CN110412994B - Autonomous formation system for miniature underwater robot carrying hydrophones and control method - Google Patents
Autonomous formation system for miniature underwater robot carrying hydrophones and control method Download PDFInfo
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- G—PHYSICS
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- 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
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- 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
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- 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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a micro underwater robot carrying hydrophone autonomous formation system and a control method, wherein the system comprises: one or more base stations which are used as position references and are provided with ultrasonic transmitters; a plurality of miniature underwater robots as array captain carry hydrophones, referred to as captain for short, and are provided with ultrasonic transmitters and ultrasonic receivers; a plurality of miniature underwater robots as array team members carry hydrophones, called team members for short, and ultrasonic receivers are arranged on the team members; the miniature underwater robot is used for carrying hydrophones, different ultrasonic frequency signals are transmitted or received by setting specific frequency intervals so as to realize autonomous formation and form an array. The invention can realize autonomous formation of the hydrophone carried by the miniature underwater robot, is beneficial to improving the large-scale management efficiency and realizing the function diversification, and solves the defect of low degree of freedom of the traditional fixed hydrophone array.
Description
Technical Field
The invention relates to the technical field of underwater accurate positioning and autonomous formation, in particular to an autonomous formation system and a control method for miniature underwater robot carrying hydrophones.
Background
In recent years, research into hydrophones has gained increased attention. The hydrophone is a transducer for converting an acoustic signal into an electrical signal, and is used to receive the acoustic signal in water, and is widely used in the fields of industry, medical treatment, military affairs, etc., such as underwater detection, communication, shoreline monitoring, and development of marine resources. The dispersed hydrophones have large function limitation and are difficult to manage in a large scale, so that a hydrophone array is required to be adopted to realize more functions in most occasions. However, most of existing hydrophone arrays are fixed structures, for example, a towed array needs to fix all hydrophones on a cable, cannot form an array by autonomous floating formation, and has low freedom and autonomy.
Disclosure of Invention
The invention aims to solve the technical problem of providing an autonomous formation system and a control method for miniature underwater robot carrying hydrophones, aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a miniature underwater robot carrying hydrophone autonomous formation system, which comprises:
one or more base stations which are used as position references and are provided with ultrasonic transmitters;
a plurality of miniature underwater robots as array captain carry hydrophones, referred to as captain for short, and are provided with ultrasonic transmitters and ultrasonic receivers; the captain receives the ultrasonic signal transmitted by base station and adjacent captain, realize positioning and distance following;
a plurality of miniature underwater robots as array team members carry hydrophones, called team members for short, and ultrasonic receivers are arranged on the team members; the team member receives the ultrasonic signal that adjacent team leader sent, realizes following the distance of team leader, and the team leader forms the array of independently forming a formation with the team member.
Furthermore, the miniature underwater robot serving as the captain of the invention carries hydrophones, and different ultrasonic frequency signals are transmitted or received by setting specific frequency intervals; the miniature underwater robot serving as a team member carries hydrophones, receives corresponding ultrasonic frequency signals, and achieves autonomous positioning and formation.
Furthermore, the miniature underwater robot carrying hydrophones of the captain and the captain are both rectangular structures, the ultrasonic receivers of the captain are arranged on one side of the advancing direction of the hydrophone, and the ultrasonic transmitters of the captain are respectively arranged on three sides of the hydrophone except the advancing direction; the team member's ultrasonic receivers are located on adjacent sides thereof.
Furthermore, the base station and the miniature underwater robot carrying hydrophones are internally provided with control systems.
Further, a control system of a base station of the present invention includes: the ultrasonic wave transmitter is connected with the microprocessor through the A/D converter; the control system of the captain includes: the distance sensing module, the ultrasonic transmitter and the ultrasonic receiver are all connected with the microprocessor through the A/D converter; the control system of the team member comprises: the ultrasonic wave receiver comprises a microprocessor, an A/D converter and four ultrasonic wave receivers on two sides, wherein the ultrasonic wave receivers are connected with the microprocessor through the A/D converter.
