CN110412994A - A kind of miniature underwater robot delivery hydrophone autonomous formation system and control method - Google Patents
A kind of miniature underwater robot delivery hydrophone autonomous formation system and control method Download PDFInfo
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- CN110412994A CN110412994A CN201910670560.0A CN201910670560A CN110412994A CN 110412994 A CN110412994 A CN 110412994A CN 201910670560 A CN201910670560 A CN 201910670560A CN 110412994 A CN110412994 A CN 110412994A
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- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000002604 ultrasonography Methods 0.000 claims abstract description 8
- 230000006698 induction Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000007726 management method Methods 0.000 abstract description 5
- 238000005755 formation reaction Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 6
- 230000009182 swimming Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- XTKDAFGWCDAMPY-UHFFFAOYSA-N azaperone Chemical compound C1=CC(F)=CC=C1C(=O)CCCN1CCN(C=2N=CC=CC=2)CC1 XTKDAFGWCDAMPY-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/54—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 with receivers spaced apart
-
- 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
Include: one or more base stations the invention discloses a kind of miniature underwater robot delivery hydrophone autonomous formation system and control method, the system, for being used as position reference, and ultrasonic transmitter is set on base station；Multiple miniature underwater robots as array team leader deliver hydrophone, abbreviation team leader, and ultrasonic transmitter and ultrasonic receiver are arranged on team leader；Multiple miniature underwater robots as array team member deliver hydrophone, abbreviation team member, and ultrasonic receiver is arranged on team member；Hydrophone is delivered using miniature underwater robot, by the way that specific frequency interval is arranged, emit or receives different ultrasound frequency signals to realize autonomous formation, forms array.The present invention is able to achieve miniature underwater robot delivery hydrophone autonomous formation, helps to improve the scale efficiency of management and realizes functional diversities, solves the low disadvantage of conventional fixed-type hydrophone array freedom degree.
Description
Technical field
Simultaneously autonomous formation technical field more particularly to a kind of miniature underwater robot fortune are accurately positioned the present invention relates to underwater
Carry hydrophone autonomous formation system and control method.
Background technique
In recent years, the research of hydrophone obtains more and more concerns.So-called hydrophone refers to converting acoustical signal
At the energy converter of electric signal, for receiving the acoustical signal in water, obtained in fields such as industry, medical treatment and military affairs more and more extensive
Using, such as underwater detection, communication and coastline monitoring and the exploitation of marine resources etc..What the hydrophone of dispersion played
It is big to act on limitation, and is difficult to scale management, therefore needs to use hydrophone array to realize more functions in most occasions.
However, existing hydrophone array is mostly fixed structure, such as all hydrophones are fixed on cable by pull-type array needs,
It is unable to autonomous swimming to form into columns to form array, freedom degree and independence are low.
Summary of the invention
The technical problem to be solved in the present invention is that for the defects in the prior art, providing a kind of miniature underwater robot
Deliver hydrophone autonomous formation system and control method.
The technical solution adopted by the present invention to solve the technical problems is:
The present invention provides a kind of miniature underwater robot delivery hydrophone autonomous formation system, which includes:
For being used as position reference, and ultrasonic transmitter is arranged in one or more base stations on base station；
Multiple miniature underwater robots as array team leader deliver hydrophone, abbreviation team leader, and are arranged on team leader and surpass
Pinger and ultrasonic receiver；Team leader receive base station and adjacent team leader transmitting ultrasonic signal, realize positioning and away from
From following；
Multiple miniature underwater robots as array team member deliver hydrophone, abbreviation team member, and are arranged on team member and surpass
Acoustic receiver；Team member receives the ultrasonic signal of adjacent team leader's transmitting, and realization follows the distance of team leader, team leader and team member's group
At autonomous formation array.
Further, the miniature underwater robot of the invention as team leader delivers hydrophone, by the way that specific frequency is arranged
Interval, emits or receives different ultrasound frequency signals；Miniature underwater robot as team member delivers hydrophone, receives phase
The ultrasound frequency signal answered realizes autonomous positioning and forms into columns.
