Welding seam track autonomous locating device, system and method based on machine vision

The invention relates to a welding seam track autonomous locating device, system and method based on machine vision, the welding seam track autonomous locating device based on machine vision comprises a telescopic mechanism and a welding seam locating device, and the welding seam locating device is connected with a laser welding head of a welding robot through the telescopic mechanism. The welding seam position finder can move in the Z-axis direction through the telescopic mechanism relative to a coordinate system of the laser welding head; meanwhile, a distance measuring sensor in the welding seam position finder can move in the X-axis direction and the Y-axis direction relative to a coordinate system of the laser welding head, so that the distance measuring sensor can scan and collect three-dimensional contour data of the laser welding head, the problem that blind areas are formed by multiple reflection of laser beams scanned by the distance measuring sensor around the welding seam of the T-shaped joint is