Reinforcing bar weld bead detection method and device

Abstract

To provide a reinforcing bar weld bead detection method and device.SOLUTION: A method is applied to a weld bead detection device, and includes the steps of: acquiring first point group data of a detection area, wherein the first point group data includes a plurality of discrete point data including a color value and plane coordinates; determining a plurality of contour points of a detection object weld bead on the basis of the first point group data; acquiring dimensional information of the detection object weld bead on the basis of plane coordinates corresponding to each of the plurality of contour points, wherein the dimensional information includes the length and width of the detection object weld bead; and determining the detection object weld bead as a successful weld bead in the case that the dimensional information satisfies a preset condition. The present means enables quantitative detection of a weld bead, and thereby improves the efficiency of detecting the weld bead.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] This application relates to the technical field of weld bead detection, and more particularly to a method and apparatus for detecting rebar weld beads. [Background technology]

[0002] Steel bars are particularly common in construction sites as steel materials for producing reinforced concrete and prestressed reinforced concrete, and are widely used in a variety of building structures.

[0003] When using rebars on site, they need to be assembled into a rebar cage or other specific shapes, and additional welding processing is required for the rebars during the assembly process, so that it is extremely necessary to detect the weld beads after welding in order to ensure the robustness of the assembled finished product and to avoid safety accidents. Currently, the most common method for detecting weld beads is manual detection, in which workers judge the reliability of the weld beads by visual inspection or with a ruler.

[0004] However, the judgment results on the quality of the weld bead may vary from person to person, making it difficult to form a quality standard that can be quantitatively detected, and therefore the detection efficiency is low.

[0005] Therefore, an efficient and accurate rebar weld bead detection method and apparatus is highly desirable. Summary of the Invention [Problem to be solved by the invention]

[0006] The present application provides a rebar weld bead detection method and apparatus, which allows for quantitative detection of the weld bead, thereby improving the efficiency of weld bead detection. [Means for solving the problem]

[0007] According to a first aspect, the present application provides a rebar weld bead detection method, applied to a weld bead detection device, the method including the steps of: acquiring first point cloud data of a detection area, the first point cloud data including a plurality of discrete point data including color values ​​and plane coordinates; determining a plurality of contour points of a weld bead to be detected based on the first point cloud data; obtaining dimensional information of the weld bead to be detected based on plane coordinates corresponding to each of the plurality of contour points, the dimensional information including a length and a width of the weld bead to be detected; and determining the weld bead to be detected as a passing weld bead if the dimensional information satisfies a preset condition.

[0008] By adopting the above technical solution, the weld bead detection device obtains the outer contour of the weld bead to be detected based on the point cloud data of the detection area, thereby determining the position and outer contour of the weld bead to be detected, and further obtains the dimensional information of the weld bead to be detected based on the point set on the outer contour. This reduces the labor cost in the process of detecting a large number of weld beads and reduces the misjudgment caused by the manual detection process. Finally, the dimensional information is compared with the preset conditions to judge whether the weld bead to be detected is acceptable, thereby unifying the quality standard and realizing the weld bead detection simply and efficiently.

[0009] According to a second aspect, the present application provides a rebar weld bead detection device, comprising: a probe module; and a data processing module, wherein: The sensing module is adapted to obtain a first point cloud data of a detection area, the first point cloud data including a plurality of discrete point data including color values ​​and plane coordinates; The data processing module is used for determining a plurality of contour points of the weld bead to be detected based on the point cloud data, obtaining dimensional information of the weld bead to be detected based on planar coordinates corresponding to each of the plurality of contour points, the dimensional information including a length and a width of the weld bead to be detected, and determining the weld bead to be detected as a passing weld bead if the dimensional information satisfies a preset condition.

[0010] By adopting the above technical solution, the detection module obtains the outer contour of the weld bead to be detected based on the point cloud data of the detection area, and thereby determines the position and outer contour of the weld bead to be detected, and the data processing module further obtains the dimensional information of the weld bead to be detected based on the point set on the outer contour, thereby reducing the labor cost and misjudgment caused by the manual detection process in the process of detecting a large number of weld beads. Finally, the dimensional information is compared with the preset conditions to determine whether the weld bead to be detected is acceptable, thereby unifying the quality standard and realizing the weld bead detection simply and efficiently.

