本文对履带式智能弧焊机器人系统的总体组成、基本功能及实施方案等作-介绍，并对系统中的关键技术进行详细分析。该爬行机器人具有适应性强，智能化程度高的特点，可适应于垂直壁面、球面、管道等多种表面上爬行，自动跟踪焊接。

论述焊接温度场焊缝识别方法及焊缝跟踪控制系统。系统采用焊接温度场传感器获得焊接工件背面热图像，通过改进的梯度算法对热图像的分析计算获得焊缝偏差，利用规则自校正模糊控制器实现焊缝跟踪。试验和实际生产运行表明系统能够准确识别焊缝，焊缝跟踪运行稳定可靠。

The colorimetric method for real-time measurement of temperature field using ICCD as sensor was devel-oped. In order to ensure the accuracy and sensitivity, the relationship between the ratio response of two-color imagesand radiant property of body, transmission property of filter, spectral response of ICCD is discussed. The analysis isbased on computer calculation of the established mathematical model. On the basis of the analysis, optimum wave-lengths are obtained for a given sensor system. Experimental work was carried out to check the correctness of the theo-retical results. The method is useful for general purpose of study and design of the developed system.

Real-time measurement of temperature field can be achieved by colorimetric method using ICCD as sen-sor. However, due to limited dynamic response range of the ICCD, the measurable range of temperature is very small. In order to expand the temperature measuring range, a device was developed which can take several two-color images with different shutoff times subsequently within very short time. First, the principle of real-time measurement of tem-perature field with two-color thermal images is introduced. Then theoretical analysis on this method, including deter-mination of various parameters, such as shutoff time, number of temperature range, wavelength of the colors, etc. is described. Experiments were conducted, which proved that theoretical analysis coincides with the experimental re-sults.

The Influence of all variables, such as materials of a measured object, condition of its surface, distance, and shut off time m the measurement of temperature field by colorimetric method with ICCD as sensor, is analyzed theoretically and studied by experiments. The obtained results prove the feasibility and reliability of the developed method.