Miniature underwater robot-mounted hydrophone autonomous formation system and control method

Abstract

The invention discloses a miniature underwater robot-mounted hydrophone autonomous formation system and a control method. The system comprises one or more base stations which serve as position references, a plurality of miniature underwater robot-mounted hydrophones which serve as array leaders, and a plurality of miniature underwater robots which serve as array members, wherein the plurality of miniature underwater robot-mounted hydrophones which serve as the array leaders are called as leaders for short and are provided with ultrasonic wave emitters and ultrasonic wave receivers, and the plurality of miniature underwater robots which serve as the array members are called as members for short and are provided with ultrasonic wave receivers. According to the miniature underwater robot-mounted hydrophone autonomous formation system and the control method of the invention adopted, the miniature underwater robot-mounted hydrophones are adopted; specific frequency intervals are set; different ultrasonic frequency signals are emitted or received, so that autonomous team formation can be realized; and therefore, an array can be formed. With the miniature underwater robot-mounted hydrophone autonomous formation system and the control method of the invention adopted, the autonomous team formation of the miniature underwater robot-mounted hydrophones can be realized; large-scale management efficiency is improved; functions can be diversified; and the defect that a traditional fixed hydrophone array is low in degree of freedom is eliminated.

Description

technical field [0001] The invention relates to the technical field of precise underwater positioning and autonomous formation, in particular to an autonomous formation system and control method for a miniature underwater robot carrying hydrophones. Background technique [0002] In recent years, research on hydrophones has gained more and more attention. The so-called hydrophone refers to a transducer that converts acoustic signals into electrical signals, used to receive acoustic signals in water, and has been widely used in industrial, medical and military fields, such as underwater detection , communications and coastline monitoring and development of marine resources. Dispersed hydrophones have limited functions and are difficult to manage on a large scale. Therefore, in most cases, hydrophone arrays are needed to achieve more functions. However, most of the existing hydrophone arrays are fixed structures. For example, the towed array needs to fix all the hydrophones o...

AI Technical Summary

Problems solved by technology

Scattered hydrophones have limited functions and are difficult to manage on a large scale. Therefore, in most cases, hydrophone arrays are needed to achieve more functions.

However, most of the existing hydrophone arrays are fixed structures. For example, the towed array needs to fix all the hydrophones on the cable, and cannot swim independently to form an array. The degree of freedom and autonomy are low.

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