Sonar system and signal acquisition method based on sonar system

Abstract

The application provides a sonar system and a signal collection method based on the sonar system, which comprises a sound wave signal collection array with multiple collection channels, a gating module, an analog-digital conversion module and a processing module. The sound wave signal collection array is used to collect sound wave signals of a target object through the multiple collection channels. The multiple collection channels are connected with the input end of the gating module. The processing module is connected with the control end of the gating module, so that the processing module sends a time-sharing control signal to the gating module, the gating module performs time-sharing gating on the multiple collection channels according to the time-sharing control signal, the output end of the gating module is connected with the input end of the analog-digital conversion module, the output end of the analog-digital conversion module is connected with the processing module, so that the processing module performs positioning on the target object according to the analog-digital converted sound wave signals. Through time-sharing gating on the collection channels, the number of analog-digital conversion modules is reduced, and the miniaturization and low cost of the circuit are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of circuit control, in particular to a sonar system and a signal acquisition method based on the sonar system. BACKGROUND

[0002] The sonar is a method and device for detecting and positioning and identifying by using the propagation characteristics of sound waves in water, through electro-acoustic conversion and information processing. The front end of the sonar system receives and collects an array to perform acoustic-electric conversion on the acoustic signal, and then performs analog-digital conversion through an analog-digital conversion module, and further performs digital signal processing analysis, so as to obtain the position, distance and even image of the target.

[0003] At present, in order to improve the detection range and accuracy, the scale of the sonar system detection array is often increased to obtain more space-time information. However, the increase in the number of channels of the sonar receiving array leads to a sharp increase in the number of analog-digital conversion modules, which poses a serious challenge to the design of the large sonar array signal acquisition method and its hardware circuit system. SUMMARY

[0004] Therefore, the embodiments of the present application provide a sonar system and a signal acquisition method based on the sonar system, so as to reduce the number of analog-digital conversion modules used by the sonar system while increasing the number of channels of the sonar receiving array, and realize the size reduction and cost reduction of the circuit of the sonar system.

[0005] In a first aspect, the embodiments of the present application provide a sonar system, comprising: a sound wave signal collection array having a plurality of collection channels, a gating module, an analog-digital conversion module and a processing module.

[0006] The sound wave signal collection array is configured to collect sound wave signals of a target object through the plurality of collection channels. The plurality of collection channels are connected to the input end of the gating module. The processing module is connected to the control end of the gating module, so that the processing module sends a time-sharing control signal to the gating module, and the gating module performs time-sharing gating on the plurality of collection channels according to the time-sharing control signal.

[0007] The output end of the gating module is connected to the input end of the analog-digital conversion module, so that the analog-digital conversion module performs analog-digital conversion on the sound wave signals of the time-sharing gated collection channels. The output end of the analog-digital conversion module is connected to the processing module, so that the processing module performs positioning on the target object according to the analog-digital converted sound wave signals.

[0008] In an optional embodiment, the plurality of acquisition channels correspond to a plurality of acquisition channel groups, the gating module comprises a plurality of gating units, each gating unit comprises a multi-stage gating unit, and the analog-digital conversion module comprises a plurality of analog-digital conversion chips.

[0009] The input end of the first-stage gating unit in each gating unit is connected with the acquisition channel of the corresponding acquisition channel group in the plurality of acquisition channel groups, the output end of the last-stage gating unit in each gating unit is connected with one of the plurality of analog-digital conversion chips, and the input end of the gating unit other than the first-stage gating unit in the multi-stage gating unit is connected with the output end of the previous-stage gating unit.

[0010] In an optional embodiment, the last-stage gating unit in the multi-stage gating unit comprises one gating chip, and the first-stage gating unit and the intermediate-stage gating units in the multi-stage gating unit comprise at least two gating chips.

[0011] The input end of the at least two gating chips of the first-stage gating unit is connected with the acquisition channel of the corresponding acquisition channel group, the output end of the one gating chip is connected with the one analog-digital conversion chip, and the input end of the gating unit other than the first-stage gating unit is connected with the output end of the at least two gating chips of the previous-stage gating unit.

[0012] In an optional embodiment, each gating chip comprises at least two gates, and the one analog-digital conversion chip comprises at least two analog-digital converters.

[0013] The output end of the at least two gates of the one gating chip is respectively connected with the at least two analog-digital converters, the input end of the at least two gates of the first-stage gating unit is connected with the acquisition channel of the corresponding acquisition channel group, and the input end of the at least two gates of the gating unit other than the first-stage gating unit is respectively connected with the output end of the at least two gates of the previous-stage gating unit.

[0014] In a second aspect, the embodiments of the present application further provide a signal acquisition method based on a sonar system, comprising:

[0015] The sound wave signal acquisition array in the sonar system acquires the sound wave signals of a target object through a plurality of acquisition channels, and the sonar system is the sonar system of any one of the first aspect.

[0016] The processing module in the sonar system sends a time-sharing control signal to the gating module;

[0017] The gating module in the sonar system performs time-sharing gating on the plurality of acquisition channels according to the time-sharing control signal.

[0018] The analog-to-digital conversion module in the sonar system performs analog-to-digital conversion on the sound wave signal of the gated acquisition channel, and the analog-to-digital converted sound wave signal is used for positioning the target object.

[0019] In an optional embodiment, the plurality of acquisition channels correspond to a plurality of acquisition channel groups, and the gating module comprises a plurality of gating units, each of which comprises a multi-stage gating unit, and the analog-to-digital conversion module comprises a plurality of analog-to-digital conversion chips.

[0020] The gating module in the sonar system gates the plurality of acquisition channels in time according to the time-sharing control signal, comprising:

[0021] The first-stage gating unit in the multi-stage gating unit gates the acquisition channels of the corresponding acquisition channel group in the plurality of acquisition channel groups in time according to the time-sharing control signal, and outputs a first acquisition channel.

[0022] The second-stage gating unit in the multi-stage gating unit gates the first acquisition channel in time according to the time-sharing control signal, and outputs a second acquisition channel, and so on until the last-stage gating unit in the multi-stage gating unit outputs a target acquisition channel.

[0023] The analog-to-digital conversion module performs analog-to-digital conversion on the sound wave signal of the gated acquisition channel, comprising:

[0024] The corresponding analog-to-digital conversion chip in the analog-to-digital conversion module performs analog-to-digital conversion on the sound wave signal of the target acquisition channel.

[0025] In an optional embodiment, the last-stage gating unit in the multi-stage gating unit comprises one gating chip, and the other-stage gating units in the multi-stage gating unit except the last-stage gating unit comprise at least two gating chips.

[0026] The first-stage gating unit in the multi-stage gating unit gates the acquisition channels of the corresponding acquisition channel group in the plurality of acquisition channel groups in time according to the time-sharing control signal, and outputs a first acquisition channel, comprising:

[0027] The at least two gating chips of the first-stage gating unit gate the acquisition channels of the corresponding acquisition channel group in time according to the time-sharing control signal, and output the first acquisition channel.

