本发明公开了一种激光焊接过程三维空间飞溅识别与追踪的方法，涉及激光焊接领域，包括以下步骤：获取飞溅三维图像、提取飞溅三维空间特征、定位与跟踪飞溅的飞行轨迹。本发明通过图像增强技术，提高飞溅识别与提取成功率，通过将XOZ和YOZ平面同步获得的图像进行关联，对飞溅进行三维定位，进而通过对不同时刻飞溅的位置进行关联，对飞溅运动轨迹进行跟踪，获得飞溅的运动特征。

The invention discloses a method for identifying and tracking three-dimensional space spatter in a laser welding process, and relates to the field of laser welding. The method comprises the followingsteps: acquiring a spatter three-dimensional image, extracting spatter three-dimensional space characteristics, and positioning and tracking a spatter flight path. According to the method, the successrate of splash identification and extraction is improved through an image enhancement technology, images synchronously obtained by XOZ and YOZ planes are associated, splash is subjected to three-dimensional positioning, and then the splash motion trail is tracked by associating splash positions at different moments to obtain splash motion characteristics.