Arc welding seam determination method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an arc welding seam determination method, electronic equipment and a storage medium, and relates to the field of point cloud processing, and the method comprises the steps: carrying out local shooting on a first model, determining the frequency of local shooting, determining the current local point cloud of the first model for each local shooting, and determining the current local point cloud of the first model; determining a first structure group and a second structure group in the current local point cloud, determining a third structure group of the first model, updating the third structure group based on the number of times of local shooting, the first structure group and the second structure group to obtain the updated third structure group, and returning to execute local shooting for each time. And determining the local point cloud of the first model until the number of times of local shooting reaches the preset number of times, obtaining the latest third structure group, and performing arc welding seam identification based on the latest third structure group, thereby improving the accuracy of arc welding seam identification.

Description

Technical Field

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

[0002] The existing arc weld detection algorithms in point clouds are mainly divided into two categories: workpiece model-based and non-workpiece model-based. The following briefly describes the process of arc weld detection by these two methods.

[0003] (1) Method based on workpiece model: read in the workpiece model point cloud, read in the collected workpiece point cloud, use the point cloud registration algorithm to register the workpiece model point cloud with the collected workpiece point cloud, and obtain the rotation matrix R and translation vector T from the workpiece model coordinate system to the robot base coordinate system. Using the registration information, transform the reference surface, use the reference surface as the projection plane, project the points in the point cloud onto the reference surface to detect the circle, thereby detecting the cylinder, and then make an intersection line between the cylinder and the plane to obtain the arc weld. (2) Method not based on workpiece model: use the plane detection algorithm to detect the plane in the point cloud, and then remove the points on the plane. Use the cylinder axis detection algorithm to detect the cylinder axis, and then project the points that vote for the cylinder axis onto a plane perpendicular to the cylinder axis, detect the circle on the plane, thereby detecting the cylinder, and then make an intersection line between the cylinder and the plane to obtain the arc weld.

[0004] The two existing arc weld detection algorithms each have some disadvantages. For the first method, its main disadvantage is that it requires a workpiece model point cloud as the input of the algorithm. If the workpiece does not have a workpiece model point cloud, the first method cannot detect the cylinder well. Although the second method does not need to use the workpiece model point cloud, it does not consider the structural relationship between the cylindrical surface and the plane. When the workpiece has multiple cylindrical surfaces and has a complex relationship with the plane, it will not be able to detect the arc weld in the point cloud well. Summary of the invention

[0005] The object of the present invention is to provide a circular arc weld determination method, electronic equipment and storage medium, which can perform circular arc weld identification without a workpiece model and improve the accuracy of circular arc weld identification.

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

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

[0008] Partially photographing the first model, and determining a current partial point cloud of the first model and a number of partial photographing times;

[0009] Determine a first structure group and a second structure group in the current local point cloud, wherein the first structure group includes each first structure in the current local point cloud, and the second structure group includes each second structure in the current local point cloud;

[0010] determining a third structural group of the first model;

[0011] Based on the number of partial shots, the first structure group and the second structure group, the third structure group is updated to obtain an updated third structure group, wherein the updated structure list includes the number of votes for each structure;

[0012] Returning to the step of partially photographing the first model, determining the current local point cloud of the first model and the number of local photographing, until the number of local photographing reaches a preset number, obtaining the latest third structure group;

[0013] Arc weld identification is performed based on the latest third structure group.

[0014] In an optional implementation, the step of updating the third structure group based on the number of partial shootings, the first structure group and the second structure group to obtain an updated third structure group includes:

[0015] Use variable i to traverse the first structure group, and use variable j to traverse the fourth structure group in the third structure group;

[0016] Determine whether the first structure i and the first structure j meet a first preset condition, wherein the first preset condition indicates that the first structure i and the first structure j have two common cylinder-plane intersection structures and one common plane intersection structure, and the first structure i and the first structure j have the same concavity and convexity;

[0017] If the first structure i and the first structure j meet the first preset condition, the first structure i and the first structure j are merged, and the structural parameters of the updated first structure are updated to obtain an updated third structure group, wherein the structural parameters include the intersection endpoints, the point cloud contained in each face in the updated first structure, the plane equation and the cylinder equation of each face in the updated first structure, and the number of votes for the updated first structure.

