Underwater robot posture adjusting and controlling device based on Boolean network, and method

Abstract

The invention relates to an underwater robot posture adjusting and controlling device based on Boolean network, and a method. The device comprises a temperature sensor used for respectively collectingthe real-time temperature of seawater and a propulsion motor; a pressure sensor, used for monitoring the water depth and pressure of working points; an electronic compass, used for monitoring the heading and posture of a submersible vehicle; a sonar, used for detecting barriers and measuring the relative distance; a Boolean network control module, whose input node is respectively corresponding tothe temperature sensor, the pressure sensor, the electronic compass, and the sonar, and is used for receiving the collected data, and whose output node is corresponding to a motor driver, with its ouput state after coding being used for driving the propulsion motor; the propulsion motor, used for adjusting and controlling the posture of the underwater robot. Compared with the prior art, the invention is advantageous in that with the controlling means, the adjusting and controlling of automatic posture of the underwater robot can be realized; as the controlling method is based on the Boolean network model, logic is determined, network establishing is flexible, and control robustness is strong.

Description

technical field [0001] The present invention relates to underwater robot attitude adjustment control technology, in particular to a Boolean network-based underwater robot attitude adjustment control device and method. By mapping sensors as input nodes and propellers as output nodes, the underwater robot Construct a Boolean network model; use the Boolean network as the core of the controller to obtain the state of the output node and then decode the output control signal of the driver to adjust the working state of the propulsion motor to realize the attitude adjustment and control of the underwater robot. Background technique [0002] Because underwater robots overcome the limitation of human diving depth, they can assist or even replace humans in underwater operations in some high-risk environments. They have become an important tool for exploring marine resources, protecting marine ecology, developing marine economy, and safeguarding marine rights and interests. Due to the...

AI Technical Summary

Problems solved by technology

Since the propulsion system of an underwater robot is usually under-actuated and there is a delay in communication, not only high requirements are placed on the skills of the operator, but also the real-time and precision requirements of the control are often difficult to meet

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