[0011] Optionally, before the step of acquiring point cloud data of the detection area, specifically, a detection module is used to acquire second point cloud data of an initial area, where the second point cloud data includes a plurality of initial discrete point data, and a data processing module is used to determine center position information corresponding to each of a plurality of pre-defined marks based on the second point cloud data, where the pre-defined marks are mark points that form a predetermined shape with a plurality of marker discrete points, and the plurality of pre-defined marks are at least three, and the detection area is obtained based on the center position information corresponding to each of the plurality of pre-defined marks.

[0012] By adopting the above technical solution, because the initial area is large, when the detection module identifies the detection area where the weld bead to be detected is located from the initial area, the position of the detection area is determined by identifying a mark point of a predetermined shape that is preset in the initial area, and then only the point cloud data within the detection area needs to be processed, thereby simplifying the complexity of data processing and shortening the data processing time.

[0013] Optionally, the detection module is used for comparing color values ​​corresponding to each of the plurality of initial discrete point data with respective preset color values ​​to obtain a plurality of the marker discrete points constituting the predetermined shape, and the data processing module is used for fitting plane coordinates of the plurality of the marker discrete points to obtain a plurality of contour lines of the predetermined shape, and obtaining center position information corresponding to each of the plurality of the preset marks based on the plurality of contour lines of the predetermined shape.

[0014] By adopting the above technical solution, the initial area includes not only the preset mark points and weld beads, but also other production tools, in which the mark points are set to a predetermined shape, and the predetermined shape is identified when identifying the mark points, so that the accurate position of each mark point can be determined, the accurate position of the detection area can be obtained, and the influence of external factors on detection can be reduced.

[0015] Optionally, the detection module is used for acquiring a plurality of point cloud data within the detection area, the plurality of point cloud data being point cloud data collected under the same environment at different time points; the data processing module is used for aligning the planar coordinates of the third point cloud data based on the reference point cloud data to obtain aligned point cloud data, the third point cloud data being any one of the plurality of point cloud data, and the reference point cloud data being any one of the plurality of point cloud data excluding the third point cloud data; calculating an average value of the reference point cloud data and the aligned point cloud data to obtain the first point cloud data.

[0016] By adopting the above technical solution, when obtaining the point cloud data of the detection area, multiple collections are required to reduce the abnormal values ​​in the collected data, and the detection module aligns the multiple collected data with the reference point cloud data to obtain accurate point cloud data with fewer abnormal values, and further improves the accuracy of the weld bead detection.

[0017] Optionally, the data processing module is used to obtain a color value of sample discrete point data, the sample discrete point data being any one of a plurality of the discrete point data, and if the color value of the sample discrete point data is within a predetermined color value range of the weld bead, to determine the sample discrete point as a contour point of the weld bead to be detected.

[0018] By adopting the above technical solution, the data processing module compares the color value of the sample discrete point with a preset color value range of the weld bead, and thereby determines whether the discrete point is a contour point of the weld bead to be detected, thereby improving the accuracy of the dimension detection of the weld bead.

[0019] Optionally, the data processing module is used to function fit plane coordinates corresponding to each of the plurality of contour points to obtain a fitting curve, determine an outer contour line of the weld bead to be detected based on the fitting curve, and determine dimensional information of the weld bead to be detected based on the outer contour line.

[0020] By adopting the above technical solution, multiple contour points of the weld bead to be detected are fitted to a curve, and dimensional information of the weld bead to be detected is obtained based on the set of points on the fitting curve, thereby reducing the impact of errors due to the contour points on the judgment result.

[0021] Optionally, if the length of the weld bead to be detected is within a preset length range and the width of the weld bead to be detected is within a preset width range, the weld bead to be detected is determined to be a passing weld bead.

