NL2033086A - Scanning transmission method and system for detection signals transmitted by omnidirectional multi-beam fish finder - Google Patents

Scanning transmission method and system for detection signals transmitted by omnidirectional multi-beam fish finder Download PDF

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Publication number
NL2033086A
NL2033086A NL2033086A NL2033086A NL2033086A NL 2033086 A NL2033086 A NL 2033086A NL 2033086 A NL2033086 A NL 2033086A NL 2033086 A NL2033086 A NL 2033086A NL 2033086 A NL2033086 A NL 2033086A
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Netherlands
Prior art keywords
sector
transmission
transducer array
scanning
angle
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NL2033086A
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Dutch (nl)
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NL2033086B1 (en
Inventor
Wei Ke
Wang Zhijun
Cheng Jing
Yang Yuhong
Li Guodong
Tang Taolin
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Fishery Machinery & Instrument Res Inst Cafs
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Publication of NL2033086A publication Critical patent/NL2033086A/en
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Classifications

    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/534—Details of non-pulse systems
    • 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
    • G01S15/96—Sonar systems specially adapted for specific applications for locating fish
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems

Abstract

The present invention relates tx) a scanning transmission Hethod and system for detection signals transmitted by an omnidirectional multi—beanl fish finder. A. transducer‘ array is equivalent to an annular transducer array, and an angle of each beam transmission is then calculated according to the number of transmissions L and a scanning transmission beam boundary a. Then, the annular transducer array is divided into K sectors in a horizontal direction, and the K sectors simultaneously transmit L beams in sequence at uniform intervals according to the calculated angle in a central normal direction of each sector. It is determined whether the number of sector rotations n is greater than or equal to a maximum number of rotations.

Description

SCANNING TRANSMISSION METHOD AND SYSTEM FOR DETECTION SIGNALS
TRANSMITTED BY OMNIDIRECTIONAL MULTI-BEAM FISH FINDER
TECHNICAL FIELD
The present invention relates to the technical field of scan- ning detection, and more particularly, to a scanning transmission method and system for detection signals transmitted by an omnidi- rectional multi-beam fish finder.
BACKGROUND ART
As one of the most widely used and typical fishing aids in marine fishery, a fish finder is a main tool to detect fish in the marine fishery fishing process by using an underwater acoustic method. An omnidirectional multi-beam fish finder may realize mul- ti-beam fishing vessel-centered horizontal 360-degree fish detec- tion by using a cylindrical or annular transducer array, thereby greatly expanding the range of fish detection in a fishing process and improving fishing efficiency. The omnidirectional multi-beam fish finder may perform omnidirectional transmission or direction- al transmission in a transmission process. The omnidirectional transmission process mode has a short transmission time and a small blind zone, but the directivity of transmitted signals is poor, and the detection range of a system is affected. The direc- tional transmission may perform long-range horizontal scanning, but has the disadvantage of large detection blind zone. In the traditional directional transmission, a detection region is divid- ed into multiple scanning sectors by being centered with a cylin- drical or annular transducer array of a fish finder, and multi- beam scanning is performed in each sector. However, due to the beamforming characteristics, when a scanning angle is increased, the beamforming effect is poor, showing that a main lobe of a beam is broadened, a side lobe is increased and a directional gain is reduced, thereby affecting the uniform distribution of detection signal scanning of the entire region and reducing the detection imaging accuracy.
SUMMARY
An object of the present invention is to provide a scanning transmission method and system for detection signals transmitted by an omnidirectional multi-beam fish finder, intended to enhance the directivity of transmitted signals and the scanning uniformity of detection regions.
