CN113777613A - Three-dimensional side-scan sonar system and equipment - Google Patents
Three-dimensional side-scan sonar system and equipment Download PDFInfo
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- CN113777613A CN113777613A CN202110960252.9A CN202110960252A CN113777613A CN 113777613 A CN113777613 A CN 113777613A CN 202110960252 A CN202110960252 A CN 202110960252A CN 113777613 A CN113777613 A CN 113777613A
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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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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Abstract
The invention provides a three-dimensional side-scan sonar system and equipment. The system comprises: the electronic system is used for generating a signal to be transmitted and a high-voltage pulse and processing the received signal; the display control system is used for performing human-computer interaction; and the transducer group is used for generating a transmitting sound wave and converting the echo signal into an electric signal. The invention can carry out three-dimensional imaging on the submarine target by carrying out system integration on the electronic system, the display control system and the transducer group, distinguish submarine objects with multiple incident angles and further accurately survey and detect the underwater target.
Description
Technical Field
The embodiment of the invention relates to the technical field of side-scan sonar, in particular to a three-dimensional side-scan sonar system and equipment.
Background
With the continuous push to the open sea with exploration, higher demands are made on the resolution of the submarine topography and the refined detection of underwater objects in ocean exploration. The conventional side-scan sonar images lack elevation information, the depth-measuring side-scan sonar of a coherent measurement method is often adopted for submarine topography measurement, and due to the limitation of resolution, the sonar is difficult to carry out three-dimensional imaging on submarine targets and distinguish objects with multiple incident angles (such as multi-path scattering of submarine, sea surface, underwater three-dimensional structures and the like), and can not reflect the sharp fluctuation of the seabed and carry out fine mapping and detection on emerging underwater targets. Therefore, it is an urgent technical problem in the art to develop a three-dimensional side-scan sonar system and apparatus that can effectively overcome the above-mentioned drawbacks in the related art.
Disclosure of Invention
In view of the above problems in the prior art, embodiments of the present invention provide a three-dimensional side-scan sonar system and apparatus.
In a first aspect, an embodiment of the present invention provides a three-dimensional side-scan sonar system, including: the electronic system is used for generating a signal to be transmitted and a high-voltage pulse and processing the received signal; the display control system is used for performing human-computer interaction; and the transducer group is used for generating a transmitting sound wave and converting the echo signal into an electric signal.
On the basis of the content of the above system embodiment, the three-dimensional side-scan sonar system provided in the embodiment of the present invention includes: the signal processor is used for generating a signal to be transmitted and carrying out depth measurement, imaging and visual processing on the echo signal; the transmitter is used for generating high-voltage pulse and transmitting the high-voltage pulse to the transmitting transducer; and the receiver is used for amplifying and conditioning the electric signals, converting the electric signals into digital signals and then transmitting the digital signals to the signal processor.
On the basis of the contents of the above system embodiment, the display control system of the three-dimensional side-scan sonar system provided in the embodiment of the present invention includes: the human-computer interaction module is used for realizing human-computer interaction input of control signals; and the three-dimensional image visualization module is used for displaying the three-dimensional image of the underwater object and the underwater depth information.
On the basis of the above-mentioned system embodiment, the three-dimensional side-scan sonar system provided in the embodiment of the present invention includes: the transmitting transducer is used for receiving the high-voltage pulse transmitted by the transmitter and generating transmitting sound waves; and the receiving transducer is used for converting the echo signals into electric signals.
On the basis of the content of the above system embodiment, the three-dimensional side-scan sonar system provided in the embodiment of the present invention further includes: and the power supply and power supply manager is used for providing each path of power supply required by the whole machine, and charging and detecting the electric quantity of the battery.
On the basis of the content of the system embodiment, the three-dimensional side-scan sonar system provided by the embodiment of the invention is characterized in that the electronic system is arranged in the water-tight electronic tank, and the transducer group is arranged at the front end of the water-tight electronic tank.
On the basis of the content of the system embodiment, in the three-dimensional side-scan sonar system provided by the embodiment of the invention, a watertight socket is installed on the rear end face of the watertight electronic tank, and the watertight socket is connected with an external system through a watertight cable.
On the basis of the content of the system embodiment, the three-dimensional side-scan sonar system provided by the embodiment of the invention is characterized in that the battery is installed inside the watertight electronic tank and used for supplying power to an electronic system.
In a second aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, the processor calling the program instructions being capable of executing the three-dimensional side-scan sonar system provided by any of the various implementations of the first aspect.
