CN201489114U - Image sonar device for realizing rectangular scanning - Google Patents

Image sonar device for realizing rectangular scanning Download PDF

Info

Publication number
CN201489114U
CN201489114U CN2009201961424U CN200920196142U CN201489114U CN 201489114 U CN201489114 U CN 201489114U CN 2009201961424 U CN2009201961424 U CN 2009201961424U CN 200920196142 U CN200920196142 U CN 200920196142U CN 201489114 U CN201489114 U CN 201489114U
Authority
CN
China
Prior art keywords
sonar
data
image
capsule
sonar capsule
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.)
Expired - Lifetime
Application number
CN2009201961424U
Other languages
Chinese (zh)
Inventor
郭霖
石扬
冯海泓
尹飞星
傅建华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JIAXING ZHONGKE ACOUSTICS TECHNOLOGY Co Ltd
Original Assignee
JIAXING ZHONGKE ACOUSTICS TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by JIAXING ZHONGKE ACOUSTICS TECHNOLOGY Co Ltd filed Critical JIAXING ZHONGKE ACOUSTICS TECHNOLOGY Co Ltd
Priority to CN2009201961424U priority Critical patent/CN201489114U/en
Application granted granted Critical
Publication of CN201489114U publication Critical patent/CN201489114U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Abstract

The utility model discloses an image sonar device for realizing rectangular scanning, which comprises an integrated overwater processor, underwater multi-set image sonar heads, a data transmission link cable and a sonar head installation mechanism. The integrated overwater processor receives data acquired by the sonar heads through the data transmission link, completes processing a single acoustics signal and a single acoustics image, carries out integrated image synthesis on images of all the single sonar heads according to sonar head attitude data, sonar head addresses and installation positions, and displays the whole scanned image. The utility model is suitable for, but is not only limited by applications of the underwater image scanning, the underwater security and the underwater monitoring.

