Positioning system and positioning method for a robot

Abstract

The application provides a positioning system and positioning method for robots, and relates to the technical field of robots, and comprises a shell, a height positioning subsystem, an angle positioning subsystem and an intelligent positioning module. The height positioning subsystem comprises a pull rope sensor and a guide mechanism, the angle positioning subsystem comprises an angle sensing unit, the intelligent positioning module is embedded with an intelligent positioning model, the intelligent positioning model comprises an angle positioning algorithm and a height positioning algorithm. The positioning system and positioning method for robots can adapt to the closed space inside a tower drum, effectively overcome the factors such as illumination, environmental contrast and dust of the working environment, and through optimization design, the wall-climbing robot can accurately realize the position positioning in the tower drum. The application does not need to use traditional positioning methods, such as visual positioning, laser positioning navigation and inertial navigation, which are high-cost positioning systems. The application has low cost, accurate positioning and is suitable for large-area popularization and application.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a positioning system and method for robots. Background Technology

[0002] Robot localization is one of the prerequisites for achieving robot intelligence and a key factor in endowing robots with perception and action capabilities. If a robot cannot autonomously locate itself, it cannot analyze, judge, or plan its surroundings, and thus will be far from being truly intelligent.

[0003] Currently, mainstream robot localization methods include visual localization, laser localization, and inertial navigation. These methods are often suitable for environments with good contrast. For example, visual localization primarily relies on visual sensors. The robot acquires images using monocular or binocular cameras, depth cameras, video signal digitization equipment, or other external devices such as DSP-based fast signal processors. It then performs optical processing on the surrounding environment, compresses the acquired image information, and feeds it back to a learning subsystem composed of neural networks and statistical methods. This subsystem then associates the acquired image information with the robot's actual position to complete the localization. This requires high contrast in the robot's field of vision to enable it to recognize its surroundings. Laser localization, on the other hand, requires a lidar system to emit laser signals. The distance is calculated based on the time difference between the reflected signal and the laser beam. The angle between the emitted laser and the object is then determined to arrive at their relative positions. If the environment is relatively uniform with poor contrast and ineffective laser reflection, additional auxiliary devices such as reflectors are needed to assist the robot in its localization process. In addition, these mainstream positioning methods are relatively expensive. For example, visual positioning requires visual sensors, laser navigation requires LiDAR, and inertial navigation requires fiber optic inertial navigation.

[0004] The interior of a tower is a common scenario for robot operations. There is no lighting inside, the environmental contrast is poor, and in special towers, such as desulfurization towers, the entire inner surface of the tower is covered with dust, making the robot's visual field a hazy gray, with very poor environmental contrast. Moreover, the harsh internal environment is not suitable for setting up auxiliary reflective columns or other devices. This results in the fact that mainstream positioning methods are not suitable for application inside towers.

[0005] Without a suitable positioning method, robots will lose their positional awareness when working inside the tower, making it impossible to determine their exact working location. This will also increase the likelihood of collisions with obstacles and may even cause the robot to detach from the tower's inner wall. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a positioning system and method for robots. The positioning system and method of the present invention can adapt to the enclosed space inside the tower and effectively overcome factors such as light, environmental contrast and dust in the working environment. Through optimized design, the wall-climbing robot can accurately achieve its position positioning inside the tower.

[0007] This invention is achieved through the following technical solution: This patent provides a robot positioning system, including a housing, a height positioning subsystem, an angle positioning subsystem, and an intelligent positioning module. Both the height and angle positioning subsystems are fixedly connected to the housing. The height positioning subsystem includes a pull-string sensor and a guide mechanism. The end of the pull-string sensor passes through the angle positioning subsystem and bypasses the guide mechanism to be bound to the robot. The angle positioning subsystem includes an angle sensing unit, which has a fixed end and a rotating end that are rotatably connected. The fixed end of the angle sensing unit is fixedly connected to the housing, and the rotating end is fixedly connected to the guide mechanism. The intelligent positioning module is signal-connected to the pull-string sensor and the angle sensing unit. The intelligent positioning module embeds an intelligent positioning model, which includes an angle positioning algorithm and a height positioning algorithm.