[0022] By adopting the above technical solution, the quality standard of the weld bead detection is unified, and the detection efficiency of the weld bead is thereby improved.

[0023] According to a third aspect, the present application provides an electronic device comprising a processor, a memory, a user interface and a network interface, the memory being adapted to store instructions, the user interface and the network interface being adapted to communicate with other devices, and the processor being adapted to execute instructions stored in the memory to cause the electronic device to perform a method according to any one of the first aspect.

[0024] According to a fourth aspect, the present application provides a computer-readable storage medium having instructions stored thereon that, when executed, perform a method according to any one of the first aspects. Effect of the Invention

[0025] As described above, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The weld bead detection device obtains the outer contour of the weld bead to be detected based on the point cloud data of the detection area, thereby determining the position and outer contour of the weld bead to be detected, and further obtains the dimensional information of the weld bead to be detected based on the point set on the outer contour. This reduces the labor costs in the process of detecting a large number of weld beads and reduces the misjudgment caused by the manual detection process. Finally, the dimensional information is compared with the preset conditions to judge whether the weld bead to be detected is acceptable, thereby unifying the quality standard and realizing the weld bead detection simply and efficiently. 2. The initial area includes not only the preset mark points and weld beads, but also other production tools. In this case, the mark points are set to a predetermined shape, and the predetermined shape is identified when identifying the mark points, thereby determining the exact position of each mark point, obtaining the exact position of the detection area, and reducing the influence of external factors on detection. [Brief description of the drawings]

[0026] [Figure 1] 1 is a structural schematic diagram of a welding bead detection device provided in an embodiment of the present application. [Diagram 2] 1 is a schematic flowchart of a weld bead detection method provided in an embodiment of the present application. [Diagram 3] 1 is a schematic flowchart of a method for dividing a weld bead detection area provided in an embodiment of the present application. [Figure 4] 1 is a structural schematic diagram of a welding bead detection device provided in an embodiment of the present application. [Diagram 5] 1 is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] In order to enable those skilled in the art to better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some embodiments of the present application, but not all embodiments.

[0028] In describing the embodiments of the present application, terms such as "for example" or "for example" are used to indicate an example, illustration, or explanation. Any embodiment or design described in the embodiments of the present application as "for example" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, use of terms such as "for example" or "for example" is intended to present the relevant concept in a concrete manner.

[0029] In the description of the embodiments of the present application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are merely for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly identifying the technical features shown. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. "Include", "contain", "have" and variations thereof mean "including, but not limited to", unless specifically emphasized otherwise.

[0030] Steel bars refer to steel materials for reinforced concrete and prestressed reinforced concrete, which are especially common in construction sites and are widely used in various building structures, especially large, heavy, light-weight thin-walled and high-rise building structures. When used on site, the steel bars need to be assembled into a steel cage or other specific shape, and additional welding processing is required for the steel bars during the assembly process. In order to ensure the robustness of the assembled finished product and to avoid the occurrence of safety accidents, it is extremely necessary to detect the weld beads after welding.

[0031] Currently, the most common method for detecting weld beads is manual detection, in which workers judge the reliability of the weld beads by visual inspection or by ruler. However, manual detection is prone to misjudgment, oversight, and low efficiency, and the judgment results may vary from person to person, making it difficult to form a quantifiable quality standard, resulting in low detection efficiency.

[0032] Before describing the embodiments of the present application, the present application provides a structural schematic diagram of a welding bead detection device. As shown in Fig. 1, the welding bead detection device includes a detection module 1, a data processing module 2, and an electric pan head 3. Here, the detection module 1 adopts a 3D laser depth camera and is used for collecting digital data for objects within the detection range, the data processing module 2 is used for processing the collected data, operating the electric pan head 3, and extracting, judging, and displaying welding bead information, and the electric pan head 3 is used for fixing the detection device and can be rotated at multiple angles to optimize the detection field of view, and can be attached to a robot arm according to different welding robots.

[0033] In order to solve the above problems, the present application provides a rebar weld bead detection method, which is applied to a weld bead detection device, and as shown in FIG. 2, the method includes steps S101 to S104.

