损伤零件缺陷区域的三维形貌检测对于激光机器人加工过程的智能化具有重要作用。系统实现了激光加工中损伤零件的缺陷识别，并提出损伤零件缺陷边界检测的高精度算法。利用基于点特征面积累加的法矢法识别出缺陷边界点，生成初始缺陷边界，针对初始缺陷边界具有不连续、多分支、锯齿状边界等问题，提出了三步优化处理方法，最终得到封闭、高精度的损伤零件的缺陷边界。系统运行处理速度快，精度高，可完全满足工业零件智能化激光再制造的要求。

Defect detection of three-dimensional structures is essential for intelligent laser robot system. A method to detect structural damages in robot laser remanufacturing is presented, and a high precision algorithm is proposed to predict edge locations of damaged part. Initial edge points of the damaged parts are identified using normal-vector technique based on accumulation of the characteristic areas of the mesh vertices. A three-step optimization strategy is proposed to solve gaps, branches, and serrated boundaries of the initial edges. Finally, closed defect edges are predicated with high accuracy. The proposed method is fast for structural damage detection with high precision, which is necessary for industrial applications of intelligent laser robot system.