Product oil tank cleaning robot positioning method

The invention discloses a finished oil tank cleaning robot positioning method and belongs to the technical field of oil tank cleaning. Step a, setting a coordinate origin; b, fixing a sonar sensor; c, determining the position of a sonar sensor (8); step d, establishing communication; e, predicting the current position of the cleaning robot by adopting model prediction control; f, whether the cleaning robot is shielded or not is judged; g, the estimated value obtained in the step e is adopted as the current position of the cleaning robot; and h, calculating the distance between the sonar sensor (8) and the cleaning robot by using a four-point positioning method. According to the positioning method for the product oil tank cleaning robot, the cleaning robot is positioned in real time through the fixed coordinates of the sonar based on the actual environment situation that the interior of the product oil tank is closed, calibration is conducted in combination with an inertial coordinate system, and it is ensured