Furthermore, a specific distance is set between the captain and the base station through a distance sensing module; the captain sets up specific distance through the distance response module between the captain.
Furthermore, the ultrasonic transmitter of the base station of the invention sets a transmitting signal with a specific frequency through the microprocessor; the ultrasonic transmitter of the team leader sets a transmitting signal with a specific frequency through a microprocessor; the ultrasonic receivers of the team leader and the team member are set to receive specific frequency signals through the microprocessor.
The invention provides an autonomous formation control method for miniature underwater robot carrying hydrophones, which comprises the following steps:
step 1-1, for the captain, judging whether two ultrasonic receivers receive signals in a specific frequency range:
step 1-1-1, if two ultrasonic receivers receive ultrasonic signals with specific frequency at the same time, advancing or retreating according to the current direction until the two ultrasonic receivers are separated from a sound source by a specific distance;
step 1-1-2, if the two ultrasonic receivers do not receive the ultrasonic signals with the specific frequency at the same time, the ultrasonic signals move in a direction of turning towards the end which receives the ultrasonic signals first until the ultrasonic signals meet the condition of 1-1-1;
step 1-2, for the captain, if only one of the two ultrasonic receivers receives the ultrasonic signal with the specific frequency, the captain turns to the end for receiving the signal to swim until the two receivers receive the ultrasonic signal with the specific frequency, and then the operation is carried out according to the step 1-1;
step 1-3, for the captain, if the two ultrasonic receivers do not receive the signal, the micro underwater robot carries the hydrophone to rotate in a single direction until the condition of the step 1-1 or the step 1-2 occurs, and then the operation is carried out according to the step 1-1 or the step 1-2;
step 2-1, for team members, if four ultrasonic receivers on two sides all receive signals in a specific frequency range:
step 2-1-1, if the time for receiving the specific frequency signals by the four ultrasonic receivers is equal, the positioning is successful;
step 2-1-2, if the two ultrasonic receivers on the first side receive the ultrasonic signals at the same time and the two ultrasonic receivers on the second side do not receive the ultrasonic signals at the same time, moving along the direction of the connecting line of the two ultrasonic waves on the first side and perpendicular to the first side until the condition of 2-1-1 is met;
step 2-1-3, if the time for receiving the specific frequency signals by the four ultrasonic receivers is not equal, operating the two ultrasonic receivers on the first side according to the step 1-1 until the condition of 2-1-2 is met;
2-2, for the team member, if only three of the four ultrasonic receivers on the two sides receive ultrasonic signals with specific frequencies, turning the team member towards the side where the two ultrasonic receivers receive the ultrasonic signals until the four ultrasonic receivers receive the ultrasonic signals, and then operating according to the step 2-1;
and 2-3, if two or more than two ultrasonic receivers do not receive the specific frequency signal, the miniature underwater robot carries the hydrophone to rotate in one direction until the condition of 2-1 or 2-2 is met, and then the operation is carried out according to the step 2-1 or the step 2-2.
Furthermore, the ultrasonic transmitter of each captain of the invention can be set to transmit a specific frequency signal, the ultrasonic receiver of each captain can be set to receive a specific frequency signal, and each captain can be set with different frequencies.
Further, the ultrasonic receiver of each team member of the present invention can be set to receive a signal of a specific frequency, and each team member can set a different frequency.
The invention has the following beneficial effects: the autonomous formation system and the control method for the miniature underwater robot carrying hydrophones realize the autonomous formation function of a plurality of hydrophones, utilize the miniature underwater robot carrying hydrophones, adopt the comparison of the time difference of receiving sound waves of two ultrasonic receivers to position and steer, have simple operation and higher precision, and realize autonomous alignment. Meanwhile, by setting a specific ultrasonic frequency interval, the moving direction is automatically adjusted underwater to form an array, so that large-scale management can be conveniently carried out, the degree of freedom among hydrophones is not reduced, and more functions can be realized through the array.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of an entire formation array of hydrophone carriers of an embodiment of the invention.
