【摘要】 激光视觉焊缝跟踪系统已经成为机器人焊接必不可少的关键环节之一，但焊接过程中存在的金属飞溅、烟尘以及强弧光等常见的强噪声干扰，给激光视觉焊缝跟踪的稳定性和精确性带来极大挑战。分别对比了焊缝跟踪最为关键的图像预处理、激光中心线提取、特征点识别三个环节中传统算法与新兴算法的区别，总结归纳各类图像处理算法的检测精度、实时性以及适用场景。并对激光焊缝跟踪技术在焊接领域未来的发展方向进行了展望。更多还原

【Abstract】 Laser vision seam tracking system has become an indispensable key technical equipment for robot welding. Due to the inherent strong noise conditions such as spatter, narrow gap and strong arc light in welding processing, it brings great challenges to the stability and accuracy of laser vision seam tracking system. This paper compares the differences between traditional and emerging algorithms in the three key links of weld seam tracking system: image preprocessing, centerline extraction of weld line structured light stripe and feature point extraction, and summarizes the detection accuracy, real-time performance and applicable scenarios of various image processing algorithms. Finally, the future development direction of laser welding seam tracking technology in the field of welding is prospected.更多还原