Automatic weld tracking method based on laser vision sensing

The invention relates to a weld tracking method in the technical field of welding, overcomes the defect that tracking precision is affected by lagged control caused by the fact that single feedback is used only to control a welding torch in the existing automatic weld tracking method, and provides an automatic weld tracking method based on laser vision sensing. The method includes: using a camera to continuously acquire weld image information, processing by a master control computer to obtain actual weld deviation to form feedback control, processing by the master control computer to obtain weld trajectory curvature (slope) information, and predicting a feedforward to form feedforward control; combining the feedback control and the feedforward control into feedforward feedback, calculating expected adjustment of the welding torch, and controlling the welding torch to move forward along a weld. The automatic weld tracking method based on laser vision sensing has the advantages that actual weld deviation of the