CN205880213U - Sonar equipment is swept to multi -beam side - Google Patents

Sonar equipment is swept to multi -beam side Download PDF

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Publication number
CN205880213U
CN205880213U CN201620238881.5U CN201620238881U CN205880213U CN 205880213 U CN205880213 U CN 205880213U CN 201620238881 U CN201620238881 U CN 201620238881U CN 205880213 U CN205880213 U CN 205880213U
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unit
sonar
transducer
underwater
microprocessor
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鲁东
汤云龙
叶长林
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Beijing Hydro-Tech Marine Technology Co Ltd
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Beijing Hydro-Tech Marine Technology Co Ltd
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Abstract

The utility model discloses a sonar equipment is swept to multi -beam side belongs to fields such as hydrographic surveying and charting, channel guarantee. The device is by sonar unit, deck processing unit, assistant measuring equipment and control computer constitute under water particularly. Sweep the sonar with tradition side and compare its main advantage and lie in that the multi -beam side sweeps the sonar and can form a plurality of narrow beams along the course orientation, once measure and to cover great extra large base zone territory in the navigation orientation, consequently can improve the measurement speed of a ship or plane greatly, solved traditional side and swept the sonar and can only form a problem that narrow beam measurement of efficiency is not high along the course orientation, and improved survey and drawing efficiency greatly. The device surveys at seabed survey and drawing, seabed substrate, the construction of seabed engineering, seabed barrier and deep -sea sediment surveys and seabed mineral products exploration etc. Has the wide application in the aspect of civilian, simultaneously in for military use field if under water a plurality of fields such as safety, channel guarantee, clearance can both obtain extensive application.

Description

A kind of multi-beam side scanning sonar device
Technical field
The present invention relates to the field such as marine charting, navigation channel guarantee, more precisely, relate to a kind of multi-beam side to sweep sound Receive device, in seabed mapping, sediment exploration, seabed engineering construction, submarine obstacle and bottom sediment detection and seabed The civilian aspect such as mineral exploration tool is widely used, simultaneously at multiple necks such as military domain such as underwater security, navigation channel guarantee, clearances Territory can be widely used.
Background technology
Side-scan sonar is a kind of to use sub-sea floor targets to incident acoustic wave backscatter principle to detect the sonar of seabed form Equipment, can intuitively provide seabed sound spectrogram.It has high-resolution feature, it is possible to obtain continuously two dimension subsea image, high performance-price ratio, Therefore it is widely used at the civilian aspect such as marine charting, ocean exploration tool, protects at military domain such as underwater security, navigation channel simultaneously Multiple fields such as barrier, clearance can be widely used.The basic functional principle of side-scan sonar is, its both sides are respectively arranged with one and change Energy device linear array, horizontal direction wave beam angle of release is less, generally about 0.5 ° or less, and vertical direction angle of release is relatively big, generally 30 ° ~50 °, the reflection echo intensity distributions being moved a plurality of seabed belt-like zone that formation is perpendicular to sonar by carrier can be formed One width seabed two dimension sound spectrogram, for underwater obstacle, the measurement of subaqua-tic geomorphology.
Traditional side scan sonar system is the narrowest at the field angle along direction, course due to it, takes into account bigger sweeping again simultaneously Width, therefore to obtain the image of high-resolution, it is necessary to sacrifice measurement efficiency as cost, generally for realizing the complete of seabed Cover, measure the speed of a ship or plane and typically can only achieve about 2 joints.Therefore, tradition side-scan sonar along direction, course wave cover efficiency relatively Low, to expect that high-resolution sonar image to reduce degree of testing the speed or must sacrifice cover width as cost.
But, modern marine mapping and the numerous areas such as engineering investigation, it is proposed the concept of quickly measurement, should ensure The high-quality requirement of Measurement results, improves the efficiency of measurement again, and the most traditional side scan sonar system is difficult to be competent at the most, A kind of new measurement equipment must be had to be able to ensure that in seabed mapping field and to guarantee the quality of data and measure two aspects of efficiency Requirement.
