针对轮式驱动的巡检机器人行走轮容易打滑的问题,通过分析巡检机器人在线作业时行走轮的受力情况及运动状态,利用压紧轮与行走轮的运动关系及相关运动学原理,建立了行走轮打滑辨识的数学模型;研究了打滑度问题,分析了控制打滑所需压紧力增量与打滑度及线路坡度的定性关系,利用这种关系设计了一个打滑模糊控制器.实验表明,打滑识别方法正确有效;打滑模糊控制器能有效抑制打滑的发生,提高了机器人巡检效率. Aiming at the problem that the walking wheel of the wheel-driven inspection robot is easy to slip, by analyzing the force and movement state of the walking wheel when the robot is working online, the relationship between the movement of the wheel and the running wheel and the related kinematics are established The mathematic model of skidding identification of walking wheel was studied. The problem of skidding was studied, and the qualitative relationship between increment of increment of pressure and skidding and line slope was analyzed. Based on this relationship, a slip-fuzzy controller was designed. , Slipping identification method is correct and effective; Sliding fuzzy controller can effectively inhibit the occurrence of slippage, improve the efficiency of robot inspection.