In order to achieve the above object, the present invention provides a scanning transmission method for detection signals transmitted by an omidirectional multi-beam fish finder. The method includes: step S1: determining whether a transducer array is a cylin- drical transducer array or an annular transducer array; if a cy- lindrical transducer array is selected, enabling the cylindrical transducer array to be equivalent to an annular transducer array in a top view direction, and performing "step S2"; if an annular transducer array is selected, performing "step S2"; step S2: calculating an angle of each beam transmission ac- cording to the number of transmissions L and a scanning transmis- sion beam boundary a; step S3: dividing the annular transducer array into K sectors in a horizontal direction; step S4: simultaneously performing, by the K sectors, 1% beam scanning transmission according to the calculated angle in a cen- tral normal direction of each sector, respective beams within each sector being at uniform intervals; step S5: determining whether 1 is greater than or equal to L, if 1 is greater than or equal to L, indicating that the beam transmission has finished, and performing "step S6"; if 1 is less than L, making 1=1+1, and returning to "step S4'"; step S6: determining whether the number of sector rotations n is greater than or equal to a maximum number of rotations; if the number of sector rotations n is greater than or equal to the maxi- mum number of rotations, indicating that 360° scanning in a hori- zontal region is completed; if the number of sector rotations n is less than the maximum number of rotations, making n=n+l, the n* sector rotation being at 2a° relative to the (n-1)™ sector rota-
tion, and returning to "step S3".
Optionally, the beam scanning transmission is within a range of —-a to +a, where a=360°/(2*K*N), N is the maximum number of ro- tations, and a 1s less than 30°.
Optionally, the calculating an angle of each beam transmis- sion according to the number of transmissions L and a scanning transmission beam boundary a specifically includes: determining whether the number of transmissions L is an even number; if the number of transmissions L is an even number, calcu- lating an angle of a beam transmission according to Ba{i}=a/L- isikidet a*1/2L, where oe 2, Ba {i) represents an angle of an i*" beam transmission; if the number of transmissions L is an even number, calculating an angle of a beam transmission according to ee La
Ba{i)=a*i/L, where Co ro
The present invention also provides a scanning transmission system for detection signals transmitted by an omnidirectional multi-beam fish finder. The system includes: a first determination module, configured to determine whether a transducer array is a cylindrical transducer array or an annular transducer array, wherein if a cylindrical transducer array is se- lected, the cylindrical transducer array is equivalent to an annu- lar transducer array in a top view direction and a "beam transmis- sion angle calculation module" is executed; if an annular trans- ducer array is selected, a "beam transmission angle calculation module" is executed; the beam transmission angle calculation module, configured to calculate an angle of each beam transmission according to the num- ber of transmissions L and a scanning transmission beam boundary ar: a sector division module, configured to divide the annular transducer array into K sectors in a horizontal direction; a scanning transmission module, configured to simultaneously perform, by the K sectors, 1% beam scanning transmission according to the calculated angle in a central normal direction of each sec- tor, respective beams within each sector being at uniform inter-
vals; a second determination module, configured to determine wheth- er 1 is greater than or equal to L, wherein if 1 is greater than or equal to L, the beam transmission has finished and a "third de- termination module" is executed; if 1 is less than L, 1=1+1, and the "scanning transmission module” is re-executed; the third determination module, configured to determine whether the number of sector rotations n is greater than or equal to a maximum number of rotations, wherein if the number of sector rotations n is greater than or equal to the maximum number of ro- tations, 360° scanning in a horizontal region is completed; if the number of sector rotations n is less than the maximum number of rotations, n=n+l, the n'® sector rotation is at 2a° relative to the (n-1)" sector rotation, and the "sector division module" is re- executed.
Optionally, the beam scanning transmission is within a range of -a to 4a, where a=360°/(2*K*N), N is the maximum number of ro- tations, and a is less than 30°.
Optionally, the beam transmission angle calculation module is specifically configured to: determine whether the number of transmissions L is an even number; calculate, if the number of transmissions L is an even number, an angle of a beam transmission according to ski A232 £
Ba(i)=a/L-a*i/2L, where —_ 2, Ba (i) represents an angle of an i™ beam transmission; calculate, if the number of transmissions
L is an even number, an angle of a beam transmission according to
Ba(i)=a*i/L, where | 2.