[0018] In an optional embodiment, the method further comprises:

[0019] If the first structure i and the first structure j do not satisfy the first preset condition, determine whether the first structure i and the first structure j satisfy a second preset condition, wherein the second preset condition indicates that the first structure i and the first structure j have a common cylindrical surface and plane intersection structure, and the first structure i and the first structure j have the same concavity and convexity;

[0020] When the first structure i and the first structure j meet the second preset condition, determining a list of associated structures of the first structure j;

[0021] Use variable k to traverse the associated structure list of the first structure j;

[0022] Determine whether the first structure k and the first structure i meet a third preset condition, wherein the third preset condition indicates that the first structure k and the first structure i have two common cylindrical surface and plane intersection structures, and the first structure k and the first structure i have the same concavity and convexity;

[0023] When the first structure k and the first structure i satisfy the third preset condition, determining from the fourth structure group that there is an existing first structure of the target corresponding to the first structure k;

[0024] The target first structure and the first structure i are merged, and the structural parameters of the updated first structure are updated to obtain an updated third structure group.

[0025] In an optional embodiment, the method further comprises:

[0026] If any first structure j in the fourth structure group and the first structure i do not satisfy the first preset condition and the second preset condition, and the first structure k in the associated structure list of the first structure j and the first structure i do not satisfy the third preset condition, the first structure i is merged into the fourth structure group, and the number of votes for the first structure i is set to 1;

[0027] The label of the first structure i is recorded in the newly added triple list.

[0028] In an optional embodiment, the method further comprises:

[0029] Traversing the newly added triple list and the fifth structure group in the third structure group;

[0030] Determining whether the newly added first structure and the existing second structure meet a fourth preset condition, wherein the fourth preset condition indicates that the newly added first structure and the existing second structure have a common cylindrical surface and plane intersection structure, and the newly added first structure and the existing second structure have the same concavity and convexity;

[0031] When the newly added first structure and the existing second structure meet the fourth preset condition, the third structure group is updated.

[0032] In an optional implementation, the step of updating the third structure group based on the number of partial shootings, the first structure group and the second structure group to obtain an updated third structure group includes:

[0033] Traversing the second structure group and a fourth structure group in the third structure group;

[0034] Determine whether the current second structure and the existing first structure satisfy a fifth preset condition, wherein the fifth preset condition indicates that the current second structure and the existing first structure have a common cylindrical surface and plane intersection structure, and the current second structure and the existing first structure have the same concavity and convexity;

[0035] When the current second structure and the existing first structure meet the fifth preset condition, updating the third structure group;

[0036] When the current second structure and the existing first structure do not satisfy the fifth preset condition, the current second structure is stored in a temporary storage list.

[0037] In an optional embodiment, the method further comprises:

[0038] Traversing the temporary storage list and the fifth structure group in the third structure group;

[0039] Determining whether the temporary second structure and the existing second structure satisfy a sixth preset condition, wherein the sixth preset condition indicates that the temporary second structure and the existing second structure have a common cylindrical and plane intersection structure, and the temporary second structure and the existing second structure have the same concavity and convexity;

[0040] When the temporarily stored second structure and the existing second structure do not satisfy a sixth preset condition, updating the third structure group;

[0041] When the temporarily stored second structure and the existing second structure meet the sixth preset condition, the temporarily stored second structure is added to the third structure group, and the third structure group is updated.

[0042] In an optional embodiment, the method further comprises:

[0043] When the number of the partial shootings is less than the preset number, determining a first stitched point cloud of the first model;

[0044] Splicing the current local point cloud with the first spliced ​​point cloud;

[0045] When the number of shootings is equal to a preset number of times, determining a second stitched point cloud of the first model;

[0046] The current local point cloud is spliced ​​with the second spliced ​​point cloud to obtain a point cloud model of the first model.

[0047] In a second aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the arc weld determination method when executing the computer program.

