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焊缝图象的边缘检测是视觉传感焊缝自动跟踪的重要部分，但目前在焊缝图象处理中使用的传统边缘检测方式存在局限性。本文采用一种新的边缘检测算子－ Canny算子，对水下药芯焊丝焊接焊缝图象进行了边缘检测，并用数学方法对其进行了分析。结果表明， Canny算子在抗噪性能和边缘定位精度这两方面优于传统微分类边缘检测算子，是一种性能较全面的边缘检测算子，适合于水下药芯焊丝焊接焊缝图象的边缘检测。
The edge detection of the weld image is an important part of the automatic tracking of the visual sensing weld. However, the traditional edge detection methods currently used in the weld image processing have limitations. In this paper, a new edge detection operator - Canny operator is used to detect the edge of the weld image of underwater flux cored wire, and the mathematic method is used to analyze it. The results show that the Canny operator is better than the traditional differential edge detection operator in terms of anti-noise performance and edge localization accuracy. It is a more comprehensive edge detection operator and suitable for the welding seam image of underwater flux cored wire Edge detection.