According to specific embodiments provided by the present in- vention, the present invention discloses the following technical effects:
In the present invention, a detection region is divided and scanned into multiple sectors by being centered with an annular transducer array, and only a regicri within a small angle range di- rectly in front of each sector is scanned. At this moment, the relative quality of each scanned beam is relatively high, and the consistency is good. A detection sector is re-divided upon the n™ sector rotation at 2a® relative to the (n-1)% sector rotation, small-angle scanning is performed in this sector, and so on, so as to complete 360° scanning in the entire horizontal region, thereby 5 enhancing the directivity of transmitted signals and the scanning uniformity of detection regions.
BRIEF DESCRIPTION OF THE DRAWINGS
In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings needing to be used in the embodiments will be briefly in- troduced below. It is apparent that the drawings in the following description are merely some embodiments of the present invention.
Those ordinarily skilled in the art may also obtain other drawings according to these drawings without involving inventive efforts.
FIG. 1 is a beam pattern of a beam scanning angle of a con- ventional multi-beam fish finder.
FIG. 2 is a schematic diagram of a cylindrical transducer ar- ray equivalent to an annular transducer array according to the present invention.
FIG. 3 is a flow chart of a scanning transmission method for detection signals transmitted by an omnidirectional multi-beam fish finder according to the present invention.
FIG. 4 is a structural diagram of a scanning transmission system for detection signals transmitted by an omnidirectional multi-beam fish finder according to the present invention.
FIG. 5 is a schematic diagram illustrating a scanning trans- mission process according to the present invention.
DETAILED DESCRIPTION OF THE EMBODIMENTS
The technical solutions in the embodiments of the present in- vention will be clearly and completely described below in combina- tion with the drawings in the embodiments of the present inven- tion. It is obvious that the described embodiments are merely a few, but not all, embodiments of the present invention. All other embodiments obtained by those ordinarily skilled in the art based on the embodiments in the present invention without involving in-
ventive efforts fall within the scope of protection of the present invention.
An object of the present invention is to provide a scanning transmission method and system for detection signals transmitted by an omnidirectional multi-beam fish finder, intended to enhance the directivity of transmitted signals and the scanning uniformity of detection regions.
In order that the above objects, features and advantages of the present invention will be more clearly understood, the present invention will be described below in further detail with reference to the accompanying drawings and specific implementations.
A conventional multi-beam fish finder performs directional sweeping, divides a detection region into multiple scanning sec- tors, and then scans each sector. As shown in FIG. 1, beam pat- terns of beam scanning angles of 0°, -10°, -20°, -30°, -40°, -50°, -60°, and -70° are given. When the beam scanning angle is greater than 30°, a main beam is broadened, and a side lobe is enhanced.
When the beam scanning angle is greater than 60°, the intensity of the side lobe is greater than the intensity of the main beam, thereby causing the error of sweeping detection intensity and re- ducing the angular resolution. When there are a large number of sectors, the scanning range of each sector may be narrowed, but the number of transducer arrays participating in beamforming of each sector will be reduced, thereby affecting the directivity of beamforming and narrowing the detection range. Therefore, the num- ber of sectors generally divided is less than 4. In multi-beam de- tection sweeping, when two sectors are used for scanning simulta- neously, the beam scanning range of each sector will be a region within a range of -90° to +90° with a normal directly in front thereof. When three sectors are used for scanning simultaneously, the beam scanning range of each sector will be a region within a range of -60° to +60° with a normal directly in front thereof, the beamforming effect at an edge of a scanning region is improved, but the directivity index when three sectors are used is reduced by 1.7 dB compared with that when two sectors are used. When four sectors are used for scanning simultaneously, the beam scanning range of each sector will be a region within a range of -45° to
+45° with a normal directly in front thereof, and the beamforming effect at the edge of the scanning region is further improved, but the directivity index when four sectors are used is reduced by 3 dB compared with that when two sectors are used. If more scanning regions are divided, the sweeping effect is presented and so on, i.e. the coverage uniformity is increased and the detection signal intensity is reduced. Therefore, the scanning uniformity of the conventional directional sweeping and the scanning beam intensity are mutual constraint, and a balance therebetween cannot be achieved.
