Pipe diameter size detection method and device based on three-dimensional point cloud, and electronic equipment

The invention relates to a pipe diameter size detection method and device based on a three-dimensional point cloud and electronic equipment. The method comprises the following steps: acquiring an initial three-dimensional point cloud of a target workpiece pipe diameter based on a visual guidance system; according to the position, corresponding to the initial three-dimensional point cloud, under the base coordinate system, the optimal pose of a mechanical arm clamping camera is determined, n areas are divided under the view field of the camera, partition photographing is carried out based on the optimal pose, and partition local point cloud is obtained; filtering and noise reduction processing is carried out on the partitioned local point cloud, three-dimensional reconstruction is carried out on the partitioned local point cloud after filtering and noise reduction based on ICP fine registration, and a three-dimensional reconstruction point cloud model of fine registration is obtained; and extracting a target o