The invention belongs to the technical field of
point cloud recognition, and particularly relates to a
pressure vessel end socket
welding method for selecting a
welding point based on a
moving average slope, which comprises the following steps: S1, creating a cylindrical 3D ROI (
Region of Interest) area; extracting original point clouds in the ROI as ROI point clouds; s2, creating a section coplanar with the central axis of the cylinder, splitting the
point cloud of the ROI, and taking points with the
vertical distance to the section smaller than a preset distance as section points to obtain a section
point set; s3, segmenting the section
point set at a central point, and dividing the section
point set into two sections of point clouds; s4, for each section of
point cloud obtained in the S3, identifying whether an abnormal point exists or not according to a preset identification method; and S5, rotating the section around the central axis according to a preset rotation angle, and returning to S2 to execute subsequent operation until a preset stop condition is met. According to the method, the inner wall interference and the real edge can be distinguished,
welding point selection is optimized in combination with the local geometric trend, and high-precision and high-robustness seal head connecting
pipe welding positioning is achieved.