[0028] The second-stage gating unit in the multi-stage gating unit gates the first acquisition channel in time according to the time-sharing control signal, and outputs a second acquisition channel, and so on until the last-stage gating unit in the multi-stage gating unit outputs a target acquisition channel, comprising:

[0029] The at least two gating chips of the second gating unit gate the first acquisition channel in time according to the time-sharing control signal, and output the second acquisition channel until the one gating chip of the last gating unit outputs the target acquisition channel.

[0030] In an optional embodiment, the number of the plurality of acquisition channel groups is determined by the following steps:

[0031] The first sampling rate of the corresponding analog-to-digital conversion chip and the second sampling rate of each acquisition channel are obtained;

[0032] The plurality of acquisition channels are grouped according to the first sampling rate and the second sampling rate, and the number of the plurality of acquisition channel groups is obtained.

[0033] In an optional embodiment, the number of the at least two gating chips in the multi-stage gating unit is determined by the following steps:

[0034] The acquisition channels of each acquisition channel group are divided according to the gating ratio of the at least two gating chips, and the number of the at least two gating chips of the first gating unit is obtained.

[0035] The acquisition channels input to the intermediate gating unit are divided according to the gating ratio, and the number of the at least two gating chips of the intermediate gating unit is obtained, the intermediate gating unit being a gating unit other than the first gating unit and the last gating unit in the multi-stage gating unit.

[0036] In an optional embodiment, the method further comprises:

[0037] When the analog-to-digital conversion module performs the sampling operation on the sound wave signal of the currently time-shared gated acquisition channel in the analog-to-digital conversion, the processing module sends a next time-sharing control signal to the gating module, the currently time-shared gated acquisition channel being the acquisition channel gated according to the current time-sharing control signal, and the generation time of the next time-sharing control signal being aligned with the rising edge of the sampling clock of the analog-to-digital conversion module.

[0038] In a third aspect, the embodiments of the present application further provide a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is run by a processor to execute the signal acquisition method of the sonar system according to any one of the second aspect.

[0039] The application provides a sonar system and a signal collection method based on the sonar system, which comprises a sound wave signal collection array with multiple collection channels, a gating module, an analog-digital conversion module and a processing module, the sound wave signal collection array is used for collecting sound wave signals of a target object through the multiple collection channels, the multiple collection channels are connected with the input end of the gating module, the processing module is connected with the control end of the gating module, so that the processing module sends a time-sharing control signal to the gating module, the gating module performs time-sharing gating on the multiple collection channels according to the time-sharing control signal, the output end of the gating module is connected with the input end of the analog-digital conversion module, and the output end of the analog-digital conversion module is connected with the processing module, so that the processing module performs positioning on the target object according to the analog-digital converted sound wave signals. The collection channels are time-shared and gated, the number of analog-digital conversion modules is reduced, and the circuit is miniaturized and low-cost.

[0040] In order to make the above objectives, features and advantages of the present application more apparent, the following will describe a preferred embodiment in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to make the above objectives, features and advantages of the present application more apparent, the following will describe a preferred embodiment in detail with reference to the accompanying drawings.

[0042] Figure 1 Structure diagram of the sonar system provided by the embodiment of the present application Figure One ;

[0043] Figure 2 Structure diagram of the sonar system provided by the embodiment of the present application Figure Two ;

[0044] Figure 3 Flowchart of the signal collection method based on the sonar system provided by the embodiment of the present application Figure One ;

[0045] Figure 4 Flowchart of the signal collection method based on the sonar system provided by the embodiment of the present application Figure Two ;

[0046] Figure 5 Flowchart of the signal collection method based on the sonar system provided by the embodiment of the present application Figure Three ;

[0047] Figure 6 Flowchart of the signal collection method based on the sonar system provided by the embodiment of the present application Figure Four;

[0048] Figure 7 Flowchart of the signal acquisition method based on the sonar system provided by the embodiment of the present application Figure Five ;

[0049] Figure 8 Schematic diagram of the acquisition channel switching process provided by the embodiment of the present application

[0050] Figure 9 A specific circuit structure of a sonar system provided by the embodiment of the present application Figure One ;

[0051] Figure 10 A specific circuit structure of a sonar system provided by the embodiment of the present application Figure Two . DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0053] In the sound wave signal acquisition preprocessing system, due to the relatively low frequency of the sound wave, according to the Nyquist sampling theorem, a megahertz-level sampling rate per second is sufficient to meet the high-quality sampling requirement. With the rapid development of the integrated circuit field in recent years, a breakthrough has been made in high-speed sampling rate, and a hundred-megahertz-level sampling rate per second has been widely popularized in the communication field.

[0054] In the existing sonar system, a 300 kHz sound wave signal is used, a 900 kHz sampling rate is adopted, and 48 sub-boards are shared by 2304 channels of received signals. Each sub-board includes a plurality of analog-to-digital conversion modules. The entire sonar signal acquisition and processing system is large in size and high in cost.

[0055] Based on this, in order to realize the size reduction and cost reduction of the large sonar system, the application provides a sonar system and a signal collection method based on the sonar system. Based on the characteristic that the sampling rate of the analog-digital conversion module is much higher than the sampling rate of each channel of the sound wave collection array in the sonar system, the multiple channels of the sound wave collection array of the large sonar system are evenly grouped, a gating module is used to form a hierarchical gating structure, a control signal of the gating module is generated by a processor, so as to output the time-sharing gated collection channels to the analog-digital conversion module, and the analog-digital conversion module performs sampling, holding and analog-digital conversion, so that the number of analog-digital conversion modules is significantly reduced, the overall circuit system is miniaturized, and the hardware cost is significantly reduced.

[0056] The application will be described below in combination with Figures 1-2 The sonar system provided by the application will be described.

[0057] Figure 1 The structure of the sonar system provided by the embodiment of the application is shown in Figure One As shown in the figure, the sonar system comprises a sound wave signal collection array 10 having multiple collection channels, a gating module 20, an analog-digital conversion module 30 and a processing module 40. Figure 1 The sound wave signal collection array 10 is used to collect the sound wave signals of the target object through the multiple collection channels. The multiple collection channels are connected with the input end of the gating module 20, and the processing module 40 is connected with the control end of the gating module 20, so that the processing module 40 sends a time-sharing control signal to the gating module 20, and the gating module 20 performs time-sharing gating on the multiple collection channels according to the time-sharing control signal.

[0058] The output end of the gating module 20 is connected with the input end of the analog-digital conversion module 30, so that the analog-digital conversion module 30 performs analog-digital conversion on the sound wave signals of the time-sharing gated collection channels. The output end of the analog-digital conversion module 30 is connected with the processing module 40, so that the processing module 40 performs positioning on the target object according to the analog-digital converted sound wave signals.

[0059] The target object can be a to-be-positioned object moving in water, and the processing module 40 can be realized by a Field Programmable Gate Array (FPGA) chip.

[0060]

[0061] ​The processing module 40 sends a time-sharing control signal to the gating module 20, and the time-sharing control signal is used to request the gating module 20 to gate different acquisition channels at different time points. The gating module 20 is used to determine the gated acquisition channels from the multiple acquisition channels of the sound wave acquisition array 10 according to the time-sharing control signal. The number of the gated acquisition channels can be determined according to the gating ratio of the gating module 20. The gating ratio is the input-output ratio, that is, the number of input channels and the number of output channels. For example, the gating ratio is m:1, that is, the number of input channels is m, the number of output channels is 1, and the number of the gated acquisition channels is 1.

