Walking space tracking and navigation method for wall-climbing robot on inner wall of spherical tank

• Main Authors: XIE LIUHUI, CHEN XUQUAN, LYU HAO, FENG XIAOLEI
• Format: Patent
• Language: Chinese; English
• Published: 09.06.2023
• Subjects: GYROSCOPIC INSTRUMENTS; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MOTOR VEHICLES; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING; TRAILERS; TRANSPORTING

The invention discloses a walking space tracking and navigation method for a wall-climbing robot on the inner wall of a spherical tank, which is applied to the field of robot space tracking and navigation.The method comprises the steps that a computer visually recognizes pixel coordinates of a target, and in combination with the coordinates of the target under a robot coordinate system, the pose of the robot under a pan-tilt camera coordinate system is calculated through a pnp model; according to the pose and the coordinate of the center point of the robot in the coordinate system of the robot, calculating the coordinate of the center point of the robot in the coordinate system of the pan-tilt camera so as to control the pitch angle and the yaw angle of the pan-tilt camera and enable the target to be always located in the center range of the image; three-dimensional coordinates in the lineation path are obtained and calculated to serve as images corresponding to pitch and yaw angles corresponding to the image