A PLC Manipulator Intelligent Control Method for Electric Energy Meter Detection and a Computer Readable Storage Medium

Abstract

The present invention provides an intelligent control method for a PLC manipulator used in the detection of electric energy meters, which relates to the field of automatic control technology. The method includes: collecting in real time the position information, speed, current, voltage and electromagnetic field intensity data of the manipulator; calculating the path weight based on the data, and selecting the optimal motion path of the manipulator according to the path weight; monitoring in real time the electromagnetic field change on the optimal motion path, calculating the path dynamic correction amount, and updating the path weight according to the dynamic correction amount; calculating the electromagnetic force received by the manipulator, and calculating the trajectory offset amount of the manipulator according to the electromagnetic force; correcting in real time the motion trajectory of the manipulator according to the trajectory offset amount, and adjusting the motion parameters of the manipulator through the PLC control system. The present invention effectively solves the technical problems that the traditional fixed-path control method lacks the dynamic adjustment ability in a complex electromagnetic environment and is prone to deviate from the predetermined trajectory, and significantly improves the accuracy and reliability of the detection of electric energy meters.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and particularly relates to a PLC robot intelligent control method and a computer-readable storage medium for electric energy meter detection. Background Art

[0002] In modern power systems, as a key device for measuring power consumption, the accuracy and reliability of electric energy meters are of great significance for power metering, user charging, and the stable operation of power systems. With the rapid development of smart grids, the functions of electric energy meters are becoming increasingly complex, and they not only need to be able to accurately measure electric energy but also need to have various functions such as communication, storage, and anti-stealing of electricity. Therefore, the quality requirements for electric energy meters in the design, production, and detection links are getting higher and higher, and electromagnetic compatibility testing (EMC) is a key link to ensure the stable operation of electric energy meters in various electromagnetic environments.

[0003] At present, in order to improve the detection efficiency of electric energy meters, automated detection technologies have been widely applied to the detection process. In particular, PLC (Programmable Logic Controller), as the core of industrial automation control, is commonly used to control actuators such as robots to complete the detection tasks of electric energy meters. However, in the electromagnetic compatibility testing environment, due to the existence of complex electromagnetic field interference, traditional robot control systems face severe challenges.

[0004] The robot control methods in the prior art mainly rely on preset fixed paths for motion control. This method has the following technical problems: First, the robot lacks the ability of dynamic adjustment and cannot adjust the motion path according to the real-time changes of the electromagnetic environment, and is easily interfered and deviated from the predetermined trajectory; Second, the control system cannot respond to the instantaneous changes of the electromagnetic field in real time, resulting in the difficulty of ensuring the accuracy of the robot when performing detection tasks; Third, in a complex electromagnetic environment, the motion trajectory of the robot is easily interfered and deviated, affecting the detection quality of the electric energy meter and making the reliability of the detection result poor. These problems seriously restrict the improvement of the automation level and detection efficiency of electric energy meter detection. Summary of the Invention

[0005] The purpose of the present invention is to provide a PLC robot intelligent control method and a computer-readable storage medium for electric energy meter detection, to achieve high-precision control of the robot in a complex electromagnetic environment, and to ensure the stability and reliability of the electric energy meter detection process.

[0006] To achieve the above purpose, the present invention is realized through the following technical solutions:

[0007] A PLC robot intelligent control method for electric energy meter detection includes the following steps:

[0008] S1: Collect the position information, speed, current, voltage, and electromagnetic field intensity of the robot;

[0009] S2: Calculate the path weight based on the data, and select the optimal motion path of the manipulator according to the path weight;

[0010] S3: Monitor the change of the electromagnetic field on the optimal motion path in real time, calculate the path dynamic correction amount, and update the path weight according to the dynamic correction amount;

[0011] S4: When the manipulator moves along the optimal path, calculate the electromagnetic force received by the manipulator, and calculate the trajectory offset of the manipulator according to the electromagnetic force;

[0012] S5: Correct the motion trajectory of the manipulator in real time according to the trajectory offset, and adjust the motion parameters of the manipulator through the PLC control system.

