The difficult technical problems are solved due to the structure design improvement, local structure and weld position changes.

通过对其结构进行设计改进，改变局部结构及焊缝位置，解决了多年来工艺方面的难题。

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Grinding weld position detection and identification algorithm was studied and the characteristic values of grinding weld were extracted.

研究了磨削焊缝位置检测和识别算法，提取了磨削焊缝特征值。

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Welding pose includes weld position and torch orientation, which is represented by weld slope, weld rotation, torch work Angle and traveling Angle.

焊接位姿包括焊缝位置和焊枪姿态，可以用焊缝倾角、焊缝转角、焊枪工作角和焊枪行走角四个参数来表征。

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For the even weld of crossover pipe pieces with reliable welding, the project requires to cut the weld position of crossover pipe pieces into shape exactly.

工程上，为了管件的相交处焊缝均匀，焊接可靠，需要将相交管件的焊缝处准确切割成型。

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For the even weld of crossover pipe pieces with reliable welding, the project requires to cut the weld position of crossover pipe pieces into shape exactly.

工程上，为了管件的相交处焊缝均匀，焊接可靠，需要将相交管件的焊缝处准确切割成型。

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