CN111228763A - Ice wiping device of curling robot and control method thereof - Google Patents
Ice wiping device of curling robot and control method thereof Download PDFInfo
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Abstract
The invention discloses an ice wiping device of an ice pot robot and a control method thereof. The device comprises a horizontal support (1), a vertical support (2), a heating module (3) and an electric control unit (4), wherein the electric control unit (4) obtains information of a predicted track and a reference track of the curling through communication with a curling robot, the electric control unit (4) controls a horizontal stepping motor (12) and a vertical stepping motor (22) to control the position of the heating module (3) and directly control a switch of the heating module (3) to control the ice wiping device to realize different ice wiping actions, determines an ice wiping instruction based on fuzzy control, controls the stepping motor and the heating module to realize the ice wiping instruction, ensures that the ice wiping action is accurately executed, and finally reaches a target position.
Description
Technical Field
The invention relates to the technical field of robot ice wiping, in particular to an ice kettle robot ice wiping device and a control method thereof.
Background
The curling is a sports item of ice sports which is completed by throwing curling and wiping ice together. The scoring rule of curling is that after all curling in each game is thrown out, one curling in a certain team is positioned or contacted with the grand camp, and when all curling in a comparison party are closer to the circle center of the grand camp, the team scores one point. The final drop point of the curling determines the outcome of the game and ice scraping plays a key role in the final drop point of the curling.
The curling field is an ice surface with small ice particles distributed on the surface, and the small ice particles can be melted into a thin water film through frictional heat generation, so that the friction force is reduced. The ice is wiped by the principle, so that the local friction in front of the skating track of the curling is reduced, and the skating track of the curling is influenced.
Because the melting of small ice particles requires a large amount of heat to be obtained in a short time, the traditional ice wiping mode needs to use a hairbrush to wipe the ice surface vigorously and quickly back and forth. For the curling robot, it is difficult to provide enough acting force to enable the brush to effectively wipe the ice, and the high-speed back-and-forth wiping also causes great interference to the movement of the robot, so that a good ice wiping effect cannot be achieved.
If the heating module is used for directly heating the ice surface, the ice wiping function can be realized by analyzing the influence of different ice wiping force and frequency on the skating track of the curling during the ice wiping process of the professional athlete and converting the ice wiping experience of the professional athlete into a control strategy for the heating module. The ice wiping mode can reduce the interference of the ice wiping process on the curling robot, further enhance the ice wiping effect, and more accurately influence the sliding track of the curling so as to enable the curling to fall to the target position.
Disclosure of Invention
The invention provides an ice wiping device of an ice pot robot and a control method thereof, aiming at realizing that an ice wiping instruction can be automatically generated according to the deviation of a predicted sliding track and a reference track of an ice pot, and an ice wiping action is executed to realize the adjustment of the sliding track of the ice pot, and the invention provides the following technical scheme:
the device comprises a horizontal support 1, a vertical support 2, a heating module 3 and an electric control unit 4, wherein the horizontal support 1 is fixedly installed on the vertical support 2, the vertical support 2 is fixedly installed on the heating module 3, and the electric control unit 4 is fixedly installed on the horizontal support 1.
Preferably, the horizontal bracket 1 comprises a horizontal bracket base 11, a horizontal stepping motor 12 and a horizontal sliding block 13; the horizontal stepping motor 12 and a screw rod of an output shaft of the horizontal stepping motor 12 are jointly fixed on the horizontal bracket base 11, and the horizontal sliding block 13 is connected with the horizontal stepping motor 12 in a ball screw transmission mode.
Preferably, the vertical support 2 comprises a vertical support base 21, a vertical stepping motor 22 and a vertical sliding block 23, the vertical sliding block 23 is also in transmission connection with the vertical stepping motor 22 through a ball screw, and the vertical sliding block 23 is fixed on the vertical support base 21.
Preferably, the horizontal slider 13 is fixedly connected with the vertical slider 23.
Preferably, the electric control unit 4 obtains the predicted track and the reference track information of the curling through communication with the curling robot, and the electric control unit 4 controls the horizontal stepping motor 12 and the vertical stepping motor 22 to control the position of the heating module 3, or directly controls the switch of the heating module 3 to control the ice-wiping device to realize different ice-wiping actions. .
Preferably, the curling robot ice wiping device is powered by the curling robot.
