Research and simulation analysis of positioning technology of nuclear power underwater robot based on monocular vision

Aiming at the positioning problem of the docking of the end plug grinding and recovery device of the nuclear power underwater robot, a research and simulation method based on monocular vision positioning technology is proposed; First, determine the coordinates of the light source marking point of the grinding recovery device; Then, with the help of OpenCV tool and its conventional coordinates, the translation vector and rotation vector reflecting the position related information of the grinding recovery device in the camera coordinate system are obtained, and then the position and attitude information of the nuclear power underwater robot in the boric acid pool are determined; Finally, SolidWorks software is used to model and simulate the camera shooting model. The results show that the proposed method can not only quickly obtain the position and attitude information of the underwater robot, but also has high positioning accuracy, which meets the design requirements of the nuclear power underwater robot in grinding, recycling and docking.