Summary of the invention
In consideration of it, the invention discloses a kind of multi-beam side scanning sonar device, this device by underwater sonar unit (101), Deck processing unit (102), subsidiary equipment (103) and control computer (104) composition, its middle deck processing unit (102) it is connected with the electronic equipment of the underwater sonar unit (101) being installed under water by watertight connector (110);At deck Reason unit (102) passes through data cable respectively at being positioned at subsidiary equipment (103) waterborne and controlling computer (104) phase Even.
A kind of multi-beam side scanning sonar device disclosed in this invention, it is positioned at underwater sonar unit (101) by being installed on The outer left side transmitting transducer (105) of watertight electronic compartment (121), left side receive transducer (107), right side transmitting transducer (115), right side receives transducer (113), water pressure sensor (109), sound velocimeter (111) and the electronic system of inside Composition.
A kind of multi-beam side scanning sonar device disclosed in this invention, on the left of it, transmitting transducer (105) and right side are launched Transducer (115) structure is identical is single array element transmitting transducer, and its launched sound wave is along navigation direction sonar list under water Unit (101) left and right sides forms two independent fan-shaped emission wave beams (501,504), being shaped as along direction, course of launching beam Narrow, direction, vertical course width.
A kind of multi-beam side scanning sonar device disclosed in this invention, receives transducer (107) on the left of it and right side receives The identical many array element line array being along navigation direction of transducer (113) structure, and along navigation direction sonar unit under water (101) the left and right sides forms the multiple fan-shaped of symmetry and receives wave beam (502,503), receives being shaped as along direction, course of wave beam Narrow, direction, vertical course width.
A kind of multi-beam side scanning sonar device disclosed in this invention, the electronic section of its underwater sonar unit (101) with Centered by microprocessor (120) respectively with water pressure sensor (109), sound velocimeter (111), attitude transducer (118), sieve It is connected through (117);Microprocessor (120) is connected with left-side signal generating unit (119), left side transmitting transducer (105) successively, And be connected with right-side signal generating unit (116), right side transmitting transducer (115) successively;Microprocessor (120) successively with left side Analog to digital conversion circuit (108), left hand polytunnel signal conditioning circuit (106), left side receive transducer (107) and are connected, and successively Receive transducer (113) with right side analog to digital conversion circuit (112), right hand polytunnel signal conditioning circuit (114), right side to be connected; Microprocessor (120) is connected with watertight connector (110) and is connected with deck processing unit (102) by watertight cable.
A kind of multi-beam side scanning sonar device disclosed in this invention, in its underwater sonar unit (101), left-side signal is sent out Raw unit (119) is identical with right-side signal generating unit (116) structure, by the signal waveform generator being sequentially connected (301), power amplifier (302), transmitting match circuit (303) composition;Left hand polytunnel signal conditioning circuit (106) and right side Multi channel signals modulate circuit (114) structure is identical, by the preamplifier (201) being sequentially connected, band filter (202), controllable gain amplifier (203), two-stage amplifier (204) and low pass filter (205) composition.
A kind of multi-beam side scanning sonar device disclosed in this invention, its underwater sonar unit (101) data pass through watertight Adapter (110) and watertight cable are connected to the underwater data of deck processing unit (102) and receive and Dispatching Unit (401);Water Lower data receiver and Dispatching Unit (401) successively with left side focused beamformer (402), left side echo strength computer (404) it is connected with microprocessor waterborne (406), forms left-side signal processing system;Underwater data receives and Dispatching Unit (401) It is connected with right side focused beamformer (403), right side echo strength computer (405) and microprocessor waterborne (406) successively, Composition right-side signal processing system;Microprocessor waterborne (406) receives with underwater data and Dispatching Unit (401), auxiliary respectively Measurement equipment (103) has been connected the collection to subsidiary data, and by communication cable and control computer (104) phase Even.
