Water surface acoustic load test platform and method based on buoy robot

Abstract

The invention discloses a water surface acoustic load test platform and method based on a buoy robot, and belongs to the field of ocean robots. Comprising a plurality of buoy robots and an upper computer cooperative control system, instructions are issued to the buoy robots in real time through the upper computer cooperative control system, buoy positions and acoustic parameters are dynamically adjusted, and a self-adaptive acoustic test network is constructed; each buoy robot comprises a buoy robot body, and a core control module, an acoustic load module, a communication module, a positioning module, a power module, a power supply module and an adjustable acoustic extension mechanism which are mounted on the buoy robot body in a detachable packaging manner; the buoy robots are connected with the upper computer cooperative control system through the communication module, and multi-machine cooperative operation and data interaction are achieved. Multi-robot collaborative operation is achieved through modular design, and the robot has the functions of autonomous movement, acoustic signal receiving and transmitting and data processing.

Description

Technical Field

[0001] The present invention belongs to the field of marine robots, and in particular relates to a water surface acoustic load testing platform and method based on a buoy robot. Background Art

[0002] Acoustic technology has a wide range of applications in marine research, including underwater communications, target positioning, and marine environmental monitoring. Buoys, as long-term, stable observation platforms deployed on the water surface, provide crucial support for acoustic technology experiments and applications. However, traditional buoy platforms are limited in functionality, typically used only for monitoring meteorological and hydrological parameters, and lack specialized support for acoustic payloads. This provides the context and opportunity for the design and development of a new acoustic buoy robotic platform.

[0003] A buoy robot is a surface-mounted device that combines buoy and robotic technologies, capable of stable floating and autonomous movement. In recent years, it has been widely used in marine scientific research, resource development, and environmental monitoring. However, most existing buoy robots are equipped only with conventional sensors, such as meteorological and hydrological sensors, and lack specialized acoustic sensors and supporting signal processing and analysis capabilities. Their structural designs are also not optimized for the characteristics of acoustic payloads, resulting in low acoustic payload stability and data accuracy, making them difficult to meet the requirements of high-precision acoustic measurements.

[0004] Traditional acoustic sensor platforms fall into two main categories: fixed underwater acoustic sensor arrays and large ship-mounted acoustic sensor platforms. While fixed underwater acoustic sensor arrays can provide a stable data collection environment, they are expensive to deploy, operate, and maintain, and require specialized diving equipment and personnel. Furthermore, their fixed data collection range makes it difficult to flexibly adjust the experimental area, preventing dynamic, continuous acoustic data collection. While large ship-mounted acoustic sensor platforms offer a degree of flexibility, their operating costs are extremely high and, due to the ship's limited maneuverability, they struggle to perform accurate acoustic measurements in complex water environments.

[0005] In summary, existing buoy robotic platforms and traditional acoustic sensor platforms have significant shortcomings in supporting acoustic payloads, failing to meet the demands of modern oceanographic research for high-precision, flexible, and low-cost acoustic measurement platforms. Therefore, a surface buoy robotic platform capable of carrying acoustic payloads, autonomous mobility, and multi-robot collaboration is urgently needed to address these issues. Summary of the Invention

[0006] Technical issues to be solved:

[0007] In order to avoid the shortcomings of the existing technology, the present invention provides a surface acoustic load testing platform and method based on a buoy robot, which realizes multi-robot collaborative operation through modular design and has the functions of autonomous movement, acoustic signal transmission and reception, and data processing.

[0008] The technical solution of the present invention is: a surface acoustic load testing platform based on buoy robots, including multiple buoy robots and a host computer collaborative control system. The host computer collaborative control system issues real-time instructions to the multiple buoy robots, dynamically adjusts the buoy position and acoustic parameters, and constructs an adaptive acoustic test network;

[0009] Each buoy robot includes a buoy robot body and a core control module, an acoustic payload module, a communication module, a positioning module, a power module, a power supply module, and an adjustable acoustic extension mechanism installed thereon in a detachable package;

[0010] The core control module is used to parse the host computer instructions, control the power module to drive the buoy robot movement, and receive data information from the acoustic load module and positioning module for parsing and packaging, and send it to the host computer through the communication module to achieve real-time data transmission and processing;

[0011] The acoustic payload module is used to transmit and receive acoustic signals, can analyze the acoustic signals transmitted by other buoy robots, and calculate the distance and angle between the buoy robots based on the signal characteristics;