[0013] Furthermore: In the step S2, the calculation formula of the path weight is:

[0014]

[0015] Where, is the path weight, is the spatial coordinate of the manipulator at the current moment, is the spatial coordinate of the target position of the manipulator, is the speed of the manipulator at time t , and the motion efficiency of the manipulator is evaluated by dividing the distance from the current position to the target position by the speed; δ is the adjustment coefficient, which is used to control the influence of the electromagnetic field intensity and the working state of the manipulator on the path weight; is the electromagnetic field intensity, is the current, is the voltage, θ is the correction coefficient, which is used to adjust the influence of the trajectory change on the path weight; is the position trajectory of the manipulator; The dynamic fluctuation of the manipulator trajectory is described by the time change rate of the trajectory.

[0016] Furthermore: In the step S3, the calculation formula of the dynamic correction amount is:

[0017]

[0018] Where, is the dynamic correction amount of the path, represents the change rate of the electromagnetic field intensity, represents the working state of the manipulator, is the coefficient for adjusting the path correction, is the change rate of the manipulator position.

[0019] Furthermore, in the step S4, the calculation formula of the electromagnetic force is:

[0020]

[0021] where, is the acting force of the electromagnetic field on the manipulator, that is, the electromagnetic force received by the manipulator; is the magnetic field coupling coefficient, which controls the contribution of the magnetic field strength to the electromagnetic force; is the electric field coupling coefficient, which controls the contribution of the electric field strength to the electromagnetic force; is the electric charge quantity in the manipulator; is the magnetic field strength; is the speed of light; is the electric field strength received by the manipulator within the entire space range; is the angular frequency of the electromagnetic wave.

[0022] Furthermore, in the step S4, the calculation formula of the trajectory offset is:

[0023]

[0024] where, is the trajectory offset of the manipulator, is the mass of the manipulator, is the adjustment coefficient of the trajectory correction, which controls the influence amplitude of the electromagnetic force on the trajectory correction; is the initial phase, which is used to adjust the time offset of the trajectory correction.

[0025] Furthermore, after the step S5, there is also a step S6: collecting multi-dimensional data detected by the electricity meter, performing standardization processing on the multi-dimensional data to obtain a standardized value , and judging whether the electromagnetic compatibility of the electricity meter passes according to the standardized value.

[0026] Even further, the step S5 also includes fusing the standardized value into a decision function:

[0027]

[0028] where, is the comprehensive decision result after fusion; is the number of data dimensions; is the weight of each dimension data; is the parameter controlling the slope of the non-linear curve in the fusion process; is the balance point of data fusion; is the sine adjustment coefficient; is the sine adjustment frequency.

[0029] Furthermore: the step S5 also includes: With preset threshold For comparison, Greater than When , it is determined that the electromagnetic compatibility test of the electric energy meter has passed.

[0030] Further: in the step S5, the calculation formula for correcting the motion trajectory of the manipulator is:

[0031]

[0032] in, is the corrected manipulator position, is the current robot position, is the offset direction.

[0033] The present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned PLC manipulator intelligent control method for electric energy meter detection are implemented.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention collects key parameters such as the manipulator's spatial coordinates, speed, current, voltage, and electromagnetic field strength in real time, and calculates the path weight based on these parameters to ensure that the manipulator can automatically select the optimal motion path; at the same time, according to the changes in the electromagnetic field and the working status of the manipulator, the path dynamic correction amount is calculated in real time and the path weight is updated, so that the manipulator can adaptively adjust the motion trajectory in a complex electromagnetic environment, effectively overcoming the technical problem of the traditional fixed path control method lacking dynamic adjustment capability.

[0036] Second, the present invention can calculate the force of the electromagnetic field on the manipulator in real time by establishing an electromagnetic force calculation model, and calculate the trajectory offset based on the force, thereby correcting the motion trajectory of the manipulator in real time. This trajectory correction mechanism based on electromagnetic force enables the manipulator to adjust its motion state in time when it is subject to electromagnetic interference and maintain its established motion trajectory, effectively solving the technical problem that the manipulator is prone to deviate from the predetermined trajectory in a complex electromagnetic environment.

