Adjacent underwater robot short-distance sensing method based on artificial lateral line systems

Abstract

The invention provides an adjacent underwater robot short-distance sensing method based on artificial lateral line systems. The adjacent underwater robot short-distance sensing method comprises following steps: S1, a plurality of underwater robots are place at the right center of a low turbulence water tank in a front and back distribution manner; S2, an artificial lateral line system carried by a back underwater robot is used for measuring a pressure changing value of the surrounding flow field caused by swing of a front underwater robot; and S3, the back underwater robot is used for sensing the relative position relationship and the relative gesture relationship of the back underwater robot with the front underwater robot, and the moving state change of the front underwater robot based on the pressure changing value. The adjacent underwater robot short-distance sensing method based on artificial lateral line systems is used for sensing external water flow change via contact with the outside world, so that the adjacent underwater robot short-distance sensing method is capable of playing a role in the above complex environment steadily and effectively.

Description

technical field [0001] The invention relates to the field of underwater robot application technology, in particular to a short-distance sensing method for an adjacent underwater robot based on an artificial sideline system. Background technique [0002] The lateral line system is a sensory organ unique to fish and aquatic amphibians. Fish rely on the lateral line system to effectively perceive the external water environment information. The swinging of the fins and the fluctuation of the body of the fish will generate an anti-Karman vortex street in the flow field, which contains the motion information of the fish. Fish can perceive the vortex street generated by neighbor individuals through the lateral line system, and thus perceive the relative position, posture and motion state of their companions in a certain adjacent area, so as to conduct good interaction and form an orderly overall behavior. In recent years, underwater robots, including bionic robots, have received ...

AI Technical Summary

Problems solved by technology

However, in areas with complex terrain, dim light, and noisy areas, the existing perception system cannot function normally

[0005] At present, in areas with dim light, complex terrain, and noisy areas, the visual sensors and auditory sensors of the underwater robot cannot play a normal role. The ability of the underwater robot to perceive the external environment is limited, and the interaction between adjacent underwater robots cannot be achieved. Normal operation, the interaction between the underwater robot and the surrounding water environment cannot be carried out normally

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