[0008] As can be seen, in the above technical solutions, the robot positioning system and positioning method of this patent can adapt to the enclosed space inside the tower and effectively overcome factors such as light, environmental contrast, and dust in the working environment. Through optimized design, the wall-climbing robot can accurately achieve its position positioning inside the tower. This patent does not require the use of traditional positioning methods, such as visual positioning, laser positioning navigation, and inertial navigation, which are costly positioning systems. This patent is low in cost, accurate in positioning, and suitable for large-scale promotion and application.

[0009] According to the above technical solution, preferably, the angle sensing unit is a hollow encoder assembly. The encoder assembly has a hollow cavity in the middle to accommodate the end of the rope sensor through which it passes. The encoder assembly includes an encoder body, an encoder seat, a bearing seat, and an encoder shaft seat. The encoder seat is fixedly connected to the housing, the encoder body is fixedly connected to the encoder seat, the bearing seat is rotatably connected to the hollow shaft of the encoder body through a deep groove ball bearing, the bearing seat is fixedly connected to the encoder seat, the encoder shaft seat is coaxially fixedly connected to the hollow shaft of the encoder body, and the guide mechanism is fixedly connected to the encoder shaft seat.

[0010] As can be seen, in the above technical solution, the encoder assembly has a hollow cavity in the middle to accommodate the end of the rope sensor. The encoder base is fixedly connected to the housing, the encoder body is fixedly connected to the encoder base, the bearing seat is rotatably connected to the hollow shaft of the encoder body through a deep groove ball bearing, the bearing seat is fixedly connected to the encoder base, the encoder shaft seat is coaxially fixedly connected to the hollow shaft of the encoder body, and the guide mechanism is fixedly connected to the encoder shaft seat. As the climbing robot climbs on the inner wall of the tower, the end of the rope sensor pulls the guide mechanism and the encoder shaft seat to rotate at the same angle, and the encoder body can efficiently and accurately read the angle value of rotation.

[0011] According to the above technical solution, preferably, the guiding mechanism includes a support plate, a pulley assembly, a connecting assembly, and an idler wheel. The support plate is fixedly connected to the encoder shaft seat, the pulley assembly is arranged on the support plate, and the two ends of the connecting assembly are respectively connected to the support plate and the idler wheel. The rope end of the pull rope sensor passes around the pulley assembly and the idler wheel in sequence.

[0012] According to the above technical solution, preferably, the pulley assembly includes three sets of pulley units arranged in parallel. The pulley units are rotatably connected to the support plate. The line connecting the central axes of the three sets of pulley units forms an equilateral triangle structure. The central axis of the hollow cavity coincides with the tangent of the pulley unit located at the bottom.

[0013] As can be seen, in the above technical solution, the line connecting the central axes of the three sets of pulley units forms an equilateral triangle structure, and the central axis of the hollow cavity coincides with the tangent of the pulley unit located at the bottom, thereby enabling the pull rope of the pull rope sensor to be pulled open or closed smoothly and with high precision.

[0014] According to the above technical solution, preferably, the angle positioning algorithm is used to calculate the angle A of the change in the robot's position relative to the center of the tower after the robot moves in the circumferential direction of the tower, compared to the position before the robot's movement: According to the law of sines: ; but: ; Since the sum of the three interior angles of a triangle is 180°, then: ; in: b is the tower radius, which is a fixed value; c is the distance between the outlet of the draw rope sensor and the center of the tower, which is a fixed value; D is the reading of the angle sensing unit; C is the angle between the ray from the robot to the outlet of the cable sensor and the ray from the robot to the center of the tower at the robot's location. Angle B = 180° - D; Finally, the angle A of the change in the robot's position relative to the center of the tower after the robot moves in the circumferential direction of the tower is calculated.