[0037] 3. The present invention uses a PLC control system to perform closed-loop control on the motion parameters of the manipulator, and adjusts the speed and acceleration of the manipulator in real time by comparing the actual position of the manipulator with the target position, ensuring that the manipulator can operate stably in an electromagnetic interference environment. This intelligent control method significantly improves the detection accuracy and reliability of the manipulator in a complex electromagnetic environment, overcoming the technical problem of poor reliability of detection results in the prior art. Brief Description of the Drawings

[0038] Figure 1 It is a schematic diagram of the step flow of the intelligent control method of the PLC manipulator for electric energy meter detection in an embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of the step flow of the intelligent control method of the PLC manipulator for electric energy meter detection in another embodiment of the present invention. Detailed Embodiments

[0040] Next, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0042] As Figure 1 shown: An intelligent control method of a PLC manipulator for electric energy meter detection includes the following steps:

[0043] S1: Collect the position information, speed, current, voltage and electromagnetic field intensity of the manipulator;

[0044] Among them, through position sensors (such as laser ranging sensors, inertial navigation systems, etc.), the current position and target position of the manipulator are collected in real time, and the coordinates reflect the specific position of the manipulator in the three-dimensional working space. Through the built-in motion controller or speed sensor, the speed of the manipulator is measured in real time. The current and voltage of the manipulator are collected through current sensors and voltage sensors respectively, reflecting the working state of the manipulator. Especially in an electromagnetic interference environment, the changes in current and voltage can help determine whether the manipulator is working stably or is affected by external electromagnetic interference. Through the electromagnetic field sensors installed around the manipulator, the electromagnetic field intensity of the environment where the manipulator is located is obtained in real time, reflecting the level of electromagnetic interference in the environment. By collecting the electromagnetic field intensity, the interference situation on the path can be evaluated in real time, and then the path selection can be optimized and the interference can be regulated. The motion trajectory of the manipulator is collected through the built-in inertial sensor, and the trajectory change rate of the manipulator is recorded in real time. The trajectory change rate reflects the stability and deviation degree of the manipulator on the current path, which is an important basis for subsequent correction of path deviation and maintenance of the stability of the manipulator.

[0045] S2: Calculate the path weight based on the data, and select the optimal motion path of the manipulator according to the path weight;

[0046] It should be noted that in the electromagnetic compatibility test scenario, the manipulator needs to perform operations in different spatial regions, and different spatial regions may have different electromagnetic field intensities and working conditions. Therefore, it is necessary to divide different spatial regions, each spatial region is a level, and the path weight is calculated separately. For one of the levels, use to represent.

[0047] Specifically, level represents different spatial positions that the manipulator may pass through in the working area. Each level has different electromagnetic field intensities, different environmental interference parameters and different working conditions of the manipulator. By calculating the path weight for each level, the optimal moving path of the manipulator in different spatial regions can be selected.

[0048] All the collected data is used as the input of the path weight. The path weight is a comprehensive parameter that reflects the motion cost, trajectory change situation and the influence of the electromagnetic environment of the manipulator at different levels.

[0049] In one embodiment, in the step S2, the calculation formula of the path weight is:

[0050]

[0051] Among them, is the path weight, is the spatial coordinate of the manipulator at the current moment, is the spatial coordinate of the target position of the manipulator, is the speed of the manipulator at time t , and the motion efficiency of the manipulator is evaluated by dividing the distance from the current position to the target position by the speed; δ is the adjustment coefficient, which is used to control the influence of the electromagnetic field intensity and the working state of the manipulator on the path weight; is the electromagnetic field intensity, is the current, is the voltage, θ is the correction coefficient, which is used to adjust the influence of the trajectory change on the path weight; is the position trajectory of the manipulator; The dynamic fluctuation of the manipulator trajectory is described by the time change rate of the trajectory.

[0052] The calculation of the path weight provides a basis for the initial path selection, and the current optimal path is selected according to the path weight. The formula for the preliminary path selection is as follows:

[0053]

[0054] where, is the optimal path level at the current time , that is, the path with the smallest weight; is the number of levels. However, the electromagnetic field intensity and the working state of the manipulator will change over time. Therefore, the preliminary path selection is only a static result, and the path needs to be further adjusted according to the real-time environment.