[0012] The communication module uploads the robot's position, heading, and received acoustic signal information to the host computer's command software; receives the command instructions sent by the host computer and passes them to the core control module for execution;

[0013] The positioning module adopts a differential GPS positioning system to obtain the GPS position information and heading information of the robot;

[0014] The power module is used to drive the buoy robot to move on the water surface and underwater;

[0015] The power module is responsible for supplying power to each module of the buoy robot;

[0016] The adjustable acoustic extension mechanism is provided on both sides of the buoy robot body and is used to dynamically adjust the distance between the transmitting end transducer and the receiving end hydrophone in the acoustic payload module and the water immersion depth;

[0017] Among them, the multiple buoy robots are connected to the host computer collaborative control system through a communication module to achieve multi-machine collaborative operation and data interaction.

[0018] A further technical solution of the present invention is: the acoustic load module includes a transmitting end transducer and a receiving end four-element array hydrophone, the operating frequency range of the transmitting end transducer is 15 to 30 kHz; the operating frequency range of the receiving end four-element array hydrophone is 20 to 150 kHz.

[0019] A further technical solution of the present invention is: the adjustable acoustic extension mechanism includes a hydrophone extension frame and a transducer extension frame symmetrically arranged on both sides of the buoy robot body, the hydrophone is installed under the hydrophone extension frame through a telescopic bracket, and the transducer is installed under the transducer extension frame through a telescopic bracket; by adjusting the brackets on both sides, the maximum distance between the transmitting end transducer and the receiving end hydrophone is 1 meter, and the maximum water immersion depth is 1 meter.

[0020] A further technical solution of the present invention is: the core control module adopts an STM32F4 series microcontroller, which generates PWM waves by parsing the host computer instructions to control the propeller speed and direction of the power module, thereby realizing autonomous movement and collaborative path planning of the buoy robot.

[0021] A further technical solution of the present invention is: the power module includes a high-efficiency lithium battery pack, supports daily charging function, ensures that the buoy robot works continuously for ≥6 hours, and is equipped with a fast charging interface; the power module achieves thermal isolation and waterproof sealing through an independent packaging design.

[0022] A further technical solution of the present invention is: the communication module adopts a wireless data transmission radio, supports real-time uploading of buoy position, heading and acoustic load data to the host computer, and at the same time receives dynamic adjustment instructions from the host computer, and the communication distance covers the test water range.

[0023] A further technical solution of the present invention is: the host computer collaborative control system includes:

[0024] Real-time data analysis unit, used to analyze acoustic signal propagation attenuation characteristics and multipath interference;

[0025] Dynamic task allocation unit, which generates multi-buoy robot collaborative path optimization instructions based on real-time data;

[0026] The closed-loop feedback unit adjusts the distance and depth parameters between the transmitter and receiver based on the measurement results of the acoustic payload module.

[0027] A further technical solution of the present invention is: the buoy robot body includes an upper cylindrical shell and a lower hemispherical shell, the material of which is a waterproof composite material, and a splash-proof sealing interface is provided on the surface of the float.

[0028] A further technical solution of the present invention is: the power module adopts a T200 underwater propeller thruster with a thrust ≥ 2kg, corrosion resistance grade IP68, and response time ≤ 0.1 second, supporting high-precision positioning of the buoy robot in a complex water flow environment.

[0029] A method for testing acoustic loads on a test platform comprises the following steps:

[0030] According to the test requirements, the initial spacing, immersion depth and multi-buoy collaborative mission area of the acoustic load are set through the host computer;

[0031] After powering on, the buoy robot performs a system self-test, initializes each module, and completes high-precision positioning through differential GPS;

[0032] The host computer issues collaborative instructions to drive the multi-buoy robot to the target location and start the acoustic payload module to send, receive and collect data;

[0033] Upload acoustic data and buoy status to the host computer in real time. The host computer analyzes the signal quality and dynamically adjusts the buoy spacing, depth or position.

[0034] After completing the test, the buoy robot returns to its initial position and generates an acoustic load performance test report.

[0035] A further technical solution of the present invention is: the signal quality analysis includes:

[0036] Calculate the multipath interference attenuation coefficient based on the acoustic signal propagation model;

[0037] Correct the spatial propagation error of acoustic signals through differential GPS positioning data;

[0038] Optimize the transmitter power and receiver sensitivity parameters to increase the signal-to-noise ratio by ≥20%.

