obtained by plane detection on the target point cloud, and a cylindrical surface set obtained by cylindrical surface detection on the target point cloud. That is, the plane set includes planes detected from the target point cloud, and the cylindrical surface set includes cylindrical surfaces detected from the target point cloud. Optionally, the electronic device 100 can obtain the face set by performing plane detection and cylindrical surface detection on the target point cloud; or, other devices perform plane detection and cylindrical surface detection on the target point cloud to obtain the face set, and send the face set to the electronic device 100.

[0042] The plane set may include plane equations and point cloud points in the target point cloud located near the plane represented by the plane equation. The cylindrical surface set may include cylindrical surface equations and point cloud points in the target point cloud located near the cylindrical surface represented by the cylindrical surface equation.

[0043] Optionally, the target point cloud may be firstly subjected to plane detection using a plane detection algorithm, thereby obtaining the plane set. Wherein, when a plane is detected, the points in the target point cloud corresponding to the plane (i.e., the point cloud points in the target point cloud located near the plane) are deleted. After all planes are detected, the cylindrical surface in the current point cloud (i.e., the target point cloud after deleting the point cloud points near the detected plane) is detected using a cylinder detection algorithm, thereby obtaining the cylindrical surface set. Wherein, the above-mentioned plane detection algorithm and cylinder detection algorithm may be determined in combination with actual needs, and are not specifically limited here.

[0044] Step S200: determining the cylindrical structure information of each cylindrical structure included in the target point cloud according to the target point cloud and the face set.

[0045] In this embodiment, the cylindrical structures included in the target point cloud can be determined based on the face set, and the cylindrical structure information of each cylindrical structure can be obtained. The cylindrical structure information of a cylindrical structure is used to indicate that the plane and cylindrical surface included in the cylindrical structure are located in the face set, and the surfaces in the cylindrical structure belonging to the face set intersect; the cylindrical structure information includes structural concavity and convexity, and the structural concavity and convexity includes the concavity and convexity of the intersection lines of the surfaces in the cylindrical structure belonging to the face set. For example, a cylindrical structure includes a cylindrical surface in the cylindrical surface set and a plane in the plane set, then the cylindrical surface intersects with the plane (that is, there is an intersection line), and the structural concavity and convexity of the cylindrical structure is the concavity and convexity of the intersection line of the cylindrical surface and the plane. For another example, a cylindrical structure includes a cylindrical surface in the cylindrical surface set and two planes in the plane set. The cylindrical surface intersects with the two planes, and the two planes also intersect. The structural concavity and convexity of the cylindrical structure is the concavity and convexity of the intersection lines of the cylindrical surface and the two planes and the concavity and convexity of the intersection line of the two planes.

[0046] When judging whether there is an intersection line between two surfaces, it can be directly judged according to the surface equations corresponding to the two surfaces, or it can be determined according to the surface equations corresponding to the two surfaces and the distribution of points corresponding to the surface equations in the target point cloud. No specific limitation is made here on how to judge whether there is an intersection line. The concavity and convexity of the intersection line can be determined according to the target point cloud and the required viewing angle.

[0047] The number of planes and cylindrical surfaces included in the cylindrical structure in this embodiment can be determined in combination with actual needs and is not specifically limited here. That is, one cylindrical structure or multiple cylindrical structures may be identified, and one cylindrical structure may include the same number of planes and cylindrical surfaces.

[0048] Step S300, determining a target cylindrical structure from the identified cylindrical structures according to the target structure concavity and convexity and the obtained cylindrical structure information, and identifying a weld according to the target cylindrical structure.

[0049] In this embodiment, the target structure concavity is the structural concavity of the cylindrical structure for identifying the weld, which can be determined according to actual needs. After obtaining the cylindrical structure information of the cylindrical structure in the target point cloud, the target cylindrical structure can be screened out from the determined cylindrical structures based on the obtained cylindrical structure information according to the target structure concavity, that is, the required structure is screened out, and then the weld is identified based on the target cylindrical structure. Among them, the specific method of performing weld identification based on the target cylindrical structure can be determined in combination with actual needs, and is not specifically limited here.

[0050] In this embodiment, cylindrical structure information of cylindrical structures including cylindrical surfaces and planes is obtained based on the target point cloud, and then cylindrical structure screening is performed according to the cylindrical structure requirements corresponding to the weld to be identified, and finally weld identification is performed based on the screened cylindrical structure. This can reduce the situation where the identified weld is not the weld actually required.

[0051] In this embodiment, a cylindrical structure search method based on cylinder detection can be used to determine the basic structure composed of a cylindrical surface and a plane (i.e., a cylindrical structure), and then these basic structures can be used to determine the position of the weld in the target point cloud. Among them, the form of the cylindrical structure to be identified can be determined in advance, and then the cylindrical structure identification can be performed. That is, the cylindrical structure definition can be given in advance, and then the cylindrical structure in the target point cloud can be identified for the target point cloud.

[0052] As a possible implementation, in this embodiment, the identified cylindrical structure includes a first cylindrical structure, and the first cylindrical structure includes one cylindrical surface and two planes that intersect each other in the surface set. The first cylindrical structure may also be called a three-surface structure, and the cylindrical structure information of the first cylindrical structure is used to indicate the three surfaces that constitute the first cylindrical structure. Figure 3 As shown, the first cylindrical structure refers to a structure composed of a cylindrical surface and two planes, and there is an intersection line between the two planes, and there are intersection lines between the cylindrical surface and the two planes.

