针对国内螺旋管焊缝超声波探伤检测设备中尚无可靠实用的焊缝自动跟踪系统这一突出问题,设计并研制了一种基于结构光的螺旋管焊缝自动跟踪系统.系统以激光为主动光源,以CCD摄像头为传感器件,由工控机对获取的焊缝图像采用文中所述算法进行实时处理,得到偏差信号送入伺服电机系统控制执行机构动作,从而实现焊缝自动跟踪.系统实时性好,跟踪精度高,已获得实际应用. In view of the outstanding problem of automatic and reliable weld seam automatic tracking system in domestic spiral pipe weld ultrasonic flaw detection and detection equipment, an automatic tracking system of weld seams based on structured light is designed and developed.The system uses laser as the active light source , The CCD camera as the sensor device, the industrial computer to obtain the weld image using the algorithm described in the text for real-time processing, get the deviation signal into the servo motor system control actuator action, so as to achieve automatic weld seam tracking. , High tracking accuracy, has been the practical application.