In order to solve the problems of unintelligent detection of weld points

low detection accuracy and poor detection robustness of the robot system in the automated welding process of the internal anti-surge plate of aluminum alloy tanks of large pressure vessels

a multi-feature fusion 3D weld point real-time detection method for structural light visionguided robots is designed. First

the visual features are extracted from the workpiece to derive multiple regions of interest

then the multiple features are fused to obtain the 2D key points

and finally the 3D pre-weld points are determined by fast and unconstrained system calibration. Industrial field experiments show that the maximum error of 3D welding point extraction in camera coordinate system is 0.196 mm

the average error is 0.099 mm

and the average detection time is 0.09 s. The welding point detection is accurate

fast and intelligent

which can meet the industrial robot welding path planning and automatic welding tasks.