Description

A kind of image sonar equipment of realizing rectangular scanning
Technical field
The utility model relates to a kind of sonar equipment of high frequency imaging under water, is suitable for underwater picture scanning, security protection under water, monitoring under water, specifically is meant a kind of image sonar equipment of realizing rectangular scanning.
Background technology
Present various image sonar equipment is widely used in underwater sound image scanning, security protection under water, various fields such as monitoring under water.Traditional image sonar equipment all adopts single beam or multi-beam scanning, finish the acoustics imaging of target according to the echoed signal of target, as side sweep, forward sight, multi-beam and three-dimensional sonar all be to be that sound pulse is outwards launched at the center with the transmitting transducer, receives basic matrix with certain field angle receiving target echoed signal.Therefore, the sweep limit of traditional image sonar equipment is a sector region, and there be " acoustic shadow " greatly and easily in the scanning blind area, easy lose objects, and the simultaneity factor extended capability is poor.
Summary of the invention
The purpose of this utility model provides a kind of image sonar equipment of realizing rectangular scanning, and it can realize the sweep limit of a rectangle, and does not have " acoustic shadow " in the sweep limit, simultaneously can be according to using needs expanded sweep zone.
To be solved in the utility model is that the sweep limit of conventional images sonar equipment is fan-shaped, easily the problem of lose objects and system extension ability.
For realizing the purpose of this utility model, the technical solution of the utility model is:
It comprises programmable integrated process waterborne, sonar capsule, data transmission link, cable and sonar capsule installing mechanism; Sonar capsule is connected to programmable integrated process waterborne by data transmission link, cable, and sonar capsule is installed on the sonar capsule installing mechanism.
Another feature of the present utility model is that programmable integrated process waterborne comprises data-interface, signal processor, image processor and power-supply unit, is connected with data-interface, image processor and power-supply unit on the signal processor; Sonar capsule is connected with signal processor by data-interface, also is connected to power-supply unit on the sonar capsule; Signal processor comprises man-machine interface, data processing and control module and GPS equipment, is connected with man-machine interface and GPS equipment on data processing and the control module; Image processor comprises graphics processing unit and display device; Display device is connected on the graphics processing unit; Power-supply unit comprises power supply and power control unit, and power supply is connected with power control unit.
Another feature of the present utility model is that sonar capsule comprises sensor basic matrix, transmitter, receiver, data acquisition unit, attitude sensor, signal processor and control module; Receiver receives from the signal of sensor basic matrix and gives data acquisition unit, is sent to signal processor and control module again, and attitude sensor is connected with signal processor by control module, and signal processor is connected with the sensor basic matrix by transmitter; Receiver comprises pre-amplifier, TVG amplifier, bandpass filter and envelope detector.
Another feature of the present utility model is that transmission link comprises data transmission module, headend, RS485 bus, LVDS bus and optical fiber, be connected by the RS485 bus between sonar capsule and the data transmission module, connect by the LVDS bus between the adjacent data transport module, be connected by the LVDS bus between data transmission module and the headend, connect by optical fiber between headend and the programmable integrated process waterborne.
Another feature of the present utility model is that the sonar capsule installing mechanism comprises watertight housings, watertight housings connector and magnetic compass, watertight housings has two at least, connect by the watertight housings connector between the adjacent watertight housings, two sonars are installed on each watertight housings at least, the transducer array sulfuration of sonar capsule is at the outside surface of watertight housings, and magnetic compass, sonar capsule electronic compartment and data transmission module are installed in watertight housings inside.
The utility model has the advantages that: the one, the utility model in use can be as required, selects the quantity of underwater picture sonar capsule, to satisfy the requirement of resolution, operating distance and blind area under the different service conditions, uses dirigibility height, expandability strong.The 2nd, the utility model has adopted many groups single beam image sonar capsule cooperating, realizes the non-blind area scanning to scanning area.The 3rd, approximate rectangular scanning area is compared with traditional sector display zone, has the little and nothing features such as " acoustic shadows " in blind area.
Description of drawings
Fig. 1 is that the utility model is formed synoptic diagram.
Fig. 2 is the utility model programmable integrated process composition frame chart waterborne.
Fig. 3 is the utility model sonar capsule composition frame chart.
Fig. 4 is the utility model data transmission link synoptic diagram.
Fig. 5 is the utility model sonar capsule installing mechanism synoptic diagram.
Fig. 6 is the utility model image scanning area schematic.
Embodiment
Below in conjunction with drawings and Examples the utility model is further described.
