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.
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