Further, the miniature underwater robot of team leader of the invention and team member delivery hydrophone are rectangular configuration, team
Long ultrasonic receiver is located side by side at its direction of travel side, and the ultrasonic transmitter of team leader is located at it except direction of travel
Three outer sides；The ultrasonic receiver of team member is located on its adjacent two sides.
Further, control system is provided with inside base station of the invention and miniature underwater robot delivery hydrophone.
Further, the control system of base station of the invention includes: ultrasonic transmitter, A/D converter and microprocessor,
Ultrasonic transmitter is connect by A/D converter with microprocessor；The control system of team leader includes: microprocessor, A/D conversion
Device, apart from induction module, two ultrasonic receivers and three ultrasonic transmitters, apart from induction module, ultrasonic transmitter
Pass through A/D converter with ultrasonic receiver to connect with microprocessor；The control system of team member includes: microprocessor, A/D turns
Totally four ultrasonic receivers, ultrasonic receiver pass through A/D converter and connect with microprocessor for parallel operation and two sides.
Further, by the way that specific distance is arranged apart from induction module between team leader of the invention and base station；Team leader with
By the way that specific distance is arranged apart from induction module between team leader.
Further, the transmitting letter of specific frequency is arranged by microprocessor in the ultrasonic transmitter of base station of the invention
Number；The transmitting signal of specific frequency is arranged by microprocessor in the ultrasonic transmitter of team leader；The ultrasonic wave of team leader and team member
Receiver, by microprocessor, setting receives set specific frequency signal.
The present invention provides a kind of type underwater robot delivery hydrophone autonomous formation control method, and this method includes following step
It is rapid:
Step 1-1, for team leader, judge whether two ultrasonic receiver all receives signal in particular frequency range:
If step 1-1-1, two ultrasonic receivers receive specific frequency ultrasonic signal simultaneously, presses and work as front direction
It advances or retreats, until being separated by specific range with sound source；
If step 1-1-2, two ultrasonic receivers do not receive specific frequency ultrasonic signal simultaneously, towards elder generation
Received one end turns to travelling, until meet 1-1-1 the case where；
Step 1-2, for team leader, if only one of which receives specific frequency ultrasonic wave in two ultrasonic receivers
Signal then turns to travelling towards reception that end of signal, until two receivers all receive specific frequency ultrasonic signal,
Then it is operated by step 1-1；
Step 1-3, for team leader, if two ultrasonic receivers do not receive signal, miniature underwater robot fortune
Hydrophone itself single direction rotation is carried, until there is the case where step 1-1 perhaps step 1-2 then by step 1-1 or step 1-
2 operations；
Step 2-1, for team member, if two ultrasonic receivers of two sides totally four ultrasonic receivers all receive it is specific
Signal in frequency range:
If the time that step 2-1-1, four ultrasonic receivers receive set specific frequency signal is all equal, success in place；
If step 2-1-2, wherein two ultrasonic receivers of the first side receive ultrasonic signal simultaneously, second side
Two ultrasonic receivers do not receive ultrasonic signal simultaneously, then along the first received one end and perpendicular to the first side of second side
Two ultrasonic wave line directions travelling, until meet 2-1-1 the case where；
If the time that step 2-1-3, four ultrasonic receivers receive set specific frequency signal is all unequal, by the first side
Two ultrasonic receivers press with 1-1 step operation, until meet 2-1-2 the case where；
Step 2-2, for team member, if two sides in totally four ultrasonic receivers only wherein three receive specific frequency
Ultrasonic signal is then turned to towards that side that two ultrasonic receivers all receive signal, until four receivers all connect
Until receiving ultrasonic signal, then operated by step 2-1；
Step 2-3, for team member, if there are two or more than two ultrasonic receiver be not received by specific frequency letter
Number, then miniature underwater robot delivers hydrophone itself single direction rotation, until meet 2-1 or 2-2 the case where, then presses step 2-
1 or step 2-2 operation.
Further, transmitting set specific frequency signal can be arranged in the ultrasonic transmitter of each team leader of the invention, each
Reception set specific frequency signal can be arranged in the ultrasonic receiver of team leader, and different frequency can be arranged in each team leader.
Further, reception set specific frequency signal can be arranged in the ultrasonic receiver of each team member of the invention, each
Different frequency can be arranged in team member.
