Abstract: Based on plane array charge coupled device (CCD) computer image processing,an averaging filtering increment processing was designed with CCD imaging and computer welding pool direct visual sensing method.And the edge of welding pool was drawn with morphological method.In this way,the center of the welding pool was determined.And that was the center of the torch.So the offset of the torch to the seam was determined.The whole time of image processing was 25 ms.