A control method of an ice wiping device of an ice pot robot comprises the following steps:
step 1: receiving the information of the predicted skating track and the reference track of the curling sent by the curling robot through the electric control unit, and selecting the included angle theta between the tracksfRate of change of angle with
As a control amount;
step 2: the electric control unit generates an ice wiping instruction according to the reference track information;
and step 3: according to the ice wiping instruction, the electric control unit controls the position of the heating module and the heating switch, so that the ice wiping device can achieve various ice wiping actions.
Preferably, the step 1 specifically comprises:
step 1.1: the curling robot provides curling predicted sliding track X for the ice wiping devicecA curling reference track F (X, y) which is used for receiving a curling predicted sliding track X sent by the curling robot through the electric control unitcAnd a curling reference trajectory F (x, y);
step 1.2: selecting an included angle theta between tracksfRate of change of angle with
As a control amount, the inter-track angle θ is determined by the following equationfRate of change of angle with
θf＝θc-θref
Wherein, thetacTo predict the angle of the trajectory speed with respect to the y-axis, θrefIs the angle between the reference track and the y-axis.
Preferably, the step 2 specifically comprises:
step 2.1: according to the angle theta between the selected tracksfRate of change of angle with
Establishing a fuzzy controller, and fuzzifying the included angle error e between the tracks according to the following formula:
e ═ large negative, small negative, zero, small positive, large } NB, NS, ZO, PS, PB }
The rate of change e of the angle error between the tracks is determined bycFuzzification is carried out:
ec＝{NB，NS，ZO，PB，PS}
wherein NB is represented by
NS is expressed as
ZO is represented by
PS is represented by
PB is expressed as
emaxThe maximum value of the actually measured angle deviation; sign indicates direction, with left being positive;
step 2.2: determining an output quantity u of a fuzzy controlfAccording to the output u of the fuzzy controlfThe heating range of the heating module and the switch are controlled, and the output quantity u of the fuzzy control is expressed by the following formulaf：
ufBig negative, medium negative, small negative, zero positive, medium positive, big positive
＝{NB，NM，NS，ZO，PS，PM，PB}
Wherein PB and NB are both full power heating, the heating module is located at the y 'axis-25 cm position and swings to and fro along the x' axis in the range of [ -15cm, 0] or [0, 15cm ]; PM and NM are both full power heating, the heating module is located at the y 'axis-20 cm position and swings to and fro along the x' axis in the range of-10 cm, 0 or [0, 10cm ]; PS and NS are both full power heating, the heating module is positioned at the position of y 'axis to 20cm and swings to and fro along the x' axis within the range of [ -5cm, 0] or [0, 5cm ]; ZO is a closed heating module, and the heating module is positioned at the position of y' axis to 15 cm;
step 2.3: a fuzzy rule table is generated based on the fuzzy controller.
Preferably, the step 3 specifically comprises:
step 3.1: the step motor on the horizontal bracket is controlled, and the continuous input is NhA positive pulse and NhA pulse sequence formed by negative pulses is sent into the stepping motor to realize the stepping motor at lhReciprocating movement within the range;
step 3.2, controlling the stepping motor on the vertical support and inputting NpPositive or negative pulse signals are generated to adjust the position of the slide block on the bracket,
step 3.3: controlling the working mode of the heating module according to the output u of the fuzzy controllerfThe requirement on the heating switch controls the power supply of the heating moduleMake and break of ufAccording to uf＝[uhupus]TAnd the heating module is divided into 3 parts, and the horizontal position control, the vertical position control and the power on-off control of the heating module are respectively carried out, so that the ice can wipe ice correspondingly under various ice can track deviation conditions, and the ice can accurately reach a target position.
The invention has the following beneficial effects:
according to the invention, external information is obtained through communication with the curling robot, the input information of the curling robot is processed to be input as the controller, the ice wiping instruction is determined based on fuzzy control, the step motor and the heating module are controlled to realize the ice wiping instruction, the ice wiping action is ensured to be accurately executed, and the curling can finally reach the target position.
