Weld Seam Identification and Calibration Method of Spiral Steel Pipe Grinding Robot

The identification and calibration of weld seam is the key to solve the problem of low efficiency and low quality in weld grinding of spiral welded steel pipe. For the identification of internal and external weld seams of spiral welded steel pipes, this paper proposes three weld seam identification methods, which are respectively based on the sum of squares of residuals (RSS), template matching and segmentation search; In addition, aiming at the calibration of the feature points of the weld, this paper proposes the farthest distance method and slope analysis method to calibrate the left and right inflection points of the weld. The experimental results show that the three weld seam identification methods can accurately identify the relative position of the laser profiler and the weld seam. The weld seam calibration method can enable the feature points to be accurately identified and calibrated, guaranteeing subsequent pipe end weld removal.