Embodiment 1
As shown in FIG. 3, the present invention discloses a scan- ning transmission method for detection signals transmitted by an omnidirectional multi-beam fish finder. The method includes the following steps:
Step S1: determine whether a transducer array is a cylindri- cal transducer array or an annular transducer array; if a cylin- drical transducer array is selected, enable the cylindrical trans- ducer array to be equivalent to an annular transducer array in a top view direction, and perform "step S2"; if an annular transduc- er array is selected, perform "step S2".
Step S2: calculate an angle of each beam transmission accord- ing to the number of transmissions L and a scanning transmission beam boundary a.
Step S3: divide the annular transducer array into K sectors in a horizontal direction.
Step S4: simultaneously perform, by the K sectors, 1" beam scanning transmission according to the calculated angle in a cen- tral normal direction of each sector, respective beams within each sector being at uniform intervals.
Step S5: determine whether 1 is greater than or equal to L; if 1 is greater than or equal to L, indicate that the beam trans- mission has finished, and perform "step S6"; if 1 is less than L, make 1=1+1, and return to "step S4".
Step S6: determine whether the number of sector rotations n is greater than or equal to a maximum number of rotations; if the number of sector rotations n is greater than or equal to the maxi-
mum number of rotations, indicate that 360° scanning in a horizon- tal region is completed; if the number of sector rotations n is less than the maximum number of rotations, make n=n+l, the n"® sec- tor rotation being at 2a® relative to the (n-1}% sector rotation, and return to "step S3".
Each step is discussed in detail below:
In step S2, an angle of each beam transmission is calculated according to the number of transmissions L and a scanning trans- mission beam boundary a. Specifically, it is determined whether the number of transmissions L is an even number. If the number of transmissions L is an even number, an angle of a beam transmission ian, zt is calculated according to Ba(i)=a/L-a*i/2L, where oo 2,
Ba (i) represents an angle of an i™ beam transmission, and a repre- sents a scanning range boundary. If the number of transmissions L is an even number, an angle of a beam transmission is calculated j=, 0s according to Ba(i)=a*i/L, where 2.
In step S4, the K sectors simultaneously perform 1% beam scanning transmission according to the calculated angle in a cen- tral normal direction of each sector, and respective beams within each sector are at uniform intervals. In this embodiment, the beam scanning transmission is within a range of -a to +a, where a=360°/(2*K*N), N is the maximum number of rotations, and a is less than 30°.
In this embodiment, the maximum number of rotations, the num- ber of sectors and the number of transmissions L are given before the experiment.
Embodiment 2
As shown in FIG. 4, the present invention also discloses a scanning transmission system for detection signals transmitted by an omnidirectional multi-beam fish finder. The system includes: a first determination module 401, configured to determine whether a transducer array is a cylindrical transducer array or an annular transducer array, wherein if a cylindrical transducer ar- ray is selected, the cylindrical transducer array is equivalent to an annular transducer array in a top view direction and a "beam transmission angle calculation module 402" is executed; if an an- nular transducer array is selected, the "beam transmission angle calculation module 402" is executed; the beam transmission angle calculation module 402, config- ured to calculate an angle of each beam transmission according to the number of transmissions L and a scanning transmission beam boundary a; a sector division module 403, configured to divide the annu- lar transducer array into K sectors in a horizontal direction; a scanning transmission module 404, configured to simultane- ously perform, by the K sectors, 1" beam scanning transmission ac- cording to the calculated angle in a central normal direction of each sector, respective beams within each sector being at uniform intervals; a second determination module 405, configured to determine whether 1 is greater than or equal to L, wherein if 1 is greater than or equal to L, the beam transmission has finished and a "third determination module" is executed; if 1 is less than 1, 1=1+1, and the "scanning transmission module 404" is re-executed; the third determination module 406, configured to determine whether the number of sector rotations n is greater than or equal to a maximum number of rotations, wherein if the number of sector rotations n is greater than or equal to the maximum number of ro- tations, 360° scanning in a horizontal region is completed; if the number of sector rotations n is less than the maximum number of rotations, n=n+l, the n*® sector rotation is at 2a° relative to the (n-1)* sector rotation, and the "sector division module 403" is re-executed.