Drawings
FIG. 1 is a schematic structural view of an ice wiping device of a curling robot;
FIG. 2 is a flow chart of a control method of the ice-wiping device of the curling robot;
FIG. 3 is a schematic diagram of a predicted and reference curling trajectory;
FIG. 4 is a schematic view of a system of the ice-wiping device;
fig. 5 is a control block diagram of the ice-wiping device.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
as shown in fig. 1, the ice-wiping device of the curling robot provided by the invention comprises a horizontal bracket 1, a vertical bracket 2, a heating module 3 and an electric control unit 4, wherein:
the horizontal bracket 1 comprises a horizontal bracket seat 11, a horizontal stepping motor 12 and a horizontal sliding block 13; the horizontal stepping motor 12 and a screw rod of an output shaft of the horizontal stepping motor 12 are jointly fixed on the horizontal bracket base 11, and the horizontal sliding block 13 is connected with the horizontal stepping motor 12 in a ball screw transmission mode and can move freely in the range of the screw rod; .
The vertical support 2 comprises a vertical support seat 21, a vertical stepping motor 22 and a vertical sliding block 23, and the vertical sliding block 23 is also in transmission connection with the vertical stepping motor 22 through a ball screw and can move randomly within the range of the screw; the vertical slider 23 is fixed to the vertical bracket holder 21.
The horizontal sliding block 13 is fixedly connected with the vertical sliding block 23.
The heating module 3 is used for heating the ice surface to reduce the local friction force of the ice surface, so that the sliding track of the curling is influenced;
the electric control unit 4 is internally provided with an ice wiping device control algorithm and is used for calculating the angle deviation and the deviation change rate between the predicted track and the reference track of the curling which are input from the outside, autonomously generating an ice wiping instruction according to the deviation, controlling the ice wiping device to execute the ice wiping action and realizing the adjustment of the sliding track of the curling.
The electric control unit 4 can acquire the predicted track and the reference track information of the curling through communication with the curling robot, can realize position control on the heating module 3 by controlling the horizontal stepping motor 12 and the vertical stepping motor 22, and can also directly control the on-off of the heating module 3, thereby controlling the ice wiping device to realize different ice wiping actions; the whole ice-wiping device is fixed on the curling robot in the mode shown in figure 1, and the curling robot supplies power to the whole device.
As shown in fig. 2, the ice-wiping control algorithm of the curling robot implemented by the system comprises the following steps:
the method comprises the following steps: receiving the predicted skating track and reference track information of the curling sent by the curling robot:
the ice wiping refers to the process that an athlete holds an ice brush to continuously wipe the ice surface in front of the skating track of the curling so as to adjust the skating track of the curling. The ice-wiping device is generally not used alone but in conjunction with a curling robot or other mobile platform. Therefore, the ice wiping device is not required to be provided with an independent power supply and a sensor, and the ice pot robot or other mobile platforms can supply power and input signals to realize corresponding functions. However, considering the possible need for individual adjustment of the ice cleaning device and the modular design requirements, the invention provides an electric control unit for the ice cleaning device.
In a preferred embodiment of the invention, the ice wiping device is used with a curling robot. The curling robot can predict the sliding track of the curling and plan the reference track of the curling reaching the throwing target point at each moment. The specific description of the trajectory is shown in fig. 3:
a rectangular coordinate system is established by taking the front defence line of the curling field as an x axis, the left boundary of the curling in the sliding direction as a y axis and the intersection point of the two axes as the origin (0, 0). In FIG. 3, (x, y) is the current coordinates of the curling, (x)0，y0) For throwing the target point, F (x, y) is a line segment connecting two points, and is called a reference track; xcPredicted curling sliding track for curling robot, and the track comprises coordinates (x) of each pointc，yc) And velocity (v)cx，vcy) I.e. Xc＝[xcycvcxvcy]TLet the included angle between the speed of each point and the reference track be thetafPositive on the left side of the reference trace, θf＝θc-θref。
Wherein the content of the first and second substances,
predicting the included angle between the track speed and the y axis;
is the angle between the reference track and the y-axis.
The aim of ice wiping is to ensure that the curling can finally accurately reach the target position, and the curling can needs to slide according to the reference track as much as possible, namely the deviation between the predicted track and the reference track is required to be as small as possible. Selecting the angle theta between the tracksfAnd rate of change of included angle
As a criterion for the deviation between the trajectories. The control target of the ice-wiping device is to make thetafAnd
as small as possible. Wherein the content of the first and second substances,
to achieve the above object, θ is requiredfAnd
the controller is designed for the controlled variable. And control the quantity thetafAnd
is not directly available, in the preferred embodiment of the invention, is sending X via a curling robotcF (x, y) to the electronic control unit 4, and then the electronic control unit 4 performs the above calculation to obtain thetafAnd
in (1).
