一、问题提出 焊缝自动跟踪是焊接自动化的前沿课题,也是自动电弧焊生产中为提高焊接质量,改善劳动条件,提高生产率而迫切需要解决的实际问题。十多年来,在焊缝自动跟踪的研究方面己取得了很大进展,出现了各种各样的跟踪传感器和跟踪系统,但因生产现场焊接条件十分恶劣,各种干扰非常严 First, the problem proposed Automatic welding seam tracking is the forefront of welding automation issues, but also automatic arc welding production to improve the welding quality, improve working conditions, improve productivity and the urgent need to solve the practical problems. For more than ten years, great progress has been made in the research of automatic tracking of welding seam. A variety of tracking sensors and tracking systems have appeared. However, the welding conditions at the production site are very poor and all kinds of interference are very serious