The same contents as those of Embodiment 1 will not be de- scribed in detail herein.
Embodiment 3
In the present invention, a cylindrical or annular transducer array is used. The cylindrical transducer array may increase the beam pitch angle control in a vertical direction. However, in a plan view direction, the cylindrical transducer array may be equivalent to the annular transducer array. As shown in FIG. 2, in a horizontal sweeping process, a horizontal scanning mode should be the same process. In addition, each column or each array in
FIG. 2 may be subjected to separate transmission control, and may also be subjected to directional transmission scanning. The direc- tional transmission scanning is performed according to the follow- ing steps:
In the first step, an array in a horizontal direction of a transducer is divided into K sectors, and the K sectors simultane- ously perform scanning in a central normal direction of each sec- tor. The scanning range is -a to +a, where a is 360°/2*K*N, N is a positive integer, and a is less than 30°. L transmissions are per- formed in seguence in this region. Transmitted beams are subjected to directional multi-beam scanning at uniform intervals relative to the normal direction angle of the sectors respectively.
When L is an even number, the transmission angles are the following in seguence: eat tt
Ba(i}=a/L-a*i/2L, where | 2,
When L is an odd number, the transmission angles are the fol- lowing in sequence: pen ETh)
Ba(i)=a*i/L, where So 2.
In the second step, the array in the horizontal direction of the transducer is re-divided into K sectors. At this moment, the K sectors are rotated by an angle 2a compared with the K sectors in the first step. Then, the K sectors simultaneously perform scan- ning in a central normal direction of each sector. The scanning range is -a to +a. L directional multi-beam scans at uniform in- tervals are performed in this region. The angle of the L scans is consistent with the angle in the first step compared with the ro- tated sector normal direction.
By analogy, a total of N sector rotations are performed, and
K*N*L directional beam scans are performed, so as to complete the transmitted multi-beam coverage for the entire region.
Embodiment 4
This scanning transmission method is further illustrated by an example. As shown in FIG. 5, if a scanning region is divided into four sectors. Each sector performs three directional beam transmissions and eight sector rotations. That is, the following steps are performed:
In the first step, the entire transducer array is horizontal- ly divided into K=4 sectors, and N=8 sector rotations are per- formed. Each sector directional scanning transmission covers left and right ranges of a=5.625°. That is, from -5.625° to +5.625° of each sector, each sector transmits L=3 beams in sequence respec- tively, corresponding to -3.75°, 0° and +3.75° of the normal of each sector respectively.
In the second step, the array in the horizontal direction of the transducer is re-divided into four sectors. At this moment, the four sectors are rotated by an angle 11.25° compared with the four sectors in the first step. Then, the four sectors simultane- ously perform scanning in the central normal direction of each sector, the scanning range is -5.625° to +5.625°, and each sector transmits L=3 beams in sequence respectively, corresponding to - 3.75°, 0° and +3.75° of the normal of each sector respectively.
By analogy, a total of eight sector rotations are performed, and 96 directional beam scans are performed, so as to complete the transmitted multi-beam coverage for the entire region. The sche- matic diagrams after eight sector rotations are shown as (a)-(h) in FIG. 5, respectively.
