The CCD camera is made by using CCD devices instead of the camera tube to realize the principle of photoelectric conversion, charge storage and charge transfer.

First, by collecting weld images, the collected images are processed by various filtering techniques such as median filtering, mean filtering, and Laplacian filtering and image restoration techniques.

Secondly, perform segmentation methods such as threshold segmentation, gradient segmentation, edge detection, region growth, and template matching.

Third, the binary image calculation methods such as image thinning, coarsening, distance transformation, the method of labeling objects, and the removal of false lines are processed.

Finally, perform feature extraction to extract the edge of the weld, so that the robot can recognize it, and then perform welding.