Automatic tracking and monitoring system of direct welding machine

The invention discloses an automatic tracking and monitoring system of a direct welding machine. Monitoring equipment is positioned in a welding pipe, and is used for obtaining a welding line position image and a welding line reverse surface forming image in real time and sending the obtained images to an image preprocessing subsystem; the image preprocessing subsystem is used for respectively preprocessing the received images, sending the preprocessed welding line position image to a welding line tracking subsystem and sending the preprocessed welding line reverse surface forming image to a welding quality monitoring subsystem; the welding line tracking subsystem is used for determining the welding line position change according to the received images and adjusting the welding gun position according to the welding line position change; and the welding quality monitoring subsystem is used for monitoring the welding quality according to the received images and adjusting working parameters of a welding gun when the welding quality dose not meet requirements. The automatic tracking and monitoring system of the direct welding machine can improve the welding quality and reduce the realization cost.