[0062] The time-sharing gating can be understood as gating different acquisition channels at different time points. That is, the gating module switches the acquisition channels, and the analog-digital conversion module converts the sound wave signals of the acquisition channels gated at each time point into digital signals. Compared with the prior art, the number of analog-digital conversion modules is greatly reduced.

[0063] In some embodiments, the number of input channels of the gating module 20 is the same as the number of the multiple acquisition channels of the sound wave signal acquisition array 10. In this way, the gating module 20 can gate the multiple acquisition channels according to the time-sharing control signal. For example, one acquisition channel is gated at each time point. In this way, one analog-digital conversion module can be used to convert the sound wave signals of the acquisition channels gated in a time-sharing manner into digital signals.

[0064] It is worth noting that the processing module 40 can have two output terminals. One output terminal is connected to the control terminal of the gating module 20 to send the time-sharing control signal to the gating module 20. The other output terminal is connected to an external computer device to send the positioning information of the target object to the external computer device.

[0065] It can be understood that the number of time-sharing control signals can be multiple, that is, there is a group of time-sharing control signals. Each time-sharing control signal is used to request the gating module 20 to gate the corresponding acquisition channel at the corresponding time point. In addition, the time-sharing control signal can be periodically sent to traverse the acquisition channels in a periodic cycle.

[0066] In the sonar system of the embodiment, the multiple acquisition channels are connected to the input terminal of the gating module, the processing module is connected to the control terminal of the gating module, so that the processing module sends the time-sharing control signal to the gating module, and the gating module gates the multiple acquisition channels in a time-sharing manner according to the time-sharing control signal. The output terminal of the gating module is connected to the input terminal of the analog-digital conversion module, and the output terminal of the analog-digital conversion module is connected to the processing module, so that the processing module positions the target object according to the analog-digital converted sound wave signals. By gating the acquisition channels in a time-sharing manner, the number of analog-digital conversion modules is reduced, and the miniaturization and low cost of the circuit are realized.

[0067] Figure 2Structure of a sonar system provided by an embodiment of the present application Figure Two As shown in Figure 2 The plurality of acquisition channels correspond to a plurality of acquisition channel groups, and the gating module 20 includes a plurality of gating units 21, each of which includes a multi-stage gating unit, and the analog-digital conversion module 30 includes a plurality of analog-digital conversion chips 31.

[0068] The input end of the first-stage gating unit in each gating unit 21 is connected to the acquisition channels in the corresponding acquisition channel group of the plurality of acquisition channel groups, the output end of the last-stage gating unit in each gating unit is connected to one of the plurality of analog-digital conversion chips 31, and the input end of the gating unit other than the first-stage gating unit in the multi-stage gating unit is connected to the output end of the previous-stage gating unit.

[0069] Each acquisition channel group corresponds to one gating unit 21 and one analog-digital conversion chip 31, and each acquisition channel group includes a plurality of acquisition channels.

[0070] For each gating unit 21, the gating unit 21 includes a multi-stage gating unit, the input end of the first-stage gating unit in each gating unit is connected to the acquisition channels in the corresponding acquisition channel group, that is, the first-stage gating unit is configured to gate the plurality of acquisition channels in the corresponding acquisition channel group according to the time-sharing control signal to determine the gated acquisition channels from the plurality of acquisition channels in the corresponding acquisition channel group, and the intermediate-stage gating unit between the first-stage gating unit and the last-stage gating unit is configured to gate the plurality of acquisition channels input to the intermediate-stage gating unit according to the time-sharing control signal to determine the gated acquisition channels from the plurality of acquisition channels input to the intermediate-stage gating unit.

[0071] Similarly, the last-stage gating unit is configured to gate the plurality of acquisition channels input to the last-stage gating unit according to the time-sharing control signal to determine the gated acquisition channels from the plurality of acquisition channels input to the last-stage gating unit, the output end of the last-stage gating unit is connected to one of the plurality of analog-digital conversion chips 31, and the analog-digital conversion chip 31 is configured to perform analog-digital conversion on the sound wave signals of the acquisition channels gated by the last-stage gating unit, so that for each acquisition channel group, only one analog-digital conversion module is needed to perform analog-digital conversion on the sound wave signals of the gated acquisition channels.

[0072] The input end of the gating unit other than the first-stage gating unit in the multi-stage gating unit is connected to the output end of the previous-stage gating unit, the gating unit other than the first-stage gating unit includes the last-stage gating unit and the intermediate-stage gating unit, and the intermediate-stage gating unit is the gating unit between the first-stage gating unit and the last-stage gating unit.

[0073] The output ends of the plurality of analog-to-digital conversion chips 31 are connected to the processing module 40, and the processing module 40 is configured to position the target object according to the analog-to-digital converted sound wave signals output by the plurality of analog-to-digital conversion chips 31.

[0074] It is worth noting that the processing module 40 can generate a set of time-sharing control signals for different acquisition channel groups, and different acquisition channel groups can share the same set of time-sharing control signals. The control timing of the plurality of acquisition channel groups can be completely consistent. For example, the first group of acquisition channels and the second group of acquisition channels, the first level gating unit of the first group of acquisition channels selects the first channel (such as the channel corresponding to the 1S1 pin), and the first level gating unit of the second group of acquisition channels also selects the channel corresponding to the 1S1 pin. The same applies to other channels, which will not be described here. Through the design of the time-sharing control signal, the miniaturization and low cost of the circuit are realized.

[0075] In the sonar system of the embodiment, the plurality of acquisition channels correspond to a plurality of acquisition channel groups, the gating module includes a plurality of gating units, each gating unit includes a plurality of level gating units, and the analog-to-digital conversion module includes a plurality of analog-to-digital conversion chips. The gating structure with gating level is adopted, the number of analog-to-digital conversion modules is reduced, and the miniaturization and low cost of the circuit are realized.

[0076] In an optional embodiment, the last level gating unit of the plurality of level gating units includes one gating chip, and the first level gating unit and the intermediate level gating unit of the plurality of level gating units include at least two gating chips.

[0077] The input ends of the at least two gating chips of the first level gating unit are connected to the acquisition channels of the corresponding acquisition channel group, the output end of the one gating chip of the last level gating unit is connected to one analog-to-digital conversion chip, and the input ends of the at least two gating chips of the non-first level gating unit of the plurality of level gating units are connected to the output ends of the previous level gating units.

[0078] The gating units of the non-first level gating unit include the last level gating unit and the intermediate level gating unit, and the intermediate level gating unit is the gating unit between the first level gating unit and the last level gating unit.

