CN101055311A - Multiple beam section sonar signal processing device - Google Patents
Multiple beam section sonar signal processing device Download PDFInfo
- Publication number
- CN101055311A CN101055311A CNA2007100641320A CN200710064132A CN101055311A CN 101055311 A CN101055311 A CN 101055311A CN A2007100641320 A CNA2007100641320 A CN A2007100641320A CN 200710064132 A CN200710064132 A CN 200710064132A CN 101055311 A CN101055311 A CN 101055311A
- Authority
- CN
- China
- Prior art keywords
- signal
- signal processing
- emission
- transducer
- dsp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a multi-beam profile sonar signal processing device, characterized in comprising a host computer above water, an emission and control DSP part disposed on the underwater robot, an emission signal conditioning part, a power amplifier, an emission transducer, a, an analog signal acquisition transmitting part, a data receiving port and a DSP parallel signal processing part. The emission and control DSP part connected with the water host computer by cable receives command of water host computer, the emission signal conditioning part amplifies, filters and isolates the analog signal produced by the emission and control DSP part, and then amplified by the power amplifier, the emission transducer emits the signal underwater after electrical/mechanical conversion; the reception transducer receives the echo which is converted to digital signal by the analog signal acquisition transmitting part after performing mechanical/electrical conversion, and transmitted to the data reception port, then transmitted to the water host computer by cable after processing by the DSP parallel signal processing part. The invention can be applied widely in the process of detecting azimuth of undersea oil pipeline.
Description
Technical field
The present invention relates to the multiple beam section sonar signal processing device of a kind of employing high-speed dsp (digital signal processor).
Background technology
In recent years along with the development of sonar technique, more and more higher requirement has also been proposed for the high capacity real time signal processing ability of sonar signal disposal system.Traditional active sonar signal processing system adopts special-purpose hardware configuration to finish specific data processing task mostly, and the data-switching collection is directly inserted in the transducer rear end, and data enter digital signal processor processes after analog to digital conversion.This type systematic can only be at fixing transducer, and fixing processing speed is arranged, in case transducer changes or processing speed requires highlyer, system is just powerless.Traditional section sonar mostly is single beam, low frequency, high-power shallow seismic profile sonar, and such sonar principal feature is that frequency ratio is lower, can analyze darker stratum, but to closely high-resolution target resolution characteristic is poor.The resolution of section sonar system is directly relevant with the bandwidth of sonar signal, survey Demand Design and realize a kind of multi-beam in conjunction with concrete oil pipeline, emission signal frequency is at 35KHz-65KHz, and bandwidth is that the high precision section sonar of 30KHz is an important research project.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of can be easily by underwater remote-control robot etc. under water carrier carry, can seek and visit out the multiple beam section sonar signal processing device in the orientation of subsea petroleum pipeline with higher resolution.
For achieving the above object, the present invention takes following technical scheme: a kind of multiple beam section sonar signal processing device, it is characterized in that: it comprises main frame waterborne, be arranged on emission and control DSP part on the underwater robot, conditioning part, power amplifier, transmitting transducer, receiving transducer, collection of simulant signal hop, Data Receiving port and DSP parallel signal processing section transmit; Described emission and control DSP part are connected with described serial port of host computer waterborne by cable, receive the order of described main frame waterborne in real time, finish the generation of transmitting pulse waveform, and realtime power control and emission control; The described conditioning part of transmitting will launch and control that the simulating signal that DSP partly produces is amplified, filtering, output terminal through the isolation of isolated amplifier circuit, send to described power amplifier and amplify, after described transmitting transducer carries out electricity, machine conversion with signal, to emission under water; Described receiving transducer receives echo, and after carrying out mechanical, electrical conversion, convert digital signal to by described collection of simulant signal hop, be transferred to described Data Receiving port via the water-stop cable, after digital signal processing is carried out in described DSP parallel signal processing section, be transferred to main frame waterborne by cable and show storage again.
