“…CO 2 weld technology is a method with low-cost, small deformation, and high efficiency, it is widely used in modern industries. However, the work environment of the process is very bad, weld automation technology is urgently needed, commonly used weld automation technology includes the weld seam tracking technology and the weld forming control technology, among them, weld seam tracking technology is more sophisticated, and there have been some commercial products now [1][2] . The weld quality control technology is far from the actual applications; however, the weld quality is also very important for it is the basis for a welding process.…”