As shown in the figure, the utility model comprises programmable integrated process 5 waterborne, sonar capsule 2, data transmission link 3, cable 4 and sonar capsule installing mechanism 2; Underwater picture sonar capsule 2 is connected to programmable integrated process 5 waterborne by data transmission link 3, cable 4, and underwater picture sonar capsule 2 is installed on the sonar capsule installing mechanism 1.
Programmable integrated process 5 waterborne comprises data-interface 6, signal processor 7, image processor 8 and power-supply unit 9, is connected with data-interface, image processor 8 and power-supply unit 9 on the signal processor 7; Underwater picture sonar capsule 2 is connected with signal processor 7 by data- interface 6, and 2 also are connected to power-supply unit 9 on the underwater picture sonar capsule.Programmable integrated process 5 waterborne is used to realize GPS location, data processing, 3-D view processing, shows, reaches the control that underwateracoustic is bowed one's head.
Signal processor 7 comprises man-machine interface 10, data processing and control module 11 and GPS equipment 12, is connected with man-machine interface 10 and GPS equipment 12 on data processing and the control module 11; Image processor 8 comprises graphics processing unit 13 and display device 14; Display device 14 is connected on the graphics processing unit 13; Power-supply unit 9 comprises power supply 15 and power control unit 16, and power supply 15 is connected with power control unit 16.
The function of data processing and control module 11 is to receive the data that data-interface 6 and GPS equipment 12 transmit, and data are carried out signal Processing and the duty by instruction control sonar capsule 2.
The function of graphics processing unit 13 is the data that receive data processing and control module 11, converts acoustic data to view data, and view data is handled and shown by display device 14.
Sonar capsule 2 comprises sensor basic matrix 17, transmitter 18, receiver 19, data acquisition unit 20, attitude sensor 21, signal processor 22 and control module 23; Receiver 19 receives from the signal of sensor basic matrix 17 and gives data acquisition unit 20, be sent to signal processor 22 again, with control module 23, attitude sensor 21 is connected with signal processor 22 by control module 23, and signal processor 22 is connected with sensor basic matrix 17 by transmitter 18; Receiver 19 comprises pre-amplifier, TVG amplifier, bandpass filter and envelope detector.
The function of sensor basic matrix 17 is to convert the acoustic echo signal that receives to faint electric signal when receiving, and the electrical signal conversion with transmitter 18 outputs when emission becomes acoustical signal; The function of transmitter 18 is to improve the electric power that transmits, and the impedance of matched sensors basic matrix, improves the conversion efficiency that electric power changes into acoustical power; The function of receiver 19 is that the output electric signal to sensor basic matrix 17 carries out amplification filtering, signal bandwidth is limited in the scope that needs, the amplitude of synchronous signal is complementary the amplitude of signal and the range of envelope detector by the suitable scope that a TVG is put into; The function of data acquisition unit 20 is to finish the digitizing of received signal; The attitude data of attitude sensor 21 survey sensor basic matrixs, the calibration and the compensation that combine and be used for measurement result with the sonar to measure data, the attitude that also can be used for after equipment lays is confirmed; Signal processor 22 is finished the detection of the echoed signal that collects and parameter estimation, and the data after will handling are sent to programmable integrated process waterborne; The function of control module 23 is to obtain the data of attitude sensor 21, and controls the duty of whole sonar capsule 2 according to control command.
Transmission link 3 comprises data transmission module 24, headend 25, RS485 bus, LVDS bus and optical fiber, be connected by the RS485 bus between sonar capsule 2 and the data transmission module 24, connect by the LVDS bus between the adjacent data transport module, be connected by the LVDS bus between data transmission module and the headend 25, connect by optical fiber between headend 25 and the programmable integrated process waterborne 5 (host computer).
The function of transmission link 3 is data transmission.The function of data transmission module 24 is to receive the data of sonar capsule 2 by the output of RS485 bus, converts LVDS bus one-level one-level to after data are packed and is transferred to headend 25.The function of headend 25 is to realize the interface conversion of LVDS bus and optical fiber.
Sonar capsule installing mechanism 1 comprises watertight housings 27, watertight housings connector 29 and magnetic compass, watertight housings 27 has two at least, connect by watertight housings connector 29 between the adjacent watertight housings, two sonar capsules are installed on each watertight housings 27 at least, transducer array 26 sulfurations of sonar capsule are at the outside surface of watertight housings 27, and magnetic compass, sonar capsule electronic compartment 28 and data transmission modules are installed in watertight housings 27 inside.
The function of sonar capsule electronic compartment 28 is the electronic equipments that are used to install the underwater picture sonar capsule.
Watertight housings 27 liner reinforcing sleeve and seals.
Two of cable 4 are connected on data transmission link 3 and the data-interface 6.
Using method of the present utility model is:
