Welding robot rapid teaching device and method based on binocular vision

The invention relates to a welding robot rapid teaching device and method based on binocular vision, the device comprises a binocular camera and a handheld teaching device, the binocular camera is installed on a welding robot, and the upper end of the handheld teaching device is provided with an Aruco code with a special mark for feature recognition and pose calculation; the method comprises the steps that hand-eye calibration and distortion correction are conducted on a welding robot and a binocular camera respectively, and an Aruco code on a handheld teaching device is placed in the effective view field range of the camera; a key on the handheld teaching device is pressed down to record space point location information of the handheld teaching device, and the space point location information is sent to the upper computer for data processing and corresponding coordinate system pose conversion; after teaching is finished, a corresponding motion instruction file is generated and transmitted to the welding robo