焊缝跟踪是实现自动化焊接的关键，针对激光焊接下的近无间隙焊缝轨迹，提出了基于线阵相机和特征识别算法的焊缝追踪方法。通过线阵相机获取工件表面图像，使用均值滤波对图像进行降噪处理。通过分析图像的灰度值、图像灰度值变化、图像的灰度值梯度、焊缝区域宽度识别焊缝轨迹，实现了无间隙焊缝的识别和跟踪。通过焊接试验测试得到基于线阵相机的焊缝识别方法误差小于0.05 mm。通过对不同间隙的焊缝进行焊缝追踪试验证明了该方法对于间隙小于0.3 mm的焊缝具有良好的识别效果。

Weld seam tracking is the key technology for achieving automated welding. In this paper, a seam tracking method based on a line array camera and a feature recognition algorithm is constructed to provide gapless seam recognition under laser welding. The workpiece surface image is captured by a line array camera and denoised by mean filtering. By analyzing the gray value of the image, the change in the gray value of the image, the gray gradient of the image, and the width of the weld area, the weld track is identified, and the identification and tracking of the gapless weld are realized. Welding experiments are conducted, and the results show that the error of the weld identification method based on a line array camera is less than 0.05 mm. Weld seam tracking experiments on welds with different a gap are conducted, and the results show that the proposed method has a good recognition effect for welds with a gap less than 0.3 mm.