Described emission and control DSP part, transmit conditioning part, Data Receiving port and DSP parallel signal processing section are arranged in the instrument room of described underwater robot; Described power amplifier is connected respectively with the collection of simulant signal hop and is arranged in the back cavity of described transmitting transducer and receiving transducer, described power amplifier and collection of simulant signal hop respectively be connected described conditioning part and the Data Receiving port of transmitting by the water-stop cable.
Described transmitting transducer and receiving transducer all adopt compound extensional vibration transducer a period of time, and described transmitting transducer and receiving transducer be the bottom that the T font is fixed on described underwater robot, and be parallel with the seabed.
Described emission and control DSP partly comprise photoelectric commutator, level translator, DSP and the D/A that connects successively.
The described conditioning part that transmits comprises amplifying circuit of analog signal, simulating signal filtering circuit and the isolated amplifier circuit that connects successively; The bandpass filtering of described signal condition part rises and falls in the frequency range of 35kHz-65kHz, and the rejection ratio inside and outside the passband is greater than 40dB.
Described collection of simulant signal hop comprises prime amplifier, signal conditioner, sampling holder, analog to digital converter, programmable logic device (PLD) and the network interface that connects successively; Simulating signal cooperates network interface output by described programmable logic device (PLD) more successively by converting digital signal to behind prime amplifier, signal conditioner, sampling holder, the analog to digital converter.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is owing to adopted the receiving transducer replacement single beam transducer in the past of multi-beam, therefore can be by receiving the echoed signal of multi-beam, carry out that wave beam forms, the pulse compression scheduling algorithm is realized the orientation detection to subsea petroleum pipeline.2, because to adopt the frequency range of detectable signal be 35kHz～65kHz, bandwidth 30KHz has improved the detection frequency range of system greatly, thereby the relative bandwidth that has improved system has reduced the size of emission and receiving transducer and weight and improved the resolution of system.3, the present invention adopts the TCP/IP network to carry out communicating by letter of unit and main frame waterborne under water, has substituted serial ports transmission in the past, and data transmission rate is greatly improved, and interface is convenient.The present invention can be widely used in the detection of ocean, lake bottom line, also can be used for the detection of geology and archaeology and the sea is dark and the measurement of submarine sedimentary strata and classification etc.
Description of drawings
Fig. 1 is a structured flowchart of the present invention
Fig. 2 is that the present invention launches and controls DSP part theory structure block diagram
Fig. 3 is a collection of simulant signal hop theory structure block diagram of the present invention
Fig. 4 is a DSP parallel signal of the present invention processing section theory structure block diagram
Fig. 5 is the mounting structure figure of the present invention in the seabed robot
Fig. 6 is receiving transducer of the present invention and transmitting transducer assembling assumption diagram
Embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
Shown in Fig. 1～3, formation of the present invention comprise be placed on the bank or being used on the ship finish the subsea petroleum pipeline detection image synthetic, show and the main frame waterborne 1 of control in real time, emission and control DSP (digital signal processor) part 2, conditioning part 3 transmits, power amplifier 4, transmitting transducer 5 and receiving transducer 6, collection of simulant signal hop 7, Data Receiving port 8, DSP parallel signal processing section 9 and underwater robot 10.Underwater robot 10 is provided with magnetic and visits instrument 11, and magnetic is visited instrument electronic compartment 12, instrument room 13 etc.It is detecting devicess of surveying the seabed ferromagnetic object that magnetic is visited instrument 11, can carry out large-scale pipeline search, and magnetic is visited instrument electronic compartment 12 responsible magnetic and visited instrument 11 power supply and data processing.Emission and control DSP part 2, transmit conditioning part 3, Data Receiving port 8 and DSP parallel signal processing section 9 are arranged in the instrument room 13 of underwater robot 10.Power amplifier 4 and collection of simulant signal hop 7 are connected in the back cavity of transmitting transducer 5 and receiving transducer 6, and connecting transmitting conditioning part 3 and Data Receiving port 8 in underwater robot 10 instrument rooms 13 by the water-stop cable respectively, transmitting transducer 5 and receiving transducer 6 are the bottom that the T font is fixedly mounted on underwater robot 10 and are parallel to the seabed.