[0034] In S101, a first point cloud data of a detection area is obtained, and the first point cloud data includes a plurality of discrete point data including color values ​​and plane coordinates.

[0035] In the above step, after the welding is completed, the worker fixes the target rebar on the detection table, and at this time, the data processing module 2 adjusts the motorized pan head 3 according to the point cloud data collected by the detection module 1, so that the detection area of ​​the detection module 1 covers the area where the target weld bead is located, and the area is located in the center of the detection area, thereby achieving the optimal detection angle. At this time, the detection module 1 obtains the point cloud data of the initial area.

[0036] After obtaining the point cloud data of the initial area, the initial area contains a large amount of unnecessary blank areas, so that the complexity of data processing is simplified and the data processing time is shortened. The probe module 1 obtains the point cloud data of the initial area, where the point cloud data can be understood as a collection of point cloud data of the appearance surface of the product obtained by a measuring instrument in reverse engineering. Therefore, the point cloud data of the initial area includes a plurality of initial discrete point data, and each initial discrete point data includes the color value and the plane coordinate of the discrete point. Then, the data processing module 2 compares the color value corresponding to each of the plurality of initial discrete point data with the respective preset color values ​​based on the point cloud data of the initial area, obtains a plurality of marker discrete points constituting a predetermined shape, and performs fitting based on the plane coordinates of the plurality of marker discrete points to obtain a plurality of contour lines of the predetermined shape. Finally, based on the contour line of the predetermined shape, calculates the center position information corresponding to each of the plurality of preset mark points in the initial area. At this time, the detection area is the area connecting the center positions of the plurality of preset mark points. In this process, the excess blank areas are removed from the initial area to reduce the amount of data processing and accelerate the data processing speed. Here, the plurality of pre-defined marks can be understood as mark points that constitute a predetermined shape with a plurality of marker discrete points, and the marker discrete points are a part of the plurality of initial discrete points. The center position information may be the center of gravity of the predetermined shape. The number of the pre-defined marks is at least three.

[0037] For example, as shown in FIG. 3, FIG. 3a is the initial region, which includes rebar, weld bead, bottom plate and production tool. At this time, the bottom plate and production tool in FIG. 3a will have an erroneous influence on the identification of the weld bead during the data processing process. Therefore, in FIG. 3b, the weld bead detection device obtains four pre-set marks A, B, C and D by processing the point cloud data of the initial region. Then, as shown in FIG. 3c, the four pre-set marks are curve-fitted to obtain their respective outer contours. Finally, as shown in FIG. 3d, the center positions of the four pre-set marks are connected to obtain the second region, and the second region becomes the detection region.

[0038] In the process of identifying the preset mark, the setting of the predetermined shape may be a circle, a rectangle or a polygon, and is not limited in the present application. The initial area includes not only the weld bead to be detected, but also other production tools such as the detection tool and the bottom plate, and the colors, positions and shapes of these production tools are different, so that the production tools will affect the identification of the detection module 1 with errors. Therefore, by setting the predetermined shape, in the identification process of the detection module 1, a number of initial discrete points constituting the predetermined shape are used as marks, thereby determining a detection area that includes the weld bead to be detected and has few production tools. In this process, the marks are not points, but the predetermined shape, which not only increases the identification degree of the mark, but also greatly reduces the possibility of misjudgment of the mark points.

[0039] In S102, a plurality of contour points of the weld bead to be detected are determined based on the first point cloud data.

[0040] In the above step, after obtaining the point cloud data of the detection area, the color value of the sample discrete point data is compared with the preset color value range of the weld bead, and if the color value of the sample discrete point data is within the preset color value range of the weld bead, the sample discrete point is determined as a contour point of the weld bead to be detected. Here, the sample discrete point is any one of a plurality of discrete point data in the detection area, and the color value of the sample discrete point can be understood as the RGB value of the discrete point. In this way, the outline shape of the weld bead to be detected is obtained. Of course, the discrete point data includes not only color values ​​but also point information such as reflectance and intensity information. Therefore, when the accuracy requirements of the weld bead are relatively high, more dimensions of comparison can be made to obtain accurate contour points, and the specific judgment criteria are determined according to the actual situation, so the description thereof is omitted here.