[0048] In a third aspect, an embodiment of the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the circular arc weld determination method are implemented.

[0049] This application has the following beneficial effects:

[0050] The present application detects the first structure group and the second structure group in each local point cloud by photographing the local point cloud of the first model multiple times, and merges and updates the third structure group based on the number of local photographing times, the first structure in the first structure group and the second structure in the second structure group. Therefore, after photographing the complete point cloud of the first model, the specific position of the arc weld in the first model can be obtained. The present application can identify the arc weld based on the workpiece-free model and improve the accuracy of determining the arc weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0052] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention;

[0053] Figure 2 A flow chart of a method for determining an arc weld provided by an embodiment of the present invention;

[0054] Figure 3 A flow chart of a method for determining an arc weld provided by an embodiment of the present invention;

[0055] Figure 4 A flow chart of a method for determining an arc weld provided by an embodiment of the present invention;

[0056] Figure 5 A schematic diagram of a first structure with an associated relationship provided by an embodiment of the present invention;

[0057] Figure 6 A flow chart of a method for determining an arc weld provided by an embodiment of the present invention;

[0058] Figure 7A flow chart of a method for determining an arc weld provided by an embodiment of the present invention;

[0059] Figure 8 A flow chart of a method for determining an arc weld provided by an embodiment of the present invention;

[0060] Fig. 9 A flow chart of a method for determining an arc weld provided by an embodiment of the present invention;

[0061] Fig.10 A schematic structural diagram of a circular arc weld determination device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0063] It has been found that the workpiece model point cloud must be used as the input of the algorithm. If the workpiece does not have a workpiece model point cloud, the arc weld of the cylinder cannot be detected. Use the plane detection algorithm to detect the plane in the point cloud, and then remove the points on the plane. Use the cylindrical axis detection algorithm to detect the cylindrical axis, and then project the points that vote for the cylindrical axis onto a plane perpendicular to the cylindrical axis. Detect the circle on the plane to detect the cylinder, and then make an intersection between the cylinder and the plane to obtain the arc weld. Although it is not necessary to use the workpiece model point cloud, the structural relationship between the cylindrical surface and the plane is not considered. When the workpiece has multiple cylindrical surfaces and has a more complex relationship with the plane, the arc weld in the point cloud cannot be detected well.

[0064] In view of the discovery of the above problems, the present embodiment provides a method for determining an arc weld, an electronic device and a storage medium, which can detect the first structure group and the second structure group in each local point cloud by photographing the local point cloud of the first model multiple times, and merge and update the third structure group based on the number of local photographing times, the first structure in the first structure group and the second structure in the second structure group. Therefore, after photographing the complete point cloud of the first model, the specific position of the arc weld in the first model can be obtained. The present application can identify arc welds based on a workpiece-free model and improve the accuracy of determining arc welds. The solution provided in this embodiment is described in detail below.

[0065] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the electronic device 100 provided in the embodiment of the present application. 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.

[0066] The electronic device 100 includes an arc weld determination device 110 , a memory 120 and a processor 130 .

[0067] Please refer to Figure 2 , Figure 2 For application Figure 1 A flow chart of a method for determining an arc weld of an electronic device 100 is provided, and the method including each step is described in detail below.

[0068] S201: Partially photograph a first model to determine a current local point cloud of the first model and the number of local photographs.

[0069] S202: Determine a first structure group and a second structure group in the current local point cloud.

[0070] The first structure group includes each first structure in the current local point cloud, and the second structure group includes each second structure in the current local point cloud.

[0071] S203: Determine a third structure group of the first model.

[0072] S204: Based on the number of partial shootings, the first structure group and the second structure group, the third structure group is updated to obtain an updated third structure group.

[0073] The updated structure list includes the number of votes for each structure.

[0074] S205: Return to the step of performing partial shooting of the first model, determining the current partial point cloud of the first model and the number of partial shootings, until the number of partial shootings reaches a preset number, and obtaining the latest third structure group.

[0075] The updated structure list includes the number of votes for each structure.

