The invention provides a weld joint contour feature recognition and weld pass real-time planning method, and the method comprises the steps: obtaining a weld joint contour image in real time through a laser visual sensor, and carrying out the gray scale processing to obtain a gray scale image; building a visual attention model, processing the gray scale image through the visual attention model, obtaining a comprehensive saliency map, and extracting laser stripes through combining with the Otsu threshold segmentation method and the nearest neighbor clustering algorithm; segmenting the extracted laser stripes based on the section span of monotonous slope, and obtaining a monotonous slope section and a slope catastrophe point; finally formulating an algorithm according to the slope catastrophe point, and planning a weld pass. The method solves a problem that conventional weld pass planning is low in precision, and the method achieves the real-time planning of the weld pass.