中文摘要：

概述了焊缝跟踪的几种传感方式,并重点介绍了基于视觉传感的焊缝跟踪技术,对几种视觉传感方式的基本原理、特点、优缺点进行了详细分析。详细讨论了焊缝图像处理技术的研究进展,如焊缝图像预处理和特征提取的方法和应用情况。论述了焊缝跟踪控制技术的研究进展,如几种常见视觉控制方式的基本原理、特点及应用情况和智能控制技术在焊缝跟踪中的应用。提出了基于视觉传感的焊缝跟踪技术的发展方向。

英文摘要：

Several sensing methods for seam tracking were summarized. The seam tracking technology based on vision sensing was introduced emphatically. The basic principles, characteristics, advantages and disadvantages of several kinds of visual sensing methods were analyzed in detail. The research progress of weld image processing technology was discussed in detail, such as methods and applications of image preprocessing and characteristic extraction of the welding seam. The research progress of seam tracking control technology was discussed, such as the principle, characteristic and application of several visual control methods and the application of intelligent control technique on the seam tracking. The development direction of welding seam tracking technology based on vision sensing was presented.