Extraction of Feature Points of Small Section Pipeline Intersecting Curve Welds Based on Laser Vision

In order to ensure the quality and efficiency of the extraction of feature points of intersecting curve welds,taking the intersecting curve formed by the orthogonalization of small-section pipes as the study object, a modified slope method combined with the image region of interest was proposed for the extraction of feature points from different orientations of the intersecting curve weld. Firstly, image differencing and morphological opening operations were performed for the weld image with laser stripes. Secondly, contour framing of the laser stripes was carried out by using the contour tracking method, and the centerline of the laser stripes was extracted by using the grey-scale center of gravity method. By analyzing the thined image, the important areas where the feature points were located were set twice according to the horizontal projection combined with the column-by-column search, finally the weighted slope method was used to achieve the identification of the weld feature points. The experimental results show that the method can effectively extract the feature points of the intersecting curve weld with high extraction accuracy and efficiency, and it is suitable for practical pipe component welding.