Fig. 2 is a diagram of the principle of formation by captain in accordance with an embodiment of the present invention.
Fig. 3 is a schematic diagram of the formation of a single queue by the captain according to the embodiment of the present invention.
Fig. 4 is a schematic diagram of dual-queue cross formation of the captain according to the embodiment of the present invention.
FIG. 5 is a schematic diagram of team member formation according to an embodiment of the present invention.
Fig. 6 is a block diagram of the control system according to the present invention.
Fig. 7 is a control flow diagram of autonomous alignment of an embodiment of the present invention.
In the figure: 1-base station I, 101-base station ultrasonic transmitter, 102-base station transmitting ultrasonic wave with specific frequency, 2-base station II, 3-team leader micro underwater robot carrying hydrophone I, 301-team leader ultrasonic receiver I, 302-team leader transmitting ultrasonic wave with specific frequency, 4-team leader micro underwater robot carrying hydrophone II, 401-team leader ultrasonic receiver II, 402-team leader transmitting ultrasonic wave with specific frequency, 5-team leader micro underwater robot carrying hydrophone III, 501-team leader ultrasonic receiver III, 502-team leader transmitting ultrasonic wave with specific frequency, 6-team leader micro underwater robot carrying hydrophone IV, 601-team leader ultrasonic receiver IV, 602-team leader transmitting ultrasonic wave with specific frequency IV, 7-team leader I, 701-team member ultrasonic receiver one, 702-team member ultrasonic receiver two, 8-team member two, 801-team member ultrasonic receiver three, 802-team member ultrasonic receiver four.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides an autonomous formation system and a control method for carrying hydrophones by a miniature underwater robot, which are used for improving the freedom degree and the large-scale management efficiency of a hydrophone array.
The invention discloses an autonomous formation system for carrying hydrophones by a miniature underwater robot.A basic device of the autonomous formation system comprises a base station, a captain miniature underwater robot carrying hydrophone (hereinafter referred to as captain) and an internal control system; the base station comprises one or more base stations such as a first base station 1 and a second base station 2; the captain includes one or more captain such as captain one 3 and captain two 4, and the team member includes one or more team members such as team member one 7 and team member two 8.
The base station I1 comprises an ultrasonic transmitter 101 and a transmitted specific frequency ultrasonic wave 102; the captain one 3 includes ultrasonic receivers 301(a, b refer to two ultrasonic receivers) arranged side by side in the traveling direction and emits ultrasonic waves 302 of a specific frequency to three sides except for the traveling direction; the team member 7 includes an ultrasonic receiver 701 and an ultrasonic receiver 702 arranged side by side, and the ultrasonic receiver 701 and the ultrasonic receiver 702 are located on adjacent sides of the team member 7.
As shown in fig. 6, a control system is arranged in each of the base station and the micro underwater robot. For the base station, the control system comprises an ultrasonic transmitter, an A/D converter and a microprocessor, wherein the ultrasonic transmitter is connected with the microprocessor through the A/D converter, and the microprocessor controls the ultrasonic transmitter to transmit ultrasonic waves with specific frequency; for the captain, the control system comprises a microprocessor, an A/D converter, a distance sensing module, two ultrasonic receivers and three ultrasonic transmitters, wherein the two ultrasonic receivers are arranged side by side along the advancing direction, the three ultrasonic transmitters are positioned on three sides except the advancing direction, the distance sensing module, the ultrasonic transmitters and the ultrasonic receivers are all connected with the microprocessor through the A/D converter, the distance sensing module detects whether the captain is separated from a sound source by a specific distance, and the microprocessor controls the ultrasonic transmitters (the ultrasonic receivers) to transmit (receive) ultrasonic waves with specific frequency; for team members, the control system comprises a microprocessor, an A/D converter and four ultrasonic receivers on two sides, wherein the ultrasonic receivers are located on two adjacent sides of the ultrasonic receiver, the ultrasonic receivers are connected with the microprocessor through the A/D converter, and the microprocessor controls the ultrasonic receivers to receive ultrasonic waves with specific frequencies.
