Double-line cross laser sensing method for seam tracking

Disclosed is a double-line cross laser sensing method for seam tracking. A device using the method comprises a cross laser, a visual sensor and a linear laser, and is characterized in that the cross laser and the linear laser are arranged on the left and the right of the visual sensor, laser light of the cross laser and the linear laser irradiate at a seam groove after crossing, and a laser line of cross laser lines perpendicular to a linear laser line indicates the position of a welding gun. Compared with the prior art, the device has the advantages that deviation of the welding gun from the initial position of a seam and a space seam position can be recognized, the welding gun and the initial position of the seam can be automatically aligned by the aid of acquired deviation information of the initial position of the seam, the deviation is simply recognized during seam tracking, only current image information is needed, and the device is small in information processing amount, high in processing speed and fi