[0053] The two planes include plane 1 and plane 2, and the structural concavity and convexity of the three-face structure is defined as: in the three-face structure, two planes can form an intersection line, and the positions of the two planes and the positions of the observation point can determine the concavity and convexity of the intersection line; the cylindrical surface and plane 1 form an intersection line, and the positions of the cylindrical surface and plane 1 and the positions of the observation point can determine the concavity and convexity of the intersection line; the cylindrical surface and plane 2 form an intersection line, and the positions of the cylindrical surface and plane 2 and the positions of the observation point can determine the concavity and convexity of the intersection line. The concavity and convexity of the three-face structure refers to the concavity and convexity of the above three intersection lines.

[0054] like Figure 3As shown, there are four types of concavity and convexity in the three-sided structure, namely, concave-concave-concave structure, concave-concave-convex structure, concave-convex-convex structure and convex-convex-convex structure, among which the concave-convex-convex structure has two forms.

[0055] The concavity and convexity of the intersection line of the surface is related to the surface position and the observation point position. Figure 4 The concavity and convexity of the intersection line shown in the figure are explained. Figure 4 In the figure, ①, ②, ③, and ④ are used to indicate the locations of observation points, and arrows are used to indicate the directions of the observed intersection lines.

[0056] like Figure 4 As shown in a, two straight lines are used to represent two planes. For the intersection of the two planes, when the observation point is at position ①, the intersection is concave; when the observation point is at position ②, ③, ④, the weld is convex.

[0057] For a cylinder and a plane, when the axis of the cylinder is perpendicular to the normal of the plane, the intersection of the cylinder and the plane is as follows: Figure 4 As shown in b. Figure 4 In b, an arc is used to represent the cylinder, and a straight line is used to represent the plane; when the observation point is at position ①, the intersection line of the cylinder and the plane is concave; when the observation point is at position ②, ③, and ④, the intersection line of the cylinder and the plane is convex.

[0058] For a cylinder and a plane, when the axis of the cylinder is parallel to the normal of the plane, the intersection of the cylinder and the plane is as follows: Figure 4 As shown in c. Figure 4 In c, dotted lines and straight lines are used to represent the cylinder, and a horizontal straight line is used to represent the plane; when the observation point is at position ①, the intersection line of the cylinder and the plane is concave; when the observation point is at position ②, ③, and ④, the intersection line of the cylinder and the plane is convex.

[0059] Combine the following Figure 3 The structural concavity and convexity of the three-sided structure is described with examples.

[0060] Figure 3 The white T in the middle indicates the observation point. Figure 3 In the structural concavity shown, the arrangement order of the faces of the three-face structure is: plane 1, plane 2, cylinder. Plane 1 refers to the plane whose normal is parallel to the cylinder axis, and plane 2 refers to the plane whose normal is perpendicular to the cylinder axis. The arrangement order of the structural concavity of the three-face structure is: the concavity of the intersection of plane 1 and plane 2, the concavity of the intersection of plane 1 and cylinder, and the concavity of the intersection of plane 2 and cylinder. In this way, Figure 3 The structural concavity of the three-face structure shown in a is concave-concave-concave. Figure 3 The structural concavity of the three-face structure shown in b is concave-convex. Figure 3 The structural concavity of the three-face structure shown in c is convex-concave-convex. Figure 3 The structural concavity of the three-face structure shown in (d) is convex-convex-concave. Figure 3 The structural concavity of the 3-surface structure shown in e is convex-convex-convex.

[0061] It can be understood that the arrangement order of the structural concavity and convexity can be determined according to actual needs, and the above arrangement is only for illustration.

[0062] Based on the above description of the first cylindrical structure and the structural concavity and convexity, as a possible implementation method, Figure 5 The cylindrical structure information of each first cylindrical structure in the target point cloud is obtained in the manner shown. Figure 5 , Figure 5 for Figure 2 One of the flowcharts of the sub-steps included in step S200 in the embodiment. In this embodiment, step S200 may include sub-steps S210 to S240.

[0063] Sub-step S210, determining plane pairs in the plane set.

[0064] Sub-step S220, for each plane pair and each cylindrical surface in the cylindrical surface set, determining whether both planes in the plane pair intersect with the cylindrical surface.

[0065] Sub-step S230, when both planes in the plane pair intersect with the cylindrical surface, determining whether to regard the structure formed by the plane pair and the cylindrical surface as a first cylindrical surface structure.

[0066] In this embodiment, a plane pair in the plane set may be determined based on whether two planes in the plane set intersect. A plane pair includes two planes in the plane set, and the two planes intersect. Optionally, whether two planes intersect may be analyzed based on the distribution of point cloud points corresponding to the two planes in the target point cloud, or may be determined by other methods, and the specific method for determining whether two planes intersect is not limited here.

[0067] To avoid missing the first cylindrical structure, all plane pairs in the plane set may be identified. As a possible implementation, all plane pairs in the plane set may be determined by traversing the planes in the plane set.