[0076] It should be noted that the third structure group includes all the first structures and the second structures included in the shooting point cloud, the first structure is a three-sided structure, and the second structure is a two-sided structure.

[0077] S206: Identify arc welds based on the latest third structure group.

[0078] When the local shooting times is equal to or greater than a preset times, the first structure and the second structure detected in the current local point cloud are determined to obtain a first structure group and a current two-face group.

[0079] The first structure is a structure composed of two planes and one cylinder. The two planes can be called plane 1 and plane 2, and there is an intersection line between the two planes, there is an intersection line between plane 1 and the cylinder, and there is an intersection line between plane 2 and the cylinder. The concavity and convexity of the first structure refers to the concavity and convexity of the three intersection lines, namely, the concavity and convexity of the intersection line between plane 1 and plane 2, the concavity and convexity of the intersection line between plane 1 and the cylinder, and the concavity and convexity of the intersection line between plane 2 and the cylinder.

[0080] The second structure is a structure composed of a plane and a cylinder, there is an intersection line between the plane and the cylinder, and the structure does not exist in any first structure. The concavity and convexity of the second structure refers to the concavity and convexity of its intersection line, that is, the concavity and convexity of the intersection line between the plane and the cylinder.

[0081] Each time after a partial photograph is taken of the first model, the first structure group and the second structure group in the current local point cloud are determined, and the third structure group is updated based on the structure merging algorithm.

[0082] Each time a partial shooting is performed, the camera postures of the i-th partial shooting and the i+1-th partial shooting are different, that is, during the i+1-th shooting, the camera posture needs to be adjusted to perform the i+1-th shooting.

[0083] When the number of local shots reaches a preset number, it indicates that the first model has been shot, the latest third structure group is obtained, and the arc weld is identified based on the latest third structure group.

[0084] Each structure in the latest third structure group is traversed. When the number of votes for the structure is greater than the preset number, it indicates that the structure exists in the real workpiece. At the same time, the starting point and end point of the arc weld in the structure can be given to complete the identification of the arc weld of the first model.

[0085] There are multiple implementations of updating the third structure group based on the number of partial shootings, the first structure group, and the second structure group to obtain the updated third structure group. In one implementation, Figure 3 As shown, the following steps are included:

[0086] S301: Use variable i to traverse the first structure group, and use variable j to traverse the fourth structure group in the third structure group.

[0087] S302: Determine whether the first structure i and the first structure j meet a first preset condition.

[0088] The first preset condition indicates that the first structure i and the first structure j have two common cylinder-plane intersection structures and one common plane intersection structure, and the first structure i and the first structure j have the same concavity and convexity.

[0089] S303: If the first structure i and the first structure j meet the first preset condition, the first structure i and the first structure j are merged, and the structural parameters of the updated first structure are updated to obtain an updated third structure group.

[0090] The structural parameters include the intersection endpoints, the point cloud contained in each face in the updated first structure, the plane equation and the cylinder equation of each face in the updated first structure, and the number of votes in the updated first structure.

[0091] Use variable i to traverse the first structure group in the current local point cloud, and use variable j to traverse the fourth structure group in the third structure group to determine whether the first structure i and the first structure j have two common cylinder-plane intersection structures and one common plane intersection structure, and whether the first structure i and the first structure j have the same convexity and concavity. If so, it means that the first structure i and the first structure j are actually the same first structure. At this time, the third structure group needs to be updated to merge the first structure i with the first structure j.

[0092] When merging the first structure i and the first structure j, it is necessary to update the structural parameters of the updated first structure, which include the intersection endpoints, the point cloud contained in each face in the updated first structure, the plane equation and the cylinder equation of each face in the updated first structure, and the number of votes for the updated first structure.