Various embodiments are described in this description in a progressive manner. Each embodiment focuses on differences from the other embodiments. The same or similar parts of the various embodiments may be referred to each other. As to the system dis- closed in the embodiments, since the system corresponds to the method disclosed in the embodiments, the description is relatively simple. The relevant part may be described with reference to the method section.
The principle and implementation of the present invention have been set forth herein using specific examples, and the above embodiments have been set forth only to aid in the understanding of the methods and core ideas of the present invention. Meanwhile, those ordinarily skilled in the art will appreciate that many changes may be made in the detailed description and the applica- tion scope in light of the ideas of the present invention. In con-
clusion, this description should not be construed as limiting the present invention.

Claims (6)

CONCLUSIESCONCLUSIONS 1. Scantransmissiemethode voor detectiesignalen die worden verzon- den door een omnidirectionele multi-beam fishfinder, omvattende: stap Sl: bepalen of een transducerarray een cilindrische transdu- cerarray of een ringvormige transducerarray is; indien een cilin- drische transducerarray is geselecteerd, het mogelijk maken dat de cilindrische transducerarray equivalent is aan een ringvormige transducerarray in een bovenaanzichtrichting, en het uitvoeren van "stap S2"; indien een ringvormige transducerarray is geselecteerd, het uitvoeren van "stap S2"; stap S2: het berekenen van een hoek van elke bundeltransmissie in overeenstemming met het aantal transmissies L en een scantransmis- siebundelgrens a; stap S3: het verdelen van de ringvormige transducerarray in K sec- toren in een horizontale richting; stap S4: gelijktijdig uitvoeren, door de K sectoren, van de 1 bundelscantransmissie volgens de berekende hoek in een centrale normaalrichting van elke sector, waarbij respectieve bundels bin- nen elke sector op uniforme intervallen zijn; stap S5: bepalen of 1 groter is dan of gelijk is aan L; indien 1 groter is dan of gelijk is aan L, wat aanduidt dat de bundeltrans- missie is beëindigd, en het uitvoeren van "stap S6"; indien 1 kleiner is dan L, het uitvoeren van 1=1+1, en terugkeren naar "stap S4"; stap S6: het bepalen of het aantal sectorrotaties n groter is dan of gelijk is aan een maximaal aantal rotaties; indien het aantal sectorrotaties n groter is dan of gelijk is aan het maximale aan- tal rotaties, aangeven dat het 360°-scannen in een horizontaal ge- bied is voltooid; indien het aantal sectorrotaties n kleiner is dan het maximum aantal rotaties, het uitvoeren van n=n+l, waarbij de n™ sectorrotatie 2a° is ten opzichte van de (n-1)°® sectorrota- tie, en terugkeren naar "stap S3" .A scanning transmission method for detection signals transmitted by an omnidirectional multi-beam fish finder, comprising: step S1: determining whether a transducer array is a cylindrical transducer array or an annular transducer array; if a cylindrical transducer array is selected, enabling the cylindrical transducer array to be equivalent to an annular transducer array in a top view direction, and performing "step S2"; if an annular transducer array is selected, performing "step S2"; step S2: calculating an angle of each beam transmission in accordance with the number of transmissions L and a scanning transmission beam boundary α; step S3: dividing the annular transducer array into K sectors in a horizontal direction; step S4: simultaneously performing, through the K sectors, the 1 beam scan transmission according to the calculated angle in a central normal direction of each sector, with respective beams within each sector being at uniform intervals; step S5: determining whether 1 is greater than or equal to L; if 1 is greater than or equal to L, indicating that the beam transmission has ended, and performing "step S6"; if 1 is less than L, performing 1=1+1, and returning to "step S4"; step S6: determining whether the number of sector rotations n is greater than or equal to a maximum number of rotations; if the number of sector rotations n is greater than or equal to the maximum number of rotations, indicate that 360° scanning in a horizontal area has been completed; if the number of sector rotations n is less than the maximum number of rotations, performing n=n+1, where the n™ sector rotation is 2a° to the (n-1)°® sector rotation, and returning to "step S3". 