[0068] For each determined plane pair and each cylindrical surface in the cylindrical surface set, it can be determined whether both planes in the plane pair intersect with the cylindrical surface. If both planes in the plane pair intersect with the cylindrical surface, the structure composed of the plane pair and the cylindrical surface can be directly regarded as a first cylindrical surface structure, or it can be determined in combination with other requirements to regard the structure composed of the plane pair and the cylindrical surface as a first cylindrical surface structure or not to regard the structure composed of the plane pair and the cylindrical surface as a first cylindrical surface structure. The specific determination can be made in combination with actual needs. Among them, whether the plane and the cylindrical surface intersect can be analyzed based on the distribution of point cloud points corresponding to a plane of the plane pair and the cylindrical surface in the target point cloud, or whether the plane and the cylindrical surface intersect can be determined by other methods. The specific method of determining whether the plane and the cylindrical surface intersect is not limited here.

[0069] Optionally, as a possible implementation, the normal of the plane in the corresponding workpiece in the actual scene is parallel or perpendicular to the axial direction of the cylindrical surface. In this case, when the two planes in a plane pair intersect with the cylindrical surface and the normals of the two planes in the plane pair are parallel or perpendicular to the axial direction of the cylindrical surface, the structure composed of the plane pair and the cylindrical surface can be regarded as a first cylindrical surface structure. If the two planes in a plane pair intersect with the cylindrical surface, but the normals of the two planes in the plane pair are not parallel or perpendicular to the axial direction of the cylindrical surface, the structure composed of the plane pair and the cylindrical surface is not regarded as a first cylindrical surface structure.

[0070] Among them, when a plane pair is determined, intersection analysis can be performed based on the plane pair and the cylindrical surface set; or after all plane pairs are determined, intersection analysis can be performed based on the plane pairs and the cylindrical surface set. Other execution orders can also be used, which can be determined based on actual needs.

[0071] The following is an example of how to identify the first cylindrical structure in the target point cloud.

[0072] For the plane set, the variable i can be used to traverse the planes, and the variable j can be used to traverse the planes, and j starts from i+1. For the cylindrical surface set, the variable k is used for traversal. Initially, i=0, k=0. First, it is determined whether i is less than the number of planes included in the plane set. If i is less than the number of planes, j is determined, and it is determined whether j is less than the number of planes. If j is less than the number of planes, it is determined whether there is an intersection line between plane i and plane j. If there is an intersection line between plane i and plane j, it can be determined whether k is less than the number of cylinders in the cylindrical surface set. If k is less than the number of cylinders in the cylindrical surface set, it is determined whether plane i has an intersection line with cylinder k and plane j has an intersection line with cylinder k. If so, (i, j, k) is stored in three_structure as a first cylinder structure.

[0073] After completing the judgment on cylinder k, execute: k++ and jump to the step of "judging whether k is less than the number of cylinders in the cylindrical surface set" until it is determined that k is not less than the number of cylinders in the cylindrical surface set. At this time, execute: j++, and then jump to the step of "judging whether j is less than the number of planes". Until it is determined that j is not less than the number of planes, execute: i++, and then jump to the step of "judging whether i is less than the number of planes included in the plane set". Until it is determined that i is not less than the number of planes, stop the first cylinder structure search. At this time, all the first cylinder structures have been found.

[0074] When it is determined that there is no intersection line between plane i and plane j, jump to step: j++.

[0075] Sub-step S240, for each first cylindrical structure, obtaining the cylindrical structure information of the first cylindrical structure.

[0076] Optionally, when a first cylindrical structure is identified, the cylindrical structure information of the first cylindrical structure can be obtained by analysis; or after all identifiable first cylindrical structures are identified, the cylindrical structure information of each first cylindrical structure can be obtained by analysis. Other processing orders can also be used, which can be determined in combination with actual needs. The structural concavity and convexity of each first cylindrical structure can be obtained by analysis in any manner, thereby obtaining the cylindrical structure information of each first cylindrical structure.

[0077] In this embodiment, the observation point position used in the intersection line concavity analysis may be the position of a point cloud acquisition device, and the point cloud acquisition device is used to obtain the target point cloud. Optionally, when the eye-on-hand mode is used, the position of the point cloud acquisition device may be represented by a TCP (Tool Center Point) point position.

[0078] As a possible implementation, Figure 6 The method shown is used to obtain the concavity and convexity of the intersection line of two planes in a first cylindrical structure, thereby obtaining the cylindrical structure information of the first cylindrical structure. Figure 6 , Figure 6 for Figure 5 One of the flow diagrams of the sub-steps included in sub-step S240. In this embodiment, sub-step S240 may include sub-steps S241 to S242.

[0079] Sub-step S241 , for each of the two planes in the determined first cylindrical structure, use the plane to divide the plane point cloud of the other plane into two local point clouds, and use one of the two local point clouds as the first target local point cloud.

[0080] The other plane is a plane other than the plane in the two planes, and the plane point cloud of the other plane is a point cloud in the target point cloud corresponding to the other plane. The first target local point cloud and the point cloud acquisition device are located on the same side of the plane.

[0081] Sub-step S242, determining the concavity and convexity of the intersection line of two planes in the first cylindrical structure according to the obtained two first target local point clouds and the position of the point cloud acquisition device.