The beneficial effect comprise that: miniature underwater robot delivery hydrophone autonomous formation system of the invention and
Control method realizes the function of multiple hydrophone autonomous formations, hydrophone is delivered using miniature underwater robot, using two
Ultrasonic receiver receives the comparison of sound wave time difference, is positioned and is turned to, easy to operate, and precision is higher, realizes autonomous
Alignment.Simultaneously by the way that specific ultrasonic frequency interval is arranged, array is formed from main modulation swimming direction under water, it both can be square
Just scale management is carried out, and does not reduce the freedom degree between each hydrophone, moreover it is possible to be realized by array more multi-functional.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the miniature underwater robot delivery hydrophone entirety formation array schematic diagram of the embodiment of the present invention.
Fig. 2 is team leader's formation schematic diagram of the embodiment of the present invention.
Fig. 3 is the single-row formation schematic diagram of team leader of the embodiment of the present invention.
Fig. 4 is that team leader's biserial of the embodiment of the present invention intersects formation schematic diagram.
Fig. 5 is team member's formation schematic diagram of the embodiment of the present invention.
Fig. 6 is the Control system architecture block diagram of the present invention of the embodiment of the present invention.
Fig. 7 is the control flow chart of the self alignment of the embodiment of the present invention.
In figure: the base station 1- one, the base station 101- ultrasonic transmitter, 102- Base Transmitter specific frequency ultrasonic wave, the base station 2-
Two, 3- team leader's miniature underwater robot deliver hydrophone one, 301- team leader's ultrasonic receiver one, and 302- team leader emits specific frequency
Rate ultrasonic wave one, 4- team leader's miniature underwater robot deliver hydrophone two, 401- team leader's ultrasonic receiver two, 402- team leader's hair
Penetrate specific frequency ultrasonic wave two, 5- team leader's miniature underwater robot delivers hydrophone three, 501- team leader's ultrasonic receiver three,
502- team leader emits specific frequency ultrasonic wave three, and 6- team leader's miniature underwater robot delivers hydrophone four, 601- team leader's ultrasonic wave
Receiver four, 602- team leader emit specific frequency ultrasonic wave four, and 7- team member's miniature underwater robot delivers hydrophone four, 701- team
Member's ultrasonic receiver one, 702- team member's ultrasonic receiver two, 8- team member's miniature underwater robot deliver hydrophone four, 801-
Team member's ultrasonic receiver three, 802- team member's ultrasonic receiver four.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
The embodiment of the invention provides a kind of miniature underwater robots to deliver hydrophone autonomous formation system and control method,
For improving the freedom degree and the scale efficiency of management of hydrophone array.
The miniature underwater robot of the embodiment of the present invention delivers hydrophone autonomous formation system, and basic device includes base
It stands, team leader's miniature underwater robot delivers hydrophone (hereinafter referred to as team leader), team member's miniature underwater robot delivery hydrophone (with
Lower abbreviation team member) and internal control system；The base station includes one or more base stations such as base station 1 and base station 22；It is described
Team leader includes one or more team leaders such as team leader 1 and team leader 24, the team member include team member 1 and team member 28 etc. one or
Multiple team members.
The base station 1 includes the specific frequency ultrasonic wave 102 of ultrasonic transmitter 101 and transmitting；The team leader 1 wraps
It includes positioned at direction of travel and ultrasonic receiver 301 (a, b refer to two ultrasonic receivers) arranged side by side and to except advancing
Three sides outside direction emit specific frequency ultrasonic wave 302；The team member 1 includes 701 He of ultrasonic receiver arranged side by side
Ultrasonic receiver 702 arranged side by side, ultrasonic receiver 701 and ultrasonic receiver 702 are located at the phase of the team member 1
Adjacent two sides.