As shown in Figure 4, the formation of the present invention's emission and control DSP part 2 comprises: photoelectric commutator 21, level translator 22, DSP (digital signal processor) 23, D/A (digital to analog converter) 24, the various piece unification is placed on the printed circuit board, and digital to analog converter 24 connects the conditioning part 3 that transmits.The task of emission and control DSP part 2 is the orders that receive main frame 1 waterborne in real time, finishes the generation of transmitting pulse waveform, and realtime power control and emission control.
The transmit formation of conditioning part 3 of the present invention comprises: amplifying circuit of analog signal, simulating signal filtering circuit, isolated amplifier circuit, these three parts adopt lead to connect all on a circuit board.The conditioning part 3 that transmits will launch and control that the simulating signal that DSP part 2 produces is amplified, filtering, and the output terminal that passes through the isolation of isolated amplifier circuit is directly given power amplifier 4 and carried out power amplification.The main effect of isolated amplifier circuit is that the ground with the conditioning part 3 that transmits separates with the ground of power amplifier 4, and the noise significantly that prevents power amplifier 4 is scurried into the conditioning part 3 that transmits and disturbed and transmit.Owing to transmit and be the chirp of 35kHz-65kHz, it is less therefore to require the bandpass filtering of signal condition part 3 to rise and fall in the frequency range of 35kHz-65kHz, and the rejection ratio inside and outside the passband is greater than 40dB.
Power amplifier 4 of the present invention adopts three grades of the anti-phase drive form of prior art two-way power amplifier to penetrate with current amplifier, can make output voltage improve 1 times, and output power is brought up to 4 times of single channel output.Can realize the linear amplification of power to output signal, pulse power is more than 1 kilowatt, adopts transformer coupled mode to realize Broadband Matching with transmitting transducer 5 simultaneously.
Receiving transducer of the present invention 5 adopts compound extensional vibration transducer a period of time of the prior art, this transducer compared with the transducer of other type simple, the dynamo-electric conversion ratio height of vibration mode, firm in structure, stable and reliable for performance, can bear advantage such as big electric power.The electric power of this part is added to 1 kilowatt, and its sound source level can reach more than the 215dB.
Receiving transducer 6 of the present invention also is to adopt compound extensional vibration transducer a period of time of the prior art, the variation of the received signal amplitude of this transducer is very big, at first the sound wave amplitude of returning from the surface, seabed is very strong, compare big at least 20dB with the inner echoed signal in seabed, collection of simulant signal hop 7 will have certain inhibiting effect to this signal.Inside, seabed is bigger to the absorptance of sound wave, calculates with 20 meters working depth, and total sound absorption meeting is more than 80dB.The echoed signal waveform should be back, a very strong peak (surface echo) and then one rapidly the curve of decay may also have a series of small peak target echoes such as () tomographies.The demonstration of multiple beam section sonar is based on the amplitude after the echo relevant treatment, if in collection of simulant signal hop 7, do not carry out automatic gain control, can lose the detailed information of echoed signal during reception, abyssal image can't correctly show.