[0082] In this embodiment, for a first cylindrical structure, plane segmentation can be performed according to two planes in the first cylindrical structure and the intersection line concavity and convexity can be assigned. Assuming that the two planes included in the first cylindrical structure are plane A and plane B, the plane segmentation can be completed in the following manner to obtain the intersection line concavity and convexity of the two planes.

[0083] Plane A can divide the space into two parts, and plane B can divide the space into two parts. Plane A is used to cut the plane point cloud corresponding to plane B in the target point cloud into two local point clouds, and the local point cloud located on the same side as the point cloud acquisition device in the two local point clouds is used as a first target local point cloud obtained, that is, the first target local point cloud obtained at this time is located on the same side of plane A as the point cloud acquisition device.

[0084] Similarly, plane B is used to divide the plane point cloud corresponding to plane A in the target point cloud into two local point clouds, and the local point cloud on the same side as the point cloud acquisition device of the two local point clouds is taken as a first target local point cloud obtained, that is, the first target local point cloud obtained at this time is located on the same side of plane B as the point cloud acquisition device.

[0085] After obtaining the above two first target local point clouds, the convexity of the intersection line of the two planes in the first cylindrical structure can be analyzed in combination with the position of the point cloud acquisition device. The convexity analysis method used can be determined in combination with actual needs and is not specifically limited here. By performing the above processing on each first cylindrical structure, the convexity of the intersection line of the two planes of each first cylindrical structure can be obtained.

[0086] As a possible implementation manner, the concavity and convexity of the intersection line of two planes in the first cylindrical structure may be obtained according to the two first target local point clouds and the position of the point cloud acquisition device in the following manner.

[0087] Assume that the first target local point cloud B1 is obtained when the plane A is used for cutting, and the first target local point cloud A1 is obtained when the plane B is used for cutting. The position of the point cloud acquisition device is represented by point T.

[0088] First, the normal of plane A and the normal of plane B are processed to make them face the point cloud acquisition device. The processing method can be: for plane A, determine a point M on plane A, and obtain Calculated The inner product with the normal of plane A. If the inner product is less than 0, the normal of plane A is reversed; if the inner product is greater than or equal to 0, the normal of plane A is not reversed. The same process is performed on plane B, so that the normal of plane B is directed toward the point cloud acquisition device.

[0089] The centroid of the first target local point cloud B1 is calculated, and the centroid of the first target local point cloud B2 is calculated. After that, p_1 is calculated: p_1=centroid of the first target local point cloud B2-centroid of the first target local point cloud B1, and then the inner product of p_1 and the normal of plane A is calculated to obtain inner product 1; and p_2 is calculated: p_2=centroid of the first target local point cloud B1-centroid of the first target local point cloud B2, and then the inner product of p_2 and the normal of plane B is calculated to obtain inner product 2. If inner product 1>0 and inner product 2>0, the intersection of the two planes in the first cylindrical structure is concave, otherwise it is convex. It can be understood that the normals of plane A and plane B used in the above calculation of inner product 1 and inner product 2 are oriented toward the point cloud acquisition device.

[0090] As a possible implementation, when the axial direction of the cylindrical surface in the first cylindrical structure is perpendicular or parallel to the normal direction of the plane in the first cylindrical structure, Figure 7 The concavity and convexity of the intersection line of the plane and the cylindrical surface in a first cylindrical structure are obtained, thereby obtaining the cylindrical structure information of the first cylindrical structure. Figure 7 , Figure 7 for Figure 5 The second flow chart of the sub-steps included in sub-step S240. In this embodiment, sub-step S240 may include sub-steps S244 to S247.

[0091] Sub-step S244, converting the cylindrical surface in the first cylindrical structure into a reference plane, and projecting the points corresponding to the cylindrical surface in the target point cloud onto the reference plane to obtain a projected point cloud.

[0092] In this embodiment, when the axial direction of the cylindrical surface in the first cylindrical surface structure is perpendicular or parallel to the normal direction of the plane in the first cylindrical surface structure, the cylindrical surface can be segmented according to one plane and the cylindrical surface in the first cylindrical surface structure and the intersection line can be given convexity and concavity. The intersection line for which the convexity and concavity is given here is the intersection line of the cylindrical surface and the plane.

[0093] The method of dividing the cylinder and assigning the concavity and convexity to the intersection line is as follows: the cylindrical surface in the first cylindrical structure can be converted into a reference plane, and then the corresponding point of the cylindrical surface in the target point cloud is projected onto the reference plane to obtain a projected point cloud; then, for the projected point cloud, the reference plane, a plane in the first cylindrical structure and the plane point cloud corresponding to the plane in the target point cloud, the above-mentioned plane division method is used to divide and extract the point cloud, and the concavity and convexity of the intersection line of the plane and the cylinder in the first cylindrical structure is determined based on the extracted point cloud. Among them, the above-mentioned method of determining the concavity and convexity based on the two first target local point clouds can be used to determine the concavity and convexity of the intersection line of the plane and the cylinder in the first cylindrical structure.

[0094] Assuming that the intersection line for which the current intersection line concavity calculation is performed is the intersection line between a plane in the first cylindrical structure and the cylindrical surface, the plane can be described as a target plane.

