Abstract: A guidance method of initial welding position based on eye-in-hand single eye vision is proposed, this method could be used to overcome the shortcomings of traditional stereo vision guidance method, such as the complex vision system and tedious guide process. At first, the initial welding position could be obtained through several images respectively from different robot configuration, then the linear equation which is including the point of the initial welding position is established, and this equation is transformed into the base coordinate of robot. Furthermore, the intersection point of two lines is calculated, the coordinate of initial welding position is calculated and used to guide the robot welding at last. The test results show that this method could be used to guide the welding robot in finding the initial welding point with the accuracy.