In a third aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to implement the three-dimensional side-scan sonar system provided in any of the various implementations of the first aspect.
According to the three-dimensional side-scan sonar system and the equipment provided by the embodiment of the invention, the electronic system, the display control system and the transducer group are systematically integrated, so that a submarine target can be subjected to three-dimensional imaging, a submarine object with multiple incident angles can be distinguished, and the underwater target can be accurately mapped and detected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a three-dimensional side-scan sonar system provided by an embodiment of the present invention;
fig. 2 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another three-dimensional side-scan sonar system provided by the embodiment of the present invention;
fig. 4 is a schematic view of an electronic installation structure of a three-dimensional side-scan sonar according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a three-dimensional side-scan sonar scanned area according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
The three-dimensional side-scan sonar is one of important frontier fields in researching acquisition of submarine topographic information and three-dimensional detection of an underwater target, integrates a true three-dimensional side-scan point cloud image and ultra-wide coverage submarine depth measurement, revolutionarily expands 2D side-scan sonar to a 3D side-scan sonar era, and realizes synchronous processing of two-dimensional and three-dimensional images of side-scan depth measurement. The traditional side-scan sonar is difficult to carry out three-dimensional imaging of submarine targets, and cannot carry out fine surveying and detecting on the sharply fluctuated seabed and underwater targets. Based on this idea, an embodiment of the present invention provides a three-dimensional side-scan sonar system, see fig. 1, including: the electronic system is used for generating a signal to be transmitted and a high-voltage pulse and processing the received signal; the display control system is used for performing human-computer interaction; and the transducer group is used for generating a transmitting sound wave and converting the echo signal into an electric signal.
Specifically, the three-dimensional side-scan sonar system can be divided into the following functions: the transmitting transducer and the receiving transducer at the front end form a transducer group; the transmitter, the receiver and the signal processor form an electronic system; the human-computer interaction module and the three-dimensional image visualization module form a display control system; the power supply and the power supply manager form a power supply system. In the aspect of sonar array design, a spherical shell transmitting array or a cylindrical shell transmitting array is adopted to realize the transmission of high-power and large-visual-angle sound signals. The receiving array is mainly developed by a 48 multiplied by 24 close-packed planar array, and is formed by embedding a piezoelectric ceramic cylinder in a decoupling material. There are many uncertain factors in the sonar design, for example, the arc surface angle of the transmitting array ellipsoid shell needs to be determined through simulation and experiment to reach the visual angle range of 9 degrees × 45 degrees; the particle size of the close-packed receiving array is very small, the processing is difficult, the mounting and positioning precision of the array is ensured by searching the process of trial-manufacturing the small-scale sample array, the phase consistency among channels is realized, and the fluctuation in the band is controlled within +/-2 dB. In the aspect of designing a miniaturized, large-scale and low-power-consumption receiving electronic system, the receiving electronic system selects a low-order high-speed ADC (analog to digital converter) to acquire signals, the number of acquisition channels is expanded in a modularized mode, each acquisition module realizes the acquisition of 64 paths of signals, and the whole double-side acquisition system consists of 16 acquisition modules and totally 1024 paths. The effective implementation process of the sampling mode comprises the steps of firstly carrying out computer simulation calculation on a circuit, then manufacturing a small-scale sample plate for probing, and then carrying out design and processing manufacture on a large-scale acquisition circuit. In the aspect of signal processing system development, the signal processing system is the core part of the whole sonar, is responsible for large-scale processing of the underwater sound signals and generates video data streams for driving an LCD display. The technology development is carried out on a platform based on DSP and GPU. In the aspects of a rapid imaging algorithm of the three-dimensional detection sonar and the visualization processing of the image, a reasonable parallel rapid algorithm structure is designed according to the hardware structure of a miniaturized signal processing platform, the real-time display of 2-5 frames of image per second is realized, the visual effect of the image is improved through the visualization image processing, particularly the single-frame reconstruction technology of the image, and the data compression is realized. The sparsification of the area array is a key means for reducing the complexity of the system and improving the reliability of the system. The problem of sparse arrays on lattice points is first studied. The area array has the advantages that appropriate array elements can be randomly selected from the densely distributed area array to acquire and process data, flexibility of the system is greatly improved, and meanwhile, with reduction of acquisition power consumption and enhancement of signal processing capacity, the number of channels of the system can be increased timely, and resolution and stability of an imaging system are improved. In the aspect of sonar array design, a spherical shell transmitting array or a cylindrical shell transmitting array is adopted to realize the transmission of high-power and large-visual-angle sound signals. The receiving array is mainly developed by a 48 multiplied by 24 close-packed planar array, and is formed by embedding a piezoelectric ceramic cylinder in a decoupling material. There are many uncertain factors in the sonar design, for example, the arc surface angle of the transmitting array ellipsoid shell needs to be determined through simulation and experiment to reach the visual angle range of 9 degrees × 45 degrees; the particle size of the close-packed receiving array is very small, the processing is difficult, the mounting and positioning precision of the array is ensured by searching the process of trial-manufacturing the small-scale sample array, the phase consistency among channels is realized, and the fluctuation in the band is controlled within +/-2 dB.