[0079] The input ends of the at least two gating chips of the first gating unit are connected with the acquisition channels of the corresponding acquisition channel group, the at least two gating chips of the first gating unit are used to time-share gate the plurality of acquisition channels of the corresponding acquisition channel group according to the time-share control signal, so as to determine the gated acquisition channels from the plurality of acquisition channels of the corresponding acquisition channel group, the at least two gating chips of the non-first gating unit are used to time-share gate the plurality of acquisition channels input to the non-first gating unit according to the time-share control signal, so as to determine the gated acquisition channels from the plurality of acquisition channels input to the non-first gating unit, and one of the gating chips of the last gating unit is connected with one of the analog-to-digital conversion chips corresponding to the acquisition channel group of the last gating unit, so as to perform analog-to-digital conversion on the sound wave signals of the acquisition channels time-share gated by the last gating unit.

[0080] For example, the input ends of the at least two gating chips of the second gating unit are connected with the output ends of the at least two gating chips of the first gating unit.

[0081] It should be noted that the gating chip in the embodiment can be a multiplexer gating chip, for example, can be TS3A5017.

[0082] In the sonar system in the embodiment, the last gating unit in the multi-level gating unit includes one gating chip, and the first gating unit and the intermediate gating unit in the multi-level gating unit include at least two gating chips. The gating structure with gating hierarchy and the design of the time-share control signal reduce the number of analog-to-digital conversion modules, and realize the miniaturization and low cost of the circuit.

[0083] In an optional embodiment, each gating chip includes at least two gates, and one analog-to-digital conversion chip includes at least two analog-to-digital converters.

[0084] The output ends of the at least two gates of one gating chip are respectively connected with the at least two analog-to-digital converters, the input ends of the at least two gates of the first gating unit are connected with the acquisition channels of the corresponding acquisition channel group, and the input ends of the at least two gates of the other gating units are respectively connected with the output ends of the at least two gates of the gating chips of the previous gating unit.

[0085] For the first level gating unit, at least two of the gating chips are configured to determine the gated acquisition channels from the plurality of acquisition channels input to the corresponding gating chip according to the time-sharing control signal.

[0086] For the last level gating unit, at least two of the gating chips are configured to determine the gated acquisition channels from the plurality of acquisition channels input to the corresponding gating chip according to the time-sharing control signal.

[0087] Based on the above embodiments, the following will be described in combination with Figures 3-7 The signal acquisition method based on the sonar system provided in the present application solves the problem in the same principle as the sonar system described above, and therefore, the specific implementation process of the method can be referred to the related description of the sonar system described above.

[0088] Figure 3 The signal acquisition method based on the sonar system provided in the present application solves the problem in the same principle as the sonar system described above, and therefore, the specific implementation process of the method can be referred to the related description of the sonar system described above. Figure One As shown in the method, the method can include the following steps. Figure 3

[0089] S101, the sound wave signal acquisition array in the sonar system acquires the sound wave signal of the target object through the plurality of acquisition channels.

[0090] S102, the processing module in the sonar system sends the time-sharing control signal to the gating module.

[0091] S103, the gating module in the sonar system gates the plurality of acquisition channels according to the time-sharing control signal.

[0092] S104, the analog-digital conversion module in the sonar system converts the sound wave signal of the gated acquisition channel into digital signal.

[0093] The sonar system can be the sonar system described above. Figures 1-3 The sonar system described above.

[0094] ​In actual application, the sound wave signal collection array in the sonar system has multiple collection channels through which the sound wave signals of the target object can be collected, the processing module generates a time-sharing control signal and sends it to the gating module.

[0095] The gating module gates the multiple collection channels in time according to the time-sharing control signal, that is, different collection channels are gated at different time instants, and the sound wave signals of the gated collection channels are sent to the analog-to-digital converter.

[0096] The analog-to-digital converter converts the sound wave signals of the gated collection channels into digital signals to obtain the converted sound wave signals, which are used for positioning the target object. The analog-to-digital converter can send the converted sound wave signals to the processing module, which performs digital signal processing according to the converted sound wave signals to position the target object.

[0097] It is worth noting that the complete analog-to-digital conversion process includes sampling, holding and analog-to-digital conversion, which can be referred to the related description of the prior art and will not be repeated here.

[0098] In the signal collection method based on the sonar system in the embodiment, the sound wave signal collection array in the sonar system collects the sound wave signals of the target object through multiple collection channels, the processing module in the sonar system sends a time-sharing control signal to the gating module, the gating module in the sonar system gates the multiple collection channels in time according to the time-sharing control signal, the analog-to-digital conversion module in the sonar system converts the sound wave signals of the gated collection channels into digital signals, and the processing module in the sonar system positions the target object according to the converted sound wave signals. By gating the collection channels in time, the number of analog-to-digital conversion modules is reduced, and the circuit is miniaturized and low-cost.

[0099] Figure 4 Flowchart of the signal collection method based on the sonar system provided by the embodiment Figure Two As shown in Figure 4 In an optional embodiment, the gating module in the sonar system gates the multiple collection channels in time according to the time-sharing control signal, which can include:

[0100] S201, the first gating unit in the multi-stage gating unit gates the collection channels in the corresponding collection channel group in the multiple collection channel groups in time according to the time-sharing control signal, and outputs the first collection channel.

[0101] The multiple collection channels correspond to multiple collection channel groups, the gating module includes multiple gating units, each gating unit includes a multi-stage gating unit, and the analog-to-digital conversion module includes multiple analog-to-digital conversion chips.

[0102] Each acquisition channel group corresponds to a gating unit and an analog-to-digital conversion chip, and each acquisition channel group includes a plurality of acquisition channels.

[0103] For each acquisition channel, the first gating unit gates the acquisition channels in the corresponding acquisition channel group in the plurality of acquisition channel groups according to the time-sharing control signal, and outputs a first acquisition channel, which is the acquisition channel gated by the first gating unit from the acquisition channels in the corresponding acquisition channel group.

[0104] S202, the second gating unit in the multi-stage gating unit gates the first acquisition channel according to the time-sharing control signal, and outputs a second acquisition channel, until the last gating unit in the multi-stage gating unit outputs a target acquisition channel.

[0105] The second gating unit gates the first acquisition channel according to the time-sharing control signal, and outputs a second acquisition channel, which is the acquisition channel gated by the second gating unit from the first acquisition channel input to the second gating unit, and the step is repeated, and the multi-stage gating unit is gated respectively, until the last gating unit outputs a target acquisition channel according to the time-sharing control signal, which is the acquisition channel gated by the last gating unit from the acquisition channel input to the last gating unit.

[0106] It can be understood that the number of first acquisition channels can be determined according to the gating ratio of the first gating unit, for example, the gating ratio is m:1, that is, the number of input channels is m, and the number of output channels is 1, that is, the number of gated acquisition channels is 1.

[0107] Similarly, the number of second acquisition channels can be determined according to the gating ratio of the second gating unit, and the number of target acquisition channels can be determined according to the gating ratio of the last gating unit, which can be 1, and the number of acquisition channels output by other gating units is similar.

[0108] Correspondingly, in step S104, the analog-to-digital conversion module in the sonar system performs analog-to-digital conversion on the sound wave signal of the gated acquisition channel, which can include:

[0109] S203, the corresponding analog-to-digital conversion chip in the analog-to-digital conversion module performs analog-to-digital conversion on the sound wave signal of the target acquisition channel.

