针对堆焊自由曲面焊缝形貌不规则致使焊缝识别精度低、自动焊接困难的问题，提出了一种利用插值 Loop 曲面细分算法对旋转电弧传感器采集的堆焊焊缝三维形貌数据进行曲面重建的方法。首先，采用格拉布斯 (Grubbs) 检验算法对异常采样点进行滤波处理，得到质量较高的形貌数据; 然后，采用局部最优 Delaunay 算法对形貌数据进行初始三角网格剖分; 最后，利用插值 Loop 曲面细分算法对初始三角网格进行曲面细分，实现焊缝三维形貌重建。结果表明，此方法的曲面重建效果良好，降低了初始三角网格剖分的误差，实用性强。

In order to solve the problems of low weld seam recognition accuracy and difficult automatic welding caused by the irregular shape of the weld seam of the surfacing free-form surface，a surface reconstruction method using the interpolation Loop surface subdivision algorithm for the three-dimensional morphological data of the surfa-cing welds collected by the rotating arc sensor was proposed． Firstly，high-quality topography data was obtained by using the Grubbs test algorithm to filter the abnormal sampling points． Then，initial triangle meshing on topography data was carried out by using local optimal Delaunay algorithm． Finally，interpolation Loop tessellation algorithm was used to tessellate the initial triangle mesh in order to rebuild the three-dimensional appearance of weld．Research result indicates that this method has good surface reconstruction effect and can reduce the error of the initial triangle meshing．Thus it has high usability．