Control system is provided in base station and miniature underwater robot body.For base station, the control system includes super
Pinger, A/D converter and microprocessor, wherein the ultrasonic transmitter is connected by A/D converter and microprocessor
It connects, specific frequency ultrasonic wave is emitted by microprocessor control ultrasonic transmitter；For team leader, the control system includes micro- place
Manage device, A/D converter, apart from induction module, two ultrasonic receivers and three ultrasonic transmitters, wherein two ultrasounds
Wave receiver is arranged side by side along direction of travel, and three ultrasonic transmitters are located at its three side in addition to direction of travel, the distance
Induction module, ultrasonic transmitter and ultrasonic receiver pass through A/D converter and connect with microprocessor, apart from induction module
Whether detection team leader with sound source is separated by specific range, by microprocessor control ultrasonic transmitter (ultrasonic receiver) transmitting
(reception) specific frequency ultrasonic wave；For team member, the control system includes microprocessor, A/D converter and two sides totally four
Ultrasonic receiver, wherein ultrasonic receiver is located at its adjacent two sides, and the ultrasonic receiver passes through A/D converter
It is connect with microprocessor, specific frequency ultrasonic wave is received by microprocessor control ultrasonic receiver.
As shown in Figure 3 and Figure 4, by the way that specific signal frequency interval is arranged, a base station can be directed at one and line up to grow, two bases
Two can be directed at by, which standing, lines up long and can form staggered form.As shown in figure 5, receiving set specific frequency signal, every two team leader by setting
Extended line infall can a team member in place.
Base station ultrasonic transmitter 101 as shown in Figure 2 launches N1(N1For constant) ultrasonic wave 102 of frequency, then team leader
It is N that one 3 ultrasonic receiver 301, which receives frequency,1Ultrasonic wave 102 and self alignment base station 1, comprising the following steps:
If step 1-1, two ultrasonic receivers all receive signal in particular frequency range:
If step 1-1-1, two ultrasonic receivers receive specific frequency ultrasonic signal simultaneously, presses and work as front direction
It advances or retreats, until being separated by specific range with sound source；
If step 1-1-2, two ultrasonic receivers do not receive specific frequency ultrasonic signal simultaneously, towards elder generation
Received one end turns to travelling, until meet step 1-1-1 the case where；
If step 1-2, only one of which receives specific frequency ultrasonic signal, court in two ultrasonic receivers
That end of reception signal turn to travelling, until two receivers all receive specific frequency ultrasonic signal, then by step
Rapid 1-1 operation；
If step 1-3, two ultrasonic receivers do not receive signal, miniature underwater robot delivers hydrophone certainly
Then body single direction rotation is operated until there is the case where step 1-1 perhaps step 1-2 by step 1-1 or step 1-2.
Meanwhile N is launched in three sides of team leader 12(N2For constant) ultrasonic signal 302 of frequency, the ultrasound of team leader 24
It is N that wave receiver 401, which receives frequency,2Ultrasonic wave 302 and self alignment team leader 1, step same 1-1,1-2 and 1-3.Together
When, N is launched in three sides of team leader 243(N3For constant) ultrasonic signal 402 of frequency, the ultrasonic receiver 501 of team leader 35
Reception frequency is N3Ultrasonic wave 402 and self alignment team leader 24, step same 1-1,1-2 and 1-3.And so on, using one
A base station can realize the single-row formation (Fig. 3) of one or more team leaders.Team leader 46 is directed at base station 22, meanwhile, three sides of team leader 46
Launch N4(N4For constant) ultrasonic signal 602 of frequency, the ultrasonic receiver of next team leader of the team leader 46 connects
Receipts frequency is N4Ultrasonic wave 602 and self alignment team leader 46, step same 1-1,1-2 and 1-3.And so on, using two
Base station can realize that one or more team leader's biserial staggered forms form into columns (Fig. 4).
