The invention provides a positioning method and system for a wall-climbing robot for rust removal of a splicing seam of a hull plate, which relate to the technical field of coating and manufacturing of a large splicing seam of the hull plate. The positioning method comprises the steps of building a satellite navigation positioning system for rust removal of the splicing seam of the hull plate of the wall-climbing robot based on a GNSS+RTK real-time dynamic carrier phase difference technology, deploying a GNSS+RTK positioning system site, receiving GNSS satellite signals, conducting RTK real-time dynamic carrier phase difference positioning calculation, and acquiring latitude and longitude coordinates and elevation coordinates of a mobile station of the rust removal wall-climbing robot under geodetic coordinates, converting the latitude and longitude coordinates into x and y under a rectangular coordinate system of Gaussian-Kruger projection, and determining x, y and z rectangular coordinate values of the wall-climbing robot in the ship hull plate navigation map. The method is convenient to use, saves manpower and material resources, facilitates practical application, and is high in positioning precision and wide in signal coverage range.
本发明提供了一种船体外板拼接缝除锈爬壁机器人定位方法及系统,涉及船体外板大拼接缝的涂装制造技术领域,包括:搭建爬壁机器人船体外板拼接缝除锈的基于GNSS+RTK实时动态载波相位差分技术的卫星导航定位系统;部署GNSS+RTK定位系统现场;接收GNSS卫星信号并进行RTK实时动态载波相位差分定位计算,得到大地坐标下除锈爬壁机器人的移动站的经纬度坐标和高程坐标;将经纬度坐标转换到高斯‑克吕格投影的直角坐标系下的x和y;确定爬壁机器人在船体外板导航地图中的x、y和z直角坐标值。本发明使用方便,节省人力物力,便于实际应用,定位精度高,信号的覆盖范围广。
Positioning method and system for wall-climbing robot for rust removal of splicing seam of hull plate
船体外板拼接缝除锈爬壁机器人定位方法及系统
2021-11-30
Patent
Elektronische Ressource
Chinesisch
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Europäisches Patentamt | 2021
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