[0095] Optionally, when the cylindrical surface is perpendicular to the normal of the target plane, the reference plane can be determined according to the cylindrical surface and the target plane, the angle between the reference plane and the target plane is 45°, and the reference plane includes points located on the intersection line of the cylindrical surface and the target plane. Optionally, the reference plane can be determined according to a point located on the intersection line of the cylindrical surface and the target plane and the angle between the reference plane and the target plane is 45°. The reference plane can be Figure 4 The plane represented by the dotted line in b.

[0096] Optionally, when the normal of the cylindrical surface is parallel to the target plane, the points in the target point cloud corresponding to the cylindrical surface can be projected onto the target plane, and an arc can be obtained based on the obtained projection points. Among them, all points in the target point cloud near the cylindrical surface (i.e., the cylindrical surface point cloud) can be projected onto the target plane, or the points in the cylindrical surface point cloud near the intersection of the cylindrical surface and the target plane can be projected onto the target plane, or other methods can be used. Afterwards, the two endpoints of the arc can be connected to obtain a target line, and the target line can be extended along the axial direction of the cylindrical surface to obtain the reference plane.

[0097] After determining the reference plane, the projected point cloud of the points in the target point cloud corresponding to the cylindrical surface on the reference plane can be obtained. Optionally, all points in the target point cloud near the cylindrical surface can be projected onto the reference plane; or, the standard circle equation used to represent the circular intersection line can be calculated based on the cylindrical surface equation of the target cylindrical surface and the plane equation of the target plane, and the cylindrical surface point cloud composed of the points in the target point cloud near the cylindrical surface can be determined, and then the points in the cylindrical surface point cloud near the standard circle equation can be projected onto the reference plane. Other methods can also be used, which are not specifically limited here.

[0098] Sub-step S245 , using the target plane to divide the projected point cloud into two local point clouds, and using one of the two local point clouds as a second target local point cloud.

[0099] In this embodiment, the projected point cloud is divided into two partial point clouds using the target plane. Then, the partial point cloud located on the same side as the point cloud acquisition device in the two partial point clouds is determined as a second target partial point cloud. That is, the second target partial point cloud and the point cloud acquisition device are located on the same side of the target plane used for division.

[0100] Sub-step S246, using the reference plane to divide the plane point cloud corresponding to the target plane into two local point clouds, and using one of the two local point clouds as a second target local point cloud.

[0101] In this embodiment, the reference plane is used to divide the plane point cloud corresponding to the target plane in the target point cloud into two local point clouds. Then, the local point cloud located on the same side as the point cloud acquisition device in the two local point clouds is determined as another second target local point cloud. That is, the second target local point cloud and the point cloud acquisition device are located on the same side of the reference plane used for division.

[0102] The method of obtaining two second target local point clouds based on the reference plane and the target plane is the same as the method of obtaining two first target local point clouds based on two planes, and how to obtain the second target local point clouds will not be described in detail here.

[0103] Sub-step S247, determining the concavity and convexity of the intersection line between the cylindrical surface in the first cylindrical structure and the target plane according to the obtained two second target local point clouds and the position of the point cloud acquisition device.

[0104] After obtaining the above two second target local point clouds, the convexity of the intersection line between the target plane and the cylindrical surface in the first cylindrical structure can be analyzed in combination with the position of the point cloud acquisition device. The convexity analysis method used can be determined in combination with actual needs and is not specifically limited here. By performing the above processing on each first cylindrical structure, the convexity of the intersection line between the plane and the cylindrical surface of each first cylindrical structure can be obtained.

[0105] Optionally, the convexity of the intersection line of the cylindrical surface and the target plane in the first cylindrical structure can be obtained according to the reference plane, the target plane, the two second target local point clouds and the position of the point cloud acquisition device in the above-mentioned manner of obtaining the concavity of the intersection line of the two planes in the first cylindrical structure based on the two first target local point clouds and the position of the point cloud acquisition device. Regarding how to obtain the concavity of the intersection line of the cylindrical surface and the target plane based on the local point cloud, reference can be made to the above description of obtaining the concavity of the intersection line based on the two first target local point clouds, which will not be repeated here.

[0106] As another possible implementation, in this embodiment, the identified cylindrical structure also includes a second cylindrical structure, and the second cylindrical structure includes one cylindrical surface and one plane intersecting in the surface set. The second cylindrical structure can also be called a two-surface structure, and the cylindrical structure information of the second cylindrical structure is used to indicate the two surfaces constituting the second cylindrical structure. Figure 8 As shown, the second cylindrical structure refers to a structure composed of 1 cylindrical surface and 1 plane, and there is an intersection line between the cylindrical surface and the plane. The second cylindrical structure does not exist in any 3-sided structure. The concavity of the 2-sided structure is defined as: in the 2-sided structure, the cylinder and the plane form an intersection line, and the positions of the cylinder and the plane and the observation point can determine the concavity of the intersection line. The concavity of the 2-sided structure refers to the concavity of the above-mentioned intersection line. There are 2 types of concavity in the 2-sided structure, namely concave structure and convex structure. The above 2 structures are as follows Figure 8 As shown, Figure 8 The white dots in the figure represent the locations of observation points. Figure 8 The plane of the structure with only two surfaces in b is located below the cylindrical surface and is a semicircle.

