中文摘要：

对基于结构光视觉传感的V型焊缝图像预处理及拐点检测进行了研究．CCD摄像机采集到的焊缝图像，经过阈值变换、中值滤波、拉普拉斯锐化、细化一系列图像预处理后，准确提取了焊缝激光条纹信息，运用欧氏空间向量夹角的方法检测焊缝拐点位置．根据V型焊缝偏中距离、焊缝宽度和焊缝高度的计算方法提取信息，实现焊缝的自动跟踪．

英文摘要：

The image process and corner detection of V groove seam based on structure light vision sensing has been studied. The image taken by CCD camera and processed by threshold transform, median filtering, Laplace sharpening, thinning can distill the stripe of welding line exactly, then detect the seam position by Euclid space vector angle method. According to the calculation method of V groove＇ s offset, width and height to acquire information and realize seam tracking.