[0093] The implementation method of updating the intersection endpoints can be as follows: Taking the intersection of plane 1 and plane 2 as an example, let the starting point and the end point of the intersection of plane 1 and plane 2 of the first structure j be p j,12,start , p j,12,end , the intersection direction vector is t j,12 , from the starting point to the end point, let the starting point and end point of the intersection line of plane 1 and plane 2 of the first structure i be p i,12,start , p i,12,end , calculate p diff =p i,12,start -p j,12,start , calculate p diff With t j,12 The first inner product of, if the first inner product is less than 0, it means p i,12,start In p j,12,start At this time, update p j,12,start For p i,12,start , if the first inner product is greater than or equal to 0, no update is required. Calculate p diff =p i,12,end -p j,12,end , calculate p diff With t j,12 The second inner product of , if the second inner product is greater than 0, it means p i,12,end In p j,12,end At this time, update pj,12,end For p i,12,end If the second inner product is less than or equal to 0, no update is required. The intersection line of the cylinder and the plane is updated in the same way, and this application will not repeat it in detail.

[0094] The updated point cloud of each surface in the first structure may be as follows: Taking the point cloud contained in plane 1 as an example for explanation. Assume that the point cloud of plane 1 of the first structure is {P j,1}, let the point cloud of plane 1 of the first structure i be {P i,1}, then determine {P j,1} and {P i,1}, that is, the difference between {P j,1}, but in {P i,1}, and {P j,1} and {P i,1} is added to {P j,1}middle.

[0095] Since the point clouds contained in the plane and cylinder are updated, the plane equations and cylinder equations need to be recalculated.

[0096] The method of the voting number of the first structure can be: the number of votes of the first structure j is increased by 1, and after the update is completed, jump to the step of increasing i.

[0097] Based on the number of partial shootings, the first structure group and the second structure group, the third structure group is updated to obtain the updated third structure group, and the method also includes: Figure 4 As shown, the following steps are included:

[0098] S401: If the first structure i and the first structure j do not satisfy the first preset condition, determine whether the first structure i and the first structure j satisfy the second preset condition.

[0099] The second preset condition indicates that the first structure i and the first structure j have a common cylindrical surface and plane intersection structure, and the first structure i and the first structure j have the same concavity and convexity.

[0100] S402: When the first structure i and the first structure j meet a second preset condition, determine a list of associated structures of the first structure j.

[0101] S403: Use the variable k to traverse the associated structure list of the first structure j.

[0102] S404: Determine whether the first structure k and the first structure i satisfy a third preset condition.

[0103] The third preset condition indicates that the first structure k and the first structure i have two common cylindrical-plane intersection structures, and the first structure k and the first structure i have the same concavity and convexity.

[0104] S405: When the first structure k and the first structure i satisfy the third preset condition, determining from the fourth structure group that there is an existing first structure in the target corresponding to the first structure k.

[0105] S406: Merge the target existing first structure and the first structure i, and update the structural parameters of the updated first structure to obtain an updated third structure group.

[0106] If the first structure i and the first structure j do not meet the first preset condition, it is determined whether the first structure i and the first structure j meet the second preset condition, that is, it is determined whether the first structure i and the first structure j have a common cylindrical and plane intersection structure, and the first structure i and the first structure j have the same concavity and convexity. If the first structure i and the first structure j meet the second preset condition, it means that the first structure i and the first structure j are associated first structures. At this time, it is necessary to traverse the associated structure list of the first structure j to determine whether there is a structure first structure k in the associated structure list of the first structure j, whose label is index. The first structure k is associated with the first structure j. Structure i has 2 common cylinder-plane intersection structures and 1 common plane intersection structure with the same convexity and concavity. If so, it means that the structure labeled index in the third structure group is actually the same first structure as the first structure i. Then the first structure k and the first structure i are merged, and the structural parameters of the updated first structure are updated. The structural parameters include the intersection endpoints, the point cloud contained in each face in the updated first structure, the plane equation and cylinder equation of each face in the updated first structure, and the number of votes for the updated first structure. Then jump to the step of increasing i. If not, jump to the step of increasing j.