[0107] As a possible implementation, Fig. 9 The cylindrical structure information of each second cylindrical structure in the target point cloud is obtained in the manner shown. Fig. 9 , Fig. 9 for Figure 2 FIG. 2 is a flow chart of sub-steps included in step S200 of FIG. 1. In this embodiment, step S200 may further include sub-steps S250 to S270.

[0108] Sub-step S250, when judging whether both planes in a plane pair intersect with the cylindrical surface, if one of the two planes in the plane pair intersects with the cylindrical surface, determine whether to use the structure composed of the plane in the plane pair that intersects with the cylindrical surface and the cylindrical surface as an initial second cylindrical structure.

[0109] Sub-step S260, when stopping searching for the first cylindrical structure and the initial second cylindrical structure, for each initial second cylindrical structure, determine whether the plane and the cylindrical surface in the initial second cylindrical structure are included in a first cylindrical structure; if not, treat the initial second cylindrical structure as a second cylindrical structure.

[0110] Sub-step S270, for each second cylindrical structure, obtaining the cylindrical structure information of the second cylindrical structure.

[0111] In this embodiment, when performing intersection analysis on a plane pair and a cylindrical surface in sub-step S220, if only one plane in the plane pair intersects with the cylindrical surface, the structure composed of the cylindrical surface and the plane in the plane pair that intersects with the cylindrical surface can be directly used as an initial second cylindrical structure. That is, if one plane in the plane pair intersects with the cylindrical surface and the other plane does not intersect with the cylindrical surface, the structure composed of the cylindrical surface and the plane in the plane pair that intersects with the cylindrical surface is used as an initial second cylindrical structure. It can also be determined in combination with other requirements whether the structure composed of the cylindrical surface and the plane in the plane pair that intersects with the cylindrical surface is used as an initial second cylindrical structure or not. In this way, when the first cylindrical structure stops searching, the initial second cylindrical structure included in the target point cloud can be obtained.

[0112] Optionally, as a possible implementation method, the normal of the plane in the corresponding workpiece in the actual scene is parallel or perpendicular to the axial direction of the cylindrical surface. In this case, when one plane in a plane pair intersects with the cylindrical surface, the other plane does not intersect with the cylindrical surface, and the normal of the plane intersecting with the cylindrical surface is parallel or perpendicular to the axial direction of the cylindrical surface, the structure composed of the cylindrical surface and the plane in the plane pair that intersects with the cylindrical surface can be used as an initial second cylindrical surface structure. If one plane in a plane pair intersects with the cylindrical surface, the other plane does not intersect with the cylindrical surface, but the normal of the plane intersecting with the cylindrical surface is not parallel or perpendicular to the axial direction of the cylindrical surface, it is determined not to use the structure composed of the cylindrical surface and the plane in the plane pair that intersects with the cylindrical surface as an initial second cylindrical surface structure.

[0113] When the search for the first cylinder structure and the initial second cylinder structure stops, the initial second cylinder structure can be compared with each first cylinder structure for each initial second cylinder structure to determine whether the initial second cylinder structure is included in a first cylinder structure. If the initial second cylinder structure is included in a first cylinder structure, the initial second cylinder structure is not regarded as a second cylinder structure. If the initial second cylinder structure is not included in a first cylinder structure, the initial second cylinder structure is regarded as a second cylinder structure.

[0114] Optionally, the second cylinder structure may be obtained based on the determined initial second cylinder structure in the following traversal manner: Assume that the obtained first cylinder structures are all stored in three_structure, and the obtained initial second cylinder structures are all stored in two_structure_temp.

[0115] Use variable i to traverse two_structure_temp, and use variable j to traverse three_structure. Initially, i=0, j=0. Determine whether i is smaller than the size of two_structure_temp. If so, determine j, and then determine whether j is smaller than the size of three_structure. If j is smaller than the size of three_structure, take out two_structure_temp[i] to get a 2-tuple (l,m), and take out three_structure[j] to get a 3-tuple (u,v,w), and then determine whether (l,m) is included in (u,v,w). If so, it means that (l,m) is not a structure with only two sides. Delete two_structure_temp[i], and traverse i and j until all are done. At this time, the remaining structure in two_structure_temp is a structure with only two sides, that is, the second cylindrical structure is obtained.

[0116] For each second cylindrical structure, the convexity and concavity of the intersection line between the cylindrical surface and the plane in each second cylindrical structure can be obtained through the aforementioned cylindrical segmentation and intersection line convexity assignment method, thereby obtaining the cylindrical structure information of each second cylindrical structure.

[0117] After obtaining the cylindrical structure information of the first cylindrical structure and the second cylindrical structure, the target cylindrical structure can be screened out according to the concavity of the target structure. For example, if the concavity of the target structure is concave-convex-concave, the target cylindrical structure with a concave-convex structure can be determined based on the obtained cylindrical structure information. Afterwards, weld identification can be performed based on the target cylindrical structure. The specific method can be determined based on actual needs and is not specifically limited here. For example, if the weld to be identified is a straight weld, a straight weld can be determined based on the straight line intersection of two planes in the target cylindrical structure. For example, the straight line intersection is directly used as a straight weld.

