The invention discloses a three-dimensional non-rigid point cloud registration method based on a consistent point shift algorithm, which relates to a spray painting robot position registration method based on point cloud registration and aims at solving defects of low registration precision, poor robustness and long calculation time existing in the present three-dimensional point cloud non-rigid registration algorithm in conditions of large point cloud data amount, complex deformation, noise, outliers and missing point influences. The method particularly comprises steps: 1, an image acquisition device in the spray painting robot is used for scanning an object waiting for spray painting, and a group of three-dimensional point cloud data is obtained as a to-be-registered point cloud; 2, the obtained point cloud data serve as a reference point set; 3, the covariance sigma between the reference point set and the existing template point set is calculated, and related parameters of the consistent point shift algorithm are initialized; 4, a Gauss kernel matrix is constructed; 5, the final registered result point set is obtained, and according to the final registered result point set, spray painting work is carried out on the object waiting for spray painting. The method of the invention is used for spray painting robot position registration.