CN108983794A - Underwater robot intelligence less important work System and method for - Google Patents
Underwater robot intelligence less important work System and method for Download PDFInfo
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- CN108983794A CN108983794A CN201810731207.4A CN201810731207A CN108983794A CN 108983794 A CN108983794 A CN 108983794A CN 201810731207 A CN201810731207 A CN 201810731207A CN 108983794 A CN108983794 A CN 108983794A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The present invention provides a kind of underwater robot intelligence less important work methods comprising the steps of: control signal acquisition step: obtains the control instruction from controlling terminal；Monitoring signals obtaining step: the monitoring data from sensor are obtained；Data processing step: Kalman filtering is carried out to monitoring data, obtains filtering data；It executes instruction generation step: according to filtering data, control instruction and the fuzzy rule of setting, generating executing agency's action command.Correspondingly, the present invention also provides a kind of underwater robot intelligence less important work systems.The present invention passes through fuzzy algorithmic approach, the overshoot of whole system can be reduced in a certain range, and then it can effectively improve the reaction speed and control precision of whole system, improve intelligent level, it avoids the problem that damaging machine because of layman's Manipulation of the machine, while also robot manipulation can be made simpler.
Description
Technical field
The present invention relates to underwater robot control fields, and in particular, to a kind of underwater robot intelligence less important work system
System and method.
Background technique
Currently, with the development of science and technology, underwater operation is most of is completed by underwater robot, but underwater machine
The control of device people generally requires to be completed by professional, even trained professional sometimes also due to maloperation and
It breaks down.In addition, the unstability (such as disturbance of different directions water flow) and sensor itself due to underwater environment are surveyed
The influence of error is measured, underwater robot usually will appear the situation that toning is whole or adjustment is insufficient, exist to the stability of work
Large effect.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of underwater robot intelligence less important work systems
With method.
The underwater robot intelligence less important work method provided according to the present invention comprising the steps of:
It controls signal acquisition step: obtaining the control instruction from controlling terminal；
Monitoring signals obtaining step: the monitoring data from sensor are obtained；
Data processing step: Kalman filtering is carried out to monitoring data, obtains filtering data；
It executes instruction generation step: according to filtering data, control instruction and the fuzzy rule of setting, generating executing agency
Action command.
Preferably, the control instruction include it is following any one or appoint multiple contents: depthkeeping mode control instruction, orientation mould
Formula control instruction determines gesture stability instruction；
Executing agency's action command includes vertical pusher action command and/or horizontal propeller action command；
The control signal acquisition step include it is following any one or appoint multiple steps:
-- depthkeeping mode instruction obtaining step: obtain the depthkeeping mode control instruction from controlling terminal；When acquisition depthkeeping
When mode control instruction, the monitoring data from depth transducer and inertial sensor are obtained in monitoring signals obtaining step, are held
In row instruction generation step, vertical pusher action command is generated；
-- directional pattern instruction obtaining step: obtain the directional pattern control instruction from controlling terminal；It is oriented when obtaining
When mode control instruction, the monitoring data from inertial sensor are obtained in monitoring signals obtaining step, execute instruction generation step
In rapid, horizontal propeller action command is generated；
-- determine gesture mode instruction obtaining step: obtaining and determine gesture mode control instruction from controlling terminal；Work as acquisition
When determining gesture stability instruction, the monitoring data from inertial sensor are obtained in monitoring signals obtaining step, execute instruction generation
In step, horizontal propeller action command and vertical pusher action command are generated.
Preferably, the fuzzy rule meets:
H=f (Δ H), (a≤Δ H < b)
In formula: h is the corresponding state parameter adjusted value of executing agency's action command；
Δ H is the difference of the corresponding state parameter target value of control instruction state parameter actual value corresponding with filtering data
Value；
F (Δ H) is the Fuzzy Calculation function about Δ H；
A, b is given threshold；
The state parameter include it is following any one or appoint multiple parameters: depth value, pitch angle, roll angle, yaw angle.