[0118] In this embodiment, by traversing the plane set and the cylindrical surface set, all the 3-face structures and only 2-face structures including the cylindrical surface in the target point cloud can be found, and the plane is cut by the plane cutting algorithm, and the concavity and convexity of the intersection line between the planes is given by the concavity and convexity judgment algorithm, and the cylindrical surface is converted into a reference plane, and then the plane is cut by the plane cutting algorithm, and the concavity and convexity of the intersection line between the cylinder and the plane is given by the concavity and convexity judgment algorithm, and then the concavity and convexity of the structure are defined by the concavity and convexity of the surface intersection line, so as to obtain the cylindrical structure information of all the 3-face structures and only 2-face structures included in the target point cloud. Afterwards, the required target cylindrical structure is screened out using the above information, and then the weld is identified based on the target cylindrical structure. In this way, by providing more information, the situation where the identified weld is not the weld actually required can be reduced.

[0119] In order to execute the corresponding steps in the above embodiments and various possible methods, an implementation method of a weld identification device 200 based on a cylindrical structure is given below. Optionally, the weld identification device 200 based on a cylindrical structure can adopt the above Figure 1 The device structure of the electronic device 100 is shown. Fig.10 , Fig.10 A block diagram of a weld identification device 200 based on a cylindrical structure provided in an embodiment of the present application. It should be noted that the basic principle and technical effects of the weld identification device 200 based on a cylindrical structure provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference may be made to the corresponding contents in the above-mentioned embodiments. In this embodiment, the weld identification device 200 based on a cylindrical structure may include: an acquisition module 210, an analysis module 220, and a processing module 230.

[0120] The acquisition module 210 is used to obtain a surface set corresponding to the target point cloud, wherein the surface set includes a plane set and a cylindrical surface set obtained by detecting the target point cloud.

[0121] The analysis module 220 is used to determine the cylindrical structure information of each cylindrical structure included in the target point cloud according to the target point cloud and the face set. The cylindrical structure information is used to indicate the plane and cylindrical surface included in a cylindrical structure and located in the face set, the faces in the cylindrical structure belonging to the face set intersect, and the cylindrical structure information also includes structural concavity and convexity, and the structural concavity and convexity includes the concavity and convexity of each intersection line of the faces in the cylindrical structure belonging to the face set.

[0122] The processing module 230 is used to determine a target cylindrical structure from the identified cylindrical structures according to the concavity and convexity of the target structure and the obtained cylindrical structure information, and identify the weld according to the target cylindrical structure.

[0123] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown in the figure may be fixed in the operating system (OS) of the electronic device 100 and may be Figure 1 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.

[0124] An embodiment of the present application also provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the weld identification method based on a cylindrical structure is implemented.

[0125] In summary, the embodiment of the present application provides a weld identification method based on a cylindrical structure and a related device. First, a face set obtained by detecting a target point cloud is obtained, and the face set includes a plane set and a cylindrical face set; then, according to the above target point cloud and face set, the cylindrical structure information of each cylindrical structure included in the target point cloud is determined, and the cylindrical structure information of a cylindrical structure is used to indicate the plane and cylindrical surface located in the face set included in a cylindrical structure, and the faces belonging to the face set in the cylindrical structure intersect, and the cylindrical structure information includes structural concavity and convexity, and the structural concavity and convexity include the concavity and convexity of the intersection lines of the faces belonging to the face set in the cylindrical structure; finally, according to the target structure concavity and convexity and the obtained cylindrical structure information, the target cylindrical structure is determined from the identified cylindrical structure, and then the weld is identified according to the target cylindrical structure. In this way, by screening out the required target cylindrical structure based on the cylindrical structure information obtained from the target point cloud, and then performing weld identification on the target cylindrical structure, the situation where the identified weld is not the weld actually required can be reduced.

[0126] In several embodiments provided in the present application, 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 application. 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, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. 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.

[0127] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0128] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable 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 methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0129] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A weld identification method based on cylindrical structure, characterized in that: The method comprises: Obtaining a face set corresponding to a target point cloud, wherein the face set includes a plane set and a cylindrical face set obtained by detecting the target point cloud; According to the target point cloud and the face set, determining the cylindrical structure information of each cylindrical structure included in the target point cloud, wherein the cylindrical structure information is used to indicate the plane and cylindrical surface included in a cylindrical structure and located in the face set, the surfaces in the cylindrical structure belonging to the face set intersect, and the cylindrical structure information includes structural concavity and convexity, and the structural concavity and convexity includes the concavity and convexity of each intersection line of the surfaces in the cylindrical structure belonging to the face set; According to the concavity and convexity of the target structure and the obtained cylindrical structure information, the target cylindrical structure is determined from the identified cylindrical structures, and the weld is identified according to the target cylindrical structure.

2. The method according to claim 1, characterized in that The identified cylindrical structure includes a first cylindrical structure, the first cylindrical structure includes one cylindrical surface and two planes intersecting each other in the surface set, and the cylindrical structure information of each cylindrical structure included in the target point cloud is determined according to the target point cloud and the surface set, including: Determine a plane pair in the plane set, wherein the plane pair includes two planes in the plane set and the two planes intersect; For each plane pair and each cylindrical surface in the cylindrical surface set, determining whether both planes in the plane pair intersect with the cylindrical surface; In the case where both planes in the plane pair intersect with the cylindrical surface, determining whether to regard the structure formed by the plane pair and the cylindrical surface as a first cylindrical surface structure; For each first cylindrical structure, the cylindrical structure information of the first cylindrical structure is obtained.

