利用小波变换检测信号边缘的优势，对V型坡口焊接激光图像以及多层多道焊激光图像的焊缝识别方法进行了系统的研究，给出了基于小波变换的焊缝识别算法,并提出了多层多道焊拐角跟踪点的识别算法，同时进行了大量的实验研究；分析了多层多道焊接激光图像的特点，在V型坡口识别算法的基础上进行了改进，利用模板匹配技术，实现拐角跟踪点的识别。

Wavelet analysis is advantageous in detecting edges. This paper presents a systematic study on V groove welding laser image and the seam recognizing method of multi pass welding image. We propose a seam recognizing algorithm based on wavelet transformation and an algorithm to recognize the corner tracking in a multi pass V groove. According to the characteristic of multi pass V groove, our algorithm outperforms the algorithm of seam recognition in V groove and uses the technology of template matching, can recognize the corner tracking.