[0107] There are many ways to determine the list of associated structures. In one implementation:

[0108] Use variable i to traverse each first structure in the third structure group, and use variable j to traverse each first structure in the third structure group, starting from i+1, to determine whether the first structure i and the first structure j have a common cylinder and plane intersection structure. If the first structure i and the first structure j have a common cylinder and plane intersection structure, it means that the first structure i and the first structure j have an association relationship. Add the first structure j to the association list of the first structure i, and indicate the associated intersection relationship. Add the first structure i to the association list of the first structure j, and indicate the associated intersection relationship. If not, jump to the step of adding j. Traverse i and j until all first structures with an associated relationship have established corresponding association relationships. Figure 5 As shown, a schematic diagram of two first structures with an associated relationship is shown, wherein one of the first structures is a three-concave structure, and the other first structure is a 2-concave and 1-convex structure, and they share a cylinder-plane intersection structure.

[0109] When any first structure j and the first structure do not satisfy the first preset condition and the second preset condition, and the first structure k and the first structure i in the associated structure list of any first structure j do not satisfy the third preset condition, the first structure i is merged into the fourth structure group, and the number of votes for the first structure i is set to 1; the label of the first structure i is recorded in the newly added triple list.

[0110] If j traversal is completed, it means that the first structure i has not been merged with any first structure in the third structure group. At this time, it means that the first structure i is a new first structure. The first structure i is added to the third structure group, the number of votes for the first structure i is set to 1, and the number of the newly added triples is recorded in the newly added triple list, that is, new_three_structure_index.

[0111] In another implementation of updating the third structure group based on the newly added triple list, such as Figure 6 As shown, the following steps are included:

[0112] S501: traverse the newly added triple list and the fifth structure group in the third structure group.

[0113] S502: Determine whether the newly added first structure and the existing second structure meet a fourth preset condition.

[0114] The fourth preset condition indicates that the newly added first structure and the existing second structure have a common cylindrical surface and plane intersection structure, and the newly added first structure and the existing second structure have the same concavity and convexity.

[0115] S503: When the newly added first structure and the existing second structure meet the fourth preset condition, the third structure group is updated.

[0116] Use variable i to traverse the newly added triple list, and use variable j to traverse the fifth structure group in the third structure group to determine whether the following condition is met: the newly added first structure i and the existing second structure j have a common cylindrical and plane intersection structure and the concavity and convexity are the same. If so, update the third structure group and delete the existing second structure i in the third structure group.

[0117] In another implementation method of updating the third structure group based on the number of partial shootings, the first structure group and the second structure group to obtain the updated third structure group, as follows: Figure 7 As shown, the following steps are included:

[0118] S601: traverse the second structure group and the fourth structure group in the third structure group.

[0119] S602: Determine whether the current second structure and the existing first structure satisfy a fifth preset condition.

[0120] The fifth preset condition indicates that the current second structure and the existing first structure have a common cylindrical surface and plane intersection structure, and the current second structure and the existing first structure have the same concavity and convexity.

[0121] S603: When the current second structure and the existing first structure meet the fifth preset condition, the third structure group is updated.

[0122] S604: When the current second structure and the existing first structure do not satisfy the fifth preset condition, the current second structure is stored in a temporary storage list.

[0123] Use variable i to traverse the second structure group in the current local point cloud, and use variable j to traverse the fourth structure group in the third structure group to determine whether the following condition is met: the second structure group i and the existing first structure j have a common cylindrical and plane intersection structure and the concavity is the same. If so, update the third structure group. If j traversal is completed, it means that the previous two-tuple i is not the same as any first structure in the third structure group. At this time, the current second structure i is stored in the temporary storage list.

[0124] There are many ways to update the third structure group based on the temporary storage list and the fifth structure group. In one implementation, for example Figure 8 As shown, the following steps are included:

[0125] S701: Traverse the temporary storage list and the fifth structure group in the third structure group.

[0126] S702: Determine whether the temporarily stored second structure and the existing second structure satisfy a sixth preset condition.

[0127] The sixth preset condition indicates that the temporary second structure and the existing second structure have a common cylindrical and plane intersection structure, and the temporary second structure and the existing second structure have the same concavity and convexity.

[0128] S703: When the temporarily stored second structure and the existing second structure do not satisfy the sixth preset condition, the third structure group is updated.