[0039] Beneficial effects

[0040] The beneficial effects of this invention are: through modular design, high-precision positioning, multi-machine coordination, and intelligent control technologies, this invention solves the core problems of traditional buoys, such as single function, low positioning accuracy, poor flexibility, and high cost, and provides an efficient, low-cost, and highly reliable testing and verification platform for ocean acoustic research and engineering applications. The specific effects are analyzed as follows:

[0041] 1. This invention supports rapid functional expansion and maintenance through modular design (core control, acoustic payload, communication and other modules are independently packaged). The adjustable acoustic extension mechanism (dynamic adjustment of spacing and immersion depth, up to 1 meter) can adapt to different water depths, complex water areas and multi-band acoustic testing requirements.

[0042] 2. This system utilizes differential GPS fusion positioning technology (single buoy dual differential data fusion), improving positioning accuracy from 1 meter to 5 centimeters, providing a precise spatial reference for acoustic signal analysis. By dynamically adjusting the distance and depth between the transmitter and receiver, multipath interference is reduced, and the signal-to-noise ratio (SNR) is improved, ensuring the accuracy and reliability of data collection.

[0043] 3. This invention utilizes a multi-buoy collaborative control system based on a host computer, enabling the construction of an adaptive test network and supporting dynamic task allocation and path optimization. This collaborative operation improves the efficiency of acoustic payload testing, making it particularly suitable for large-scale marine environmental monitoring and multi-target synchronous testing.

[0044] 4. The software and hardware collaborative architecture of the present invention (real-time control by the lower computer + in-depth analysis by the upper computer) realizes closed-loop feedback control, has a short response time, and improves the degree of automation of the test process.

[0045] 5. The buoy robot utilizes a waterproof composite material and a spherical outer bottom structure, making it resistant to wind and waves and offering improved stability compared to traditional buoys. The T200 propeller ensures high-precision positioning and maneuverability in complex water environments.

[0046] The present invention integrates the autonomous motion capability of the buoy robot with acoustic load measurement, achieving flexibility that traditional fixed platforms cannot achieve, while solving core pain points such as poor maneuverability of ship platforms and single buoy functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is an overall assembly diagram of an embodiment of the present invention;

[0048] Figure 2 This is a diagram of the acoustic payload receiving end structure in an embodiment of the present invention;

[0049] Figure 3 This is a diagram of the acoustic payload transmitting end mounting structure in an embodiment of the present invention;

[0050] Figure 4 A top view of the floating structure in an embodiment of the present invention;

[0051] Figure 5 This is a functional module design diagram in an embodiment of the present invention;

[0052] Explanation of the reference numerals: 1. Floating body 2. Hydrophone 3. Hydrophone bracket 4. Hydrophone extension frame 5. Hydrophone hanging frame 6. Handle 7. GPS antenna 8. Charging port 9. Radio antenna 10. Transducer hanging frame 11. Transducer extension frame 12. Transducer bracket 13. Transducer 14. Thruster 15. Battery compartment 16. Acoustic payload processor compartment. DETAILED DESCRIPTION

[0053] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0055] Based on the obvious deficiencies in the existing buoy robot platform and traditional acoustic sensor platform in supporting acoustic payloads, and the inability to meet the requirements of modern ocean research for high-precision, flexible and low-cost acoustic measurement platforms, the present invention provides a surface acoustic payload testing platform based on a buoy robot, comprising a plurality of buoy robots and a host computer collaborative control system. The host computer collaborative control system issues real-time instructions to the plurality of buoy robots, dynamically adjusts the buoy position and acoustic parameters, and constructs an adaptive acoustic testing network. Each buoy robot comprises a buoy robot body and a core control module, an acoustic payload module, a communication module, a positioning module, a power module, a power supply module, and an adjustable acoustic extension mechanism installed thereon in a detachable package.

[0056] The core control module is responsible for parsing host computer instructions, driving the robot's movements, and receiving data from the acoustic payload module, positioning module, etc. The core control module parses and packages the received data and sends it to the host computer through the communication module, enabling real-time data transmission and processing.

[0057] The acoustic payload module is responsible for transmitting and receiving acoustic signals. It can analyze acoustic signals emitted by other robots and calculate the distance and angle between robots based on signal characteristics, providing data support for testing and verifying the accuracy of acoustic payload measurements.