Referring to fig. 3 in detail, based on the content of the above system embodiment, as an alternative embodiment, the three-dimensional side-scan sonar system provided in the embodiment of the present invention includes: the signal processor is used for generating a signal to be transmitted and carrying out depth measurement, imaging and visual processing on the echo signal; the transmitter is used for generating high-voltage pulse and transmitting the high-voltage pulse to the transmitting transducer; and the receiver is used for amplifying and conditioning the electric signals, converting the electric signals into digital signals and then transmitting the digital signals to the signal processor.
Referring to fig. 3 specifically, based on the content of the above system embodiment, as an optional embodiment, the three-dimensional side-scan sonar system provided in the embodiment of the present invention includes: the human-computer interaction module is used for realizing human-computer interaction input of control signals; and the three-dimensional image visualization module is used for displaying the three-dimensional image of the underwater object and the underwater depth information.
Referring specifically to fig. 3, based on the content of the above system embodiment, as an alternative embodiment, the three-dimensional side-scan sonar system provided in the embodiment of the present invention includes: the transmitting transducer is used for receiving the high-voltage pulse transmitted by the transmitter and generating transmitting sound waves; and the receiving transducer is used for converting the echo signals into electric signals.
Referring to fig. 3 in detail, based on the content of the foregoing system embodiment, as an alternative embodiment, the three-dimensional side-scan sonar system provided in the embodiment of the present invention further includes: and the power supply and power supply manager is used for providing each path of power supply required by the whole machine, and charging and detecting the electric quantity of the battery.
Specifically, during each imaging operation, the signal processor generates a signal to be transmitted, and the signal is sent to the transmitter to generate high-voltage pulses, so that the transmitting transducer is driven to generate transmitting sound waves. The echo signals are converted into electric signals by a receiving transducer array, the electric signals are sent into a multi-channel receiver to be amplified, conditioned and converted into digital signals and sent into a signal processor, the signal processor carries out depth measurement, imaging and visual processing, and generated target three-dimensional images and water bottom depth information are sent into a display in a man-machine interaction system to be displayed. The man-machine interaction system realizes the interactive input of control information. The power supply and power supply manager provides power supplies for the whole machine and is responsible for providing the functions of charging the battery and detecting the electric quantity.
Based on the above description of the embodiments of the system, as an alternative embodiment, the three-dimensional side-scan sonar system provided in the embodiments of the present invention includes an electronic system disposed in a water-tight electronic tank, and the transducer group is mounted at the front end of the water-tight electronic tank.
Based on the content of the above system embodiment, as an optional embodiment, in the three-dimensional side-scan sonar system provided in the embodiment of the present invention, a watertight socket is installed on a rear end face of the watertight electronic tank, and the watertight socket is connected to an external system through a watertight cable.
Based on the above description of the system embodiment, as an alternative embodiment, in the three-dimensional side-scan sonar system provided in an embodiment of the present invention, the battery is installed inside the watertight electronic tank and is used for supplying power to an electronic system.
Specifically, the entire system can be divided into, in terms of mechanical structure: the transducer group is arranged on the front end face of the water-tight electronic tank; an electronic system is placed inside the watertight electronic tank; the back end face of the electronic tank is provided with two watertight sockets which are used for being connected with an external system through watertight cables. And the display is internally provided with an LCD display. And the battery is arranged in the watertight tank and supplies power to the electronic system. Watertight cable for connecting external system.
According to the three-dimensional side-scan sonar system and the equipment provided by the embodiment of the invention, the electronic system, the display control system and the transducer group are systematically integrated, so that a submarine target can be subjected to three-dimensional imaging, a submarine object with multiple incident angles can be distinguished, and the underwater target can be accurately mapped and detected.
