Workpiece weld joint identification method based on depth information

The invention provides a workpiece weld joint identification method based on depth information, which comprises the following steps: (1) acquiring the depth information of a workpiece and a weld jointfrom a top view angle, and representing the depth information in a two-dimensional matrix form; (2) preprocessing the data, removing noise influence from the depth information, scaling the depth information to enable all depth values to fall in an interval [0, 255], and converting the depth values into a gray-scale map; (3) carrying out edge detection on the gray-scale map of the depth information, extracting a weld joint area from the gray-scale map, and determining the two edges of the weld joint; (4) sampling the two edges to obtain the depth information and the plane coordinate information of some discrete points; and (5) determining the shape of the weld joint by analyzing the slope change between the sampling points. According to the method, the weld joint is detected by utilizing the depth information of t