Intelligent Inspection Robot Motion Control System for Valve Hall

In order to make the intelligent inspection robot of valve hall have more flexible control strategy and higher motion control precision, a special motion control system is designed. The system consists of motion controller module, information storage module, motion control software module, speed calculation software module and path planning software module. The motion controller module consists of power supply unit, alarm function unit, A/D conversion unit, serial communication unit and single chip microcomputer unit. The information storage module consists of RAM unit and ROM unit, two ROM units and three RAM units are designed. The motion control software module controls the running mode of the robot through the motion control software. The speed calculation software module mainly calculates the current left and right wheel speed of the robot through the getspeed-100umpersecond function of the encoder. The path planning software module mainly uses bat algorithm to implement path planning for the motion control of intelligent inspection robot of valve hall. Test various functions of the system. The test results show that the system has strong obstacle avoidance ability and good path planning function. The positioning error is small and has good positioning function. The motion trajectory deviation is small, and the motion control function is good. It is proved that the system can be applied to the design purpose and achieve excellent motion control, which has a certain significance for the promotion of intelligent substation inspection in various places.