[0015] According to the above technical solution, preferably, the height positioning algorithm is used to calculate the robot's height position H on the inner wall of the tower: According to the law of sines: ; but: ; a is the length of the projection line segment on the bottom surface of the tower, connecting the robot's location and the outlet of the rope sensor. d is the length of the projection line segment of the line connecting the outlet of the draw rope sensor and the center of the idler wheel onto the bottom surface of the tower, which is a fixed value; it can be known that: ; As the robot moves along the height of the inner wall of the tower, the dimensions L and h1 change accordingly with the change in the height of the robot on the inner wall of the tower. The value of L is directly read by the extension and retraction length of the pull rope sensor. After the positioning system is fixed on the bottom surface of the tower, the distance h0 between the idler wheel and the bottom surface of the tower becomes a constant value; the distance e between the idler wheel and the tower wall is the value obtained above. According to the Pythagorean theorem: ; h0 is the vertical height between the center point of the idler wheel and the bottom surface of the tower. h1 is the vertical height between the center point of the idler wheel and the robot; The robot's height H on the inner wall of the tower was calculated.

[0016] This patent also provides a robot positioning method, employing the aforementioned robot positioning system, comprising the following steps: Step 1: Pre-determine the tower radius b, fix the positioning system at the bottom of the tower, and tie the end of the rope sensor to the robot; Step 2: Measure the vertical height h0 between the center point of the idler wheel and the bottom surface of the tower; measure the distance c between the outlet of the rope sensor and the center of the tower. Step 3: As the robot works on the inner wall of the tower, the rope end pulls the guide assembly to rotate. At this time, the rotation angle reading D of the guide assembly, encoder shaft seat and hollow rotating shaft around the encoder body is read; the L value is directly read by the rope extension length through the rope sensor. Step 4: Calculate the angle A, the change in the robot's position relative to the tower center after the robot moves in the circumferential direction of the tower, compared to its initial position before movement, using an angle positioning algorithm. According to the law of sines: ; but: ; Since the sum of the three interior angles of a triangle is 180°, then: ; in: b is the tower radius, which is a fixed value; c is the distance between the outlet of the draw rope sensor and the center of the tower, which is a fixed value; D is the reading of the angle sensing unit; C is the angle between the ray from the robot to the outlet of the cable sensor and the ray from the robot to the center of the tower at the robot's location. Angle B = 180° - D; Finally, the angle A of the robot's position relative to the center of the tower after moving to the circumferential position of the tower is calculated. Step 5: Calculate the robot's height position H on the inner wall of the tower using a height positioning algorithm: According to the law of sines: ; but: ; a is the length of the projection line segment on the bottom surface of the tower, connecting the robot's location and the outlet of the rope sensor. d is the length of the projection line segment of the line connecting the outlet of the draw rope sensor and the center of the idler wheel onto the bottom surface of the tower, which is a fixed value; it can be known that: ; As the robot moves along the height of the inner wall of the tower, the dimensions L and h1 change accordingly with the change in the height of the robot on the inner wall of the tower. The value of L is directly read by the extension and retraction length of the pull rope sensor. After the positioning system is fixed on the bottom surface of the tower, the distance h0 between the idler wheel and the bottom surface of the tower becomes a constant value; the distance e between the idler wheel and the tower wall is the value obtained above. According to the Pythagorean theorem: ; h0 is the vertical height between the center point of the idler wheel and the bottom surface of the tower. h1 is the vertical height between the center point of the idler wheel and the robot; The robot's height H on the inner wall of the tower was calculated. Step 6: The robot's angular position A on the circumferential side of the inner wall of the tower and its height position H on the inner wall of the tower are used to determine the robot's real-time position when working on the inner wall of the tower, thus achieving the robot's position positioning.