The transmitting sonar array and the receiving sonar array are arranged on the sonar platform, and are arranged on two sides. The installation angle is temporarily arranged as shown in fig. 4, fig. 4 shows the cross section of the three-dimensional side-scan sonar system carried by the underwater vehicle, a transmitting and receiving electronic cabin 1 is arranged in the middle of the underwater vehicle, and a transmitter array 2 and a transmitter array 3 are respectively arranged on the left lower side and the right lower side of the underwater vehicle. The sonar array side-looking opening angle is about 46 degrees, the lower part clearance angle is about 60 degrees, the side-looking beam center line and the horizontal plane included angle is about 37 degrees, specifically, see fig. 5, and the design of the installation angle can be optimized and adjusted according to the test result after the test.
In the three-dimensional side-scan sonar system provided by the embodiment of the invention, in the sonar array design aspect, a spherical shell transmitting array or a cylindrical shell transmitting array is adopted, so that the high-power and large-visual-angle sound signal is transmitted. The receiving array is mainly developed by a close-packed planar array and is formed by embedding a piezoelectric ceramic cylinder in a decoupling material. The phase consistency among channels is realized, and the fluctuation in the band is controlled within +/-2 dB. In the aspects of miniaturization, large-scale and low-power consumption of a receiving electronic system of the three-dimensional side-scan sonar system, the receiving electronic system selects a low-order high-speed ADC (analog to digital converter) to acquire signals, the number of acquisition channels is expanded in a modularized mode, and the resolution and stability of an imaging system are improved. In the aspect of signal processing system development, the signal processing system is the core part of the whole sonar, is responsible for large-scale processing of the underwater sound signals and generates video data streams for driving an LCD display. The technology development is carried out based on the DSP and the GPU platform, so that the flexibility of the system is greatly improved, and meanwhile, the reduction of the acquisition power consumption and the enhancement of the signal processing capability are realized. In the aspects of a rapid imaging algorithm of the three-dimensional detection sonar and the visualization processing of the image, a reasonable parallel rapid algorithm structure is designed according to the hardware structure of the miniaturized signal processing platform, the real-time display of 2-5 frames of image per second is realized, the visual effect of the image is improved by the visualization image processing, particularly the single-frame reconstruction technology of the image, and the data compression is realized.
The system of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 2, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to implement the various systems provided in the system embodiments.
In addition, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be substantially implemented or contributed to by the prior art, or the technical solution may be implemented in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the system according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to implement the methods or systems of the various embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A three-dimensional side-scan sonar system, comprising: the electronic system is used for generating a signal to be transmitted and a high-voltage pulse and processing the received signal; the display control system is used for performing human-computer interaction; and the transducer group is used for generating a transmitting sound wave and converting the echo signal into an electric signal.
2. The three-dimensional side-scan sonar system of claim 1, wherein the electronic control system comprises: the signal processor is used for generating a signal to be transmitted and carrying out depth measurement, imaging and visual processing on the echo signal; the transmitter is used for generating high-voltage pulse and transmitting the high-voltage pulse to the transmitting transducer; and the receiver is used for amplifying and conditioning the electric signals, converting the electric signals into digital signals and then transmitting the digital signals to the signal processor.
3. The three-dimensional side-scan sonar system of claim 2, wherein the display control system comprises: the human-computer interaction module is used for realizing human-computer interaction input of control signals; and the three-dimensional image visualization module is used for displaying the three-dimensional image of the underwater object and the underwater depth information.
4. The three-dimensional side-scan sonar system of claim 3, wherein the transducer set includes: the transmitting transducer is used for receiving the high-voltage pulse transmitted by the transmitter and generating transmitting sound waves; and the receiving transducer is used for converting the echo signals into electric signals.
5. The three-dimensional side-scan sonar system of claim 4, further comprising: and the power supply and power supply manager is used for providing each path of power supply required by the whole machine, and charging and detecting the electric quantity of the battery.
6. The three-dimensional side-scan sonar system of claim 5, wherein the electronics are disposed in a water-tight electronics tank, the transducer array being mounted at a front end of the water-tight electronics tank.
7. The three-dimensional side-scan sonar system of claim 6, wherein the watertight electronic tank is fitted with a watertight socket at a rear end face, the watertight socket being connected to an external system by a watertight cable.
8. The three-dimensional side-scan sonar system of claim 7, wherein the battery is mounted inside the watertight electronics tank for powering an electronic system.
9. An electronic device, comprising:
at least one processor, at least one memory, a communication interface, and a bus; wherein the content of the first and second substances,
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, which are invoked by the processor to implement the system of any one of claims 1 to 8.
10. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to implement the system of any one of claims 1 to 8.
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