The application relates to the fields of
machine vision and intelligent
welding, and discloses a
fillet weld point cloud feature extraction method based on bidirectional Euclidean constraint and
quartile distance statistical truncation. In non-standard flexible sheet
processing, the theoretical features are suspended due to
thermal deformation, the side wall topological features are misdirected, and the end points of the teaching-
free system are deviated due to point
solid welding splashing,
pose singularity and interference collision and other composite pain points; the application is characterized in that the space affine dimension reduction is realized through the Rodriguez transformation, the side wall interference is accurately removed through the rotating minimum circumscribed rectangle feature, the entity point array deeply embedded in the gap is extracted through the bidirectional Euclidean projection
joint evaluation model, the random
assembly gap is resisted through the multiplicative feedback state
machine, the non-parametric statistical truncation mechanism of the interquartile range (IQR) is introduced after the fitting feature, the heavy-tailed
noise is adaptively stripped to accurately position the physical end point, the TCP
pose is reconstructed through the Schmidt
orthogonalization, the four-point anti-collision
servo track is generated, and high-fidelity dynamic tracking and safe anti-collision guidance under extreme working conditions are realized.