[0017] The beneficial effects of this invention are: (1) The robot positioning system and positioning method of this patent can adapt to the enclosed space inside the tower and effectively overcome factors such as light, environmental contrast, and dust in the working environment. Through optimized design, the wall-climbing robot can accurately achieve its position positioning inside the tower. (2) The robot positioning system and positioning method of this patent do not require the use of traditional positioning methods, such as visual positioning, laser positioning and navigation, inertial navigation, which are costly positioning systems. This patent is low in cost, accurate in positioning, and suitable for large-scale promotion and application. Attached Figure Description

[0018] Figure 1 A schematic diagram of the isometric structure of the positioning system of the present invention is shown; Figure 2 A cross-sectional view of the positioning system of the present invention is shown; Figure 3 A schematic diagram of the isometric structure of the angle positioning subsystem and guide mechanism of the present invention is shown; Figure 4 This diagram illustrates the principle of circumferential positioning of a wall-climbing robot inside a tower. Figure 5 The diagram shows the circumferential positioning calculation of the wall-climbing robot inside the tower. Figure 6 A connection diagram of the intelligent positioning module, the altitude positioning subsystem, and the angle positioning subsystem is shown. Explanation of reference numerals in the attached figures: 1. Shell; 2. Height positioning subsystem; 3. Angle positioning subsystem; 4. Intelligent positioning module; 5. Pull rope sensor; 6. Guide mechanism; 7. Encoder assembly; 8. Hollow cavity; 9. Encoder body; 10. Encoder mount; 11. Bearing mount; 12. Encoder shaft mount; 13. Support plate; 14. Pulley assembly; 15. Connecting assembly; 16. Idler wheel; 17. Pulley unit; 18. Inner wall of tower; 19. Wall-climbing robot. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] In the description of the invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0021] Example 1 like Figures 1-6 As shown, this embodiment provides a robot positioning system, including a housing 1, a height positioning subsystem 2, an angle positioning subsystem 3, and an intelligent positioning module 4. Both the height positioning subsystem 2 and the angle positioning subsystem 3 are fixedly connected to the housing 1. The height positioning subsystem 2 includes a rope sensor 5 and a guide mechanism 6. The rope end of the rope sensor 5 passes through the angle positioning subsystem 3 and around the guide mechanism 6, and is bound to the wall-climbing robot. The angle positioning subsystem 3 includes an angle sensing unit, which includes a fixed end and a rotating end that are rotatably connected. The fixed end of the angle sensing unit is fixedly connected to the housing 1, and the rotating end is fixedly connected to the guide mechanism 6. The intelligent positioning module 4 is signal-connected to the rope sensor 5 and the angle sensing unit. The angle sensing unit uses a hollow encoder assembly 7, and the encoder assembly 7 has a hollow cavity 8 in the middle to accommodate the rope end of the rope sensor 5. The encoder assembly 7 includes an encoder body 9, an encoder base 10, a bearing base 11, and an encoder shaft base 12. The encoder body 9 is fixedly connected to the housing 1, and the encoder base 10 is fixedly connected to the encoder body 9. The bearing housing 11 is rotatably connected to the hollow shaft of the encoder body 9 via a deep groove ball bearing. The bearing housing 11 is fixedly connected to the encoder base. The encoder shaft seat 12 is coaxially fixedly connected to the hollow shaft of the encoder body 9. The guide mechanism 6 is fixedly connected to the encoder shaft seat 12. The guide mechanism 6 includes a support plate 13, a pulley assembly 14, a connecting assembly 15, and an idler wheel 16. The support plate 13 is fixedly connected to the encoder shaft seat 12, and the pulley assembly 14... The connecting component 15 is installed on the support plate 13. Both ends of the connecting component 15 are connected to the support plate 13 and the idler wheel 16 respectively. The rope end of the pull rope sensor 5 passes around the pulley assembly 14 and the idler wheel 16 in sequence. As the wall-climbing robot 19 climbs on the inner wall 18 of the tower, the rope end of the pull rope sensor 5 pulls the guide mechanism 6 and the encoder shaft seat 12 to rotate at the same angle. The encoder body 9 can efficiently and accurately read the rotation angle value. The intelligent positioning module 4 has an embedded intelligent positioning model, which includes an angle positioning algorithm and a height positioning algorithm. The angle positioning algorithm is used to calculate the angle A, which is the change in the robot's position relative to the center of the tower after the robot moves around the tower, compared to its initial position. like Figure 4 and Figure 5As shown, according to the Law of Sines, we can deduce: ; but: ; Since the sum of the three interior angles of a triangle is 180°, then: ; in: b is the tower radius, which is a fixed value; c is the distance between the outlet of the draw rope sensor and the center of the tower, which is a fixed value; D is the reading of the angle sensing unit; C is the angle between the ray from the robot to the outlet of the cable sensor and the ray from the robot to the center of the tower at the robot's location. Angle B = 180° - D; Finally, the angle A of the change in the robot's position relative to the center of the tower after the robot moves in the circumferential direction of the tower is calculated.