Preferably, also comprising it is following any one or appoint multiple steps:
-- threshold value self-adjusting step: according to evaluation index, adjust a and/or b；
-- ambiguity function self-adjusting step: according to evaluation index, adjust f (Δ H)；
The evaluation index includes any one of following or appoints multinomial content:
-- executing agency's action command generate after set period of time in, the corresponding state parameter of all filtering datas is practical
The difference of the average value of value state parameter adjusted value corresponding with executing agency's action command；
-- executing agency's action command generate after set period of time in, the corresponding state parameter of all filtering datas is practical
The variance of value；
-- after executing agency's action command generates, the corresponding state parameter actual value of filtering data is stablized dynamic in executing agency
Make to instruct the time required in corresponding state parameter adjusted value setting range.
Preferably, it also comprises the steps of:
Cloud data collection step: obtaining the self-regulated entire data from multiple controlling terminals, and the self-adjusting data include
Below any one or appoint multiple contents: a, b, f (Δ H)；
Preset value generation step: calculating the mode or average value of multiple self-regulated entire data, and the mode or average value are made
For preset value；
Alarming step: when except the setting range that the self-adjusting data from controlling terminal are located at preset value, report is generated
Alert signal.
The present invention also provides a kind of underwater robot intelligence less important work systems, comprising with lower module:
It controls signal acquisition module: obtaining the control instruction from controlling terminal；
Monitoring signals obtain module: obtaining the monitoring data from sensor；
Data processing module: Kalman filtering is carried out to monitoring data, obtains filtering data；
It executes instruction generation module: according to filtering data, control instruction and the fuzzy rule of setting, generating executing agency
Action command.
Preferably, the control instruction include it is following any one or appoint multiple contents: depthkeeping mode control instruction, orientation mould
Formula control instruction determines gesture stability instruction；
Executing agency's action command includes vertical pusher action command and/or horizontal propeller action command；
The control signal acquisition module include it is following any one or appoint multiple modules:
-- depthkeeping mode instruction obtains module: obtaining the depthkeeping mode control instruction from controlling terminal；When acquisition depthkeeping
When mode control instruction, monitoring signals, which obtain, obtains the monitoring data from depth transducer and inertial sensor in module, holds
In row directive generation module, vertical pusher action command is generated；
-- directional pattern instruction acquisition module: obtain the directional pattern control instruction from controlling terminal；It is oriented when obtaining
When mode control instruction, monitoring signals, which obtain, obtains the monitoring data from inertial sensor in module, executes instruction generation mould
In block, horizontal propeller action command is generated；
-- determine gesture mode instruction acquisition module: obtaining and determine gesture mode control instruction from controlling terminal；Work as acquisition
When determining gesture stability instruction, monitoring signals, which obtain, obtains the monitoring data from inertial sensor in module, executes instruction generation
In module, horizontal propeller action command and vertical pusher action command are generated.
Preferably, the fuzzy rule meets:
H=f (Δ H), (a≤Δ H < b)
In formula: h is the corresponding state parameter adjusted value of executing agency's action command；
Δ H is the difference of the corresponding state parameter target value of control instruction state parameter actual value corresponding with filtering data
Value；
F (Δ H) is the Fuzzy Calculation function about Δ H；
A, b is given threshold；
The state parameter include it is following any one or appoint multiple parameters: depth value, pitch angle, roll angle, yaw angle.
Preferably, also comprising it is following any one or appoint multiple modules:
-- threshold value self-adjusting module: according to evaluation index, adjust a and/or b；
-- ambiguity function self-adjusting module: according to evaluation index, adjust f (Δ H)；
The evaluation index includes any one of following or appoints multinomial content:
-- executing agency's action command generate after set period of time in, the corresponding state parameter of all filtering datas is practical
The difference of the average value of value state parameter adjusted value corresponding with executing agency's action command；
-- executing agency's action command generate after set period of time in, the corresponding state parameter of all filtering datas is practical
The variance of value；
-- after executing agency's action command generates, the corresponding state parameter actual value of filtering data is stablized dynamic in executing agency
Make to instruct the time required in corresponding state parameter adjusted value setting range.