[0041] In S103, dimensional information of the detection target weld bead is obtained based on the plane coordinates corresponding to each of the plurality of contour points, and the dimensional information includes the length and width of the detection target weld bead.

[0042] In the above step, the contour points of the weld bead to be detected can only obtain a rough shape, so in order to obtain a more accurate dimension of the weld bead, the plane coordinates corresponding to each of the contour points are curve-fitted to obtain a fitting curve. In this process, if the plane coordinates of the contour point are not on the fitting curve, the contour point is projected onto the fitting curve. At this time, the fitting curve is the outer contour of the weld bead to be detected. Here, the curve fitting can be spline curve fitting or polynomial fitting, and since the curve fitting is a common technical means of those skilled in the art, its description is omitted in this embodiment.

[0043] To determine dimensional information of the weld bead to be detected, the weld bead detection device calculates the coordinate position of each contour point on the fitting curve based on the equation of the fitting curve, thereby calculating the width and length of the weld bead, where the width is the distance between the two most distant points in the width direction of the weld bead to be detected, and the length is the distance between the two most distant points in the length direction of the weld bead to be detected.

[0044] In S104, if the dimensional information satisfies a preset condition, the detection target weld bead is determined to be a passing weld bead.

[0045] In the above steps, the preset conditions are understood as the inspection standard for the process quality of the weld bead, and the welding requirements differ depending on the rebar. For example, for a truss rebar, the inspection standard for the process quality of the weld bead is 5d for double-sided welding, 10d for single-sided welding, and the error range is -5mm~5mm. For example, when the diameter d of the rebar is 30mm, single-sided welding is used and the weld bead length needs to be 300mm. If the weld bead length is 299mm, the weld bead is acceptable.

[0046] In a possible embodiment, the step of acquiring the first point cloud data of the detection area specifically includes a step of acquiring a plurality of point cloud data within the detection target area, where the plurality of point cloud data are point cloud data collected under the same environment at different times; a step of aligning the planar coordinates of the third point cloud data based on the reference point cloud data to obtain aligned point cloud data, where the third point cloud data is any one of the plurality of point cloud data, and the reference point cloud data is any one of the plurality of point cloud data excluding the third point cloud data; and a step of calculating an average value of the reference point cloud data and the aligned point cloud data to obtain the first point cloud data.

[0047] Specifically, when acquiring point cloud data of the detection area, multiple collections are required to reduce outliers in the collected data. Point cloud data collected multiple times is different from data collected at different times even under the same environment. For example, point cloud data collected at a first time includes a first discrete point, and point cloud data collected at a second time includes a second discrete point. Here, the first discrete point and the second discrete point are both discrete points at the same position, and the second time is later than the first time. However, since the probe module 1 has a certain measurement error, a deviation occurs in the positions of the first discrete point and the second discrete point. At this time, the position where the second discrete point is located is replaced by another discrete point, which causes a measurement error. Therefore, the probe module 1 performs point cloud alignment of the plane coordinates of the third point cloud data based on the reference point cloud data to obtain aligned point cloud data. Here, the reference point cloud data may be any one of the collected multiple point cloud data. The third point cloud data is the point cloud data that needs to be aligned. After all the point cloud data are aligned, the average value of the reference point cloud data and the aligned point cloud data is calculated, thereby obtaining the point cloud data of the detection area. In this process, the point cloud data has fewer outliers and is more accurate, thereby improving the accuracy of weld bead detection.