[0022] The height positioning algorithm is used to calculate the robot's height position H on the inner wall of the tower: like Figure 2 , Figure 4 and Figure 5 As shown, according to the Law of Sines, we can deduce: ; but: ; a is the length of the projection line segment on the bottom surface of the tower, connecting the robot's location and the outlet of the rope sensor. d is the length of the projection line segment of the line connecting the outlet of the draw rope sensor and the center of the idler wheel onto the bottom surface of the tower, which is a fixed value; it can be known that: ; As the robot moves along the height of the inner wall of the tower, the dimensions L and h1 change accordingly with the change in the height of the robot on the inner wall of the tower. The value of L is directly read by the extension and retraction length of the pull rope sensor. After the positioning system is fixed on the bottom surface of the tower, the distance h0 between the idler wheel and the bottom surface of the tower becomes a constant value; the distance e between the idler wheel and the tower wall is the value obtained above. According to the Pythagorean theorem: ; h0 is the vertical height between the center point of the idler wheel and the bottom surface of the tower. h1 is the vertical height between the center point of the idler wheel and the robot; The robot's height H on the inner wall of the tower was calculated.

[0023] The robot positioning system and method described in this patent can adapt to the enclosed space inside the tower and effectively overcome factors such as light, environmental contrast, and dust in the working environment. Through optimized design, the wall-climbing robot can accurately locate its position inside the tower. This patent does not require the use of traditional positioning methods, such as visual positioning, laser positioning navigation, and inertial navigation, which are costly positioning systems. This patent is low-cost, accurate in positioning, and suitable for large-scale application.

[0024] Optionally, in one possible implementation, the pulley assembly includes three sets of pulley units 17 arranged in parallel. The pulley units are rotatably connected to the support plate. The line connecting the central axes of the three sets of pulley units forms an equilateral triangle structure. The central axis of the hollow cavity coincides with the tangent of the pulley unit located at the bottom, thereby enabling the pull rope of the pull rope sensor to be pulled open or closed smoothly and with high precision.

[0025] Example 2 This embodiment provides a robot positioning method, which uses the robot positioning system of Embodiment 1, and includes the following steps: Step 1: Pre-determine the tower radius b, fix the positioning system at the bottom of the tower, and tie the end of the rope sensor to the robot; Step 2: Measure the vertical height h0 between the center point of the idler wheel and the bottom surface of the tower; measure the distance c between the outlet of the rope sensor and the center of the tower. Step 3: As the robot works on the inner wall of the tower, the rope end pulls the guide assembly to rotate. At this time, the rotation angle reading D of the guide assembly, encoder shaft seat and hollow rotating shaft around the encoder body is read; the L value is directly read by the rope extension length through the rope sensor. Step 4: Calculate the angle A, the change in the robot's position relative to the tower center after the robot moves in the circumferential direction of the tower, compared to its initial position before movement, using an angle positioning algorithm. According to the law of sines: ; but: ; Since the sum of the three interior angles of a triangle is 180°, then: ; in: b is the tower radius, which is a fixed value; c is the distance between the outlet of the draw rope sensor and the center of the tower, which is a fixed value; D is the reading of the angle sensing unit; C is the angle between the ray from the robot to the outlet of the cable sensor and the ray from the robot to the center of the tower at the robot's location. Angle B = 180° - D; Finally, the angle A of the robot's position relative to the center of the tower after moving to the circumferential position of the tower is calculated. Step 5: Calculate the robot's height position H on the inner wall of the tower using a height positioning algorithm: According to the law of sines: ; but: ; a is the length of the projection line segment on the bottom surface of the tower, connecting the robot's location and the outlet of the rope sensor. d is the length of the projection line segment of the line connecting the outlet of the draw rope sensor and the center of the idler wheel onto the bottom surface of the tower, which is a fixed value; it can be known that: ; As the robot moves along the height of the inner wall of the tower, the dimensions L and h1 change accordingly with the change in the height of the robot on the inner wall of the tower. The value of L is directly read by the extension and retraction length of the pull rope sensor. After the positioning system is fixed on the bottom surface of the tower, the distance h0 between the idler wheel and the bottom surface of the tower becomes a constant value; the distance e between the idler wheel and the tower wall is the value obtained above. According to the Pythagorean theorem: ; h0 is the vertical height between the center point of the idler wheel and the bottom surface of the tower. h1 is the vertical height between the center point of the idler wheel and the robot; The robot's height H on the inner wall of the tower was calculated. Step 6: The robot's angular position A on the circumferential side of the inner wall of the tower and its height position H on the inner wall of the tower are used to determine the robot's real-time position when working on the inner wall of the tower, thus achieving the robot's position positioning.

