Automatic welding method based on three-dimensional model and machine vision and welding device based on three-dimensional model and machine vision

The invention relates to an automatic welding method based on a three-dimensional model and machine vision and a welding device based on the three-dimensional model and the machine vision, relating to the technical field of welding. An industrial camera is used for acquiring an image of a workpiece to be welded; three-dimensional match is carried out and the workpiece to be welded is positioned according to the three-dimensional model of the workpiece; a welding line is positioned according to welding line information in the three-dimensional model; the welding line is accurately positioned by using a structure optical sensor; a movement track of a welding gun is adjusted according to the accurate position of the welding line so as to accurately track and weld the welding line. According to the automatic welding method, an automatic positioning and tracking function of the welding line can be realized, and the reliability of tracking the welding line and the tracking precision are improved. The problems that the welding precision is influenced, caused by the fact that the workpiece is warped by thermal deformation in a welding process and the like are solved; the adjustment and the adaptation can be carried out very well and the welding quality is improved.