[0048] The present application provides a rebar weld bead detection apparatus, as shown in FIG. 4, the weld bead detection apparatus includes a detection module 1 and a data processing module 2, where: The sensing module 1 is used for obtaining a first point cloud data of a detection area, the first point cloud data including a plurality of discrete point data including color values ​​and plane coordinates; The data processing module 2 is used to determine a plurality of contour points of the weld bead to be detected based on the first point cloud data, obtain dimensional information of the weld bead to be detected based on planar coordinates corresponding to each of the plurality of contour points, the dimensional information including the length and width of the weld bead to be detected, and determine the weld bead to be detected as a passing weld bead if the dimensional information satisfies a preset condition.

[0049] In a possible embodiment, before obtaining the point cloud data of the detection area, specifically, the sensing module 1 is used for obtaining second point cloud data of the initial area, where the second point cloud data includes a plurality of initial discrete point data, and the data processing module 2 is used for determining center position information corresponding to each of a plurality of pre-defined marks based on the second point cloud data, where the pre-defined marks are mark points that form a predetermined shape with a plurality of marker discrete points, and the plurality of pre-defined marks are at least three, and obtaining the detection area based on the center position information corresponding to each of the plurality of pre-defined marks.

[0050] In a possible embodiment, the detection module 1 is used for comparing color values ​​corresponding to each of the plurality of initial discrete point data with preset color values, and obtaining a plurality of marker discrete points constituting a predetermined shape, and the data processing module 2 is used for fitting the plane coordinates of the plurality of marker discrete points to obtain contour lines of the predetermined shape, and determining center position information corresponding to each of the plurality of preset marks based on the contour lines of the predetermined shape.

[0051] In a possible embodiment, the detection module 1 is used for acquiring multiple point cloud data within the detection target area, where the multiple point cloud data are point cloud data collected under the same environment at different time points; the data processing module 2 is used for aligning the planar coordinates of the third point cloud data based on the reference point cloud data to obtain aligned point cloud data, where the third point cloud data is any one of the multiple point cloud data and the reference point cloud data is any one of the multiple point cloud data excluding the third point cloud data; calculating the average value of the reference point cloud data and the aligned point cloud data to obtain the first point cloud data.

[0052] In a possible embodiment, the data processing module 2 is used to obtain a color value of the sample discrete point data, where the sample discrete point data is one of a plurality of discrete point data, and if the color value of the sample discrete point data is within a predetermined color value range of the weld bead, determine the sample discrete point as a contour point of the weld bead to be detected.

[0053] In a possible embodiment, the data processing module 2 is used to function fit the plane coordinates corresponding to each of the multiple contour points to obtain a fitting curve, determine an outer contour of the weld bead to be detected based on the fitting curve, and determine dimensional information of the weld bead to be detected based on the outer contour.

[0054] In a possible embodiment, if the length of the weld bead to be detected is within a preset length range and the width of the weld bead to be detected is within a preset width range, the weld bead to be detected is determined to be a passing weld bead.

[0055] In addition, the device provided in the above embodiment is exemplified by only dividing the above functional modules when implementing its functions, and in actual application, the above functions are assigned to different functional modules to be completed as necessary, that is, the internal structure of the device is divided into different functional modules to realize all or part of the above-described functions. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process thereof is referred to in detail in the method embodiment, and the description thereof is omitted here.

[0056] The present application further provides an electronic device. Referring to FIG. 5, FIG. 5 is a schematic diagram showing the structure of an electronic device disclosed in an embodiment of the present application. The electronic device 500 may include at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.

[0057] Here, a communication bus 502 is used to realize the connection communication between these components.

[0058] Here, the user interface 503 may include a display and a camera, and optionally, the user interface 503 may further include a standard wired interface and a wireless interface.

[0059] Here, the network interface 504 optionally includes a standard wired interface, a wireless interface (eg, a WI-FI interface).

[0060] Here, the processor 501 may include one or more processing cores. The processor 501 connects each part of the entire server using various interfaces and lines, operates or executes instructions, programs, code sets or instruction sets stored in the memory 505, and executes various functions and processing data of the server by calling up data stored in the memory 505. Optionally, the processor 501 may be realized in at least one hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 501 may integrate one or more combinations of a central processing unit (CPU), a graphics processing unit (GPU), a modem, etc. Here, the CPU mainly processes an operating system, a user interface, and application programs, etc., the GPU is used to render and draw content that needs to be displayed on a display, and the modem is used to handle wireless communication. As will be appreciated, the modem may be implemented on a single chip rather than being integrated into the processor 501 .