[0058] The communication module uploads the robot's position, heading, and received acoustic signal information to the upper computer's pointing and controlling software; receives pointing and controlling instructions sent by the upper computer, and transmits them to the core control module for execution.

[0059] The positioning module is used to obtain the robot's GPS position and heading information, ensuring accurate positioning and navigation when the robot moves on the water surface. The data from the positioning module provides a spatial reference for analyzing acoustic signals, further improving the accuracy of acoustic measurements.

[0060] The power module uses underwater propellers to drive the robot's movement both on and under the water. The power module adjusts the propeller's speed based on instructions from the core control module, enabling autonomous movement and collaborative operation.

[0061] The power module is responsible for powering the various modules of the buoy robot and supports daily charging. The power module uses a high-performance lithium battery to ensure stable operation of the robot during long-term missions.

[0062] The adjustable acoustic extension mechanism is provided on both sides of the buoy robot body and is used to dynamically adjust the distance between the transmitting end transducer and the receiving end hydrophone in the acoustic payload module and the water immersion depth;

[0063] Among them, the multiple buoy robots are connected to the host computer collaborative control system through a communication module to achieve multi-machine collaborative operation and data interaction.

[0064] Preferably, the acoustic load module includes a transmitting end transducer and a receiving end four-element array hydrophone, the operating frequency range of the transmitting end transducer is 15 to 30 kHz; the operating frequency range of the receiving end four-element array hydrophone is 20 to 150 kHz.

[0065] Preferably, the adjustable acoustic extension mechanism includes a hydrophone extension frame and a transducer extension frame symmetrically arranged on both sides of the buoy robot body, the hydrophone is installed below the hydrophone extension frame through a telescopic bracket, and the transducer is installed below the transducer extension frame through a telescopic bracket; by adjusting the brackets on both sides, the maximum distance between the transmitting end transducer and the receiving end hydrophone is 1 meter, and the maximum water immersion depth is 1 meter.

[0066] Preferably, the core control module adopts an STM32F4 series microcontroller, which generates PWM waves by parsing the host computer instructions to control the propeller speed and direction of the power module, thereby realizing autonomous movement and collaborative path planning of the buoy robot.

[0067] Preferably, the power module includes a high-efficiency lithium battery pack, supports daily charging function, ensures that the buoy robot can work continuously for ≥6 hours, and is equipped with a fast charging interface; the power module achieves thermal isolation and waterproof sealing through an independent packaging design.

[0068] Preferably, the communication module adopts a wireless data transmission radio, supports real-time uploading of buoy position, heading and acoustic load data to the host computer, and simultaneously receives dynamic adjustment instructions from the host computer, and the communication distance covers the test water range.

[0069] Preferably, the host computer collaborative control system includes:

[0070] Real-time data analysis unit, used to analyze acoustic signal propagation attenuation characteristics and multipath interference;

[0071] Dynamic task allocation unit, which generates multi-buoy robot collaborative path optimization instructions based on real-time data;

[0072] The closed-loop feedback unit adjusts the distance and depth parameters between the transmitter and receiver based on the measurement results of the acoustic payload module.

[0073] Preferably, the buoy robot body includes an upper cylindrical shell and a lower hemispherical shell, the material of which is a waterproof composite material, and a splash-proof sealing interface is provided on the surface of the float.

[0074] Preferably, the power module adopts a T200 underwater propeller thruster with a thrust ≥ 2kg, a corrosion resistance level IP68, and a response time ≤ 0.1 second, which supports high-precision positioning of the buoy robot in complex water flow environments.

[0075] The present invention provides an acoustic load testing method for a test platform, comprising the following steps:

[0076] Step 1: According to the test requirements, the host computer sets the initial spacing, immersion depth, and multi-buoy collaborative mission area of the acoustic payload;

[0077] Step 2: After the buoy robot is powered on, it performs a system self-test, initializes each module, and completes high-precision positioning through differential GPS;

[0078] Step 3: The host computer issues a collaborative command to drive the multi-buoy robot to the target location and start the acoustic payload module to send, receive, and collect data;

[0079] Step 4: Upload the acoustic data and buoy status to the host computer in real time. The host computer analyzes the signal quality and dynamically adjusts the buoy spacing, depth or position.

[0080] Step 5: After the test is completed, the buoy robot returns to its initial position and generates an acoustic load performance test report.