2. Scantransmissiemethode voor detectiesignalen die worden verzon- den door een omnidirectionele multi-beam fishfinder volgens con-2. Scan transmission method for detection signals sent by an omnidirectional multi-beam fish finder according to con- clusie 1, waarbij de beam scanning transmissie is gelegen binnen een bereik van -a tot +a, waarbij a=360°/(2*K*N), waarbij N is het maximale aantal omwentelingen en a is minder dan 30°.claim 1, wherein the beam scanning transmission is within a range from -a to +a, where a=360°/(2*K*N), where N is the maximum number of revolutions and a is less than 30°. 3. Scantransmissiemethode voor detectiesignalen die worden verzon- den door een omnidirectionele multi-beam fishfinder volgens con- clusie 1, waarbij het berekenen van een hoek van elke bundeltrans- missie volgens het aantal transmissies L en een scanning transmis- siebundelgrens a specifiek omvat: het bepalen of het aantal uitzendingen L een even aantal is; als het aantal transmissies L een even getal is, het berekenen van een hoek van een bundeltransmissie volgens Ba(i)=a/L-a*i/2L, waarbij iedeen £ oo 2, Ba (i) stelt een hoek voor van een 1% bundeltransmis- sie; indien het aantal transmissies L een even getal is, het bere- kenen van een hoek van een bundeltransmissie volgens Ba(i)=a*i/L, ere La waarbij — 2A scanning transmission method for detection signals transmitted by an omnidirectional multi-beam fishfinder according to claim 1, wherein calculating an angle of each beam transmission according to the number of transmissions L and a scanning transmission beam boundary a specifically includes: determining whether the number of transmissions L is an even number; if the number of transmissions L is an even number, calculate an angle of a beam transmission according to Ba(i)=a/L-a*i/2L, where each ∆ oo 2, Ba(i) represents an angle of a 1% beam transmission; if the number of transmissions L is an even number, calculating an angle of a beam transmission according to Ba(i)=a*i/L, ere La where — 2 4. Scantransmissiesysteem voor detectiesignalen die worden verzon- den door een omnidirectionele multi-beam fishfinder, omvattende: een eerste bepalingsmodule, geconfigureerd om te bepalen of een transducerarray een cilindrische transducerarray of een ringvormi- ge transducerarray is, waarbij als een cilindrische transducerar- ray wordt geselecteerd, de cilindrische transducerarray equivalent is aan een ringvormige transducerarray in een bovenaanzichtrich- ting en een "bundeltransmissiehoek berekeningsmodule” wordt uitge- voerd; als een ringvormige transducerarray wordt geselecteerd, wordt de "bundeltransmissiehoek berekeningsmodule®" uitgevoerd; de bundeltransmissiehoek berekeningsmodule, geconfigureerd om een hoek van elke bundeltransmissie te berekenen volgens het aantal transmissies L en een scanningtransmissiebundelgrens a; een sectorverdelingsmodule, geconfigureerd om de ringvormige transducerarray in horizontale richting in K sectoren te verdelen; een scantransmissiemodule, geconfigureerd om gelijktijdig, door de K sectoren, de 1% bundelscanningtransmissie uit te voeren volgens de berekende hoek in een centrale normaalrichting van elke sector,A scanning transmission system for detection signals transmitted by an omnidirectional multi-beam fish finder, comprising: a first determination module configured to determine whether a transducer array is a cylindrical transducer array or an annular transducer array, defined as a cylindrical transducer array selected, the cylindrical transducer array is equivalent to an annular transducer array in a top view orientation and a "beam transmission angle calculation module" is executed; if an annular transducer array is selected, the "beam transmission angle calculation module®" is executed; the beam transmission angle calculation module, configured to calculate angle of each beam transmission according