As shown in Figure 5, the formation of collection of simulant signal hop 7 of the present invention comprises prime amplifier 71, signal conditioner 72, sampling holder 73, analog to digital converter 74, FPGA (programmable logic device (PLD)) 75 and network interface 76.Be positioned at the collection of simulant signal hop 7 of the back cavity of receiving transducer 6,6 inner a period of time of receiving transducer are connected to collection of simulant signal hop 7 by flexible circuit conductor.Simulating signal is successively by behind prime amplifier 71, signal conditioner 72, sampling holder 73, the analog to digital converter 74, convert digital signal to, cooperate network interface 76 by programmable logic device (PLD) 75 again, digital signal is transferred to Data Receiving port 8 via the water-stop cable.Because the echo of subsea petroleum pipeline is very faint, the amplification of only carrying out one-level is not enough.The feeble signal of 71 pairs of receiving transducers of prime amplifier, 6 outputs is carried out the amplification of 30dB, and then carries out time-varying gain control through the gain control circuit in the signal conditioner 72.Time-varying gain control needs certain gain trace (inverse of seabed die-away curve), gain control is provided by emission and control DSP part 2, gather the signal conditioner 72 of hop 7 by the signal wire incoming analog signal, by the gain control circuit strong echo in seabed of can decaying, increase inner more weak echo, thereby realize the dynamic range compression of seabed involuting wave.Adopt the preposition amplification of difference can suppress common-mode noise on the cable effectively.
Data Receiving port 8 of the present invention is and DSP parallel signal processing section 9 close-connected Ethernet interfaces to be responsible for the next digital signal of network interface 76 transmission of reception collection of simulant signal hop 7 and to carry out digital signal processing for DSP parallel signal processing section 9.
As shown in Figure 6, the formation of DSP parallel signal of the present invention processing section 9 comprises from DSP network interface 91, from DSP92, FPGA (programmable logic device (PLD)) 93, main DSP94, main DSP network interface 95.Receive the digital signal of collection of simulant signal hop 7 from DSP network interface 91, and with data storage the expansion internal memory in, under the cooperation of programmable logic device (PLD) 93, carry out the pipeline parallel method processing from DSP92 and main DSP94 then, its process comprises computings such as Fourier transform, relevant and filtering, data after handling from DSP92 and main DSP94 are delivered to main frame 1 waterborne through main DSP network interface 95 by optical fiber and are shown and store.
Principle of work of the present invention is:
After robot 10 carries underwater portion of the present invention and enters duty, system power-up, emission and control DSP part 2 and DSP parallel signal processing section 9 after the boot, enter holding state respectively, start main frame 1 waterborne and enter and show the prosecutor formula.The pulse width that transmits of system has 0.5ms, 1ms, 2ms third gear optional, the acoustical power that transmits has power level 0～7 eight grade adjustable, pulse repetition rate reaches as high as 5 times/second, the collection moment and the gain control of signal are option, after finishing parameter and being provided with, enter the detection operations pattern by startup command.
After powering on, emission and control DSP part 2 wait for the order of main frame 1 waterborne, in case receive startup command, then according to the parameter of setting, with certain pulsewidth and frequency emission sound pulse.The pulse waveform of different length is stored in the DSP program of emission and control DSP part 2 with the form of data, this DSP is according to the order of main frame 1 waterborne, Wave data is delivered on the data bus of emission and control DSP part 2, and parallel data is converted into waveform by 12bit digital to analog converter 24, after the conditioning part 3 that transmits, power amplifier 4 amplifications and coupling emission, frequency is in 35～65kHz scope, and sound source level reaches 206dB, fluctuating 3dB in the band.Transmitting transducer 5 becomes acoustic signals output with the large power, electrically conversion of signals of power amplifier 4, and sound wave reflects back into receiving transducer 6 through testee, and receiving transducer 6 converts echoed signal to electric signal so that subsequent treatment again.The DSP of DSP parallel signal processing section 9 powers on after the boot, waits acquired signal to be launched and that control DSP part 2 provides.After the pulse battery has fired of emission and control DSP part 2, waiting for a period of time provides a low level by I/O, and notice DSP parallel signal processing section 9 begins to receive the numerical data that collection of simulant signal hop 7 gathers.The above-mentioned stand-by period, the stand-by period was greater than the time that sound pulse comes and goes by main frame 1 control waterborne.After acquired signal is carried out related operation with the copy that transmits, do low-pass filtering again and take out envelope.DSP parallel signal processing section 9 after with raw data, correlation computations data and the results such as data of envelope, be transmitted to main frame 1 waterborne with TCP/IP procotol form at a high speed by optical fiber, 1 pair of result of extension set waterborne is carried out two and three dimensions and is shown, and Flame Image Process and identification.