1) programmable integrated process waterborne 5 with downlink command, comprises that running parameter, control signal pass to each sonar capsule by data transmission link, controls the duty of each sonar capsule, and adjacent sonar capsule adopts time sharing mode, avoids the phase mutual interference; Power to sonar capsule by cable 4 simultaneously; Programmable integrated process 5 waterborne has been provided with independently address to each sonar capsule;
2) programmable integrated process 5 waterborne receives the packet that many cover image sonar capsules 2 are gathered under water by data transmission link 3, finish single acoustic signal and acoustics Flame Image Process, and according to the corresponding relation of sonar capsule attitude data, sonar capsule address and installation site, it is synthetic that the image of all single sonar capsules is carried out synthetic image, shows the whole image that scans; Entire image has been carried out the picture mosaic processing, will have overlapping sonar capsule data to carry out cutting, obtains quality better image data, images cut is carried out picture mosaic and demonstration again, forms complete scan image.
The duty of each sonar capsule comprises that each sonar capsule finishes the sound pulse emission in a narrow beam scope, receive acoustic echo signal and carry out signal condition and collection, be specially: sensor basic matrix 17 converts the acoustic echo signal that receives to faint electric signal, need through after the amplification filtering of receiver 19, signal bandwidth is limited in the scope that needs, the amplitude of synchronous signal is put into suitable scope by a TVG, the amplitude of signal and the range of envelope detector are complementary, through after the envelope detection, envelope signal is admitted to the sampling holder of data acquisition unit and samples, and is quantized by the A/D converter in the data acquisition unit then; Data after the quantification are sent into memory buffer for processing; Signal processor 22 is finished the detection of the echoed signal that collects and parameter estimation, and the data after will handling are sent to programmable integrated process waterborne; Attitude sensor 21 survey sensor basic matrixs 17, it combines with the echoed signal measurement data and is used for calibration and compensation to measurement result, or is used for laying the affirmation of back sonar head attitude.
Dynamic assignment is carried out by programmable integrated process 5 waterborne in the address of sonar capsule after system powers on, each sonar capsule has unique address, and first sonar capsule address of close headend is 1#, increases progressively successively backward; Finish after the address assignment, system can carry out self check to sonar capsule, the state of monitoring sonar capsule;
The packet that each sonar capsule is uploaded all comprises address code separately, packet adopts the method for pressing beat " streamline " transmission, each data transmission module of each beat transmits frame data to the reportedly defeated module of last number, the most preceding data transmission module transmits frame data to headend, successively data by after continuously one-level one-level transmission forward, make full use of the bandwidth of data transmission link, improved message transmission rate.
When sonar capsule subdivision time sharing mode was meant scanning, only there was a sonar capsule job every unit, avoids influencing each other between the sonar capsule; Be specially: according to the order with the sonar capsule number consecutively in each unit, sonar capsule by the every unit of programmable integrated process 5 controls waterborne is launched sound pulse successively, number little sonar capsule and transmit and receive echo earlier, next sonar capsule work after finishing, poll emission successively; Each sonar capsule distributes different addresses, and the echo data of gathering is separately delivered to programmable integrated process 5 waterborne according to the address packing by data transmission link, and programmable integrated process 5 waterborne is finished the picture signal processing and shown; The scanning beam angle 30 of each sonar capsule is θ, and in order to reduce the blind area, two adjacent sonar capsule scanning areas have overlaps, and has been made of the whole scanning area 31 of system overlapped sweep limit.
Data transmission link 3 of the present utility model is used to finish order, status data and sonar capsule data-transformation facility.Order comprises: programmable integrated process 5 waterborne sends to the down order of sonar capsule and sign indicating number is replied in order that sonar capsule replies to overall treatment waterborne; Status data is the status information data that sonar capsule is uploaded to programmable integrated process 5 waterborne; The sonar capsule data are acoustic datas that each sonar capsule receives.The multinode data transmission characteristics of the far away and system of, Distance Transmission big according to image sonar data amount, transmission link 3 has adopted RS485, LVDS and Optical Fiber Transmission to combine.In short distance, RS485 maximum data rate 10Mbps can satisfy the data rate request of every group of sonar capsule, and interface is simple simultaneously; In 50 meters, LVDS the data transfer rate of the highest 500Mbps can finely satisfy between the data transmission module and data transmission module and headend between the data rate requirement, less demanding to transmission line and connector simultaneously, remedied the shortcoming on short distance multinode data transmission of optical fiber; Data between headend 25 and the programmable integrated process waterborne 5 need at a high speed transmission at a distance, adopt optical fiber to be well positioned to meet requirement, have only a pair of optical fiber connector simultaneously, simplified system design, reduce cost and have improved reliability.