Preferably, also comprising with lower module:
Cloud data collection module: obtaining the self-regulated entire data from multiple controlling terminals, and the self-adjusting data include
Below any one or appoint multiple contents: a, b, f (Δ H)；
Preset value generation module: calculating the mode or average value of multiple self-regulated entire data, and the mode or average value are made
For preset value；
Alarm module: when except the setting range that the self-adjusting data from controlling terminal are located at preset value, report is generated
Alert signal.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, by fuzzy algorithmic approach, the overshoot of whole system can be reduced in a certain range, and then can effectively improve
The reaction speed and control precision of whole system.
2, the present invention improves intelligent level, can thus avoid damaging machine because of layman's Manipulation of the machine
The problem of, while also robot manipulation can be made simpler.
3, in the present invention, the fuzzy controller on underwater robot can either be according to itself practical adjustments effect to fuzzy calculation
Method is adaptively adjusted, additionally it is possible to be received the preset value from cloud and be preset to fuzzy algorithmic approach, greatly improve control
Precision.
4, when a certain parameter drift-out conventional value in fuzzy algorithmic approach is more, alarm signal can be generated, user is reminded to pass
Sensor or fuzzy controller need to be repaired in time there may be defect.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is signal acquisition, Fuzzy Calculation and regulation flow process figure on underwater robot；
Fig. 2 is the underwater robot intelligence less important work system structure diagram in conjunction with Cloud Server.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
The present invention provides a kind of underwater robot intelligence less important work methods comprising the steps of: control signal acquisition
Step: the control instruction from controlling terminal is obtained；Monitoring signals obtaining step: the monitoring data from sensor are obtained；Number
According to processing step: carrying out Kalman filtering to monitoring data, obtain filtering data；Execute instruction generation step: according to filtering number
According to, control instruction and the fuzzy rule of setting, executing agency's action command is generated.
The control instruction include it is following any one or appoint multiple contents: depthkeeping mode control instruction, directional pattern control
Gesture stability instruction is determined in instruction.Executing agency's action command includes that vertical pusher action command and/or horizontal propeller act
Instruction.The control signal acquisition step include it is following any one or appoint multiple steps: depthkeeping mode instruction obtaining step: obtain
Depthkeeping mode control instruction from controlling terminal；When obtaining depthkeeping mode control instruction, obtained in monitoring signals obtaining step
The monitoring data from depth transducer and inertial sensor are fetched, are executed instruction in generation step, vertical pusher movement is generated
Instruction；Directional pattern instruction obtaining step: the directional pattern control instruction from controlling terminal is obtained；When acquisition directional pattern control
When system instruction, the monitoring data from inertial sensor are obtained in monitoring signals obtaining step, are executed instruction in generation step, it is raw
At horizontal propeller action command；Determine gesture mode instruction obtaining step: obtaining and determine gesture mode control from controlling terminal
Instruction；When gesture stability instruction is determined in acquisition, the monitoring data from inertial sensor are obtained in monitoring signals obtaining step, are held
In row instruction generation step, horizontal propeller action command and vertical pusher action command are generated.
Preferably, the fuzzy rule meets:
H=f (Δ H), (a≤Δ H < b)
In formula: h is the corresponding state parameter adjusted value of executing agency's action command；Δ H is the corresponding state of control instruction
The difference of parameter objectives value state parameter actual value corresponding with filtering data；F (Δ H) is the Fuzzy Calculation function about Δ H；
A, b is given threshold；The state parameter include it is following any one or appoint multiple parameters: depth value, pitch angle, roll angle, partially
Boat angle.For f (Δ H), linear function can be, be also possible to nonlinear function or constant.The given threshold can deposit
At 2 or more, when Δ H is in different threshold intervals, f (Δ H) can be different functional form.