As shown in fig. 3 and 4, by setting a specific signal frequency interval, one base station may be aligned with a length of one column, two base stations may be aligned with a length of two columns, and a cross may be formed. As shown in fig. 5, by setting to receive a specific frequency signal, one team member can be positioned at the intersection of the extension lines of every two team lengthes.
The base station ultrasonic transmitter 101 shown in FIG. 2 transmits N1(N1Constant) frequency of the ultrasonic waves 102, the ultrasonic receiver 301 of the captain one 3 receives the ultrasonic waves having the frequency N1And the ultrasonic wave 102 is self-aligned to the base station one 1, as shown in fig. 7, comprising the following steps:
step 1-1, if two ultrasonic receivers receive signals in a specific frequency range:
step 1-1-1, if two ultrasonic receivers receive ultrasonic signals with specific frequency at the same time, advancing or retreating according to the current direction until the two ultrasonic receivers are separated from a sound source by a specific distance;
step 1-1-2, if the two ultrasonic receivers do not receive the ultrasonic signals with the specific frequency at the same time, turning to the first receiving end to swim until the condition of the step 1-1-1 is met;
step 1-2, if only one of the two ultrasonic receivers receives the ultrasonic signal with the specific frequency, the ultrasonic receiver turns to the end for receiving the signal and swims until the two receivers receive the ultrasonic signal with the specific frequency, and then the operation is carried out according to the step 1-1;
and 1-3, if the two ultrasonic receivers do not receive the signals, the micro underwater robot carries the hydrophone to rotate in one direction until the conditions of the step 1-1 or the step 1-2 occur, and then the operation is carried out according to the step 1-1 or the step 1-2.
At the same time, N is emitted from three sides of captain one 32(N2Constant) frequency of the ultrasonic signal 302, the ultrasonic receiver 401 of captain two 4 receives the ultrasonic signal having the frequency N2The ultrasonic waves 302 are self-aligned to captain one 3, in the same manner as steps 1-1, 1-2 and 1-3. At the same time, N is emitted from three sides of captain two 43(N3Constant) frequency of the ultrasonic signal 402, the ultrasonic receiver 501 of captain three 5 receives the ultrasonic signal having the frequency N3The ultrasonic wave 402 is self-directed to captain two 4, the same steps as 1-1, 1-2 and 1-3. By analogy, single-row formation of one or more queue lengths can be realized by using one base station (fig. 3). The captain four 6 is aligned with the base station two 2, and simultaneously, N is emitted from three sides of the captain four 64(N4Constant) frequency of the ultrasonic signal 602, the ultrasonic receiver of the line leader next to the line leader four 6 receives the ultrasonic signal of the frequency N4The ultrasonic waves 602 are self-aligned to captain four 6, in the same manner as steps 1-1, 1-2 and 1-3. By analogy, one or more queue-length double-row cross formation can be realized by adopting two base stations (figure 4).
The team member 7 shown in fig. 5 is located at the intersection of the extension lines of the team leader two 4 and the team leader four 6, the ultrasonic receiver 701 and the ultrasonic receiver 702 are arranged side by side on the adjacent two sides of the team member 7, and the ultrasonic receiver 701 is set to receive N4Frequency ultrasonic wave, the ultrasonic receiver 702 is set to receive N3Frequency ultrasound, comprising the steps of:
step 2-1, if four ultrasonic receivers on two sides all receive signals in a specific frequency range:
step 2-1-1, if the time for receiving the specific frequency signal by all the four ultrasonic receivers is equal, the positioning is successful;
step 2-1-2, if the two ultrasonic receivers on the first side receive the ultrasonic signals at the same time and the two ultrasonic receivers on the second side do not receive the ultrasonic signals at the same time, moving along the direction of the connecting line of the two ultrasonic waves on the first side and perpendicular to the first side until the condition of 2-1-1 is met;
step 2-1-3, if the time for receiving the specific frequency signals by the four ultrasonic receivers is not equal, operating the two ultrasonic receivers on the first side according to the step 1-1 until the condition of 2-1-2 is met;
step 2-2, if only three of the four ultrasonic receivers on the two sides receive the ultrasonic signals with the specific frequency, turning the ultrasonic receivers towards the side where the two ultrasonic receivers receive the ultrasonic signals until the four ultrasonic receivers receive the ultrasonic signals, and then operating according to the step 2-1;
and 2-3, if two or more than two ultrasonic receivers do not receive the specific frequency signal, the micro underwater robot carries the hydrophone to rotate in one direction until the condition of 2-1 or 2-2 is met, and then the operation is carried out according to the step 2-1 or the step 2-2.
