Welding position recognition method, equipment and medium based on point cloud projection skeletonization

Abstract

This application relates to the fields of industrial automation and machine vision technology, and provides a welding position recognition method, device, and medium based on point cloud projection skeletonization. The method acquires a 3D point cloud of a workpiece, performs preprocessing and coordinate system alignment, then crops out the vertical portion of the point cloud and projects it onto a 2D plane to generate an image. This image is then binarized and thinned to obtain a skeleton map. Straight lines are detected from the skeleton map, and vertical welds are identified based on the angle relationships between the lines. Horizontal welds are identified by extracting the image contours. Finally, the coordinates of the recognition results are inversely transformed back to the original space. This invention transforms 3D recognition into 2D image processing, exhibits strong robustness to point cloud defects, can accurately identify both vertical and horizontal welds simultaneously, and has good versatility and high computational efficiency.

Images