[0081] In step 4, the signal quality analysis includes:

[0082] Calculate the multipath interference attenuation coefficient based on the acoustic signal propagation model;

[0083] Correct the spatial propagation error of acoustic signals through differential GPS positioning data;

[0084] Optimize the transmitter power and receiver sensitivity parameters to increase the signal-to-noise ratio by ≥20%.

[0085] The advantages of the above technical solutions are analyzed as follows:

[0086] Traditional buoy platforms have single functions, relatively fixed deployment of acoustic payloads, and weak autonomous or controlled movement capabilities on the water surface, making them unable to adapt to the needs of different test scenarios. The modular functional units of the present invention, control, acoustic payload, communication, power and other modules adopt independent packaging design, support rapid replacement and maintenance, and can significantly reduce operation and maintenance costs for rapid clustering. The acoustic payload carrying device of the present invention adopts an adjustable extension structure to support dynamic adjustment of the spacing and immersion depth between the transmitter transducer and the receiver four-element array hydrophone to support flexible testing of acoustic payloads under different water depths and spacing conditions. Compared with the fixed buoy array used in the prior art, this solution can be used by a single machine or multiple machines to collaborate to achieve more transmitter-receiver spacing, depth conditions, and tests in a larger test area. In addition, the acoustic payload signal propagation attenuation is related to the water depth. The adjustable structure reduces multipath interference and improves the signal-to-noise ratio by optimizing the spacing and depth between the transmitter and the receiver.

[0087] Traditional buoys rely on a single GPS positioning, which has limited accuracy, usually around 1 meter. The present invention uses differential GPS positioning, and a single buoy uses two differential GPS positioning data for fusion, with an accuracy of about 5 centimeters. The present invention dynamically adjusts the buoy position and acoustic load parameters by issuing instructions in real time through the host computer. Compared with the fixed monitoring of a single buoy, this solution can build an adaptive acoustic test network. Compared with thermoelectric buoys, although thermoelectric buoys have the advantage of long-term endurance, they rely on complex energy conversion technology and are expensive. This solution achieves low-cost and rapid deployment through modular design; compared with ultra-large buoys, although ultra-large buoys have strong stability, they are large in size and difficult to deploy. This solution achieves the same experimental coverage through miniaturization and multi-machine collaboration with better maneuverability.

[0088] The above technical solution is further described below with reference to the accompanying drawings and examples:

[0089] In one embodiment, referring to Figure 1 As shown, the buoy robot's main body features a cylindrical upper section and a spherical outer bottom. The cylindrical section has a diameter of 50 cm, the spherical outer bottom has a diameter of 50 cm, and the overall height is 35 cm. This design effectively ensures the buoy robot's stability during autonomous floating and movement on the water surface. Extensions are located on both sides of the robot's main body to accommodate the transmitting transducer and receiving hydrophone array of the acoustic payload.

[0090] Reference Figure 2 and 3As shown, the extended structure adopts an adjustable design, supporting the adjustment of the spacing between the transmitter and receiver, with a maximum spacing of 1 meter. In addition, the immersion depth of the acoustic payload is also adjustable, with a maximum depth of 1 meter. This structural design supports the testing of the working conditions of the acoustic payload at different spacings and immersion depths, providing flexible experimental conditions for acoustic measurements. The main body of the robot is made of waterproof material with anti-immersion and splash-proof properties, ensuring the stable operation of the robot during long-term underwater missions. The connection between each module adopts a sealed design to prevent water from penetrating the internal circuits and sensors, further improving the reliability and durability of the robot.

[0091] Reference Figure 5 As shown, the buoy robot's hardware configuration utilizes a modular design, with each module working in concert to ensure efficient operation during surface missions. The core control module utilizes an STM32F4 series microcontroller, offering high performance and low power consumption. This module is responsible for interpreting host computer commands, driving the robot's motion, and receiving and processing data from the acoustic payload module, positioning module, and other components. The STM32F4 series microcontroller supports multitasking, enabling efficient execution of control algorithms and data parsing programs, ensuring the real-time and stability of the robot system. The acoustic payload module includes a transmitter transducer and a receiver hydrophone. The transmitter transducer is a CT22 model with an operating frequency range of 15 to 30 kHz. The receiver uses an RHC-10 four-element array hydrophone with an operating frequency range of 20 to 150 kHz. Its flat sensitivity response makes it suitable for broadband noise testing. The RHC-10 hydrophone is compact and lightweight, with minimal impact on the sound field, enabling high-precision signal reception without disrupting the acoustic environment. The communication module utilizes a wireless data transmission radio, enabling real-time upload of data such as the buoy's position, heading, and acoustic load analysis to a host computer. The wireless data transmission radio's transmission range meets testing requirements, ensuring stable communication and real-time data reliability. The positioning module utilizes a differential GPS system, achieving positioning accuracy up to 5 cm and high heading accuracy. This system effectively eliminates positioning errors, providing highly accurate position and heading information, and providing a reliable spatial reference for acoustic load measurement and robot navigation. The power module utilizes a T200 propeller, characterized by high thrust, high efficiency, long life, corrosion resistance, high strength, and lightweight. The power module utilizes a high-performance lithium-ion battery pack, enabling the buoy robot to operate continuously for over six hours. The power module provides a stable power supply to all hardware modules, ensuring reliable operation during extended missions. Furthermore, the power module supports fast charging, facilitating routine maintenance and operation of the robot.