Step two: generating an ice wiping instruction according to the input track information:
theta can be obtained from the step onefAnd
to achieve thetafAnd
the aim of minimizing the size is to design a proper control algorithm to control the ice wiping device. Firstly, analyzing the ice wiping process of professional athletes:
when the professional athletes wipe the ice, different ice wiping actions can be taken for track deviation conditions with different degrees; if different ice-wiping actions are taken for curling with basically the same deviation condition, the influence on the sliding track is greatly different. Namely, different curling track deviation conditions exist in the ice wiping process, different ice wiping actions correspond to different conditions, and the track deviation conditions and the ice wiping actions are classified and correspond by athletes. This process is similar to the fuzzy control process, so that a double-input single-output fuzzy controller can be established to control the ice wiping device:
wherein, the input quantity is selected as follows:
the input quantity of the double-input fuzzy control is generally a deviation quantity e and a deviation variable quantity ecIn the present invention, let e equal to θf、
The fuzzification rule of the input quantity is as follows:
divide e into 5 fuzzy sets by e ═ { minus large, minus small, zero, plus small, plus large } - { NB, NS, ZO, PS, PB }, where:
wherein NB represents
NS representation
ZO represents
PS representation
PB represents
emaxThe maximum value of the actually measured angle deviation; the sign indicates the direction, with the left being positive.
In the same way, ec＝{NB，NS，ZO，PB，PS}。
The output quantity selection mode is as follows:
continuing to analyze the ice-wiping process of the professional athlete can find that: different ice wiping actions have different heating powers on the ice surface; and for the curling with left deviation, the athlete only rubs ice on the right front part of the curling sliding track; for curling with right bias, the athlete only rubs ice in front of the left side of the curling sliding track.
The output u of the fuzzy controller is thenfThe control quantity of the heating power and the heating range of the heating module is required. But because the heating module is heated and cooledThe process has larger delay, and the ice wiping process is very short, so the control of the heating power is converted into the control of the distance between the heating module and the ice surface, and the heating power of the ice surface is indirectly changed by changing the heating distance.
The output fuzzification mode is as follows:
for convenience of explanation, a rectangular coordinate system is established with the horizontal bracket as the x 'axis and the horizontal bracket as the y' axis in the manner shown in fig. 4. The heating module can move along the x' axis within the range of [ -15cm, 15cm [ -15cm [ ]]And the moving range along y' is [ -25cm, 5cm]. Initially, the heating module is located at (0, -25), i.e., almost proximate to the ice surface, and directly above the predicted skating path of the curling. u. offFuzzy rule is ufBig negative, medium negative, small negative, zero, small positive, medium positive, big positive
{NB，NM，NS，ZO，PS，PM，PB}
Wherein PB (or NB) is full power heating, the heating module is located at the y 'axis-25 cm position and swings back and forth along the x' axis in the range of [ -15cm, 0] (or [0, 15cm ]); PM (or NM) is full power heating, the heating module is positioned at the position of y 'axis to 20cm and swings back and forth along the x' axis in the range of [ -10cm, 0] (or [0, 10cm ]); PS (or NS) is full power heating, the heating module is positioned at the position of y 'axis to 20cm and swings back and forth along the x' axis in the range of [ -5cm, 0] (or [0, 5cm ]); ZO is the heating module turned off and located-15 cm from the y' axis.
Based on the analysis of the ice-wiping process and the ice-wiping experience of professional athletes, and in combination with the structural characteristics of the ice-wiping device, a fuzzy control rule table shown in table 1 is established:
TABLE 1 fuzzy rule Table
The fuzzy controller built according to the method can generate different ice wiping instructions u for different track deviation conditionsfSo as to meet the ice wiping requirements of various conditions in the ice wiping process.
Step three: controlling the position and the movement mode of the heating module according to the ice wiping instruction:
the ice wiping instruction u can be generated through the second stepfThe ice-wiping command is realized by controlling the position of the heating module and the switch of the heating module, and the specific control method is described as follows:
firstly, a position control method of a heating module is introduced:
in the present invention, as shown in fig. 1, the heating module 3 is fixed to the vertical support 2, and its moving ability is provided by the vertical support 2; because the horizontal bracket 1 is fixed on the curling robot, the horizontal sliding block 13 and the vertical sliding block 23 which are fixed with the horizontal bracket do not have the freedom degree in the vertical direction; the horizontal sliding block 13 is connected with the horizontal stepping motor 12 through a ball screw, the horizontal stepping motor 12 rotates to drive the screw to rotate, and the horizontal sliding block 13 drives the vertical sliding block 23 to horizontally move within the range of the screw through the transmission of the ball screw; because the vertical sliding block 23 and the vertical bracket 2 have no degree of freedom in the horizontal direction, the heating module 3 obtains the horizontal direction movement capability through the horizontal stepping motor 12; similarly, the heating module 3 obtains a vertical direction moving capability by the vertical stepping motor 22.
