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

Active Publication Date: 2021-05-11
SHANGHAI JIAO TONG UNIV
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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

Method used

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

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specific Embodiment

[0042] Such asfigure 1 As shown, this implementation of the underwater robot attitude adjustment control device based on the Boolean network mainly consists of three parts, the sensor 1 in the left dotted line box, the Boolean network control module 2 in the middle solid line box, and the dotted line box on the right. Actuator 3.

[0043] The sensor 1 includes a water temperature sensor T1 arranged outside the submersible shell, a temperature sensor T2 arranged on the propulsion motor, a water depth (pressure) sensor H arranged at the bottom of the submersible casing, and a full-attitude three-dimensional electronic compass heading sensor C. Sonar S on the bow; the actuator 3 includes 5 special propellers, all of which are 48VDC DC motors, of which there are 2 left and right, 2 front and rear, and 1 vertical propeller; the Boolean network control module is based on an embedded processor. The core has strong computing and storage capabilities. The schematic diagram mainly shows...

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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.

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

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 张卫东张晓华韩华翔孙志坚张国庆衣博文乔磊
Owner SHANGHAI JIAO TONG UNIV
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