The setting of some each several parts in the foregoing description of the present invention and connected mode all can change to some extent, and change or replacing these local branches, should not get rid of outside protection scope of the present invention.
Claims (10)
1, a kind of multiple beam section sonar signal processing device, it is characterized in that: it comprises main frame waterborne, be arranged on emission and control DSP part on the underwater robot, conditioning part, power amplifier, transmitting transducer, receiving transducer, collection of simulant signal hop, Data Receiving port and DSP parallel signal processing section transmit; Described emission and control DSP part are connected with described serial port of host computer waterborne by cable, receive the order of described main frame waterborne in real time, finish the generation of transmitting pulse waveform, and realtime power control and emission control; The described conditioning part of transmitting will launch and control that the simulating signal that DSP partly produces is amplified, filtering, output terminal through the isolation of isolated amplifier circuit, send to described power amplifier and amplify, after described transmitting transducer carries out electricity, machine conversion with signal, to emission under water; Described receiving transducer receives echo, and after carrying out mechanical, electrical conversion, convert digital signal to by described collection of simulant signal hop, be transferred to described Data Receiving port via the water-stop cable, after digital signal processing is carried out in described DSP parallel signal processing section, be transferred to main frame waterborne by cable and show storage again.
2, a kind of multiple beam section sonar signal processing device as claimed in claim 1 is characterized in that: described emission and control DSP part, transmit conditioning part, Data Receiving port and DSP parallel signal processing section are arranged in the instrument room of described underwater robot; Described power amplifier is connected respectively with the collection of simulant signal hop and is arranged in the back cavity of described transmitting transducer and receiving transducer, described power amplifier and collection of simulant signal hop respectively be connected described conditioning part and the Data Receiving port of transmitting by the water-stop cable.
3, a kind of multiple beam section sonar signal processing device as claimed in claim 1, it is characterized in that: described transmitting transducer and receiving transducer all adopt compound extensional vibration transducer a period of time, and described transmitting transducer and receiving transducer are the bottom that the T font is fixed on described underwater robot, and be parallel with the seabed.
4, a kind of multiple beam section sonar signal processing device as claimed in claim 2, it is characterized in that: described transmitting transducer and receiving transducer all adopt compound extensional vibration transducer a period of time, and described transmitting transducer and receiving transducer are the bottom that the T font is fixed on described underwater robot, and be parallel with the seabed.
5, as claim 1 or 2 or 3 or 4 described a kind of multiple beam section sonar signal processing devices, it is characterized in that: described emission and control DSP partly comprise photoelectric commutator, level translator, DSP and the D/A that connects successively.
6, as claim 1 or 2 or 3 or 4 described a kind of multiple beam section sonar signal processing devices, it is characterized in that: the described conditioning part that transmits comprises amplifying circuit of analog signal, simulating signal filtering circuit and the isolated amplifier circuit that connects successively; The bandpass filtering of described signal condition part rises and falls in the frequency range of 35kHz-65kHz, and the rejection ratio inside and outside the passband is greater than 40dB.
7, a kind of multiple beam section sonar signal processing device as claimed in claim 5 is characterized in that: the described conditioning part that transmits comprises amplifying circuit of analog signal, simulating signal filtering circuit and the isolated amplifier circuit that connects successively; The bandpass filtering of described signal condition part rises and falls in the frequency range of 35kHz-65kHz, and the rejection ratio inside and outside the passband is greater than 40dB.
8, as claim 1 or 2 or 3 or 4 or 7 described a kind of multiple beam section sonar signal processing devices, it is characterized in that: described collection of simulant signal hop comprises prime amplifier, signal conditioner, sampling holder, analog to digital converter, programmable logic device (PLD) and the network interface that connects successively; Simulating signal cooperates network interface output by described programmable logic device (PLD) more successively by converting digital signal to behind prime amplifier, signal conditioner, sampling holder, the analog to digital converter.