[0061] Here, the memory 505 may include a random access memory (RAM) or a read-only memory. Optionally, the memory 505 includes a non-transitory computer-readable storage medium. The memory 505 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 505 may include a storage program area and a storage data area, where the storage program area is used to store instructions for implementing an operating system, instructions for at least one function (e.g., touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc., and the storage data area can store data related to the above-mentioned method embodiments, etc. The memory 505 may be at least one storage device that is optionally located remotely from the processor 501. Referring to FIG. 5, the memory 505, which is a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program of the rebar weld bead detection method.

[0062] In the electronic device 500 shown in FIG. 5, the user interface 503 is mainly used as an interface for providing input to a user, and the processor 501 may be used to call an application program of the rebar weld bead detection method stored in the memory 505, which, when executed by one or more processors 501, causes the electronic device 500 to execute one or more of the above-mentioned methods of the above-mentioned embodiments. Note that, for the sake of simplicity, the above-mentioned embodiments of the methods are all expressed as a combination of a series of operations, but those skilled in the art will recognize that the present invention is not limited by the order of operations described, and that according to the present invention, certain steps can adopt other orders or be performed simultaneously. Next, those skilled in the art will recognize that all of the embodiments described in this specification belong to preferred embodiments, and the operations and modules mentioned are not necessarily required for the present application.

[0063] In the above embodiments, the description of each embodiment focuses on its own, and for the parts of an embodiment that are not described in detail, please refer to the relevant descriptions of other embodiments.

[0064] In some embodiments provided in the present application, it should be understood that the disclosed device can be realized in other forms. For example, the above-described device examples are merely illustrative, and the division of units is merely a division in terms of logical functions, and can be divided in other forms when implemented, for example, multiple units or components can be combined or integrated into another system, or some features can not be reflected or executed. In addition, the mutual coupling or direct coupling or communication connection described or discussed can be an indirect connection or communication connection using some interfaces, devices or units, and can be in an electrical form or other form.

[0065] Units described as separate elements may or may not be physically separate, and elements shown as units may be physical units or may not be physical units, i.e. may be co-located or may be located in multiple network units. Depending on the needs, only some units or all units may be used to achieve the objectives of the aspects of this embodiment.

[0066] In each embodiment of the present application, each functional unit may be integrated into one processing unit, but each unit may exist as a separate physical component, or two or more units may be integrated into one unit. The integrated units may be realized in the form of hardware or software functional units.

[0067] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable memory. Based on this understanding, the essential or prior art part of the technical solution of the present application or all or part of the technical solution can be expressed in the form of a software product, and the computer software product is stored in a memory and includes some instructions used to make a computer device (such as a personal computer, a server, or a network device) execute all or part of the steps of the method of each embodiment of the present application. The memory includes various media that can store program code, such as a U disk, a mobile hard disk, a magnetic disk, or an optical disk.

[0068] The above are merely illustrative examples of the present disclosure, and the scope of the present disclosure cannot be limited thereby. That is, all equivalent changes and modifications made based on the teachings of the present disclosure are within the scope of the present disclosure. After reviewing the disclosure of the specification and the practical truth, a person skilled in the art will easily come up with other embodiments of the disclosure.

[0069] This application is intended to cover any variations, uses, or adaptations of the present disclosure, including those that are within the scope of the general principles of the present disclosure, but which are not described in the present disclosure and are within the scope of the common technical knowledge or customary techniques in the art. The specification and examples are to be considered as exemplary only, with the scope and spirit of the present disclosure being limited only by the claims. [Explanation of symbols]

[0070] 1...detection module, 2...data processing module, 3...motorized head, 500...electronic device, 501...processor, 502...communication bus, 503...user interface, 504...network interface, 505...memory.