The position control of the heating module is then the control of the rotation of the stepping motor. Since the rotation of the stepping motor is controlled by a pulse signal: that is, the stepping motor rotates by a step angle theta every time a pulse signal is inputtedb. And the motor drives the screw rod to rotate theta'bTo make the slider generate xbDisplacement of magnitude. I.e. each pulse causes the slider to generate xbThe displacement direction is influenced by the rotating direction of the stepping motor, and the rotating direction of the stepping motor is related to the positive and negative of the pulse.
Through the analysis, the position control of the heating module can be converted into the control of the pulse quantity and the pulse direction, and the specific control mode is as follows:
control u of horizontal supportsh: according to step two ufThe requirement of the horizontal bracket can be known, and the sliding block is required to be capable of being arranged on the bracket within a certain range lhIs moved back and forth so that each one-way slider has a displacement of lhThe number of pulses required to generate the displacement is
The sliding direction of the sliding block is influenced by positive and negative pulses. In summary, the control method u of the horizontal brackethComprises the following steps: continuously input from NhA positive pulse and NhA pulse sequence formed by negative pulses (the positive and negative sequence is related to the initial sliding direction) to make the slide block realize at lhReciprocating movement within the range;
control u of vertical supportsp: according to step two ufThe requirement for a vertical support is that the slide block is required to be stationary after moving from one point to another point on the support, i.e. the slide block generates a displacement l in one directionpThe number of pulses required is
And judging the positive and negative of the pulse according to the moving direction of the sliding block. In summary, the control method u for the vertical supportp: input NpThe positive (negative) pulse signal makes the slide block realize the position adjustment on the bracket.
Through the control to the horizontal support and the vertical support, the position control to the heating module can be realized.
Then the control of the heating module switches is introduced:
control u of heating module switchs: in the second step, the heating module is required to work at full power, so that the power-on and power-off of the heating module are controlled only, and u issOnly the switch of the heating module is needed.
By the above method, u can be converted into u as shown in FIG. 5fAccording to uf＝[uhupus]TThe horizontal position control, the vertical position control and the power on-off control of the heating module are respectively carried out in 3 parts. Therefore, the ice wiping device can realize various ice wiping actions to deal with different ice pot track deviation conditions, and finally the ice pot can accurately reach the target position.
The above description is only a preferred embodiment of the ice wiping device for the curling robot and the control method thereof, and the protection scope of the ice wiping device for the curling robot and the control method thereof is not limited to the above embodiments, and all technical solutions belonging to the idea belong to the protection scope of the invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.
Claims (10)
1. An ice kettle robot ice wiping device is characterized in that: the device comprises a horizontal support (1), a vertical support (2), a heating module (3) and an electric control unit (4), wherein the horizontal support (1) is fixedly installed on the vertical support (2), the vertical support (2) is fixedly installed on the heating module (3), and the electric control unit (4) is fixedly installed on the horizontal support (1).
2. The curling robot ice wiping device of claim 1, wherein: the horizontal support (1) comprises a horizontal support seat (11), a horizontal stepping motor (12) and a horizontal sliding block (13); the horizontal stepping motor (12) and a screw rod of an output shaft of the horizontal stepping motor (12) are jointly fixed on the horizontal bracket base (11), and the horizontal sliding block (13) is connected with the horizontal stepping motor (12) in a ball screw transmission mode.
3. The curling robot ice wiping device of claim 1, wherein: the vertical support (2) comprises a vertical support seat (21), a vertical stepping motor (22) and a vertical sliding block (23), the vertical sliding block (23) is in transmission connection with the vertical stepping motor (22) through a ball screw, and the vertical sliding block (23) is fixed on the vertical support seat (21).
4. The curling robot ice wiping device of claim 1, wherein: the horizontal sliding block (13) is fixedly connected with the vertical sliding block (23).
