01-08-2023 дата публикации
Номер: CN116518936A
Принадлежит:
The self-positioning system comprises a global observation module and a positioning module, the global observation module comprises a wireless communication transceiving unit and a camera, and the positioning module comprises a calculation bin, a floating block with a mark, an encoder, a constant tension unit and a pull rope. And a self-positioning calculation controller and a gyroscope are arranged in the calculation bin. During working, firstly, the relation between the pixel size of a camera imaging plane and the physical size of an actual working pool is calibrated, geometric corresponding relation parameters are obtained, the effective length of the pull rope is calculated through the encoder, and secondly, the underwater real-time pitch angle and deflection angle of the robot are calculated through the gyroscope. And then the real-time depth of the robot is calculated through the self-positioning calculation controller, finally, the wireless communication transceiving unit sends the ...
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