[0055] S3: Monitor the change of the electromagnetic field on the optimal motion path in real time, calculate the path dynamic correction amount, and update the path weight according to the dynamic correction amount;

[0056] It should be noted that after the path selection is completed, the manipulator will move along the new optimal path. During the movement, the manipulator will inevitably be affected by the local electromagnetic force. The local electromagnetic force is not only related to the electromagnetic environment on the path, but also related to specific factors such as the speed, charge amount, and magnetic field of the manipulator. At this time, the path has been determined, but the actual movement of the manipulator may still be affected by the instantaneous electromagnetic force. Therefore, trajectory correction becomes necessary.

[0057] The technical purpose of trajectory correction is not to change the overall path, but to fine-tune the instantaneous deviation of the manipulator when moving along the established path; due to the dynamic and instantaneous influence of the electromagnetic force on the manipulator, the manipulator may deviate from the predetermined path due to the action of the electromagnetic force.

[0058] During the path correction process, the electromagnetic field changes on the path are monitored in real time, especially the time change rate of the electromagnetic field intensity. By calculating the electromagnetic field changes on the path and the working state (current and voltage) of the manipulator, the dynamic correction amount of the path is calculated.

[0059] In another example among them, the calculation formula for the dynamic correction amount is:

[0060]

[0061] Wherein, is the dynamic correction amount of the path, represents the change rate of the electromagnetic field intensity, represents the working state of the manipulator, is the coefficient for adjusting the path correction, is the change rate of the manipulator position.

[0062] The path is adjusted according to the calculated dynamic correction amount, and the weight of the adjusted path is:

[0063]

[0064] Wherein, is the weight of the path after dynamic correction. After adjustment, the weights of all paths are re-evaluated, and the current optimal path is selected again according to the latest weights:

[0065]

[0066] Wherein, is the re-selected optimal path. The path selection is not only based on the initial environmental data, but dynamically adjusts the path according to the changes in the real-time environment to ensure that the manipulator always moves along the optimal path.

[0067] S4: When the manipulator moves along the optimal path, calculate the electromagnetic force received by the manipulator, and calculate the trajectory offset of the manipulator according to the electromagnetic force;

[0068] When the manipulator moves along the adjusted path, the influence of the electromagnetic field on the manipulator is reflected through the electromagnetic force. In another embodiment among them, the calculation formula for the electromagnetic force is:

[0069]

[0070] Wherein, is the acting force of the electromagnetic field on the manipulator, that is, the electromagnetic force received by the manipulator; is the magnetic field coupling coefficient, which controls the contribution of the magnetic field intensity to the electromagnetic force; is the electric field coupling coefficient, which controls the contribution of the electric field intensity to the electromagnetic force; is the electric charge within the robotic arm; is the magnetic field strength; is the speed of light; is the electric field strength experienced by the robotic arm within the entire spatial range; is the angular frequency of the electromagnetic wave.

[0071] The ratio of the robotic arm's speed to the speed of light reflects the influence of relativistic effects. As the speed approaches the speed of light, the relativistic effects become significant. Therefore, it is necessary to introduce terms to correct the electromagnetic force; the calculated result of the electromagnetic force will be used to adjust the trajectory of the robotic arm to ensure its stable operation in an electromagnetic interference environment.

[0072] In another embodiment, the calculation formula for the trajectory offset is:

[0073]

[0074] where, is the trajectory offset of the robotic arm, is the mass of the robotic arm, is the adjustment coefficient for trajectory correction, controlling the influence amplitude of the electromagnetic force on trajectory correction; is the initial phase, used to adjust the time offset of trajectory correction.

[0075] Adjust the motion trajectory of the robotic arm through electromagnetic force to ensure that the robotic arm can automatically correct its path when subjected to electromagnetic interference and maintain it on the optimal trajectory.

[0076] S5: Real-time correct the motion trajectory of the robotic arm according to the trajectory offset, and adjust the motion parameters of the robotic arm through the PLC control system.