[0110] For each acquisition channel, the analog-to-digital conversion chip performs analog-to-digital conversion on the sound wave signal of the target acquisition channel output by the last gating unit, to obtain an analog-to-digital converted sound wave signal, and transmits the analog-to-digital converted sound wave signal to a processing module to locate a target object.

[0111] In the signal acquisition method based on the sonar system in the embodiment, the first gating unit in the multi-stage gating unit performs time-sharing gating on the acquisition channels in the corresponding acquisition channel group in the plurality of acquisition channel groups according to the time-sharing control signal, and outputs a first acquisition channel. The second gating unit in the multi-stage gating unit performs time-sharing gating on the first acquisition channel according to the time-sharing control signal, and outputs a second acquisition channel. The last gating unit in the multi-stage gating unit outputs a target acquisition channel. The corresponding analog-to-digital conversion chip in the analog-to-digital conversion module performs analog-to-digital conversion on the sound wave signal of the target acquisition channel. The gating structure with gating hierarchy is adopted, the number of analog-to-digital conversion modules is reduced, and the miniaturization and low cost of the circuit are realized.

[0112] Figure 5 Flowchart of the signal acquisition method based on the sonar system provided in the embodiment Figure Three As shown in Figure 5 In an optional embodiment, step S201, the first gating unit in the multi-stage gating unit performs time-sharing gating on the acquisition channels in the corresponding acquisition channel group in the plurality of acquisition channel groups according to the time-sharing control signal, and outputs a first acquisition channel, including:

[0113] S301, the at least two gating chips of the first gating unit perform time-sharing gating on the acquisition channels in the corresponding acquisition channel group according to the time-sharing control signal, and output a first acquisition channel.

[0114] In the embodiment, the last gating unit in the multi-stage gating unit includes one gating chip, and the other gating units in the multi-stage gating unit except the last gating unit include at least two gating chips.

[0115] The at least two gating chips of the first gating unit perform time-sharing gating on the acquisition channels in the corresponding acquisition channel group according to the time-sharing control signal, and output a first acquisition channel. Each gating chip can output one first acquisition channel, so the number of first acquisition channels in this step is at least two.

[0116] It is worth noting that the gating ratio of each gating chip can be m:1, that is, each gating chip outputs one acquisition channel, and the gating chip has m input ends, that is, m acquisition channel inputs are input to the gating chip through the m input ends.

[0117] Correspondingly, step S202, the second gating unit in the multi-stage gating unit performs time-sharing gating on the first acquisition channel according to the time-sharing control signal, and outputs a second acquisition channel, until the last gating unit in the multi-stage gating unit outputs a target acquisition channel, including:

[0118] S302, the at least two gating chips of the second gating unit gate the first acquisition channels according to the time-sharing control signals, and output the second acquisition channels, until one gating chip of the last gating unit outputs the target acquisition channel.

[0119] Each gating chip of the second gating unit gates the first acquisition channels input into the gating chip respectively according to the time-sharing control signals, to gate the second acquisition channels from the first acquisition channels input into the gating chip, and each gating chip can output one second acquisition channel, so the number of the second acquisition channels output in this step is at least two.

[0120] This step is repeated to gate through the multi-level gating units, until one gating chip of the last gating unit gates the acquisition channels input into the gating chip according to the time-sharing control signals, and outputs the target acquisition channel.

[0121] In the signal acquisition method based on the sonar system in this embodiment, the at least two gating chips of the first gating unit gate the acquisition channels grouped according to the corresponding acquisition channels according to the time-sharing control signals, and output the first acquisition channels, the at least two gating chips of the second gating unit gate the first acquisition channels according to the time-sharing control signals, and output the second acquisition channels, until one gating chip of the last gating unit outputs the target acquisition channel. The gating structure with gating levels is adopted, the number of analog-to-digital conversion modules is reduced, and the miniaturization and low cost of the circuit are realized.

[0122] Figure 6 Flowchart of the signal acquisition method based on the sonar system provided in the embodiments of the present application Figure Four As shown in Figure 6 , the number of the acquisition channel groups is determined by the following steps:

[0123] S401, the first sampling rate of the corresponding analog-to-digital conversion chip and the second sampling rate of each acquisition channel are obtained.

[0124] S402, the plurality of acquisition channels are grouped according to the first sampling rate and the second sampling rate, to obtain the number of the plurality of acquisition channel groups.

[0125] For each acquisition channel group, the corresponding analog-to-digital conversion chip is the analog-to-digital conversion chip corresponding to the acquisition channel group, the first sampling rate is the sampling rate of the analog-to-digital conversion chip, and the second sampling rate is the sampling rate of each acquisition channel in the acoustic signal acquisition array.

[0126] The rate ratio of the first sampling rate and the second sampling rate is calculated, for example, the first sampling rate is F s , and the second sampling rate is fs , the rate ratio n of the first sampling rate F s and the second sampling rate f s is calculated, that is:

[0127] n = F s / f s

[0128] Wherein, n represents the number of acquisition channels included in each group of the sampling channel group.

[0129] Then, according to the rate ratio, the plurality of acquisition channels are grouped to obtain the group number of the plurality of acquisition channel groups, that is, the plurality of acquisition channels are evenly grouped with n acquisition channels as a group to obtain the group number of the plurality of acquisition channel groups, that is:

[0130] p = N / n

[0131] Wherein, N is the number of the plurality of acquisition channels of the sound wave signal acquisition array, and p is the group number of the plurality of acquisition channel groups.

[0132] It is worth noting that the plurality of acquisition channels can also be grouped according to the number of the gate in the gate chip, the first sampling rate and the second sampling rate to obtain the group number of the plurality of acquisition channel groups, that is: according to n = F s *x / f s , the number n of acquisition channels included in each group of the sampling channel group is calculated, x is the number of the gate in the gate chip, that is, the number of channels of the gate chip, and then the plurality of acquisition channels are evenly grouped with n acquisition channels as a group to obtain the group number of the plurality of acquisition channel groups.

[0133] It is worth noting that since F s is much larger than f s , the running clock of F s is adjusted to make F s / f s divisible, and N / n is not necessarily divisible, for example, 1000 channels divided by 64 is not divisible, and the last group has 40 channels, and the input of the idle 24 channels is grounded.

[0134] Figure 7 Flowchart of the signal acquisition method based on the sonar system provided by the embodiment of the application Figure Five As shown in Figure 7 , the number of at least two gate chips in the multi-stage gate unit is determined by the following steps:

[0135] S501, according to the gate ratio of the at least two gate chips, the acquisition channels of each acquisition channel group are divided to obtain the number of the at least two gate chips of the first-stage gate unit.

[0136] According to the gating ratio of the at least two gating chips in the multi-stage gating unit, the acquisition channels of each acquisition channel group are grouped to obtain the number of the at least two gating chips of the first-stage gating unit.

[0137] The gating ratio of the gating chip can be m: 1, that is, the number of input channels is m and the number of output channels is 1. According to the number m of input channels, the acquisition channels of each acquisition channel group are grouped, that is, m acquisition channels are taken as a group, and the acquisition channels of each acquisition channel group are evenly divided to obtain the number of the at least two gating chips of the first-stage gating unit, that is, n / m.

