Method for identifying and positioning bolt of mechanical arm of tower-climbing robot, storage medium and terminal

The invention discloses a tower climbing robot mechanical arm bolt identification and positioning method, a storage medium and a terminal.The tower climbing robot mechanical arm bolt identification and positioning method comprises the following steps that firstly, butt joint tower section image data containing bolts are collected through a depth camera; step 2, identifying the bolts in the image data of the docking tower section acquired in the step 1 by using a deep neural network model; 3, extracting a bolt image according to a bolt identification result in the step 2, performing edge extraction on the bolt image by adopting a Sobel operator, obtaining an image coordinate of the center of the bolt by utilizing a mean filtering algorithm, and reading depth information from the center of the bolt to a camera plane from a depth map according to the image coordinate of the center of the bolt; and 4, camera calibration and hand-eye calibration are conducted, and the position coordinates of the bolt center under