Preferably, the underwater robot intelligence less important work method also include it is following any one or appoint multiple steps: threshold
It is worth self-adjusting step: according to evaluation index, adjusts a and/or b；Ambiguity function self-adjusting step: according to evaluation index, f is adjusted
(ΔH).Wherein, evaluation index includes any one of following or appoints multinomial content: executing agency's action command generate after setting when
Between in section, the average value state ginseng corresponding with executing agency's action command of the corresponding state parameter actual value of all filtering datas
The difference of number adjusted value；Executing agency's action command generate after set period of time in, the corresponding state ginseng of all filtering datas
The variance of number actual value；After executing agency's action command generates, the corresponding state parameter actual value stabilization of filtering data is being executed
Mechanism action instructs the time required in corresponding state parameter adjusted value setting range.Preferably, cloud is also comprised the steps of:
End data collection step: obtain the self-regulated entire data from multiple controlling terminals, the self-adjusting data include it is following any one
Or appoint multiple contents: a, b, f (Δ H)；Preset value generation step: calculating the mode or average value of multiple self-regulated entire data, by institute
Mode or average value are stated as preset value；Alarming step: when the self-adjusting data from controlling terminal are located at the setting of preset value
When except range, alarm signal is generated.
Correspondingly, the present invention also provides a kind of underwater robot intelligence less important work systems, comprising with lower module: control
Signal acquisition module: the control instruction from controlling terminal is obtained；Monitoring signals obtain module: obtaining the monitoring from sensor
Data；Data processing module: Kalman filtering is carried out to monitoring data, obtains filtering data；Execute instruction generation module: according to
Filtering data, control instruction and the fuzzy rule of setting generate executing agency's action command.
The control instruction include it is following any one or appoint multiple contents: depthkeeping mode control instruction, directional pattern control
Gesture stability instruction is determined in instruction.Executing agency's action command includes that vertical pusher action command and/or horizontal propeller act
Instruction.The control signal acquisition module include it is following any one or appoint multiple modules: depthkeeping mode instruction obtain module: obtain
Depthkeeping mode control instruction from controlling terminal；When obtaining depthkeeping mode control instruction, monitoring signals obtain to be obtained in module
The monitoring data from depth transducer and inertial sensor are fetched, are executed instruction in generation module, vertical pusher movement is generated
Instruction；Directional pattern instruction acquisition module: the directional pattern control instruction from controlling terminal is obtained；When acquisition directional pattern control
When system instruction, monitoring signals, which obtain, obtains the monitoring data from inertial sensor in module, execute instruction in generation module, raw
At horizontal propeller action command；Determine gesture mode instruction acquisition module: obtaining and determine gesture mode control from controlling terminal
Instruction；When gesture stability instruction is determined in acquisition, monitoring signals, which obtain, obtains the monitoring data from inertial sensor in module, holds
In row directive generation module, horizontal propeller action command and vertical pusher action command are generated.
Preferably, the fuzzy rule meets:
H=f (Δ H), (a≤Δ H < b)
In formula: h is the corresponding state parameter adjusted value of executing agency's action command；Δ H is the corresponding state of control instruction
The difference of parameter objectives value state parameter actual value corresponding with filtering data；F (Δ H) is the Fuzzy Calculation function about Δ H；
A, b is given threshold；The state parameter include it is following any one or appoint multiple parameters: depth value, pitch angle, roll angle, partially
Boat angle.For f (Δ H), linear function can be, be also possible to nonlinear function or constant.The given threshold can deposit
At 2 or more, when Δ H is in different threshold intervals, f (Δ H) can be different functional form.
