Visual sensing device for thick plate narrow gap welding seam tracking and using method

The invention discloses a visual sensing device for thick plate narrow gap welding seam tracking and a using method. The device comprises a sensor shell, wherein a CMOS high-speed camera is arranged in the rectangular shell, and the front portion of the camera is connected with an improved telecentric lens; two line lasers are arranged on the left side and the right side inside the rectangular shell through clamps and located at the top end of the sensor, the lasers are connected with a circuit board through circuits, and flickering of the linear lasers is achieved through PLC triggering; and reflectors are arranged under the lasers correspondingly, the angles of the reflectors are freely adjusted through an angle dial on the surface of the sensor shell, and meanwhile a triple prism is fixed inside the sensor. According to the visual sensing device for thick plate narrow gap welding seam tracking and the using method, groove observation and later-period image comparison calculation are facilitated, and the se