3. The method according to claim 2, characterized in that The step of obtaining the cylinder structure information of each first cylinder structure includes: For each of the two planes in the determined first cylindrical structure, the plane point cloud of the other plane is divided into two local point clouds using the plane, and one of the two local point clouds is used as a first target local point cloud, wherein the other plane is a plane other than the plane in the two planes, the plane point cloud of the other plane is a point cloud in the target point cloud corresponding to the other plane, the first target local point cloud and a point cloud acquisition device are located on the same side of the plane, and the point cloud acquisition device is used to obtain the target point cloud; The concavity and convexity of the intersection line of two planes in the first cylindrical structure are determined according to the two obtained first target local point clouds and the position of the point cloud acquisition device.

4. The method according to claim 2, characterized in that: In a case where the axial direction of the cylindrical surface in the first cylindrical structure is perpendicular or parallel to the normal direction of the plane in the first cylindrical structure, obtaining the cylindrical structure information of the first cylindrical structure for each first cylindrical structure includes: Converting the cylindrical surface in the first cylindrical structure into a reference plane, and projecting the points corresponding to the cylindrical surface in the target point cloud onto the reference plane to obtain a projected point cloud; Using a target plane to divide the projected point cloud into two local point clouds, and using one of the two local point clouds as a second target local point cloud, wherein the target plane is a plane in the first cylindrical structure for which the intersection line concavity and convexity are currently calculated; Using the reference plane to divide the plane point cloud corresponding to the target plane into two local point clouds, and using one of the two local point clouds as a second target local point cloud, wherein the second target local point cloud and a point cloud acquisition device are located on the same side of the plane used for division, and the point cloud acquisition device is used to obtain the target point cloud; The concavity and convexity of the intersection line between the cylindrical surface in the first cylindrical structure and the target plane are determined according to the two obtained second target local point clouds and the position of the point cloud acquisition device.

5. The method according to claim 4, characterized in that The converting the cylindrical surface in the first cylindrical structure into a reference plane comprises: If the axial direction of the cylindrical surface is perpendicular to the normal direction of the target plane, the reference plane is determined according to the cylindrical surface and the target plane, wherein the angle between the reference plane and the target plane is 45°, and the reference plane includes points located on the intersection line of the cylindrical surface and the target plane; If the axial direction of the cylindrical surface is parallel to the normal direction of the target plane, then the point in the target point cloud corresponding to the cylindrical surface is projected onto the target plane to obtain an arc line; The two ends of the arc are connected to obtain a target line, and the target line is extended along the axial direction of the cylindrical surface to obtain the reference plane.

6. The method according to claim 2, characterized in that In the case where both planes in the plane pair intersect with the cylindrical surface, determining whether to treat the structure formed by the plane pair and the cylindrical surface as a first cylindrical surface structure comprises: If the normal directions of the two planes in the plane pair are parallel or perpendicular to the axial direction of the cylindrical surface, the structure formed by the plane pair and the cylindrical surface is regarded as a first cylindrical surface structure.

7. The method according to any one of claims 2 to 6, characterized in that: The identified cylinder also includes a second cylinder structure, wherein the second cylinder structure includes one cylindrical surface and one plane intersecting in the surface set, and the cylindrical structure information of each of the cylindrical structures included in the target point cloud is determined according to the target point cloud and the surface set, and further includes: When judging whether both planes in a plane pair intersect with the cylindrical surface, if one of the two planes in the plane pair intersects with the cylindrical surface, determining whether a structure composed of the plane in the plane pair intersecting with the cylindrical surface and the cylindrical surface is used as an initial second cylindrical surface structure; In the case of stopping searching for the first cylindrical structure and the initial second cylindrical structure, for each initial second cylindrical structure, determining whether the plane and the cylindrical surface in the initial second cylindrical structure are included in a first cylindrical structure, if not, treating the initial second cylindrical structure as a second cylindrical structure; For each second cylindrical structure, the cylindrical structure information of the second cylindrical structure is obtained.

8. A weld identification device based on a cylindrical structure, characterized in that: The device comprises: An acquisition module, used to obtain a surface set corresponding to a target point cloud, wherein the surface set includes a plane set and a cylindrical surface set obtained by detecting the target point cloud; An analysis module, configured to determine, based on the target point cloud and the face set, the cylindrical structure information of each cylindrical structure included in the target point cloud, wherein the cylindrical structure information is used to indicate the plane and cylindrical surface included in a cylindrical structure and located in the face set, the surfaces in the cylindrical structure belonging to the face set intersect, and the cylindrical structure information further includes structural concavity and convexity, and the structural concavity and convexity includes the concavity and convexity of each intersection line of the surfaces in the cylindrical structure belonging to the face set; The processing module is used to determine the target cylindrical structure from the identified cylindrical structures according to the concavity and convexity of the target structure and the obtained cylindrical structure information, and identify the weld according to the target cylindrical structure.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the weld identification method based on cylindrical structure as described in any one of claims 1-7.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the weld identification method based on cylindrical structure as described in any one of claims 1 to 7 is implemented.

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