Preferably, the underwater robot intelligence less important work system also include it is following any one or appoint multiple modules: threshold
It is worth self-adjusting module: according to evaluation index, adjusts a and/or b；Ambiguity function self-adjusting module: according to evaluation index, f is adjusted
(ΔH).Wherein, evaluation index includes any one of following or appoints multinomial content: executing agency's action command generate after setting when
Between in section, the average value state ginseng corresponding with executing agency's action command of the corresponding state parameter actual value of all filtering datas
The difference of number adjusted value；Executing agency's action command generate after set period of time in, the corresponding state ginseng of all filtering datas
The variance of number actual value；After executing agency's action command generates, the corresponding state parameter actual value stabilization of filtering data is being executed
Mechanism action instructs the time required in corresponding state parameter adjusted value setting range.Preferably, also comprising with lower module: cloud
End data collection module: obtain the self-regulated entire data from multiple controlling terminals, the self-adjusting data include it is following any one
Or appoint multiple contents: a, b, f (Δ H)；Preset value generation module: calculating the mode or average value of multiple self-regulated entire data, by institute
Mode or average value are stated as preset value；Alarm module: when the self-adjusting data from controlling terminal are located at the setting of preset value
When except range, alarm signal is generated.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of underwater robot intelligence less important work method, which is characterized in that comprise the steps of:
It controls signal acquisition step: obtaining the control instruction from controlling terminal；
Monitoring signals obtaining step: the monitoring data from sensor are obtained；
Data processing step: Kalman filtering is carried out to monitoring data, obtains filtering data；
It executes instruction generation step: according to filtering data, control instruction and the fuzzy rule of setting, generating executing agency's movement
Instruction.
2. underwater robot intelligence less important work method according to claim 1, which is characterized in that the control instruction packet
Containing it is following any one or appoint multiple contents: depthkeeping mode control instruction, directional pattern control instruction, determine gesture stability instruct；
Executing agency's action command includes vertical pusher action command and/or horizontal propeller action command；
The control signal acquisition step include it is following any one or appoint multiple steps:
-- depthkeeping mode instruction obtaining step: obtain the depthkeeping mode control instruction from controlling terminal；When acquisition depthkeeping mode
When control instruction, the monitoring data from depth transducer and inertial sensor are obtained in monitoring signals obtaining step, execution refers to
It enables in generation step, generates vertical pusher action command；
-- directional pattern instruction obtaining step: obtain the directional pattern control instruction from controlling terminal；When acquisition directional pattern
When control instruction, the monitoring data from inertial sensor are obtained in monitoring signals obtaining step, are executed instruction in generation step,
Generate horizontal propeller action command；
-- determine gesture mode instruction obtaining step: obtaining and determine gesture mode control instruction from controlling terminal；Appearance is determined when obtaining
When state control instruction, the monitoring data from inertial sensor are obtained in monitoring signals obtaining step, execute instruction generation step
In, generate horizontal propeller action command and vertical pusher action command.
3. underwater robot intelligence less important work method according to claim 1, which is characterized in that the fuzzy rule is full
Foot:
H=f (Δ H), (a≤Δ H < b)
In formula: h is the corresponding state parameter adjusted value of executing agency's action command；
Δ H is the difference of the corresponding state parameter target value of control instruction state parameter actual value corresponding with filtering data；
F (Δ H) is the Fuzzy Calculation function about Δ H；
A, b is given threshold；
The state parameter include it is following any one or appoint multiple parameters: depth value, pitch angle, roll angle, yaw angle.
4. underwater robot intelligence less important work method according to claim 3, which is characterized in that also comprising following any
A or multiple steps:
-- threshold value self-adjusting step: according to evaluation index, adjust a and/or b；
-- ambiguity function self-adjusting step: according to evaluation index, adjust f (Δ H)；
The evaluation index includes any one of following or appoints multinomial content:
-- executing agency's action command generate after set period of time in, the corresponding state parameter actual value of all filtering datas
The difference of average value state parameter adjusted value corresponding with executing agency's action command；
-- executing agency's action command generate after set period of time in, the corresponding state parameter actual value of all filtering datas
Variance；
-- after executing agency's action command generates, the corresponding state parameter actual value of filtering data is stablized to be referred in executing agency's movement
Enable the time required in corresponding state parameter adjusted value setting range.
5. underwater robot intelligence less important work method according to claim 4, which is characterized in that also include following step
It is rapid:
Cloud data collection step: obtaining the self-regulated entire data from multiple controlling terminals, and the self-adjusting data include following
Any one appoints multiple contents: a, b, f (Δ H)；
Preset value generation step: calculating the mode or average value of multiple self-regulated entire data, using the mode or average value as pre-
If value；
Alarming step: when except the setting range that the self-adjusting data from controlling terminal are located at preset value, alarm signal is generated
Number.
