一种基于分形插值原理的焊缝轨迹识别方法

针对机器人智能化实时焊缝跟踪和视觉自动化轨迹识别对焊枪自主整合焊缝的焊接质量稳定性的影响，探讨平面焊缝的图像特征，提出了一种基于分形插值模型的焊缝轨迹图形处理方法，通过分析矩形域内分形曲面的少量数据，建立焊缝的分形几何形态，仿真其粗糙表面，根据所得结果可以快速、准确地捕捉具有分形特征的平面焊缝，实现实时焊缝跟踪及轨迹识别，提高焊缝整合的质量稳定性。以平面曲线焊缝为实例进行模拟，结果表明该研究模型可以有效提高平面焊缝轨迹识别的精度，验证了分形插值仿真在求解焊缝轨迹识别问题时的有效性。

A method for recognition of weld trails based on fractal interpolating principle

Aiming at the influence of robot intelligent real-time weld tracking and visual automatictrack recognition on the welding quality stability of the welding gun, the image characteristics of theplanar weld were discussed, a method of image processing of weld track based on fractal interpolationmodel was presented. By analyzing a smallamount of data of fractal surfaces in the rectangulardomain, the fractal geometry of the weld is established, and its rough surface is simulated. Accordingto the results, the planar weld with fractal characteristics can be quickly and accurately captured , andreal-time weld tracking and trajectory recognition can be realized to improve the quality stability ofweld integration. The results show that the model can effectively improve the precision of the weldpath recognition, and verify the effectiveness of fractal interpolation simulation in solving the weld traj- ectory recognition problem.