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Method for diagnosing faults of sensor of underwater robot

A sensor failure, underwater robot technology, applied in the direction of instruments, etc., can solve the problem of less research on the status monitoring of underwater robot sensor systems, and achieve the effect of improving detection accuracy and applicability

Active Publication Date: 2013-08-14
HARBIN ENG UNIV
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Problems solved by technology

[0003] There are relatively few studies on condition monitoring of sensor systems for underwater robots, and related studies generally assume that the sensor system is stable and barrier-free or focus on the fault diagnosis of a single sensor.

Method used

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  • Method for diagnosing faults of sensor of underwater robot
  • Method for diagnosing faults of sensor of underwater robot
  • Method for diagnosing faults of sensor of underwater robot

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] The technical solution adopted by the present invention is that the sensor failure of the underwater robot is in the state space ( figure 2 ) are described by eigenvectors. The detection system randomly generates initial antibodies—initial fault detectors, and through further antigenic stimulation, that is, feature matching, the initial antibodies mutate and mature, that is, they become detectors with comprehensive detection of sensor faults. On the one hand, a mature antibody-complete fault detector can be used for abnormal detection of equipment working status; on the other hand, a mature antibody memorizes the characteristics of data patterns in different abnormal working states of the system, and further classifies these patterns or " Marking", the results can be applied to the diagnosis of the working state of the sensor system of the underwater robot.

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Abstract

The invention belongs to the technical field of underwater robots, in particular relates to a method for diagnosing faults of the sensor of an underwater robot. The method comprises the steps: setting the number of detectors with the effective maximal circulation times; setting threshold values; judging whether the maximal circulation times are achieved or not; generating a detector; collecting and comparing the normal status signal of the detector; judging whether a faulted effective detector set is full or not; comparing the detector with a known fault set; and judging known fault memory effective detector set. According to the method, fault detection and diagnosis are performed on the fault diagnosing system of sensor of the underwater robot, real number coding is adopted, and the unsafe state of the sensor is calculated and judged by utilizing Euclidean distance, so that the defects that the conventional negative selection algorithm has high rate of missing report, abnormal faults can not be effectively recognized, and the detection accuracy and applicability of the sensor of the underwater robot are improved.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, in particular to a method for fault diagnosis of sensors of underwater robots. Background technique [0002] Intelligence is an important part of underwater robot research, real-time monitoring of sensor system and self-diagnosis of faults are important components of underwater robot intelligence. With the development of sensor technology and signal analysis technology, intelligent condition monitoring technology has become an important development direction in the field of sensor condition monitoring and fault diagnosis. [0003] There are few researches on condition monitoring of underwater robot sensor system, and the relevant research generally assumes that the sensor system is stable and barrier-free or is aimed at the fault diagnosis of a single sensor. At the same time, the underwater robot sensor system has its own characteristics and characteristics. The sensor configuration ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D18/00
Inventor 莫宏伟徐立芳雍升孙泽波胡嘉祺孟龙龙
Owner HARBIN ENG UNIV
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