9, a kind of multiple beam section sonar signal processing device as claimed in claim 5 is characterized in that: described collection of simulant signal hop comprises prime amplifier, signal conditioner, sampling holder, analog to digital converter, programmable logic device (PLD) and the network interface that connects successively; Simulating signal cooperates network interface output by described programmable logic device (PLD) more successively by converting digital signal to behind prime amplifier, signal conditioner, sampling holder, the analog to digital converter.
10, a kind of multiple beam section sonar signal processing device as claimed in claim 6 is characterized in that: described collection of simulant signal hop comprises prime amplifier, signal conditioner, sampling holder, analog to digital converter, programmable logic device (PLD) and the network interface that connects successively; Simulating signal cooperates network interface output by described programmable logic device (PLD) more successively by converting digital signal to behind prime amplifier, signal conditioner, sampling holder, the analog to digital converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100641320A CN101055311A (en) | 2007-03-01 | 2007-03-01 | Multiple beam section sonar signal processing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100641320A CN101055311A (en) | 2007-03-01 | 2007-03-01 | Multiple beam section sonar signal processing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101055311A true CN101055311A (en) | 2007-10-17 |
Family
ID=38795248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007100641320A Pending CN101055311A (en) | 2007-03-01 | 2007-03-01 | Multiple beam section sonar signal processing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101055311A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101793957A (en) * | 2009-12-08 | 2010-08-04 | 中国科学院声学研究所 | SAS frequency domain processing method based on trunking processor |
| CN101813771A (en) * | 2009-12-08 | 2010-08-25 | 中国科学院声学研究所 | Dolphin biomimetic sonar signal processing method |
| CN101644767B (en) * | 2009-05-15 | 2012-07-25 | 中国科学院声学研究所 | Underwater sonar transmitter |
| CN102608609A (en) * | 2011-12-19 | 2012-07-25 | 浙江大学 | MIMO (multiple input multiple output) based high-resolution underwater target detection device and method |
| CN101650430B (en) * | 2008-12-26 | 2012-12-12 | 中国科学院声学研究所 | System for acquiring dolphin's sound signal and method thereof |
| CN103969639A (en) * | 2014-05-09 | 2014-08-06 | 哈尔滨工程大学 | Signal processing system and method of five-wave-beam fish finder |
| CN106405662A (en) * | 2016-08-19 | 2017-02-15 | 广东科诺勘测工程有限公司 | Underwater pipeline detector based on underwater robot |
| CN110177068A (en) * | 2019-06-13 | 2019-08-27 | 上海一诺仪表有限公司 | Signal recognition device and method |
| CN110579767A (en) * | 2019-09-17 | 2019-12-17 | 中国水产科学研究院渔业机械仪器研究所 | fish detector |
| CN114026417A (en) * | 2019-06-25 | 2022-02-08 | 布弗莱运营公司 | Method and apparatus for processing ultrasound signals |
| CN116381695A (en) * | 2023-05-30 | 2023-07-04 | 海底鹰深海科技股份有限公司 | Split sonar and sonar assembly and manufacturing method thereof |
-
2007
- 2007-03-01 CN CNA2007100641320A patent/CN101055311A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101650430B (en) * | 2008-12-26 | 2012-12-12 | 中国科学院声学研究所 | System for acquiring dolphin's sound signal and method thereof |
| CN101644767B (en) * | 2009-05-15 | 2012-07-25 | 中国科学院声学研究所 | Underwater sonar transmitter |
| CN101793957B (en) * | 2009-12-08 | 2013-09-11 | 中国科学院声学研究所 | SAS frequency domain processing method based on trunking processor |
| CN101813771A (en) * | 2009-12-08 | 2010-08-25 | 中国科学院声学研究所 | Dolphin biomimetic sonar signal processing method |
