K-TIG welding seam tracking method and system based on differential image processing

The invention discloses a K-TIG welding seam tracking method and system based on differential image processing, and belongs to the field of welding image processing. The method comprises the steps of shooting a laser stripe sequence image; obtaining a welding seam ROI region in a self-adaptive mode; extracting a corresponding ROI region from each group of adjacent frame images for differential processing to obtain a differential image; performing filtering processing on the difference image, and processing the image after median filtering by using image morphological operation; positioning and extracting laser stripe feature points by using a Steger algorithm based on a Hessian matrix; calculating the actual position of a welding seam according to the extracted laser stripe feature points, analyzing the actual geometric position of a welding gun relative to an expected track, calculating the offset of the welding seam, and correcting the deviation of the welding seam by adjusting the motion track of the tip o