[0129] S704: When the temporarily stored second structure and the existing second structure meet the sixth preset condition, the temporarily stored second structure is added to the third structure group, and the third structure group is updated.

[0130] Use variable i to traverse the temporary list, and use variable j to traverse the fifth structure group in the third structure group to determine whether the following condition is met: the temporary second structure i and the existing second structure j have a common cylindrical and plane intersection structure and the same concavity and convexity. If yes, jump to the step of adding i, if not, jump to the step of adding j. If j is traversed, it means that the temporary second structure i is different from any second structure in the third structure group. At this time, the third structure group is updated and the temporary second structure i is added to the third structure group. Through the above steps, the current point cloud structure list and the third structure group are merged and updated.

[0131] By partially photographing the first model, a point cloud model of the first model can also be constructed, such as Fig. 9 As shown, the following steps are included:

[0132] S801: When the number of partial shootings is less than a preset number, determining a first stitched point cloud of a first model.

[0133] S802: stitching the current local point cloud with the first stitched point cloud.

[0134] S803: When the number of shots is equal to the preset number, a second stitched point cloud of the first model is determined.

[0135] S804: stitching the current local point cloud with the second stitched point cloud to obtain a point cloud model of the first model.

[0136] Exemplarily, when the preset number is 3, the number of partial shots includes the first shot, the second shot, and the third shot. When the number of partial shots is the first shot, there is no first stitched point cloud of the first model. When the number of partial shots is the second shot, the point cloud of the first shot is used as the first stitched point cloud of the first model, and the current partial point cloud corresponding to the second shot is stitched with the first stitched point cloud. When the number of partial shots is the third shot, the point cloud stitched with the point cloud of the first shot and the point cloud of the second shot is used as the second stitched point cloud, and the current partial point cloud is stitched with the second stitched point cloud to obtain a point cloud model of the first model.

[0137] Please refer to Fig.10 The embodiment of the present application further provides a circular arc weld determination device 110, and the circular arc weld determination device 110 includes:

[0138] The determination module 111 performs partial shooting of the first model and determines the number of partial shootings; for each partial shooting, determines the current partial point cloud of the first model; determines a first structure group and a second structure group in the current partial point cloud, wherein the first structure group includes each first structure in the current partial point cloud, and the second structure group includes each second structure in the current partial point cloud; determines a third structure group of the first model;

[0139] A merging module 112 is used to update the third structure group based on the number of local shots, the first structure group and the second structure group to obtain an updated third structure group, wherein the updated structure list includes the number of votes for each structure;

[0140] The determination module 111 is further used to return to the step of determining the local point cloud of the first model for each local shooting to the step of updating the third structure group based on the number of local shootings, the first structure group and the second structure group to obtain an updated third structure group, until the number of local shootings reaches a preset number, and the latest third structure group is obtained;

[0141] The arc weld identification module 113 is used to identify the arc weld based on the latest third structure group.

[0142] The above are only preferred embodiments of the present application and are 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.

[0143] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0144] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for determining an arc weld, characterized in that: The method comprises: Partially photographing the first model, and determining a current partial point cloud of the first model and a number of partial photographing times; Determine a first structure group and a second structure group in the current local point cloud, wherein the first structure group includes each first structure in the current local point cloud, and the second structure group includes each second structure in the current local point cloud; determining a third structural group of the first model; Based on the number of partial shots, the first structure group and the second structure group, the third structure group is updated to obtain an updated third structure group, wherein the updated third structure group includes the number of votes for each structure; Returning to the step of partially photographing the first model, determining the current local point cloud of the first model and the number of local photographing, until the number of local photographing reaches a preset number, obtaining the latest third structure group; Arc weld identification is performed based on the latest third structure group.