[0138] Taking the gating ratio m: 1 as an example, one gating chip corresponds to one output result, and the number of n / m gating chips corresponds to n / m output results.

[0139] S502, according to the gating ratio, the acquisition channels input to the intermediate-stage gating unit are divided to obtain the number of the at least two gating chips of the intermediate-stage gating unit.

[0140] The intermediate-stage gating unit is a gating unit other than the first-stage gating unit and the last-stage gating unit in the multi-stage gating unit.

[0141] According to the gating ratio, the acquisition channels input to the intermediate-stage gating unit are further divided, that is, m acquisition channels are taken as a group, and the acquisition channels input to the intermediate-stage gating unit are divided to obtain the number of the at least two gating chips of the intermediate-stage gating unit.

[0142] That is, for each acquisition channel group, the n / m output results are further divided, and the step is repeated until the target acquisition channel is output by the last-stage gating unit. The number of the target acquisition channel can be 1.

[0143] The number of the gating chips of the last-stage gating unit is 1.

[0144] In the signal acquisition method based on the sonar system in the embodiment, according to the gating ratio of the at least two gating chips, the acquisition channels of each acquisition channel group are divided to obtain the number of the at least two gating chips of the first-stage gating unit, and according to the gating ratio, the acquisition channels input to the intermediate-stage gating unit are divided to obtain the number of the at least two gating chips of the intermediate-stage gating unit. The number of the gating chips of each stage is calculated to form a gating structure with hierarchy.

[0145] It is worth mentioning that the processing module generates the time-sharing control signal required by the multiplexer gating chip of the hierarchical structure, and the first acquisition channel group is sequentially cycled through each acquisition channel of the gating group from the first channel, the second channel, …, the nth channel, the first channel, the second channel, …, the nth channel, the first channel, and so on. The analog-to-digital conversion chip of the p acquisition channel groups samples, holds, and analog-to-digital converts the analog sound wave signal of the n acquisition channels traversed in S4 at a first sampling rate F s , and sequentially and periodically outputs the converted sound wave signals of the first channel, the second channel, …, and the nth channel. Then, the converted sound wave signals are transmitted to the processing module for subsequent digital signal processing.

[0146] In an optional embodiment, the method can further include:

[0147] When the analog-to-digital conversion module performs the sampling operation in the analog-to-digital conversion of the sound wave signal of the currently time-shared gated acquisition channel, the processing module sends the next time-sharing control signal to the gating module.

[0148] The number of time-sharing control signals can be multiple, that is, a group of time-sharing control signals sent in time sequence. The processing module in the sonar system sends the current time-sharing control signal to the gating module. The gating module gates the multiple acquisition channels according to the current time-sharing control signal. The analog-to-digital conversion module performs the sampling operation in the analog-to-digital conversion of the sound wave signal of the currently time-shared gated acquisition channel. When the analog-to-digital conversion module performs the sampling operation on the sound wave signal of the currently time-shared gated acquisition channel, the processing module generates the next time-sharing control signal of the current time-sharing control signal and sends it to the gating module. The currently time-shared gated acquisition channel is the acquisition channel gated according to the current time-sharing control signal.

[0149] The generation time of the next time-sharing control signal is aligned with the rising edge of the sampling clock in the analog-to-digital conversion module, which is the clock corresponding to the sampling operation in the analog-to-digital conversion module. That is, the next time-sharing control signal is sent to the gating module at the beginning of the current analog-to-digital conversion. In this way, the gating module can gate the acquisition channels according to the next time-sharing control signal. When the sound wave signal transmitted to the analog-to-digital conversion module next time is analog-to-digital converted, the channel switching is completed in advance, ensuring the stability of the signal during the channel switching process. This can prepare a stable signal input for the next analog-to-digital conversion operation in advance, avoid the close time interval between the next analog-to-digital conversion and the channel switching, and cause errors in the next analog-to-digital conversion due to the signal fluctuations caused by the channel switching.

[0150] In this way, the output of the gating module is switched to the corresponding acquisition channel in advance, and after a propagation delay of about 5 ns, the sound wave signal after channel switching is stably input to the analog-to-digital conversion module for sampling, holding and analog-to-digital conversion output, and is transmitted to the processing module for subsequent digital signal processing.

[0151] Figure 8 A schematic diagram of the acquisition channel switching process provided by the embodiments of the present application is shown in FIG. 1, which takes the example of mutual switching between two channels. Figure 8 As shown in FIG. 1, channel switching occurs at time t1, the input end of the analog-to-digital conversion module selects the analog sound wave signal input of acquisition channel 2 before time t1, t1-t2 is the signal fluctuation process caused by switching acquisition channel 2 to acquisition channel 1, at time t2, the signal switching enters a stable state, at this time, the signal waveform output by the gating module (i.e., the waveform after switching in FIG. 1) is the signal waveform input by acquisition channel 1 to the input end of the analog-to-digital conversion module, at time t3, the sample and hold circuit module in the analog-to-digital conversion module enters a holding state, at this time, the amplitude of the input signal will be used for analog-to-digital conversion, and the generation of the analog-to-digital conversion result will be completed before the rising edge of the input clock (i.e., ADC CLK in FIG. 1) of the analog-to-digital conversion module, at time t4, that is, when the rising edge of the input clock of the analog-to-digital conversion module outputs the analog-to-digital conversion result from the analog-to-digital conversion module to the processing module, the time-sharing control signal for the next switching is generated, that is, switching from channel 1 back to channel 2, and similarly, the process of t5-t12 is similar. Figure 8 Figure 8 In some embodiments, to avoid the channel switching delay accumulation that may be caused by the hierarchical gating structure, the time-sharing control signal of the hierarchical gating structure can also be optimized, and the default output channel of each gating chip is set as the preset first input channel of each gating chip, for example, the gating chip includes a first gate and a second gate, the preset first input channel of the first gate is the channel corresponding to the 1S1 pin, and the preset first input channel of the second gate is the channel corresponding to the 2S1 pin.

[0152] That is, before the gating chip receives the time-sharing control signal, the default gating channel is the preset first input channel of each gate.

[0153] The following describes a sonar system provided by the present application with a specific circuit structure.

[0154] The following describes a sonar system provided by the present application with a specific circuit structure.

[0155] ​Take a large sonar collection array with 32 rows x 32 columns and a total of 1024 channels as an example, according to the usual practice: 1024 analog-to-digital converters (ADCs) are needed. For example, using an integrated 8-channel ADC chip, 128 ADC chips are needed. The ADC chip and its surrounding resistance, capacitance, inductance network, and power supply system will cause the size of the sonar system to be abnormally large, often requiring multiple sub-boards to be spliced together, resulting in increased cost, reduced reliability, and other adverse effects. In this application, only one sub-board is needed to achieve this, and the main circuit is composed of an FPGA chip, 8 ADC chips, and 88 multiplexer gating chips.