A kind of multi-beam side scanning sonar device disclosed in this invention, its ultimate principle is for being installed on underwater sonar unit water Cipher telegram transmitting transducer out of my cabin launch to underwater sonar unit both sides under the driving of signal generating unit two independent Fan-shaped acoustic wave beam, being shaped as along direction, course of launching beam is narrow, direction, vertical course width;Launch sound wave and illuminate seabed, and Forming back-scattered signal, scattered signal is received transducer by multichannel, after amplified filtering analog digital conversion, carries out Wave beam forming Processing, the left and right sides along navigation direction sonar unit under water forms the multiple fan-shaped of symmetry and receives wave beam, receives wave beam It is shaped as along direction, course narrow, direction, vertical course width;Extract the time sequence of intensity of echo in each wave beam, can be formed such as Shown in Fig. 6 along navigation direction a plurality of seabed covering tape (601,602) side by side, measure the most successively and can obtain tradition side and sweep The result of sonar repetitive measurement;Along with underwater sonar unit the most quickly moves, form the side that can reflect whole sediment Sweep acoustic picture.
A kind of multi-beam side scanning sonar device disclosed in this invention its main advantage compared with tradition side-scan sonar is Multi-beam side-scan sonar can form multiple narrow beam along direction, course, and one-shot measurement can cover bigger sea-bed area, because of This can be greatly improved the measurement speed of a ship or plane, solves tradition side-scan sonar and can be only formed a narrow beam measurement effect along direction, course The problem that rate is the highest, and it is greatly improved mapping efficiency.If it is said that in general, the numbers of beams of multi-beam side-scan sonar is N, then phase Can improve efficiency for tradition its maximum of side-scan sonar is traditional N times.This device is in seabed mapping, sea-bottom survey, seabed work The civilian aspect tools such as journey construction and seabed mineral exploration are widely used, ensure at military domain such as underwater security, navigation channel, simultaneously Multiple field such as clearance can be widely used.
As can be seen here, the present invention is novel in design, with high content of technology, can be greatly enhanced the work in relevant marine charting field Efficiency and mapping quality, being very suitable for marine charting, multibeam calibration, channel maintenance and the popularization of military association area should With.
Accompanying drawing explanation
In order to make present disclosure more conducively relevant speciality artisans understand that, below accompanying drawing is briefly described.
Fig. 1 is the block diagram of system of multi-beam side scanning sonar device of the present invention.
Fig. 2 is the composition frame chart of multi channel signals circuit in multi-beam side scanning sonar device of the present invention.
Fig. 3 is the composition frame chart of signal generating unit circuit in multi-beam side scanning sonar device of the present invention.
Fig. 4 is multi-beam side scanning sonar device middle deck of the present invention processing unit composition frame chart.
Fig. 5 is that multi-beam side scanning sonar device of the present invention is launched, received wave beam schematic diagram.
Fig. 6 is multi-beam side scanning sonar device seabed of the present invention covering tape schematic diagram.
Fig. 7 is transmitting transducer structure chart in multi-beam side scanning sonar device one embodiment of the present invention.
Fig. 8 is underwater sonar part design drawing in multi-beam side scanning sonar device one embodiment of the present invention.
Fig. 9 is multi-beam side scanning sonar device one embodiment intermediate power amplifier of the present invention and launches coupling electricity The circuit theory diagrams on road.
Figure 10 is single channel signal modulate circuit in a kind of embodiment of multi-beam side scanning sonar device of the present invention Circuit theory diagrams.
Specific embodiments
The invention will be further described with one of the present invention preferably specific embodiment below in conjunction with the accompanying drawings.
One as the present invention preferably executes example, this multi-beam side scanning sonar device, on the left of it receive transducer (107) and Right side reception transducer (113) structure is identical is 8 yuan of straight lines reception transducer arrays that acoustic centres operating frequency is 600KHz, The reception beam angle that can be formed is along 0.05 ° of direction, course, 40 ° of direction, vertical course;Left side transmitting transducer (105) and Right side transmitting transducer (115) structure is identical, is single array element arc transmitting transducer, and the basic structure of transmitting transducer is arc Shape piezoelectric ceramics (701) passes through packing material (703), is fixed on installing structure for transducer (702), arc piezoelectric ceramics (701) surface uses polyurethane (704) to be sealed to form, and the radian direction of transmitting transducer is vertical with direction, course, institute's energy The launching beam width formed is along 3 ° of direction, course, 50 ° of direction, vertical course.
