Camera angle self-adaptive adjustment method for intelligent inspection robot

The invention discloses a camera angle self-adaptive adjustment method for an intelligent inspection robot. The camera angle self-adaptive adjustment method comprises the following steps: establishinga monocular mobile vision measurement model; acquiring internal reference calibration data of the camera; according to a target point position of the robot initial image, determining image target points acquired by the robot at different subsequent moments; and solving a homography matrix, searching an image matching point corresponding to the target point in the initial image, realizing three-dimensional pose information of the same target point in a camera coordinate system acquired by the robot at different moments by utilizing a triangulation principle, and finally obtaining a deflectionangle of the camera. The camera angle self-adaptive adjustment method solves the problem that the target deviates from the visual field center of the robot camera when the intelligent inspection robotworks, can adjust the angl