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提出了一种在机器人电弧焊过程中进行轨迹跟踪的实时图象处理方法。焊缝图象由ＣＣＤ摄像系统摄取。通过图象采集系统和计算机软件处理，得到机器人的运动轨迹与实际焊缝之间的偏差，据此控制机器人运动进行实时跟踪。对于Ｖ型坡口和搭接接头，其可靠性达９７％以上。如果用多台摄像机同时处理焊缝图象，则可以检测出焊缝的三维信息。本算法的轨迹跟踪精度为 ０． ４ ｍｍ。可用于机器人运动轨迹的自动规划。
A real-time image processing method for trajectory tracking during robot arc welding is proposed. Weld images taken by the CCD camera system. Through the image acquisition system and computer software processing, the deviation between the robot trajectory and the actual weld can be obtained, and the robot motion can be controlled for real-time tracking. For V-groove and lap joints, the reliability of more than 97%. If you use multiple cameras simultaneously processing the weld image, you can detect the three-dimensional weld information. The trajectory tracking accuracy of this algorithm is zero. 4 mm. Can be used for automatic planning of robot trajectory.