Master-slave control system of four-wheel independent driven steering robot

Abstract

The invention discloses a master-slave control system of a four-wheel independent driven steering robot, and aims at solving the technical problem that most of moving robots in the prior art are two-wheel driven steering robots which are inconvenient to steer, can only deal with easier routing inspection missions and are incompetent to effectively deal with the routing inspection missions when facing the complicated detection environment of an electric power system. According to the system, by the cooperation of an upper computer and a lower computer, the expected rotation rate and expected linear acceleration of four hub motors of the robot and the expected angle, expected angular speed and the expected angular acceleration of four steering servos are obtained according to the planning decomposition of expected routing inspection routes and transmitted to corresponding slave controllers of the hub motors and slave controllers of the steering servos, and finally corresponding control of the hub motors and the steering servos are executed by the slave controllers of the hub motors and the slave controllers of the steering servos respectively to achieve the four-wheel independent driven steering of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a master-slave control system of a four-wheel independently driven steering robot. Background technique [0002] With the rapid development of the economy, the scale of the power system continues to expand, and the requirements for the stability of the power system continue to increase. However, the existing manual inspection mode is labor-intensive, the inspection quality is scattered, and it is greatly disturbed by bad weather, so it is difficult to meet the above needs. With the emergence of robot technology, robots can replace manual work with difficult operations and high precision requirements. Robots have attracted more and more attention from the industrial field. [0003] Most of the current mobile robots are two-wheel drive steering robots, which are inconvenient to steer and can only handle relatively simple inspection tasks, and are difficult to effectively perform in...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a master-slave control system for a four-wheel independent drive steering robot, which solves the problem that most mobile robots in the prior art are two-wheel drive steering robots, which are inconvenient to steer and can only deal with relatively simple inspection tasks. In the face of the complex detection environment of the power system, it is difficult to be effectively competent for the technical problem of inspection tasks

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