[0026] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A positioning system for a robot, characterized in that, The system includes a housing, a height positioning subsystem, an angle positioning subsystem, and an intelligent positioning module. Both the height and angle positioning subsystems are fixedly connected to the housing. The height positioning subsystem includes a pull-string sensor and a guide mechanism. The end of the pull-string sensor passes through the angle positioning subsystem and bypasses the guide mechanism to be bound to the robot. The angle positioning subsystem includes an angle sensing unit, which has a fixed end and a rotating end that are rotatably connected. The fixed end of the angle sensing unit is fixedly connected to the housing, and the rotating end is fixedly connected to the guide mechanism. The intelligent positioning module is signal-connected to the pull-string sensor and the angle sensing unit. The intelligent positioning module embeds an intelligent positioning model, which includes an angle positioning algorithm and a height positioning algorithm. The angle sensing unit is a hollow encoder assembly, and the encoder assembly has a hollow cavity in the middle through which the end of the rope sensor passes. The guiding mechanism includes an idler wheel, and in use, the outlet of the rope sensor, the idler wheel, and the horizontal projection of the robot are on the same straight line.

2. The robot positioning system according to claim 1, characterized in that, The encoder assembly includes an encoder body, an encoder housing, a bearing housing, and an encoder shaft housing. The encoder housing is fixedly connected to the housing, the encoder body is fixedly connected to the encoder housing, the bearing housing is rotatably connected to the hollow shaft of the encoder body via a deep groove ball bearing, the bearing housing is fixedly connected to the encoder housing, the encoder shaft housing is coaxially fixedly connected to the hollow shaft of the encoder body, and the guide mechanism is fixedly connected to the encoder shaft housing.

3. A robot positioning system according to claim 2, characterized in that, The guiding mechanism also includes a support plate, a pulley assembly, and a connecting assembly. The support plate is fixedly connected to the encoder shaft seat. The pulley assembly is arranged on the support plate. The two ends of the connecting assembly are respectively connected to the support plate and the idler wheel. The rope end of the pull rope sensor passes around the pulley assembly and the idler wheel in sequence.

4. A robot positioning system according to claim 3, characterized in that, The pulley assembly includes three sets of pulley units arranged in parallel. The pulley units are rotatably connected to the support plate. The line connecting the central axes of the three sets of pulley units forms an equilateral triangle structure. The central axis of the hollow cavity coincides with the tangent of the pulley unit located at the bottom.

5. A robot positioning system according to claim 4, characterized in that, The angle positioning algorithm is used to calculate the angle A, which is the change in the robot's position relative to the center of the tower after the robot moves around the tower, compared to its initial position before the movement. According to the law of sines: ； but: ； Since the sum of the three interior angles of a triangle is 180°, then: ； in: b is the tower radius, which is a fixed value; c is the distance between the outlet of the draw rope sensor and the center of the tower, which is a fixed value; D is the reading of the angle sensing unit; C is the angle between the ray from the robot to the outlet of the cable sensor and the ray from the robot to the center of the tower at the robot's location. Angle B = 180° - D; Finally, the angle A of the change in the robot's position relative to the center of the tower after the robot moves in the circumferential direction of the tower is calculated.

