Multi-layer and multi-pass welding bead planning method based on straight welding line contour recognition and welding workstation

The invention discloses a multi-layer and multi-pass welding bead planning method based on straight welding line contour recognition and a welding workstation. The multi-layer and multi-pass welding bead planning method comprises the steps that the scanning position of a line laser of a vision system is taught; according to the scanning results of the starting point scanning position and the ending point scanning position, the X axis of a tool coordinate system is adjusted to be parallel to the welding line direction; according to the welding process requirement and the welding line angle, thewelding torch attitude angle is adjusted to perform the first layer bottoming welding; a robot welding torch head returns to the fixed point scanning position to calculate the welding-starting point,the ending point and the welding torch attitude angle of each pass of a current layer and the number of welding layers further required to fill a welding line, welding is carried out according to thecalculation result; and th