5. The curling robot ice wiping device of claim 1, wherein: the electric control unit (4) obtains information of a predicted track and a reference track of the curling through communication with the curling robot, and the electric control unit (4) controls the position of the heating module (3) through controlling the horizontal stepping motor (12) and the vertical stepping motor (22) or directly controls the switch of the heating module (3) to control the ice wiping device to realize different ice wiping actions.
6. The curling robot ice wiping device of claim 1, wherein: the ice cleaning device of the curling robot is powered by the curling robot.
7. A control method of an ice kettle robot ice wiping device, the method is based on the ice kettle robot ice wiping device as claimed in claim 1, and is characterized in that: the method comprises the following steps:
step 1: receiving the information of the predicted skating track and the reference track of the curling sent by the curling robot through the electric control unit, and selecting the included angle theta between the tracksfRate of change of angle with
As a control amount;
step 2: the electric control unit generates an ice wiping instruction according to the reference track information;
and step 3: according to the ice wiping instruction, the electric control unit controls the position of the heating module and the heating switch, so that the ice wiping device can achieve various ice wiping actions.
8. The control method of the ice-wiping device of the curling robot as claimed in claim 7, wherein the control method comprises the following steps: the step 1 specifically comprises the following steps:
step 1.1: the curling robot provides curling predicted sliding track X for the ice wiping devicecA curling reference track F (X, y) which is used for receiving a curling predicted sliding track X sent by the curling robot through the electric control unitcAnd a curling reference trajectory F (x, y);
step 1.2: selecting an included angle theta between tracksfRate of change of angle with
As a control amount, the inter-track angle θ is determined by the following equationfRate of change of angle with
θf＝θc-θref
Wherein, thetacTo predict the angle of the trajectory speed with respect to the y-axis, θrefIs the angle between the reference track and the y-axis.
9. The control method of the ice-wiping device of the curling robot as claimed in claim 7, wherein the control method comprises the following steps: the step 2 specifically comprises the following steps:
step 2.1: according to the angle theta between the selected tracksfRate of change of angle with
Establishing a fuzzy controller, and fuzzifying the included angle error e between the tracks according to the following formula:
e ═ large negative, small negative, zero, small positive, large } NB, NS, ZO, PS, PB }
The rate of change e of the angle error between the tracks is determined bycFuzzification is carried out:
ec＝{NB，NS，ZO，PB，PS}
wherein NB is represented by
NS is expressed as
ZO is represented by
PS is represented by
PB is expressed as
emaxThe maximum value of the actually measured angle deviation; sign indicates direction, with left being positive;
step 2.2: determining an output quantity u of a fuzzy controlfAccording to the output u of the fuzzy controlfThe heating range of the heating module and the switch are controlled, and the output quantity u of the fuzzy control is expressed by the following formulaf：
ufBig negative, medium negative, small negative, zero positive, medium positive, big positive
＝{NB，NM，NS，ZO，PS，PM，PB}
Wherein PB and NB are both full power heating, the heating module is located at the y 'axis-25 cm position and swings to and fro along the x' axis in the range of [ -15cm, 0] or [0, 15cm ]; PM and NM are both full power heating, the heating module is located at the y 'axis-20 cm position and swings to and fro along the x' axis in the range of-10 cm, 0 or [0, 10cm ]; PS and NS are both full power heating, the heating module is positioned at the position of y 'axis to 20cm and swings to and fro along the x' axis within the range of [ -5cm, 0] or [0, 5cm ]; ZO is a closed heating module, and the heating module is positioned at the position of y' axis to 15 cm;
step 2.3: a fuzzy rule table is generated based on the fuzzy controller.
10. The control method of the ice-wiping device of the curling robot as claimed in claim 7, wherein the control method comprises the following steps: the step 3 specifically comprises the following steps:
step 3.1: the step motor on the horizontal bracket is controlled, and the continuous input is NhA positive pulse and NhA pulse sequence formed by negative pulses is sent into the stepping motor to realize the stepping motor at lhReciprocating movement within the range;
step 3.2: for step motor control on vertical support, input NpPositive or negative pulse signals are generated to adjust the position of the slide block on the bracket,
step 3.3: to the heating mouldControlling the block mode according to the output u of the fuzzy controllerfThe requirement on the heating switch controls the on-off of the power supply of the heating module, and u is controlledfAccording to uf＝[uhupus]TAnd the heating module is divided into 3 parts, and the horizontal position control, the vertical position control and the power on-off control of the heating module are respectively carried out, so that the ice can wipe ice correspondingly under various ice can track deviation conditions, and the ice can accurately reach a target position.
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