6. A robot positioning system according to claim 5, characterized in that, The height positioning algorithm is used to calculate the robot's height position H on the inner wall of the tower: According to the law of sines: ； but: ； a is the length of the projection line segment on the bottom surface of the tower, connecting the robot's location and the outlet of the rope sensor. d is the length of the projection line segment of the line connecting the outlet of the draw rope sensor and the center of the idler wheel on the bottom surface of the tower, which is a fixed value; It can be known that: ； As the robot moves along the height of the inner wall of the tower, the dimensions L and h1 change accordingly with the change in the height of the robot on the inner wall of the tower. The value of L is directly read by the extension and retraction length of the pull rope sensor. After the positioning system is fixed on the bottom surface of the tower, the distance h0 between the idler wheel and the bottom surface of the tower becomes a constant value; the distance e between the idler wheel and the tower wall is the value obtained above. According to the Pythagorean theorem: ； h0 is the vertical height between the center point of the idler wheel and the bottom surface of the tower. h1 is the vertical height between the center point of the idler wheel and the robot; The robot's height H on the inner wall of the tower was calculated.

7. A positioning method for a robot, characterized in that, The robot positioning system according to claim 6 includes the following steps: Step 1: Pre-determine the tower radius b, fix the positioning system at the bottom of the tower, and tie the end of the rope sensor to the robot; Step 2: Measure the vertical height h0 between the center point of the idler wheel and the bottom surface of the tower; measure the distance c between the outlet of the rope sensor and the center of the tower. Step 3: As the robot works on the inner wall of the tower, the rope end pulls the guide assembly to rotate. At this time, the rotation angle reading D of the guide assembly, encoder shaft seat and hollow rotating shaft around the encoder body is read; the L value is directly read by the rope extension length through the rope sensor. Step 4: Calculate the angle A, the change in the robot's position relative to the tower center after the robot moves in the circumferential direction of the tower, compared to its initial position before movement, using an angle positioning algorithm. According to the law of sines: ； but: ； Since the sum of the three interior angles of a triangle is 180°, then: ； in: b is the tower radius, which is a fixed value; c is the distance between the outlet of the draw rope sensor and the center of the tower, which is a fixed value; D is the reading of the angle sensing unit; C is the angle between the ray from the robot to the outlet of the cable sensor and the ray from the robot to the center of the tower at the robot's location. Angle B = 180° - D; Finally, the angle A of the robot's position relative to the center of the tower after moving to the circumferential position of the tower is calculated. Step 5: Calculate the robot's height position H on the inner wall of the tower using a height positioning algorithm: According to the law of sines: ； but: ； a is the length of the projection line segment on the bottom surface of the tower, connecting the robot's location and the outlet of the rope sensor. d is the length of the projection line segment of the line connecting the outlet of the draw rope sensor and the center of the idler wheel onto the bottom surface of the tower, which is a fixed value; it can be known that: ； As the robot moves along the height of the inner wall of the tower, the dimensions L and h1 change accordingly with the change in the height of the robot on the inner wall of the tower. The value of L is directly read by the extension and retraction length of the pull rope sensor. After the positioning system is fixed on the bottom surface of the tower, the distance h0 between the idler wheel and the bottom surface of the tower becomes a constant value; the distance e between the idler wheel and the tower wall is the value obtained above. According to the Pythagorean theorem: ； h0 is the vertical height between the center point of the idler wheel and the bottom surface of the tower. h1 is the vertical height between the center point of the idler wheel and the robot; The robot's height H on the inner wall of the tower was calculated. Step 6: The robot's angular position A on the circumferential side of the inner wall of the tower and its height position H on the inner wall of the tower are used to determine the robot's real-time position when working on the inner wall of the tower, thus achieving the robot's position positioning.

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