to the number of transmissions L and a scanning transmission beam boundary a; a sector division module configured to horizontally divide the annular transducer array into K sectors; a scanning transmission module configured to simultaneously perform, through the K sectors, the 1% beam scanning transmission to be performed according to the calculated angle in a central normal direction of each sector, waarbij de respectieve bundels binnen elke sector op uniforme in- tervallen zijn; een tweede bepalingsmodule, geconfigureerd om te bepalen of 1 gro- ter is dan of gelijk is aan L, waarbij indien 1 groter is dan of gelijk is aan L, de bundeltransmissie wordt beëindigd en een "der- de bepalingsmodule" wordt uitgevoerd; als 1 kleiner is dan L, 1=1+1, en de "scan-transmissiemodule" wordt opnieuw uitgevoerd; de derde bepalingsmodule, geconfigureerd om te bepalen of het aan- tal sectoromwentelingen n groter is dan of gelijk is aan een maxi- mum aantal omwentelingen, waarbij indien het aantal sectoromwente- lingen n groter is dan of gelijk is aan het maximum aantal omwen- telingen, 360° scanning in een horizontaal gebied is voltooid; als het aantal sectoromwentelingen n kleiner is dan het maximum aantal omwentelingen, n=n+l, is de nde sectoromwenteling 2a° ten opzichte van de (n-1)% sectoromwenteling, en is de "sectorverdelingsmodule® opnieuw uitgevoerd.wherein the respective beams within each sector are at uniform intervals; a second determination module configured to determine whether 1 is greater than or equal to L, wherein if 1 is greater than or equal to L, the beam transmission is terminated and a "third determination module" is performed; if 1 is less than L, 1=1+1, and the "scan transmission module" is executed again; the third determination module, configured to determine if the number of sector revolutions n is greater than or equal to a maximum number of revolutions, where if the number of sector revolutions n is greater than or equal to the maximum number of revolutions, , 360° scanning in a horizontal area is completed; if the number of sector revolutions n is less than the maximum number of revolutions, n=n+1, the nth sector revolution is 2a° to the (n-1)% sector revolution, and the "sector divider" module is executed again. 5. Scantransmissiesysteem voor detectiesignalen die worden verzon- den door een omnidirectionele multi-beam fishfinder volgens con- clusie 4, waarbij de beam scanning transmissie binnen een bereik van —a tot +a ligt, waarbij a=360°/(2*K*N) , N is het maximale aantal omwentelingen en a is minder dan 30°.A scanning transmission system for detection signals transmitted by an omnidirectional multi-beam fish finder according to claim 4, wherein the beam scanning transmission is within a range of -a to +a, where a=360°/(2*K* N) , N is the maximum number of revolutions and a is less than 30°. 6. Scantransmissiesysteem voor detectiesignalen die worden verzon- den door een omnidirectionele multi-beam fishfinder volgens con- clusie 4, waarbij de bundeltransmissiehoek berekeningsmodule spe- cifiek is geconfigureerd om: te bepalen of het aantal transmisseis L een even aantal is; het berekenen, indien het aantal transmissies L een even getal is, van een hoek van een bundeltransmissie volgens Ba(i)=a/lL-a*i/2L, waar- Fadl add bij oo 2, Ba(i) stelt een hoek voor van een ide bundeltrans- missie; het berekenen, indien het aantal transmissies L een even getal is, van een hoek van een bundeltransmissie volgens ee ee a! Ba (i)=a*i/L, waarbij } 2.A scanning transmission system for detection signals transmitted by an omnidirectional multi-beam fish finder according to claim 4, wherein the beam transmission angle calculation module is specifically configured to: determine whether the number of transmission requirement L is an even number; calculating, if the number of transmissions L is an even number, an angle of a beam transmission according to Ba(i)=a/1L-a*i/2L, where- Fadl add at oo 2, Ba(i) sets an angle for of an ith beam transmission; calculating, if the number of transmissions L is an even number, an angle of a beam transmission according to ee ee a! Ba (i)=a*i/L, where } 2.
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