The application belongs to the technical field of automatic
welding and
industrial robot control, and relates to a
welding molten pool state
monitoring and control method and device based on
visual feedback. The method comprises the following steps: controlling an industrial camera to perform position translation, so that a to-be-welded area enters the effective
field of view range of the industrial camera; in a
welding process, continuously collecting images of the welding area to obtain multiple welding images; performing weighted fusion on the multiple welding images to obtain a fused image, and performing preprocessing on the fused image to obtain a preprocessed image; performing
molten pool state recognition based on the preprocessed image to obtain current
molten pool state parameters and corresponding
welding defect information; comparing the current molten
pool state parameters with preset target parameters of the molten
pool to obtain a state deviation, and generating corresponding driving instructions according to the state deviation; and performing multi-stage posture adjustment and fine positioning control on the industrial camera based on the driving instructions, so that the welding molten
pool is kept at an optimal observation viewing angle.