Team member 1 as shown in Figure 5 is located in the extended line infall of team leader 24 and team leader 46, the team member's 1
The adjacent two sides ultrasonic receiver 701 of setting side by side and ultrasonic receiver side by side 702, the ultrasonic receiver 701
Setting receives N4Frequency ultrasonic wave, the setting of ultrasonic receiver 702 receive N3Frequency ultrasonic wave, comprising the following steps:
If step 2-1, totally four ultrasonic receivers all receive particular frequency range to two ultrasonic receivers of two sides
Interior signal:
If the time that step 2-1-1, four ultrasonic receivers all receive set specific frequency signal is all equal, in place at
Function；
If step 2-1-2, wherein two ultrasonic receivers of the first side receive ultrasonic signal simultaneously, second side
Two ultrasonic receivers do not receive ultrasonic signal simultaneously, then along the first received one end and perpendicular to the first side of second side
Two ultrasonic wave line directions travelling, until meet 2-1-1 the case where；
If the time that step 2-1-3, four ultrasonic receivers receive set specific frequency signal is all unequal, by the first side
Two ultrasonic receivers press with 1-1 step operation, until meet 2-1-2 the case where；
If step 2-2, two sides in totally four ultrasonic receivers only wherein three receive specific frequency ultrasonic wave letter
Number, then it is turned to towards that side that two ultrasonic receivers all receive signal, until four receivers all receive ultrasound
Until wave signal, then operated by step 2-1；
If there are two step 2-3, or more than two ultrasonic receivers are not received by set specific frequency signal, Miniature water
Lower robot delivers hydrophone itself single direction rotation, until meet 2-1 or 2-2 the case where, then presses step 2-1 or step 2-2
Operation.
Similarly, team member 28 is located in the extended line infall of team leader 1 and team leader 46, and adjacent the two of the team member 28
Ultrasonic receiver 801 side by side and ultrasonic receiver side by side 802 is arranged in side, and the setting of ultrasonic receiver 801 connects
Receive N4Frequency ultrasonic wave, the setting of ultrasonic receiver 802 receive N1Frequency ultrasonic wave, step same 2-1,2-2 and 2-3.With
This analogizes, as shown in Figure 1, every two team leader's extended line infall team member in place is, it can be achieved that miniature underwater robot delivers
Hydrophone autonomous formation forms rectangular array.
The present invention has the advantages that
The function of realizing multiple hydrophone autonomous formations delivers hydrophone using miniature underwater robot, using two
Ultrasonic receiver receives the comparison of sound wave time difference, is positioned and is turned to, easy to operate, and precision is higher, realizes autonomous
Alignment.Simultaneously by the way that specific ultrasonic frequency interval is arranged, array is formed from main modulation swimming direction under water, it both can be square
Just scale management is carried out, and does not reduce the freedom degree between each hydrophone, moreover it is possible to be realized by array more multi-functional.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of miniature underwater robot delivers hydrophone autonomous formation system, which is characterized in that the system includes:
For being used as position reference, and ultrasonic transmitter is arranged in one or more base stations on base station；
Multiple miniature underwater robots as array team leader deliver hydrophone, abbreviation team leader, and ultrasonic wave is arranged on team leader
Transmitter and ultrasonic receiver；Team leader receive base station and adjacent team leader transmitting ultrasonic signal, realize positioning and distance with
With；
Multiple miniature underwater robots as array team member deliver hydrophone, abbreviation team member, and ultrasonic wave is arranged on team member
Receiver；Team member receives the ultrasonic signal of adjacent team leader's transmitting, and realization follows the distance of team leader, and team leader and team member's composition are certainly
Edit team's array.
2. miniature underwater robot according to claim 1 delivers hydrophone autonomous formation system, which is characterized in that as
The miniature underwater robot of team leader delivers hydrophone, by the way that specific frequency interval is arranged, emits or receive different ultrasonic wave frequencies
Rate signal；Miniature underwater robot as team member delivers hydrophone, receives corresponding ultrasound frequency signal, and it is autonomous fixed to realize
It simultaneously forms into columns position.
3. miniature underwater robot according to claim 1 delivers hydrophone autonomous formation system, which is characterized in that team leader
Miniature underwater robot delivery hydrophone with team member is rectangular configuration, and the ultrasonic receiver of team leader is located side by side at its traveling
Direction side, the ultrasonic transmitter of team leader are located at its three side in addition to direction of travel；The ultrasonic receiver position of team member
In on its adjacent two sides.
4. miniature underwater robot according to claim 1 delivers hydrophone autonomous formation system, which is characterized in that base station
Control system is provided with inside miniature underwater robot delivery hydrophone.
5. miniature underwater robot according to claim 4 delivers hydrophone autonomous formation system, which is characterized in that base station
Control system include: ultrasonic transmitter, A/D converter and microprocessor, ultrasonic transmitter by A/D converter with it is micro-
Processor connection；The control system of team leader includes: microprocessor, A/D converter, apart from induction module, two ultrasonic waves receptions
Device and three ultrasonic transmitters, apart from induction module, ultrasonic transmitter and ultrasonic receiver pass through A/D converter with
Microprocessor connection；The control system of team member includes: microprocessor, A/D converter and two sides totally four ultrasonic receivers, is surpassed
Acoustic receiver passes through A/D converter and connect with microprocessor.
