System for groove-free zero-clearance deep penetration welding based on color vision and welding method

The invention provides a system for groove-free zero-clearance deep penetration welding based on color vision and a welding method. The system comprises a mechanical arm system, a welding system and a color 3D vision system. The mechanical arm system comprises a base, a universal joint arm and a mechanical arm control system; the welding system comprises a welding gun and a welding gun control system; the color 3D visual system comprises a color 3D visual system body and an edge computer system, the color 3D visual system body is installed on a flange plate at the tail end of the universal joint arm, and the color 3D visual system body is used for collecting point cloud information of a colored weld groove of the surface of the to-be-welded part and the surface of the peripheral part of the groove; the edge computer system is used for processing the point cloud data collected by the color 3D vision camera and generating a mechanical arm welding path program according to the point cloud data. The main process