[0077] Among them, the PLC control system real-time monitors the current position of the robotic arm through position sensors on the robotic arm (such as laser rangefinders or optical encoders). The current position data is compared with the target position on the theoretical trajectory. According to the current position of the robotic arm and the target trajectory position, calculate the difference between the actual position and the preset target position of the robotic arm at the current time point t; normalize the difference vector to obtain a unit vector; divide the difference in each coordinate direction by the unit vector to obtain the normalized direction vector, that is, the offset direction of the current position of the robotic arm relative to the target position.

[0078] Project the trajectory offset onto the offset direction to correct the displacement of the robotic arm:

[0079]

[0080] where, is the position of the robotic arm after correction, is the current position of the robotic arm, is the offset direction.

[0081] The movement of the robotic arm is driven by a PLC control system through actuators (such as servo motors or stepper motors). The PLC control system calculates the updated speed and acceleration information based on the corrected position , and generates new control signals for the actuators. For example, the speed and acceleration are adjusted through a PD or PID controller to ensure that the robotic arm moves along the new corrected trajectory. The PLC system calculates the error between the robotic arm and the corrected target position in real time through the controller to ensure that the movement trajectory of the robotic arm can follow the corrected trajectory.

[0082] In another embodiment, the present invention further includes step S6: collecting multi-dimensional data detected by the electricity meter, performing standardization processing on the multi-dimensional data to obtain a standardized value , and judging whether the electromagnetic compatibility of the electricity meter passes according to the standardized value.

[0083] Specifically, when the robotic arm completes path adjustment and trajectory correction, it enters the data fusion stage of electromagnetic compatibility testing. Collect test data in multiple dimensions, including current, voltage, electromagnetic field strength, and temperature, and unify them into a judgment standard through data fusion technology; first, perform standardization processing on the data in each dimension. The standardization processing specifically uses min-max standardization to obtain a standardized value , represents the dimension ordinal number of the data; through standardization processing, ensure that all data are compared and fused on the same scale.

[0084] Fuse the standardized data into a judgment function. The fusion formula is:

[0085]

[0086] where, is the comprehensive judgment result after fusion; is the number of data dimensions; is the weight of the data in each dimension, indicating its influence on the final result; is the parameter controlling the slope of the non-linear curve of the fusion process; is the balance point of data fusion, indicating the reference point of the data within the standardized range; is the sine adjustment coefficient, controlling the fluctuation influence of periodic data; is the sine adjustment frequency, indicating the periodic change frequency in the data. Through the fusion formula, the data in all dimensions are integrated into a unified judgment result to ensure the accuracy and reliability of the test results.

[0087] Finally, the judgment result is compared with the preset threshold Compare to automatically determine whether the electricity meter passes the electromagnetic compatibility test. When it does, the test passes; otherwise, it is determined that the test fails, and a detailed report is generated, indicating the specific reasons for the test failure.

[0088] The intelligent control method of the PLC manipulator for electricity meter detection proposed by the present invention mainly focuses on real-time perception and adaptive control. This method continuously collects the operating state of the manipulator through multiple sensors, including obtaining spatial position information using laser ranging or inertial navigation, measuring the movement speed through a speed sensor, monitoring the working state using current and voltage sensors, and collecting the ambient electromagnetic field intensity through an electromagnetic field sensor.

[0089] Based on the collected data, the system constructs a complete adaptive control mechanism. At the path level, multiple factors such as spatial distance, speed, and electromagnetic environment are comprehensively considered to calculate the path weight, realizing the dynamic selection of the optimal movement path. At the trajectory control level, the electromagnetic force effect and trajectory offset are calculated in real time, and the movement of the manipulator is closed-loop controlled in combination with the PLC system. At the detection and evaluation level, a data fusion algorithm is used to process multi-dimensional detection data to realize the intelligent determination of the detection results.

[0090] This multi-level intelligent control mechanism effectively solves the problem that the traditional fixed-path control method lacks the ability of dynamic adjustment, enabling the manipulator to adaptively adjust the movement path according to the real-time electromagnetic environment. At the same time, through precise electromagnetic force compensation and trajectory correction, the problem that the manipulator is prone to deviate from the trajectory in an electromagnetic interference environment is overcome, ensuring the movement accuracy. In addition, the use of closed-loop control and data fusion methods significantly improves the reliability of the detection results in a complex electromagnetic environment.

