Autonomous Positioning and Marking of Flaw Detection Wall-climbing Robot Based on Large Spherical Oil Storage Tanks

Abstract

The emergence of wall-climbing robots alleviates the limitations of traditional manual flaw detection, and the autonomous positioning and marking system is its core research problem. By installing a three-axis accelerometer and a three-axis gyroscope on the wall-climbing robot, this paper firstly establishes a 3D model of the oil storage tank and stores its data in a database, then realizes the autonomous positioning of the wall-climbing robot on the oil storage tank, and finally marks the unqualified weld seam points.