Binocular vision-based round nut welding seam integrity defect detection method

A round nut weld integrity defect detection method based on binocular vision comprises the steps that S1, a right camera and a welding plane are vertically installed, the round contour of the top face of a round nut can be clearly seen, a left camera is installed on the other side of the round nut, and binocular calibration of the cameras is completed; s2, acquiring images of the two cameras, fitting the contour of a circle on the top surface of the round nut on the respective images, calculating the pose representation of the circle in a corresponding camera coordinate system, and removing pose ambiguity; s3, determining the center position of the bottom circle of the round nut in the two camera images; s4, determining the contours of the bottom circle of the round nut in the two camera images; s5, determining a standard round welding seam area of the bottom of the round nut in the two camera images; s6, extracting actual welding seam edge contours of the bottom of the round nut on the two camera images; s7,