Iron tower foot parameterized welding method and device based on 3D vision

The invention discloses an iron tower foot parameterization welding method based on 3D vision, which comprises the following steps: establishing a tower foot ideal model according to tower foot modeling parameters, and carrying out trajectory planning by the tower foot ideal model to obtain welding seam sequence template data and a motion trajectory sequence; the 3D visual sensor conducts actual welding seam scanning recognition according to the welding seam sequence template data and the motion trail sequence, a welding trail sequence is generated according to the scanning result and sent to the robot control execution module, the robot control execution module controls the mechanical arm to move through the welding robot controller, and the mechanical arm carries a welding gun to complete welding seam welding. The invention further discloses an iron tower foot parameterization welding device based on the 3D vision. The device can be self-adaptive to the non-standard tower foot, and the welding quality is gu