One as the present invention preferably executes example, this multi-beam side scanning sonar device, the watertight of underwater sonar unit (101) Electronic compartment (121) shell uses 316 rustless steels to make, and left side transmitting transducer (105), left side receive transducer (107), right side is sent out Penetrate transducer (115), right side receives transducer (113) and is mounted on watertight electronic compartment (121) outside, and mounting means three-dimensional is illustrated Figure is as shown in Figure 7.
One as the present invention preferably executes example, in the underwater sonar unit (101) of this multi-beam side scanning sonar device Microprocessor (120) selects Cyclone III Series FPGA to realize so that carrying out interface with various equipment;Water pressure sensor (109) serial communication interface of Transistor-Transistor Logic level is all used to be connected with the I/O pin of FPGA with sound velocimeter (111);Attitude senses Device (118) uses the three-dimensional motion attitude measurement instrument become by three axis MEMS gyro with 3 axis MEMS groups of acceleration sensors, surveys The 3 d pose of amount underwater sonar unit (101);Compass (117) uses high-precision electronic compass, is used for measuring underwater sonar list The navigation direction of unit (101);3 d pose data and the course data of measuring the underwater sonar unit (101) obtained all are used for sea The process correction band space position of end image mosaic.
One as the present invention preferably executes example, in the underwater sonar unit (101) of this multi-beam side scanning sonar device two The signal waveform generator (301) of side is also realized, by number by the Cyclone III Series FPGA as microprocessor (120) Word logic produces pwm signal;Power amplifier (302) employing is made up of two panels IRFI4110 as driver UCC27524 D-type power amplifier realizes;Launch match circuit (303) and use transformer-coupled transmitting matching way.
One as the present invention preferably executes example, many in the underwater sonar unit (101) of this multi-beam side scanning sonar device In channel signal modulate circuit (114) preamplifier (201) use AD8429 realize, band filter (202) use RC without Source pi type filter realizes, and controllable gain amplifier (203) uses AD8336 to realize, two-stage amplifier (204) and low pass filter (205) all using AD8066 to realize, wherein the parameter of the every channel circuit of multi channel signals modulate circuit (114) is identical with structure, Port number is identical with receiving transducer array number.
One as the present invention preferably executes example, water in the deck processing unit (102) of this multi-beam side scanning sonar device Lower data receiver and Dispatching Unit (401), left side focused beamformer (402) and right side focused beamformer (403) by The VIRTEX Series FPGA of the Xilinx company that a piece of disposal ability is higher completes;Focused beamformer is by FPGA numeral The dynamic realtime focused beamformer of the employing DFT structure of logic realization;Left side echo strength computer (404) and right side are returned Intensity of wave computer (405) is completed by a piece of TI company's T MS320C6678 series DSP, and this DSP is multi-core architecture, carries respectively Take the echo strength data of left and right sides different beams;Microprocessor waterborne (406) selects general arm processor to complete data Fusion, ultimately form side, seabed sweep image and be uploaded to control computer (104).
The foregoing is only the most feasible example of executing of one of invention, described embodiment is also not used to limit the patent of the present invention Protection domain, the equivalent structure change that the description of the most every utilization present invention and accompanying drawing content are done, in like manner all should comprise Within the scope of the present invention.

Claims (8)

1. a multi-beam side scanning sonar device, it is characterised in that this device is by underwater sonar unit (101), deck processing unit (102), subsidiary equipment (103) and control computer (104) composition, its middle deck processing unit (102) is by watertight even The electronic equipment of the underwater sonar unit (101) connecing device (110) and be installed under water is connected;Deck processing unit (102) passes through Data cable respectively at be positioned at subsidiary equipment (103) waterborne with control computer (104) be connected.
2. multi-beam side scanning sonar device as claimed in claim 1, it is characterised in that be positioned at underwater sonar unit (101) by pacifying Be loaded on the outer left side transmitting transducer (105) of watertight electronic compartment (121), left side receives transducer (107), right side transmitting transducer (115), right side receives transducer (113), water pressure sensor (109), sound velocimeter (111) and the electronic system of inside Composition.
