An autonomous formation system and control method for a miniature underwater robot carrying hydrophones

Abstract

The invention discloses an autonomous formation system and a control method for a miniature underwater robot carrying hydrophones. The system includes: one or more base stations used as a position reference, and ultrasonic transmitters are arranged on the base stations; a plurality of base stations are used as an array The captain's micro underwater robot carries hydrophones, referred to as the captain, and sets ultrasonic transmitters and ultrasonic receivers on the captain; a number of micro underwater robots as array members carry hydrophones, referred to as team members, and set up on the team members Ultrasonic receivers; micro underwater robots are used to carry hydrophones, and by setting specific frequency intervals, they can transmit or receive different ultrasonic frequency signals to achieve autonomous formation and form an array. The invention can realize the autonomous formation of the miniature underwater robot carrying the hydrophone, help to improve the efficiency of large-scale management and realize the diversification of functions, and solve the disadvantage of low degree of freedom of the traditional fixed hydrophone array.

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.

Images