[0156] Wherein, the FPGA model can be XC7S100-2FFGA676I, up to 400 general-purpose input / output (I / O) interfaces, the ADC chip can use LTC2294 from Linear Technology, which has a dual-channel structure, i.e., two parallel working ADCs, with a maximum sampling rate of 80 MSPS, and the multiplexer gating chip can use TS3A5017, which has two MUX units (i.e., gates) inside, each MUX unit has 4 channel inputs and 1 channel output, and the total number of input and output channels is 8 input and 2 output per chip, with a typical input / output gating switching time of 5 ns, and the sampling rate requirement for each receiving channel of the sonar array is 1.25 million samples per second (MSPS).

[0157] The specific implementation process is as follows:

[0158] Step 1: According to the sampling rate of the dual-channel ADC chip 80 MSPS and the sampling rate of a single collection channel of the sound wave signal collection array 1.25 MSPS, determine the maximum number of channels each group can support, i.e., n = 80 x 2 / 1.25 = 128, wherein 2 represents the number of channels of the ADC chip, i.e., the number of analog-to-digital converters in the ADC chip.

[0159] Wherein, the first 64 channels (i.e., CH01-CH64) correspond to ADC#1 (i.e., analog-to-digital converter #1) of the same ADC chip, and the last 64 channels (i.e., CH65-CH128) correspond to ADC#2. Divide the 1024 channels of the sound wave signal collection array into 8 groups, i.e., p = 1024 / 128 = 8, with the first 128 channels being the first group, the 129th to 256th channels being the second group, and so on.

[0160] Step 2: According to the input-output ratio 4:1 of the gating chip, the first half of the first group, i.e., the first channel to the 64th channel, is continuously gated every 4 channels, and 64 / 4=16 first-level intermediate result outputs are obtained. The second half of the first group, i.e., the 65th channel to the 128th channel, is also divided in the same way, and 16 first-level intermediate result outputs are obtained.

[0161] Correspondingly, the second, third, …, and eighth groups perform corresponding division and obtain corresponding 16+16 first-level intermediate result outputs, thereby realizing the first-level division of 1024 channels. Figure 9 A specific sonar system circuit structure is provided for the embodiments of the present application Figure One As shown in Figure 9 , it includes eight groups of acquisition channels, namely G#1, G#2, …, G#8. For G#1, it includes Block #1 and Block #2, wherein Block #1 corresponds to the first 64 channels, and Block #2 corresponds to the last 64 channels. G#2, …, G#8 are similar. Taking Block #1 as an example, it has 16 first-level intermediate result outputs (i.e., 16 acquisition channels are gated), and G#1 has 16+16 first-level intermediate result outputs.

[0162] Step 3: The 16 first-level intermediate outputs in the first half of the first group are continuously divided in the same way as step 2. According to the input-output ratio m=4:1, 4 second-level intermediate result outputs can be obtained. The second half of the first group also obtains 4 second-level intermediate result outputs, thereby realizing the average division of the second level. Further, the eight second-level intermediate result outputs are continuously gated by the multiplexer chip, and the first and second halves obtain one third-level result output, respectively. The gating output end is connected to the two ADC input ends of the analog-to-digital conversion chip.

[0163] Similarly, the second, third, …, and eighth groups perform the above operations, and finally form a three-layer structure of the gating circuit as shown in Figure 9 , which includes a first-level gating unit, a second-level gating unit, and a second-level gating unit. For Block #1, the first-level gating unit includes eight gating chips (i.e., 16 gates), the second-level gating unit includes two gating chips (4 gates), and the third-level gating unit includes one gating chip (2 gates). The input pins of the two gates of one gating chip are 1S1, 1S2, 1S3, 1S4, and 2S1, 2S2, 2S3, 2S4, respectively. For Block #2, the second, third, …, and eighth groups are similar.

[0164] Step 4: The FPGA generates the time-division control signals required by each gating chip in Steps 1 to 3, that is, it inputs the level to the control pins of each gating chip in the 3-layer structure to realize the time-division gating acquisition channel of the gating chip.

[0165] Taking block #1 of G#1, i.e., channels 1 to 64, as an example, each acquisition channel is selected according to the periodic traversal pattern from 1, 2, 3, ..., 64, 1, 2, 3, ..., 64, 1, 2, 3, ...

[0166] In order to ensure that the ADC samples correctly during the channel switching process, there is a signal transition time when the input of the gating chip switches the acquisition channel. In this case, the rising edge of the ADC's operating clock and the time-division control signal of the gating chip need to be designed with a phase interval. That is, at the rising edge of the ADC's sampling, the time-division control signal required for the next channel to be traversed can be generated immediately, so that the output of the gating chip switches to the corresponding acquisition channel. After a propagation delay of about 5ns, the switched signal is stably input to the input of the ADC. The ADC performs sampling, holding and analog-to-digital conversion output and transmits it to the FPGA for subsequent digital signal processing.

[0167] Furthermore, to avoid the potential accumulation of signal switching delays caused by the hierarchical gating chip with a three-layer structure, the control signals of the hierarchical gating chip are optimized. For any MUX unit of the gating chip, when all its input channels are in an unselected state, the time-division control signal is set to select either the channel corresponding to the first input channel (pin 1S1) or the channel corresponding to the second input channel (pin 2S1) as the output. Figure 10 A specific circuit structure of a sonar system provided in this application embodiment. Figure Two ,like Figure 10 As shown, the gating chip has two MUX units. The first input channels of the two MUX units are 1S1 and 2S1. Taking the switch from channel 32 to channel 33 as an example, except that the time-division control signal of the upper half of the MUX unit of the first-stage gating chip #4 and the second-stage gating chip #9 is set to select the fourth input as the output, the other first-stage and second-stage gating chips all default to selecting the first input channel, i.e., 1S1 or 2S1, as the output. When switching from channel 32 to channel 33, it is only necessary to switch the third-stage gating chip #11 from the second input to the third input. In this way, the signal switching delay time is still kept at about 5ns.

[0168] Similarly, the same operations are performed on groups 2, 3, ..., 8.

[0169] in, Figure 10 The upper half of the MUX unit of the first-level gating chip #4, the second-level gating chip #9, and the upper and lower MUX units of the third-level gating chip #11 are all in the selected state.

[0170] Step 5: The 2-way analog-digital conversion chip runs at a clock rate of 80MSPS, and samples, holds and converts the 128 channel analog input signals traversed in step 4 in time division, and transmits the converted digital signals to the FPGA for subsequent digital signal processing.

[0171] In conclusion, in the present application, for a large 32x32 sonar array, by using an ADC chip with a medium sampling rate much higher than the sampling channel of a single acoustic signal acquisition array, and a 3-layer hierarchical multiplexer gating chip, the signal sampling of 1024 sonar channels is realized. Compared with the prior art, only one low-cost FPGA chip, 8 medium sampling rate ADC chips and 88 multiplexer gating chips are needed to form a main circuit of a sub-board, which realizes the reduction of the size of the sonar system circuit, the significant reduction of the use amount of ADC chips and the obvious reduction of the cost, and thus the miniaturization and low cost of the large sonar array signal acquisition circuit device can be realized.

[0172] The present application also provides a computer readable storage medium, which stores a computer program, and the computer program is run by a processing module to execute the above-mentioned sonar system based signal acquisition method.