6. a kind of underwater robot intelligence less important work system, which is characterized in that comprising with lower module:
It controls signal acquisition module: obtaining the control instruction from controlling terminal；
Monitoring signals obtain module: obtaining the monitoring data from sensor；
Data processing module: Kalman filtering is carried out to monitoring data, obtains filtering data；
It executes instruction generation module: according to filtering data, control instruction and the fuzzy rule of setting, generating executing agency's movement
Instruction.
7. underwater robot intelligence less important work system according to claim 6, which is characterized in that the control instruction packet
Containing it is following any one or appoint multiple contents: depthkeeping mode control instruction, directional pattern control instruction, determine gesture stability instruct；
Executing agency's action command includes vertical pusher action command and/or horizontal propeller action command；
The control signal acquisition module include it is following any one or appoint multiple modules:
-- depthkeeping mode instruction obtains module: obtaining the depthkeeping mode control instruction from controlling terminal；When acquisition depthkeeping mode
When control instruction, monitoring signals, which obtain, obtains the monitoring data from depth transducer and inertial sensor in module, execution refers to
It enables in generation module, generates vertical pusher action command；
-- directional pattern instruction acquisition module: obtain the directional pattern control instruction from controlling terminal；When acquisition directional pattern
When control instruction, monitoring signals, which obtain, obtains the monitoring data from inertial sensor in module, executes instruction in generation module,
Generate horizontal propeller action command；
-- determine gesture mode instruction acquisition module: obtaining and determine gesture mode control instruction from controlling terminal；Appearance is determined when obtaining
When state control instruction, monitoring signals, which obtain, obtains the monitoring data from inertial sensor in module, executes instruction generation module
In, generate horizontal propeller action command and vertical pusher action command.
8. underwater robot intelligence less important work system according to claim 6, which is characterized in that the fuzzy rule is full
Foot:
H=f (Δ H), (a≤Δ H < b)
In formula: h is the corresponding state parameter adjusted value of executing agency's action command；
Δ H is the difference of the corresponding state parameter target value of control instruction state parameter actual value corresponding with filtering data；
F (Δ H) is the Fuzzy Calculation function about Δ H；
A, b is given threshold；
The state parameter include it is following any one or appoint multiple parameters: depth value, pitch angle, roll angle, yaw angle.
9. underwater robot intelligence less important work system according to claim 8, which is characterized in that also comprising following any
A or multiple modules:
-- threshold value self-adjusting module: according to evaluation index, adjust a and/or b；
-- ambiguity function self-adjusting module: according to evaluation index, adjust f (Δ H)；
The evaluation index includes any one of following or appoints multinomial content:
-- executing agency's action command generate after set period of time in, the corresponding state parameter actual value of all filtering datas
The difference of average value state parameter adjusted value corresponding with executing agency's action command；
-- executing agency's action command generate after set period of time in, the corresponding state parameter actual value of all filtering datas
Variance；
-- after executing agency's action command generates, the corresponding state parameter actual value of filtering data is stablized to be referred in executing agency's movement
Enable the time required in corresponding state parameter adjusted value setting range.
10. underwater robot intelligence less important work system according to claim 9, which is characterized in that also comprising with lower die
Block:
Cloud data collection module: obtaining the self-regulated entire data from multiple controlling terminals, and the self-adjusting data include following
Any one appoints multiple contents: a, b, f (Δ H)；
Preset value generation module: calculating the mode or average value of multiple self-regulated entire data, using the mode or average value as pre-
If value；
Alarm module: when except the setting range that the self-adjusting data from controlling terminal are located at preset value, alarm signal is generated
Number.
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| CN110379247A (en) * | 2019-07-19 | 2019-10-25 | 武汉理工大学 | A kind of multitask, polygonal color ROV coorinated training analogue system and method |
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