Control device and method for attitude adjustment of underwater robot based on Boolean network

An underwater robot, Boolean network technology, applied in attitude control and other directions, can solve the problems of communication delay, real-time and accuracy requirements are difficult to meet and so on
CN108319276BActive Publication Date: 2021-05-11SHANGHAI JIAO TONG UNIV
14 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANGHAI JIAO TONG UNIV
Publication Date
2021-05-11

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The present invention relates to a Boolean network-based attitude adjustment control device and method for an underwater robot. The device includes: a temperature sensor for collecting the real-time temperatures of seawater and a propulsion motor; a pressure sensor for monitoring the water depth of the working point and pressure; electronic compass, used to monitor the heading and attitude of the submersible; sonar, used to detect obstacles and measure relative distance; Boolean network control module, the input nodes correspond to temperature sensor, pressure sensor, electronic compass and sonar respectively, It is used to receive the collected data, the output node corresponds to the motor driver, and its output state is encoded to drive the propulsion motor; the propulsion motor is used to realize the attitude adjustment control of the underwater robot. Compared with the prior art, the control device proposed by the present invention realizes the autonomous attitude adjustment control of the underwater robot, and the proposed control method is based on a Boolean network model, which has the advantages of logical determination, flexible network construction, and strong control robustness.
Need to check novelty before this filing date? Find Prior Art

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More