The invention relates to a method and a device for tracking a multi-structure optical binocular composite vision weld joint, and relates to the technical field of automatic
welding, in particular to the technical field of vision sensing of a
welding robot. The device comprises a multi-line
laser generator (10) for projecting a
structured light stripe to a weld joint region, a vidicon A(3) which is provided with a narrow bandpass filter (1) and a neutral light reducing plate A(2) and is used for collecting a weld joint character
laser stripe image, a vidicon B(7) which is provided with a bandpass filter (8) and a neutral light reducing plate B(9) and is used for collecting an image not including
laser stripe, and a controller (11) connected with the vidicon A(3) and the vidicon B(7). The method integrates image information of two vidicons, and calculates the current perfect position of a
welding gun so as to obtain differential value between the perfect position and the actual position; the controller converts the differential value into an
analog signal or
wireless communication to output; and the welding gun is controlled to correct deflection of an electromotor, so the aim of automatic tracking of the weld joint is realized.