Robot motion state control method and device

The invention relates to the technical field of welding, in particular to a robot motion state control method and device. A robot is used for detecting a weld seam and provided with a camera and two structured light projectors. The two structured light projectors are symmetrically arranged about the camera. When the two structured light projectors project laser light onto the surface of the weld seam, the camera is controlled to collect images of the weld seam, then images of the weld seam are analyzed, a distance value and angle information between the front end of the robot and the weld seamare obtained, furthermore, the angle information is filtered, and angle information which is smaller than a dynamic threshold value in the filtered angle information is obtained and used as target angle information, and a first motor control amount of a first motor and a second motor control amount of a second motor of the robot are calculated according to the target angle information and the distance value, so that the