[0091] This intelligent control method not only improves the automation level and efficiency of electricity meter detection but also provides an effective solution for other application scenarios that require precise control in a strong electromagnetic environment.

[0092] The above embodiments are only for illustrating the technical concept and characteristics of the present invention, and their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly, and should not be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. An intelligent control method for a PLC manipulator used in the detection of electric energy meters, characterized in that, It includes the following steps: S1: Collect the position information, speed, current, voltage and electromagnetic field strength data of the manipulator; S2: Calculate the path weight based on the data, and select the optimal motion path of the manipulator according to the path weight; The calculation formula of the path weight is: Among them, is the path weight, is the spatial coordinate of the manipulator at the current moment, is the spatial coordinate of the target position of the manipulator, is at time for the manipulator t speed, δ is the adjustment coefficient, is the electromagnetic field strength, is the current, is the voltage, θ is the correction coefficient, is the position trajectory of the manipulator; is the dynamic fluctuation of the manipulator trajectory; S3: Real-time monitor the electromagnetic field change on the optimal motion path, calculate the path dynamic correction amount, and update the path weight according to the dynamic correction amount; The calculation formula of the dynamic correction amount is: Among them, is the dynamic correction amount of the path, represents the change rate of the electromagnetic field intensity, represents the working state of the manipulator, is the coefficient for adjusting the path correction, is the change rate of the manipulator position; S4: When the manipulator moves along the optimal path, calculate the electromagnetic force received by the manipulator, and calculate the trajectory offset of the manipulator according to the electromagnetic force; The calculation formula of the electromagnetic force is: Among them, is the force exerted by the electromagnetic field on the manipulator; is the magnetic field coupling coefficient; is the electric field coupling coefficient; is the electric charge quantity inside the manipulator; is the magnetic field strength; is the speed of light; is the electric field strength received by the manipulator within the entire spatial range; is the angular frequency of the electromagnetic wave; S5: Real-time correct the motion trajectory of the manipulator according to the trajectory offset, and adjust the motion parameters of the manipulator through the PLC control system.

2. The intelligent control method of a PLC manipulator for watt-hour meter detection according to claim 1, characterized in that In the step S4, the calculation formula of the trajectory offset is: Among them, is the trajectory offset of the manipulator, is the mass of the manipulator, is the adjustment coefficient for trajectory correction, controlling the influence amplitude of the electromagnetic force on trajectory correction; is the initial phase, used to adjust the time offset of trajectory correction.

3. A PLC manipulator intelligent control method for electric energy meter detection according to claim 1, characterized in that, After the step S5, the method further includes a step S6: collecting multi-dimensional data detected by the electric energy meter, performing standardization processing on the multi-dimensional data to obtain a standardized value , and determining whether the electromagnetic compatibility of the electric energy meter passes according to the standardized value.

4. A PLC manipulator intelligent control method for electric energy meter detection according to claim 3, characterized in that The step S6 further includes fusing the standardized values into a decision function: Among them, is the comprehensive judgment result after fusion; is the number of data dimensions; is the weight of the data for each dimension; is the parameter that controls the slope of the non-linear curve in the fusion process; is the balance point of data fusion; is the sine adjustment coefficient; is the sine adjustment frequency.

5. The intelligent control method of a PLC manipulator for electric energy meter detection according to claim 4, wherein The step S6 further includes using the determination result to compare with a preset threshold . When it is greater than , it is determined that the electromagnetic compatibility test of the electricity meter passes.

6. The intelligent control method of the PLC manipulator for the detection of electric energy meters according to claim 1, characterized in that, In the step S5, the calculation formula for correcting the motion trajectory of the manipulator is: Among them, is the corrected position of the manipulator, is the current position of the manipulator, is the offset direction.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the PLC manipulator intelligent control method for watt-hour meter detection according to any one of claims 1 to 6 are implemented.

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