Intelligent recognition and automatic localization of pipeline welds based on multi-vision system

Abstract Currently, the leakage detection of spacecraft pipeline welds relies on manual point-by-point inspection using a detection gun, which is inefficient and inadequate for the automation needs of spacecraft production. However, the accurate recognition and precise localization of widely distributed and small pipeline welds are crucial for automated detection. Therefore, this paper proposes a multi-vision detection and localization system that integrates global and local information, considering both comprehensive global 3D search and high-precision local 3D measurement. The improved YOLOv8 model is employed for pipeline weld recognition, which improves the recognition rate of welds. Based on the deep learning recognized and segmented welds, this paper proposes stereo matching and segmentation extraction methods for 3D localization and pipeline orientation determination. Additionally, the system integrates a robot to perform automated point-by-point inspection of welds within the area without collisions. The experimental results demonstrate the effectiveness of the improved YOLOv8 and the proposed methods for 3D weld localization and pipeline orientation determination. The maximum deviation of the spatial distance of fine weld positioning is 0.20 mm, and the repeatability of the 3D coordinates is around 0.1 mm. The system can perform precise localization and detection, meeting the requirements for automatic weld recognition and localization.