According the calculation method of overlap joint's offset and height, the information was acquired and seam tracking was realized.
根据搭接焊缝偏中距离和焊缝高度的计算方法提取信息，实现焊缝的自动跟踪。
By analyzing the variation of welding current, offset information obtained in order to achieve underwater seam tracking.
通过分析焊接电流的变化规律得到偏差信息从而实现水下焊缝跟踪。
Center back seam with offset hem.
中心偏移下摆焊缝背面。
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