| CN101793957A (en) * | 2009-12-08 | 2010-08-04 | 中国科学院声学研究所 | SAS frequency domain processing method based on trunking processor |
| CN101813771B (en) * | 2009-12-08 | 2013-04-24 | 中国科学院声学研究所 | Dolphin biomimetic sonar signal processing method |
| CN102608609A (en) * | 2011-12-19 | 2012-07-25 | 浙江大学 | MIMO (multiple input multiple output) based high-resolution underwater target detection device and method |
| CN102608609B (en) * | 2011-12-19 | 2014-01-08 | 浙江大学 | MIMO (multiple input multiple output) based high-resolution underwater target detection device and method |
| CN103969639A (en) * | 2014-05-09 | 2014-08-06 | 哈尔滨工程大学 | Signal processing system and method of five-wave-beam fish finder |
| CN106405662A (en) * | 2016-08-19 | 2017-02-15 | 广东科诺勘测工程有限公司 | Underwater pipeline detector based on underwater robot |
| CN110177068A (en) * | 2019-06-13 | 2019-08-27 | 上海一诺仪表有限公司 | Signal recognition device and method |
| CN114026417A (en) * | 2019-06-25 | 2022-02-08 | 布弗莱运营公司 | Method and apparatus for processing ultrasound signals |
| CN110579767A (en) * | 2019-09-17 | 2019-12-17 | 中国水产科学研究院渔业机械仪器研究所 | fish detector |
| CN116381695A (en) * | 2023-05-30 | 2023-07-04 | 海底鹰深海科技股份有限公司 | Split sonar and sonar assembly and manufacturing method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101055311A (en) | Multiple beam section sonar signal processing device | |
| CN201043997Y (en) | Multi-beam section plane sonar signal processing device | |
| JP2019519750A (en) | Near-seafloor hydrate exploration system | |
| CN100541229C (en) | Super broad coverage multiple beam bathymetric side scanning sonar device | |
| CN107219513B (en) | Underwater movement objective analogue echoes method and transceiving integrated device | |
| CN100430694C (en) | Multi-beam wide covering sea floor relief and geomorphy surveying device | |
| CN102590869B (en) | Artificial field source frequency domain electrical prospecting method and prospecting system | |
| CN104280781A (en) | Towrope type ocean controllable source electromagnetism and earthquake data collection system | |
| CN105372332B (en) | A kind of bottom sediment longitudinal wave acoustic wave parameter original position self-operated measuring unit and method | |
| CN113030982B (en) | Double-frequency ultra-high resolution sounding side-scan sonar system | |
| CN107064944A (en) | High speed multibeam sounding system and its depth detecting method based on Frequency Hopping Signal | |
| CN111948294B (en) | Acoustic wave emission acquisition device, system and method for in-situ measurement of acoustic properties of sediment | |
| CN105988117A (en) | Acoustic seabed distance measurement system and method thereof | |
| US20190331818A1 (en) | Multichannel streamer cable | |
| CN111443352A (en) | Ocean remote sensing depth measurement method and device based on acousto-optic combined sensing | |
| CN102109343A (en) | Undersea sediment acoustic parameter in-situ measuring system | |
| CN206627111U (en) | High speed multibeam sounding system based on Frequency Hopping Signal | |
| CN114487091A (en) | Novel ultrasonic imaging system | |
| CN113093107A (en) | Underwater sound signal acquisition and transmission system and method | |
| CN102073049A (en) | Small-depth Doppler log | |
| CN115825967A (en) | Sonar Doppler adaptation range detection method and system | |
| CN116148939A (en) | Shallow stratum profiler and system | |
| CN106772558A (en) | A kind of submarine earthquake monitoring system | |
| CN113153232A (en) | Seabed natural gas hydrate bubble leakage positioning device and method based on small array | |
| CN104459706A (en) | Echo sounder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20071017 |