Claims

1. 1. A rebar weld bead detection method, applied to a weld bead detection device, the method comprising: acquiring first point cloud data of a detection area, the first point cloud data including a plurality of discrete point data including color values ​​and plane coordinates; determining a plurality of contour points of a target weld bead based on the first point cloud data; obtaining dimensional information of the target weld bead based on plane coordinates corresponding to each of the plurality of contour points, the dimensional information including a length and a width of the target weld bead; and determining the detection target weld bead as a passing weld bead if the dimensional information satisfies a preset condition.

2. Prior to the step of acquiring point cloud data of the detection area, acquiring second point cloud data of an initial region, the second point cloud data including a plurality of initial discrete point data; determining center position information corresponding to each of a plurality of preset marks based on the second point cloud data, the preset marks being mark points that form a predetermined shape with a plurality of marker discrete points, and the number of the preset marks being at least three; and obtaining the detection region based on center position information corresponding to each of a plurality of the preset marks.

3. The step of determining central position information of a plurality of preset marks based on the second point cloud data includes: a step of comparing a color value corresponding to each of the plurality of initial discrete point data with a predetermined color value, thereby obtaining a plurality of the marker discrete points constituting the predetermined shape; fitting plane coordinates of the plurality of discrete marker points to obtain a plurality of contour lines of the predetermined shape; and determining center position information corresponding to each of the plurality of predefined marks based on contour lines of the plurality of predetermined shapes.

4. The step of acquiring first point cloud data of a detection area includes: acquiring a plurality of point cloud data within the detection area, the plurality of point cloud data being point cloud data collected at different times under the same environment; a step of performing point cloud alignment of the plane coordinates of the third point cloud data based on the reference point cloud data to obtain aligned point cloud data, the third point cloud data being any one of the plurality of point cloud data, and the reference point cloud data being any one of the plurality of point cloud data excluding the third point cloud data; 2. The method of claim 1, further comprising: calculating an average value of the reference point cloud data and the registration point cloud data to obtain the first point cloud data.

5. The step of determining a plurality of contour points of a detection target weld bead based on the first point cloud data includes: obtaining color values ​​of sample discrete point data, the sample discrete point data being any one of a plurality of the discrete point data; and determining the sample discrete points as contour points of the weld bead to be detected when the color values ​​of the sample discrete point data are within a preset color value range of the weld bead.

6. The step of obtaining dimensional information of the detection target weld bead based on plane coordinates corresponding to each of the plurality of contour points includes: fitting a function to plane coordinates corresponding to each of the plurality of contour points to obtain a fitting curve; determining an outer contour line of the weld bead to be detected based on the fitting curve; and determining dimensional information of the detected weld bead based on the outer contour.

7. The step of determining the detection target weld bead as a passing weld bead when the dimensional information satisfies a preset condition includes:

2. The method of claim 1, further comprising determining the weld bead to be detected as a passing weld bead if the length of the weld bead to be detected is within a preset length range and the width of the weld bead to be detected is within a preset width range.

8. A rebar weld bead detection device, comprising: a sensing module (1) and a data processing module (2), wherein: The sensing module (1) is used to obtain a first point cloud data of a detection area, the first point cloud data including a plurality of discrete point data including color values ​​and plane coordinates; The data processing module (2) is used to determine a plurality of contour points of the weld bead to be detected based on the point cloud data, obtain dimensional information of the weld bead to be detected based on planar coordinates corresponding to each of the plurality of contour points, the dimensional information including the length and width of the weld bead to be detected, and determine the weld bead to be detected as a passing weld bead if the dimensional information satisfies a predetermined condition.

9. An electronic device comprising a processor (501), a memory (505), a user interface (503) and a network interface (504), wherein the memory (505) is used for storing instructions, the user interface (503) and the network interface (504) are used for communicating with other devices, and the processor (501) is used for executing instructions stored in the memory (505) to cause the electronic device (500) to perform a method according to any one of claims 1 to 7.

10. A computer readable storage medium having instructions stored thereon which, when executed, perform a method according to any one of claims 1 to 7.

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