实现焊接自动化的两个主要难题是:焊缝跟踪和焊接质量控制。其中焊缝跟踪是保证焊接质量的前提,所以实现焊缝的自动跟踪就成为首先要解决的问题。一个焊缝跟踪系统包括以下两个主要的方面:传感器与控制器。传感器根据传感方式的不同可以分为附加式传感器和电弧传感器两大类。传统的焊缝跟踪传感器多数是属于附加式。例如,接触式传感器、电磁传感器和各种光学传感器,这类传感器都在焊炬上固定一个附加的机械、电磁或光学装置,用于检测焊缝的相对位置,其共同的问题就 The two main challenges in achieving weld automation are seam tracking and weld quality control. Among them, seam tracking is the prerequisite to ensure the welding quality, so to realize the automatic tracking of the seam becomes the first problem to be solved. A weld tracking system includes the following two main aspects: sensors and controllers. Sensors according to the different ways of sensing can be divided into additional sensors and arc sensors in two categories. Most of the traditional weld tracking sensors are attached. For example, contact sensors, electromagnetic sensors, and various optical sensors, all of which attach an additional mechanical, electromagnetic or optical device to the torch to detect the relative position of the weld, the common problem