[0173] In the embodiments of the present application, the computer program can also execute other machine readable instructions when run by the processor, to execute the methods described in other embodiments, and the specific method steps and principles are described in the embodiments, and will not be described in detail here.

[0174] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings, and in addition, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0175] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present application, and are used to illustrate the technical solutions of the present application, but not to limit the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any person skilled in the art can make modifications or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features within the technical scope disclosed by the present application. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. All should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A sonar system, characterized in that, include: An acoustic signal acquisition array with multiple acquisition channels, a gating module, an analog-to-digital conversion module, and a processing module; The acoustic signal acquisition array is used to acquire acoustic signals of the target object through the multiple acquisition channels. The multiple acquisition channels are connected to the input terminal of the gating module, and the processing module is connected to the control terminal of the gating module, so that the processing module sends a time-division control signal to the gating module, and the gating module performs time-division gating of the multiple acquisition channels according to the time-division control signal. The output of the gating module is connected to the input of the analog-to-digital converter module, so that the analog-to-digital converter module performs analog-to-digital conversion on the acoustic signal of the time-division gating acquisition channel. The output of the analog-to-digital converter module is connected to the processing module, so that the processing module locates the target object based on the analog-to-digital converted acoustic signal. The multiple acquisition channels correspond to multiple acquisition channel groups, the gating module includes multiple gating units, each gating unit includes a multi-level gating unit, and the analog-to-digital conversion module includes multiple analog-to-digital conversion chips; In each gating unit, the input terminal of the first-level gating unit is connected to the acquisition channel of the corresponding acquisition channel group in the plurality of acquisition channel groups, the output terminal of the last-level gating unit in each gating unit is connected to one of the plurality of analog-to-digital converter chips, and the input terminal of the gating unit that is not the first-level gating unit in the multi-level gating unit is connected to the output terminal of the previous-level gating unit. The first-level gating unit is used to perform time-division gating on the acquisition channels of the corresponding acquisition channel group according to the time-division control signal. The intermediate-level gating unit between the first-level gating unit and the last-level gating unit is used to perform time-division gating on the acquisition channels input to the intermediate-level gating unit according to the time-division control signal. The last-level gating unit is used to perform time-division gating on the acquisition channels input to the last-level gating unit according to the time-division gating signal.

2. The sonar system according to claim 1, characterized in that, The last gating unit in the multi-level gating unit includes: a gating chip; the first gating unit and the intermediate gating unit in the multi-level gating unit include: at least two gating chips. In this configuration, the input terminals of at least two gating chips in the first-level gating unit are connected to the acquisition channels of the corresponding acquisition channel group, the output terminal of one gating chip is connected to the one analog-to-digital converter chip, and the input terminal of the gating unit that is not in the first-level gating unit is connected to the output terminals of at least two gating chips in the previous-level gating unit.

3. The sonar system according to claim 2, characterized in that, Each gating chip includes at least two gating devices, and the analog-to-digital converter chip includes at least two analog-to-digital converters. The outputs of at least two selectors of a selector chip are respectively connected to at least two analog-to-digital converters. The inputs of at least two selectors of the first-level selector unit are connected to the acquisition channels of the corresponding acquisition channel group. The inputs of at least two selectors of a non-first-level selector unit are respectively connected to the outputs of at least two selectors of the previous-level selector unit.

4. A signal acquisition method based on a sonar system, characterized in that, include: The acoustic signal acquisition array in the sonar system acquires the acoustic signal of the target object through multiple acquisition channels, and the sonar system is the sonar system according to any one of claims 1-3; The processing module in the sonar system sends a time-division control signal to the gating module; The gating module in the sonar system performs time-division gating of the multiple acquisition channels according to the time-division control signal; The analog-to-digital conversion module in the sonar system performs analog-to-digital conversion on the acoustic signals from the selected acquisition channels, and the converted acoustic signals are used to locate the target object. The multiple acquisition channels correspond to multiple acquisition channel groups, the gating module includes multiple gating units, each gating unit includes a multi-level gating unit, and the analog-to-digital conversion module includes multiple analog-to-digital conversion chips; The gating module in the sonar system performs time-division gating of the multiple acquisition channels according to the time-division control signal, including: The first-level gating unit in the multi-level gating unit performs time-division gating on the acquisition channels of the corresponding acquisition channel group in the multiple acquisition channel groups according to the time-division control signal, and outputs the first acquisition channel; The second-level gating unit in the multi-level gating unit performs time-division gating on the first acquisition channel according to the time-division control signal and outputs the second acquisition channel until the last-level gating unit in the multi-level gating unit outputs the target acquisition channel. The analog-to-digital conversion module performs analog-to-digital conversion on the acoustic wave signals of the selected acquisition channels, including: The analog-to-digital conversion chip in the analog-to-digital conversion module performs analog-to-digital conversion on the acoustic signal of the target acquisition channel.

5. The method according to claim 4, characterized in that, The last gating unit in the multi-level gating unit includes: one gating chip; the other gating units in the multi-level gating unit, excluding the last gating unit, include: at least two gating chips. The first-level gating unit in the multi-level gating unit performs time-division gating on the acquisition channels of the corresponding acquisition channel group in the multiple acquisition channel groups according to the time-division control signal, and outputs the first acquisition channel, including: The at least two selection chips of the first-level selection unit perform time-division selection of the acquisition channels of the corresponding acquisition channel group according to the time-division control signal, and output the first acquisition channel; The second-level gating unit in the multi-level gating unit performs time-division gating on the first acquisition channel according to the time-division control signal, and outputs the second acquisition channel, until the last-level gating unit in the multi-level gating unit outputs the target acquisition channel, including: The at least two gating chips of the second-level gating unit perform time-division gating of the first acquisition channel according to the time-division control signal and output the second acquisition channel until the gating chip of the last-level gating unit outputs the target acquisition channel.

6. The method according to claim 5, characterized in that, The number of groups for the multiple acquisition channels is determined by the following steps: Obtain the first sampling rate of the corresponding analog-to-digital converter chip, and the second sampling rate of each acquisition channel; Based on the first sampling rate and the second sampling rate, the plurality of acquisition channels are grouped to obtain the number of groups for the plurality of acquisition channels.

7. The method according to claim 5 or 6, characterized in that, The number of at least two gating chips in the multi-level gating unit is determined by the following steps: Based on the gating ratio of the at least two gating chips, the acquisition channels of each acquisition channel group are divided to obtain the number of the at least two gating chips in the first-level gating unit; Based on the gating ratio, the acquisition channel input to the intermediate gating unit is divided to obtain the number of at least two gating chips in the intermediate gating unit. The intermediate gating unit is the gating unit other than the first gating unit and the last gating unit in the multi-level gating unit.

8. The method according to claim 4, characterized in that, The method further includes: When the analog-to-digital conversion module performs the sampling operation of the acoustic wave signal of the currently time-division selected acquisition channel in the analog-to-digital conversion, the processing module sends the next time-division control signal to the selection module. The currently time-division selected acquisition channel is the acquisition channel selected according to the current time-division control signal. The generation time of the next time-division control signal is aligned with the rising edge of the sampling clock of the analog-to-digital conversion module.

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