Similarly, the team member II 8 is positioned at the intersection of the extension lines of the team leader I3 and the team leader IV 6, the ultrasonic receiver 801 and the ultrasonic receiver 802 which are arranged side by side are arranged at two adjacent sides of the team member II 8, and the ultrasonic receiver 801 is set to receive N4Frequency ultrasonic wave, the ultrasonic receiver 802 sets to receive N1The frequency ultrasonic wave is carried out in the same steps as 2-1, 2-2 and 2-3. By analogy, as shown in fig. 1, one team member is positioned at the intersection of extension lines of every two team lengths, so that the miniature underwater robot can carry hydrophones to form a rectangular array in an autonomous formation mode.
The invention has the advantages that:
the function of a plurality of hydrophones in proper order is realized, utilize miniature underwater robot delivery hydrophone, adopt two ultrasonic receiver to receive the contrast of sound wave time difference, fix a position and turn to, easy operation, and the precision is higher, has realized independently aiming at. Meanwhile, by setting a specific ultrasonic frequency interval, the moving direction is automatically adjusted underwater to form an array, so that large-scale management can be conveniently carried out, the degree of freedom among hydrophones is not reduced, and more functions can be realized through the array.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (8)
1. An autonomous formation system of miniature underwater robot carrying hydrophones, the system comprising:
one or more base stations which are used as position references and are provided with ultrasonic transmitters;
a plurality of miniature underwater robots as array captain carry hydrophones, referred to as captain for short, and are provided with ultrasonic transmitters and ultrasonic receivers; the captain receives the ultrasonic signal transmitted by base station and adjacent captain, realize positioning and distance following;
a plurality of miniature underwater robots as array team members carry hydrophones, called team members for short, and ultrasonic receivers are arranged on the team members; the team member receives ultrasonic signals transmitted by adjacent team leaders to realize the following of the distance of the team leaders, and the team leaders and the team members form an autonomous formation array;
the miniature underwater robot as the team leader carries hydrophones, and transmits or receives different ultrasonic frequency signals by setting specific frequency intervals; the miniature underwater robot serving as a team member carries hydrophones, receives corresponding ultrasonic frequency signals, and realizes autonomous positioning and formation;
the miniature underwater robot carrying hydrophones of the captain and the captain are both rectangular structures, the ultrasonic receivers of the captain are positioned on one side of the advancing direction of the captain side by side, and the ultrasonic transmitters of the captain are respectively positioned on three sides of the captain except the advancing direction; the team member's ultrasonic receivers are located on adjacent sides thereof.
2. The autonomous formation system of miniature underwater robot carrying hydrophones according to claim 1, wherein a control system is provided inside both the base station and the miniature underwater robot carrying hydrophones.
3. The autonomous formation system of miniature underwater robot carrying hydrophones as claimed in claim 2, wherein the control system of the base station comprises: the ultrasonic wave transmitter is connected with the microprocessor through the A/D converter; the control system of the captain includes: the distance sensing module, the ultrasonic transmitter and the ultrasonic receiver are all connected with the microprocessor through the A/D converter; the control system of the team member comprises: the ultrasonic wave receiver comprises a microprocessor, an A/D converter and four ultrasonic wave receivers on two sides, wherein the ultrasonic wave receivers are connected with the microprocessor through the A/D converter.
