基于 3D 视觉的风电塔筒焊缝检测系统设计

为满足风电机组塔筒行业对焊缝外观质量缺陷检测高效性、精确性的需求，采用3D机器视觉技术研制了基于风电塔筒焊缝外观质量缺陷检测系统。首先，通过点云滤波、点云分割、点云精简对采集的点云数据进行预处理，确保后期缺陷评判的准确性；其次，对三维数据进行轮廓切片化处理以及断点拟合处理，得到轮廓特性；再次，采用递归粗提取改进算法提取特征点，进行缺陷评判，获得焊缝外观缺陷检测结果；最后，根据系统焊缝缺陷评判流程及标准，选取典型的焊缝样板进行焊缝宽度、焊缝错边以及焊缝直线度测试，焊缝检测精度可达0.001 mm,速度为当前人工检测速度的3倍，检测结果表明，系统具备高准确性、高速度和高精度特性，能代替人工检测，具有良好的应用前景。

Design of wind turbine tower weld detection system based on 3D vision

In order to meet the demand of high efficiency and accuracy of weld appearance quality defect detection in wind turbine tower cylinder industry, the 3D machine vision technology was used to develop the weld appearance quality defect detection system based on wind turbine tower cylinder. First, the point cloud data was preprocessed by point cloud filtering, point cloud segmentation and point cloud simplification to ensure the accuracy of defect evaluation in the later stage. Secondly, the contour characteristics of 3D data were obtained by slice processing and breakpoint fitting. Thirdly, the improved recursive rough extraction algorithm was used to extract the feature points, and the defect evaluation was carried out to obtain the detection results of weld appearance defects. Finally, according to the evaluation process and standard of weld defects in the system, a typical weld sample is selected to test the weld width, weld dislocation and weld straightness. The weld detection accuracy can reach 0. 001 mm, and the speed is 3 times of the current manual detection speed. The detection results show that the system has the characteristics of high accuracy, high speed and high precision, which can replace manual detection, and has a good application prospect.