[0092] The buoy robot's software implementation consists of a slave and a host computer. These two components work together to ensure the robot's autonomous operation and mission execution. The slave computer software runs on the STM32F4 series microcontroller in the core control module and is primarily responsible for communication with peripherals, data processing, and executing control commands. The software communicates with peripheral modules (such as the positioning module, acoustic payload module, and communication module) via the USART serial port, acquiring real-time robot position information, host computer commands, and acoustic payload data. The main control module interprets control commands sent by the host computer and generates corresponding control signals based on the commands. It outputs PWM waves to control the speed and direction of the propellers, achieving robot motion control. The duty cycle and frequency of the PWM waves are dynamically adjusted based on the control commands to ensure precise robot motion. The slave computer performs preliminary processing of data from the differential GPS positioning module and acoustic payload module, extracting and packaging the valid information, and uploading it to the host computer via the communication module. The host computer software, running on a shore-based computer, is primarily responsible for receiving information transmitted back by the robot, parsing the data, and issuing control commands. The host computer receives information transmitted from the robot via a wireless data transmission radio, including the robot's position, heading, and acoustic payload data. Based on a predefined communication protocol, the host computer software parses the received data packets and extracts the robot's real-time status information. Based on the task requirements and the robot's real-time status, the host computer software generates corresponding control instructions, packages them according to the communication protocol, and sends them to the robot via the wireless data transmission radio, guiding it to execute the next task.

[0093] In terms of the buoy robot's workflow, before powering on, the distance between the two ends of the acoustic payload and the depth of immersion in the water are adjusted according to the test requirements. After powering on, the robot performs a system self-test, initializes each peripheral module (such as the positioning module, acoustic payload module, communication module, etc.), and waits for instructions from the host computer. The host computer issues control instructions based on the task requirements. After the buoy robot parses the instructions, it controls the thrusters through PWM waves to drive the robot to the specified position. When the buoy robot performs a task, it packages the processed acoustic payload data, robot position and heading information, and uploads them to the host computer through a wireless data transmission radio. Based on the received data, the host computer analyzes the measurement results of the acoustic payload, generates new control instructions, and sends them to the robot to adjust the robot's position, the working parameters of the acoustic payload, etc. After the task is completed, the robot returns to its initial position, and the system enters standby mode, waiting for the next task instruction.

[0094] Through modular design and the coordinated operation of hardware and software, this system enables autonomous movement, acoustic signal transmission and reception, and data processing of a buoy robot in a water environment. Its flexible structural design allows for adjustment of acoustic payload spacing and immersion depth, adapting to diverse testing requirements. This platform offers high flexibility, low cost, and ease of maintenance, providing a reliable experimental platform for testing and validating acoustic payloads.