4. The autonomous formation system of the miniature underwater robot carrying hydrophones as claimed in claim 3, wherein a specific distance is set between the length of the formation and the base station by a distance sensing module; the captain sets up specific distance through the distance response module between the captain.
5. The autonomous hydrophone formation system for a miniature underwater robot vehicle as claimed in claim 3, wherein the ultrasonic transmitter of the base station sets a transmission signal of a specific frequency through the microprocessor; the ultrasonic transmitter of the team leader sets a transmitting signal with a specific frequency through a microprocessor; the ultrasonic receivers of the team leader and the team member are set to receive specific frequency signals through the microprocessor.
6. A method for controlling autonomous formation of miniature underwater robot carrying hydrophones, which adopts the autonomous formation system of miniature underwater robot carrying hydrophones as claimed in claim 1, and is characterized by comprising the following steps:
step 1-1, for the captain, judging whether two ultrasonic receivers receive signals in a specific frequency range:
step 1-1-1, if two ultrasonic receivers receive ultrasonic signals with specific frequency at the same time, advancing or retreating according to the current direction until the two ultrasonic receivers are separated from a sound source by a specific distance;
step 1-1-2, if the two ultrasonic receivers do not receive the ultrasonic signals with the specific frequency at the same time, the ultrasonic signals move in a direction of turning towards the end which receives the ultrasonic signals first until the ultrasonic signals meet the condition of 1-1-1;
step 1-2, for the captain, if only one of the two ultrasonic receivers receives the ultrasonic signal with the specific frequency, the captain turns to the end for receiving the signal to swim until the two receivers receive the ultrasonic signal with the specific frequency, and then the operation is carried out according to the step 1-1;
step 1-3, for the captain, if the two ultrasonic receivers do not receive the signal, the micro underwater robot carries the hydrophone to rotate in a single direction until the condition of the step 1-1 or the step 1-2 occurs, and then the operation is carried out according to the step 1-1 or the step 1-2;
step 2-1, for team members, if four ultrasonic receivers on two sides all receive signals in a specific frequency range:
step 2-1-1, if the time for receiving the specific frequency signals by the four ultrasonic receivers is equal, the positioning is successful;
step 2-1-2, if the two ultrasonic receivers on the first side receive the ultrasonic signals at the same time and the two ultrasonic receivers on the second side do not receive the ultrasonic signals at the same time, moving along the direction of the connecting line of the two ultrasonic waves on the first side and perpendicular to the first side until the condition of 2-1-1 is met;
step 2-1-3, if the time for receiving the specific frequency signals by the four ultrasonic receivers is not equal, operating the two ultrasonic receivers on the first side according to the step 1-1 until the condition of 2-1-2 is met;
2-2, for the team member, if only three of the four ultrasonic receivers on the two sides receive ultrasonic signals with specific frequencies, turning the team member towards the side where the two ultrasonic receivers receive the ultrasonic signals until the four ultrasonic receivers receive the ultrasonic signals, and then operating according to the step 2-1;
and 2-3, if two or more than two ultrasonic receivers do not receive the specific frequency signal, the miniature underwater robot carries the hydrophone to rotate in one direction until the condition of 2-1 or 2-2 is met, and then the operation is carried out according to the step 2-1 or the step 2-2.
7. The method for controlling autonomous formation of hydrophones on a miniature underwater robot as claimed in claim 6, wherein the ultrasonic transmitter of each of the captchas is configured to transmit a signal of a specific frequency, the ultrasonic receiver of each captchas is configured to receive a signal of a specific frequency, and each captchas is configured to have a different frequency.
8. The method for controlling autonomous formation of hydrophones on a micro underwater robot as claimed in claim 6, wherein the ultrasonic receiver of each team member is configured to receive signals of a specific frequency, and each team member is configured to have a different frequency.
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