2. The method according to claim 1, characterized in that The step of updating the third structure group based on the number of partial shootings, the first structure group and the second structure group to obtain an updated third structure group includes: Use variable i to traverse the first structure group, and use variable j to traverse the fourth structure group in the third structure group; Determine whether the first structure i and the first structure j meet a first preset condition, wherein the first preset condition indicates that the first structure i and the first structure j have two common cylinder-plane intersection structures and one common plane intersection structure, and the first structure i and the first structure j have the same concavity and convexity; If the first structure i and the first structure j meet the first preset condition, the first structure i and the first structure j are merged, and the structural parameters of the updated first structure are updated to obtain an updated third structure group, wherein the structural parameters include the intersection endpoints, the point cloud contained in each face in the updated first structure, the plane equation and the cylinder equation of each face in the updated first structure, and the number of votes for the updated first structure.

3. The method according to claim 2, characterized in that The method further comprises: If the first structure i and the first structure j do not satisfy the first preset condition, determine whether the first structure i and the first structure j satisfy a second preset condition, wherein the second preset condition indicates that the first structure i and the first structure j have a common cylindrical surface and plane intersection structure, and the first structure i and the first structure j have the same concavity and convexity; When the first structure i and the first structure j meet the second preset condition, determining a list of associated structures of the first structure j; Use variable k to traverse the associated structure list of the first structure j; Determine whether the first structure k and the first structure i meet a third preset condition, wherein the third preset condition indicates that the first structure k and the first structure i have two common cylindrical surface and plane intersection structures, and the first structure k and the first structure i have the same concavity and convexity; When the first structure k and the first structure i satisfy the third preset condition, determining from the fourth structure group that there is an existing first structure of the target corresponding to the first structure k; The target first structure and the first structure i are merged, and the structural parameters of the updated first structure are updated to obtain an updated third structure group.

4. The method according to claim 3, characterized in that The method further comprises: If any first structure j in the fourth structure group and the first structure i do not satisfy the first preset condition and the second preset condition, and the first structure k in the associated structure list of the first structure j and the first structure i do not satisfy the third preset condition, the first structure i is merged into the fourth structure group, and the number of votes for the first structure i is set to 1; The label of the first structure i is recorded in the newly added triple list.

5. The method according to claim 4, characterized in that The method further comprises: Traversing the newly added triple list and the fifth structure group in the third structure group; Determining whether the newly added first structure and the existing second structure meet a fourth preset condition, wherein the fourth preset condition indicates that the newly added first structure and the existing second structure have a common cylindrical surface and plane intersection structure, and the newly added first structure and the existing second structure have the same concavity and convexity; When the newly added first structure and the existing second structure meet the fourth preset condition, the third structure group is updated.

6. The method according to claim 1, characterized in that The step of updating the third structure group based on the number of partial shootings, the first structure group and the second structure group to obtain an updated third structure group includes: Traversing the second structure group and a fourth structure group in the third structure group; Determine whether the current second structure and the existing first structure satisfy a fifth preset condition, wherein the fifth preset condition indicates that the current second structure and the existing first structure have a common cylindrical surface and plane intersection structure, and the current second structure and the existing first structure have the same concavity and convexity; When the current second structure and the existing first structure meet the fifth preset condition, updating the third structure group; When the current second structure and the existing first structure do not satisfy the fifth preset condition, the current second structure is stored in a temporary storage list.

7. The method according to claim 6, characterized in that The method further comprises: Traversing the temporary storage list and the fifth structure group in the third structure group; Determining whether the temporary second structure and the existing second structure satisfy a sixth preset condition, wherein the sixth preset condition indicates that the temporary second structure and the existing second structure have a common cylindrical and plane intersection structure, and the temporary second structure and the existing second structure have the same concavity and convexity; When the temporarily stored second structure and the existing second structure do not satisfy a sixth preset condition, updating the third structure group; When the temporarily stored second structure and the existing second structure meet the sixth preset condition, the temporarily stored second structure is added to the third structure group, and the third structure group is updated.

8. The method according to claim 1, characterized in that The method further comprises: When the number of the partial shootings is less than the preset number, determining a first stitched point cloud of the first model; Splicing the current local point cloud with the first spliced ​​point cloud; When the number of shootings is equal to a preset number of times, determining a second stitched point cloud of the first model; The current local point cloud is spliced ​​with the second spliced ​​point cloud to obtain a point cloud model of the first model.

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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