Welding control method, device and system

The invention provides a welding control method, device and system, and relates to the technical field of welding control. The welding control method comprises the steps that a groove image of a to-be-welded area in the welding process is obtained; according to the groove image of the to-be-welded area, a theoretical welding seam track is determined; and according to the theoretical welding seam track and a preset welding seam track corresponding to the current welding stage in the welding process, a preset welding seam track corresponding to the next welding stage is determined. By means of the method, self-adaptive adjustment of the welding track in the welding process can be achieved, and then the welding efficiency and the welding quality can be improved. 本公开提出了一种焊接控制方法、装置和系统，涉及焊接控制技术领域。其中的焊接控制方法包括：获取焊接过程中待焊区域的坡口图像；根据所述待焊区域的坡口图像，确定理论焊缝轨迹；根据所述理论焊缝轨迹、以及所述焊接过程中当前焊接阶段对应的预设焊缝轨迹，确定下一焊接阶段对应的预设焊缝轨迹。通过以上方法，能够实现焊接过程中焊接轨迹的自适应调节，进而能够提高焊接效率和焊接质量。