[0095] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. A surface acoustic load testing platform based on a buoy robot, characterized by: It includes multiple buoy robots and a host computer collaborative control system. The host computer collaborative control system sends real-time instructions to multiple buoy robots, dynamically adjusts the buoy position and acoustic parameters, and builds an adaptive acoustic test network. Each buoy robot includes a buoy robot body and a core control module, an acoustic payload module, a communication module, a positioning module, a power module, a power supply module, and an adjustable acoustic extension mechanism installed thereon in a detachable package; The core control module is used to parse the host computer instructions, control the power module to drive the buoy robot movement, and receive data information from the acoustic load module and positioning module for parsing and packaging, and send it to the host computer through the communication module to achieve real-time data transmission and processing; The acoustic payload module is used to transmit and receive acoustic signals, can analyze the acoustic signals transmitted by other buoy robots, and calculate the distance and angle between the buoy robots based on the signal characteristics; The communication module uploads the robot's position, heading, and received acoustic signal information to the host computer's command software; receives the command instructions sent by the host computer and passes them to the core control module for execution; The positioning module adopts a differential GPS positioning system to obtain the GPS position information and heading information of the robot; The power module is used to drive the buoy robot to move on the water surface and underwater; The power module is responsible for supplying power to each module of the buoy robot; The adjustable acoustic extension mechanism is provided on both sides of the buoy robot body and is used to dynamically adjust the distance between the transmitting end transducer and the receiving end hydrophone in the acoustic payload module and the water immersion depth; Among them, the multiple buoy robots are connected to the host computer collaborative control system through a communication module to achieve multi-machine collaborative operation and data interaction.

2. The surface acoustic load testing platform based on a buoy robot according to claim 1, characterized in that: The acoustic load module includes a transmitting end transducer and a receiving end four-element array hydrophone. The operating frequency range of the transmitting end transducer is 15 to 30 kHz; the operating frequency range of the receiving end four-element array hydrophone is 20 to 150 kHz.

3. The surface acoustic load testing platform based on a buoy robot according to claim 2, characterized in that: The adjustable acoustic extension mechanism includes a hydrophone extension frame and a transducer extension frame symmetrically arranged on both sides of the buoy robot body. The hydrophone is installed under the hydrophone extension frame through a telescopic bracket, and the transducer is installed under the transducer extension frame through a telescopic bracket; by adjusting the brackets on both sides, the maximum distance between the transmitting end transducer and the receiving end hydrophone is 1 meter, and the maximum water immersion depth is 1 meter.

4. The surface acoustic load testing platform based on a buoy robot according to claim 1, characterized in that: The core control module adopts the STM32F4 series microcontroller, which generates PWM waves by parsing the host computer instructions to control the propeller speed and direction of the power module, thereby realizing autonomous movement and collaborative path planning of the buoy robot.

5. The surface acoustic load testing platform based on a buoy robot according to claim 1, characterized in that: The power module includes a high-efficiency lithium battery pack, supports daily charging function, ensures that the buoy robot can work continuously for ≥6 hours, and is equipped with a fast charging interface; the power module achieves thermal isolation and waterproof sealing through an independent packaging design.

6. The surface acoustic load testing platform based on a buoy robot according to claim 1, characterized in that: The communication module adopts a wireless data transmission radio, which supports real-time uploading of buoy position, heading and acoustic load data to the host computer, and at the same time receives dynamic adjustment instructions from the host computer. The communication distance covers the test water range.

7. The surface acoustic load testing platform based on a buoy robot according to claim 1, characterized in that: The host computer collaborative control system includes: Real-time data analysis unit, used to analyze acoustic signal propagation attenuation characteristics and multipath interference; Dynamic task allocation unit, which generates multi-buoy robot collaborative path optimization instructions based on real-time data; The closed-loop feedback unit adjusts the distance and depth parameters between the transmitter and receiver based on the measurement results of the acoustic payload module.

8. The surface acoustic load testing platform based on a buoy robot according to claim 1, characterized in that: The buoy robot body includes an upper cylindrical shell and a lower hemispherical shell, the material of which is a waterproof composite material, and a splash-proof sealing interface is provided on the surface of the float.

9. The surface acoustic load testing platform based on a buoy robot according to claim 1, characterized in that: The power module adopts a T200 underwater propeller thruster with a thrust ≥ 2kg, corrosion resistance level IP68, and response time ≤ 0.1 second, supporting high-precision positioning of the buoy robot in complex water flow environments.

10. An acoustic load testing method for a water surface acoustic load testing platform based on a buoy robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: According to the test requirements, the initial spacing, immersion depth and multi-buoy collaborative mission area of the acoustic load are set through the host computer; After powering on, the buoy robot performs a system self-test, initializes each module, and completes high-precision positioning through differential GPS; The host computer issues collaborative instructions to drive the multi-buoy robot to the target location and start the acoustic payload module to send, receive and collect data; Upload acoustic data and buoy status to the host computer in real time. The host computer analyzes the signal quality and dynamically adjusts the buoy spacing, depth or position. After completing the test, the buoy robot returns to its initial position and generates an acoustic load performance test report.

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