3. multi-beam side scanning sonar device as claimed in claim 1, it is characterised in that left side transmitting transducer (105) and right side Transmitting transducer (115) structure is identical is single array element transmitting transducer, and its launched sound wave is along navigation direction sound under water Receive unit (101) left and right sides formed two independent fan-shaped emission wave beams (501,504), being shaped as along course of launching beam Direction is narrow, direction, vertical course width.
4. multi-beam side scanning sonar device as claimed in claim 1, it is characterised in that left side receives transducer (107) and right side Receive the identical many array element line array being along navigation direction of transducer (113) structure, and along navigation direction sonar under water The left and right sides of unit (101) forms the multiple fan-shaped of symmetry and receives wave beam (502,503), receives being shaped as along course of wave beam Direction is narrow, direction, vertical course width.
5. multi-beam side scanning sonar device as claimed in claim 1, it is characterised in that the ministry of electronics industry of underwater sonar unit (101) Point centered by microprocessor (120) respectively with water pressure sensor (109), sound velocimeter (111), attitude transducer (118), compass (117) is connected;Microprocessor (120) successively with left-side signal generating unit (119), left side transmitting transducer (105) it is connected, and is connected with right-side signal generating unit (116), right side transmitting transducer (115) successively;Microprocessor (120) Transducer (107) phase is received successively with left side analog to digital conversion circuit (108), left hand polytunnel signal conditioning circuit (106), left side Even, and successively with right side analog to digital conversion circuit (112), right hand polytunnel signal conditioning circuit (114), right side transducer is received (113) it is connected;Microprocessor (120) is connected with watertight connector (110) and by watertight cable and deck processing unit (102) It is connected.
6. multi-beam side scanning sonar device as claimed in claim 5, it is characterised in that left-side signal generating unit (119) and the right side Side signal generating unit (116) structure is identical, by the signal waveform generator (301) being sequentially connected, power amplifier (302) match circuit (303) composition, is launched.
7. multi-beam side scanning sonar device as claimed in claim 5, it is characterised in that left hand polytunnel signal conditioning circuit (106) identical with right hand polytunnel signal conditioning circuit (114) structure, by the preamplifier (201) being sequentially connected, Band filter (202), controllable gain amplifier (203), two-stage amplifier (204) and low pass filter (205) composition.
8. multi-beam side scanning sonar device as claimed in claim 1, it is characterised in that underwater sonar unit (101) data are passed through Watertight connector (110) and watertight cable are connected to the underwater data of deck processing unit (102) and receive and Dispatching Unit (401);Underwater data receive with Dispatching Unit (401) successively with left side focused beamformer (402), left side echo strength meter Calculate device (404) to be connected with microprocessor waterborne (406), form left-side signal processing system;Underwater data receives and Dispatching Unit (401) successively with right side focused beamformer (403), right side echo strength computer (405) and microprocessor waterborne (406) It is connected, forms right-side signal processing system;Microprocessor waterborne (406) respectively with underwater data receive with Dispatching Unit (401), Subsidiary equipment (103) has connected the collection to subsidiary data, and by communication cable and control computer (104) It is connected.
CN201620238881.5U 2016-03-28 2016-03-28 Sonar equipment is swept to multi -beam side Active CN205880213U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105629249A (en) * 2016-03-28 2016-06-01 北京海卓同创科技有限公司 Multi-beam side-scan sonar device
CN106768070A (en) * 2017-01-22 2017-05-31 中国海洋大学 A kind of device of submarine landslide monitoring
CN109975815A (en) * 2019-03-22 2019-07-05 武汉源海博创科技有限公司 A kind of submarine target multi-beam sonar detection system and method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105629249A (en) * 2016-03-28 2016-06-01 北京海卓同创科技有限公司 Multi-beam side-scan sonar device
CN106768070A (en) * 2017-01-22 2017-05-31 中国海洋大学 A kind of device of submarine landslide monitoring
CN109975815A (en) * 2019-03-22 2019-07-05 武汉源海博创科技有限公司 A kind of submarine target multi-beam sonar detection system and method
CN109975815B (en) * 2019-03-22 2021-09-07 宁波博海深衡科技有限公司 Underwater target multi-beam sonar detection system and method

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