Claims (6)

1. an image sonar equipment of realizing rectangular scanning is characterized in that it comprises programmable integrated process waterborne, sonar capsule, data transmission link, cable and sonar capsule installing mechanism; Sonar capsule is connected to programmable integrated process waterborne by data transmission link, cable, and sonar capsule is installed on the sonar capsule installing mechanism.
2. the image sonar equipment of realization rectangular scanning according to claim 1, it is characterized in that programmable integrated process waterborne comprises data-interface, signal processor, image processor and power-supply unit, is connected with data-interface, image processor and power-supply unit on the signal processor; Sonar capsule is connected with signal processor by data-interface, also is connected to power-supply unit on the sonar capsule; Signal processor comprises man-machine interface, data processing and control module and GPS equipment, is connected with man-machine interface and GPS equipment on data processing and the control module; Image processor comprises graphics processing unit and display device; Display device is connected on the graphics processing unit; Power-supply unit comprises power supply and power control unit, and power supply is connected with power control unit.
3. the image sonar equipment of realization rectangular scanning according to claim 1 is characterized in that sonar capsule comprises sensor basic matrix, transmitter, receiver, data acquisition unit, attitude sensor, signal processor and control module; Receiver receives from the signal of sensor basic matrix and gives data acquisition unit, is sent to signal processor and control module again, and attitude sensor is connected with signal processor by control module, and signal processor is connected with the sensor basic matrix by transmitter; Receiver comprises pre-amplifier, TVG amplifier, bandpass filter and envelope detector.
4. the image sonar equipment of realization rectangular scanning according to claim 1, it is characterized in that transmission link comprises data transmission module, headend, RS485 bus, LVDS bus and optical fiber, be connected by the RS485 bus between sonar capsule and the data transmission module, connect by the LVDS bus between the adjacent data transport module, be connected by the LVDS bus between data transmission module and the headend, connect by optical fiber between headend and the programmable integrated process waterborne.
5. the image sonar equipment of realization rectangular scanning according to claim 1, it is characterized in that the sonar capsule installing mechanism comprises watertight housings, watertight housings connector and magnetic compass, watertight housings has two at least, connect by the watertight housings connector between the adjacent watertight housings, two sonars are installed on each watertight housings at least, and the transducer array sulfuration of sonar capsule is at the outside surface of watertight housings, and magnetic compass, sonar capsule electronic compartment and data transmission module are installed in watertight housings inside.
6. the image sonar equipment of realization rectangular scanning according to claim 5 is characterized in that watertight housings liner reinforcing sleeve and seal.
CN2009201961424U 2009-09-10 2009-09-10 Image sonar device for realizing rectangular scanning Expired - Lifetime CN201489114U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009201961424U CN201489114U (en) 2009-09-10 2009-09-10 Image sonar device for realizing rectangular scanning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009201961424U CN201489114U (en) 2009-09-10 2009-09-10 Image sonar device for realizing rectangular scanning

Publications (1)

Publication Number Publication Date
CN201489114U true CN201489114U (en) 2010-05-26

Family

ID=42427986

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009201961424U Expired - Lifetime CN201489114U (en) 2009-09-10 2009-09-10 Image sonar device for realizing rectangular scanning

Country Status (1)

Country Link
CN (1) CN201489114U (en)

Similar Documents

Publication Publication Date Title
CN101650437B (en) Image sonar system and image sonar method for realizing rectangular scanning
CN102323584A (en) A kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to
EP2345992A3 (en) Ultrasound image processing based on motion degree of ultrasound probe
CN108469616B (en) Down-looking three-dimensional and down-looking multi-beam integrated underwater panoramic three-dimensional imaging sonar
CN108008396A (en) Underwater information acquisition device and system
CN112180379A (en) Fish data statistics and analysis system
CN209764112U (en) Small-sized cableless underwater robot combined navigation device
KR100439009B1 (en) Device of acquiring underwater image by either the acoustic sonar or video camera
JP4354736B2 (en) Ultrasonic transceiver
CN201489114U (en) Image sonar device for realizing rectangular scanning
CN113281761A (en) Device and method for detecting fish school in large-scale aquaculture net cage
CN103995264A (en) Vehicle-mounted mobile laser radar mapping system
KR20020083321A (en) Three-dimensional ultrasound imaging system for performing receiving focusing at voxels corresponding to display pixels
CN110794412A (en) Portable buried pipe cable route detection system
CN106680810A (en) Three-dimensional through-wall target imaging radar system
EP2193747A1 (en) Ultrasound system and method of providing orientation help view
CN108490435B (en) High-resolution high-penetrability three-dimensional radar life detection positioning device
CN106058417A (en) System and method for achieving automatic following based on antenna array
CN114167427A (en) Multi-frequency-band three-dimensional buried object detecting sonar device and method
KR101282489B1 (en) dual frequency underwater acoustic camera and it's operating method for precise underwater survey
CN114047515A (en) Unmanned ship-based side-scan sonar system and side-scan sonar equipment data processing method
CN217587605U (en) Multi-frequency-band three-dimensional buried object detecting sonar device
CN113176577A (en) Novel multi-beam acoustic imaging method and system
CN106197881A (en) A kind of wireless acoustic imaging device of valve leak monitoring
CN207198325U (en) The water surface and underwater movement object monitoring device

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CX01 Expiry of patent term
CX01 Expiry of patent term

Granted publication date: 20100526