6. miniature underwater robot according to claim 5 delivers hydrophone autonomous formation system, which is characterized in that team leader
By the way that specific distance is arranged apart from induction module between base station；By apart from induction module, setting between team leader and team leader
Specific distance.
7. miniature underwater robot according to claim 5 delivers hydrophone autonomous formation system, which is characterized in that base station
Ultrasonic transmitter the transmitting signal of specific frequency is arranged by microprocessor；The ultrasonic transmitter of team leader, by micro-
The transmitting signal of specific frequency is arranged in processor；The ultrasonic receiver of team leader and team member, by microprocessor, setting is received
Set specific frequency signal.
8. a kind of type underwater robot delivers hydrophone autonomous formation control method, using Minitype underground described in claim 1
Robot delivers hydrophone autonomous formation system, which is characterized in that method includes the following steps:
Step 1-1, for team leader, judge whether two ultrasonic receiver all receives signal in particular frequency range:
If step 1-1-1, two ultrasonic receivers receive specific frequency ultrasonic signal simultaneously, advance by when front direction
Or retreat, until being separated by specific range with sound source；
If step 1-1-2, two ultrasonic receivers do not receive specific frequency ultrasonic signal simultaneously, towards first receiving
One end turn to travelling, until meet 1-1-1 the case where；
Step 1-2, for team leader, if only one of which receives specific frequency ultrasonic wave letter in two ultrasonic receivers
Number, then towards the steering travelling of that end of signal is received, until two receivers all receive specific frequency ultrasonic signal, so
It is operated afterwards by step 1-1；
Step 1-3, for team leader, if two ultrasonic receivers do not receive signal, miniature underwater robot delivers water
Device itself single direction rotation is listened, is then grasped by step 1-1 or step 1-2 until there is the case where step 1-1 perhaps step 1-2
Make；
Step 2-1, for team member, if totally four ultrasonic receivers all receive specific frequency to two ultrasonic receivers of two sides
Signal in range:
If the time that step 2-1-1, four ultrasonic receivers receive set specific frequency signal is all equal, success in place；
If step 2-1-2, wherein two ultrasonic receivers of the first side receive ultrasonic signal simultaneously, two of second side
Ultrasonic receiver does not receive ultrasonic signal simultaneously, then along the first received one end and perpendicular to the first side two of second side
Ultrasonic wave line direction travelling, until meet 2-1-1 the case where；
If the time that step 2-1-3, four ultrasonic receivers receive set specific frequency signal is all unequal, by the two of the first side
A ultrasonic receiver is pressed with 1-1 step operation, until meet 2-1-2 the case where；
Step 2-2, for team member, if two sides in totally four ultrasonic receivers only wherein three receive specific frequency ultrasound
Wave signal is then turned to towards that side that two ultrasonic receivers all receive signal, until four receivers all receive
Until ultrasonic signal, then operated by step 2-1；
Step 2-3, for team member, if there are two or more than two ultrasonic receiver be not received by set specific frequency signal,
Miniature underwater robot delivers hydrophone itself single direction rotation, until meet 2-1 or 2-2 the case where, then presses step 2-1 or step
Rapid 2-2 operation.
9. type underwater robot according to claim 8 delivers hydrophone autonomous formation control method, which is characterized in that every
Transmitting set specific frequency signal can be arranged in the ultrasonic transmitter of a team leader, and the ultrasonic receiver of each team leader, which can be arranged, to be connect
Set specific frequency signal is received, different frequency can be arranged in each team leader.
10. type underwater robot according to claim 8 delivers hydrophone autonomous formation control method, which is characterized in that
Reception set specific frequency signal can be arranged in the ultrasonic receiver of each team member, and different frequency can be arranged in each team member.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112148021A (en) * | 2020-09-10 | 2020-12-29 | 北京理工大学 | Multi-agent formation transformation method based on binary tree topological structure and specific rules |
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