A side-scan sonar communication system

Abstract

The invention relates to a side-scan sonar communication system, which is applied to the technical field of sonar communication, and comprises: for a control instruction sent by an integrated control terminal, an SDK module receives, analyzes and sends the control instruction to an underwater processing terminal through an instruction communication link, the underwater processing terminal also receives the analyzed command sent by the SDK module through the instruction communication link, and sends it to a hardware terminal after secondary analysis, the sonar data collected by the hardware terminal is pre-processed through a data communication link and then sent to the data communication link of the SDK module, and the data communication link of the SDK module processes the pre-processed data to obtain sonar image data and sends it to the integrated control terminal; the application adopts the instruction communication link to realize the transmission of the control instruction and the data communication link to realize the transmission of the data respectively; and avoids the problem of low communication efficiency caused by using one communication link to simultaneously send and receive data and commands in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of sonar communication, and in particular to a side-scan sonar communication system. Background Art

[0002] Side-scan sonar is an important component of the product. It is used to quickly search for small side targets at high speeds, which is very important for marine navigation. For sonar equipment, its workflow is: receiving control instructions from the host computer, then sending sonar signals according to the control instructions, and returning the image data collected by the sonar signal to the host computer;

[0003] In the prior art, a communication link is usually used to send control commands and return image data. Sending commands and data simultaneously on the same link will lead to resource competition, causing commands and data to interfere with each other during transmission, thereby reducing the overall communication efficiency. In addition, commands usually have a higher priority, but transmitting on the same link will increase command delays and affect the response speed of the system. This is because commands usually require a quick response, while data transmission will take a lot of time, resulting in command processing delays. At the same time, when the communication link fails, the sending and receiving of commands and data will be affected, and the stability of the system is low. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a side-scan sonar communication system to solve the problem in the prior art that one communication link is used to realize the sending of control commands and the returning of image data, so that commands and data interfere with each other during the transmission process, thereby reducing the overall communication efficiency, and data transmission takes a lot of time, resulting in command processing delays. At the same time, when the communication link fails, the sending and receiving of commands and data will be affected, resulting in low stability of the system.

[0005] According to a first aspect of an embodiment of the present invention, a side scan sonar communication system is provided, the system comprising:

[0006] Integrated control terminal: used to send control instructions to the SDK module, and also used to receive the sonar image data returned by the SDK module and display the sonar image data;

[0007] SDK module: used for receiving the control command sent by the integrated control terminal through the command communication link, translating and parsing the control command to obtain the sonar working parameters, packaging the sonar working parameters into a sonar working command, and sending the sonar working command to the underwater processing terminal;

[0008] It is also used to receive the pre-processed data sent by the underwater processing end through the data communication link, perform image processing on the pre-processed data to obtain the sonar image data, and send the sonar image data to the integrated control terminal;

[0009] The underwater processing end is used to receive the sonar working command sent by the SDK module through the command communication link, and obtain the sonar transmitter driving command and the sonar receiver driving command after internal translation and analysis of the sonar working command; control the sonar transmitter to transmit the sonar signal according to the sonar transmitter driving command; and control the sonar receiver to receive the echo signal returned after the sonar signal encounters the target according to the sonar receiver driving command;

[0010] It is also used to convert the echo signal into a digital signal through a data communication link, perform orthogonal transformation and digital filtering on the digital signal to obtain pre-processed data, and send the pre-processed data to the SDK module.

[0011] Preferably,

[0012] The SDK module includes: a first control command parsing module, a first communication module, a signal processing module and a protocol packaging output module;

[0013] The first control command parsing module is used to receive the control command transmitted by the integrated control terminal in the form of SOCKET, translate and parse the control command to obtain the sonar working parameters, package the sonar working parameters into a sonar working command, and send the sonar working command to the first communication module;

[0014] The first communication module is used to receive the sonar working command sent by the control command parsing module, and send the sonar working command to the underwater processing end; the first communication module is also used to receive the pre-processing data sent by the underwater processing end, and send the pre-processing data to the signal processing module;

[0015] The signal processing module is used to receive the pre-processed data sent by the first communication module, and perform compression, denoising, beamforming and image correction processing on the pre-processed data to obtain the sonar image data; the signal processing module is also used to send the sonar image data to the protocol packaging output module;

[0016] The protocol packaging output module is used to receive the sonar image data sent by the signal processing module, and send the sonar image data to the integrated control terminal.

[0017] Preferably,

[0018] The underwater processing end includes: a second communication module, a second control command parsing module, a hardware control module, a signal acquisition module, a signal preprocessing module and a data packaging module;

[0019] The second communication module is used to receive the sonar working command sent by the first communication module, and send the sonar working command to the second control command parsing module; the second communication module is also used to receive the pre-processed data sent by the data packaging module, and send the pre-processed data to the first communication module;

[0020] The second control command parsing module is used to receive the sonar working command sent by the second communication module, and obtain the sonar transmitter driving instruction and the sonar receiver driving instruction after internal translation and parsing of the sonar working command, and send the sonar transmitter driving instruction and the sonar receiver driving instruction to the hardware control module;

[0021] The hardware control module is used to receive the sonar transmitter driving instruction and the sonar receiver driving instruction sent by the second control command parsing module, and control the sonar transmitter to transmit the sonar signal according to the sonar transmitter driving instruction; the hardware control module is also used to control the sonar receiver to receive the echo signal after the sonar signal encounters the target according to the sonar receiver driving instruction;

[0022] The signal acquisition module is used to collect the echo signal of the sonar receiver, and convert the echo signal into a digital signal and send it to the signal preprocessing module;

[0023] The signal preprocessing module is used to perform orthogonal transformation and digital filtering on the received digital signal to obtain the preprocessed data, and send the preprocessed data to the data packaging module;

[0024] The data packaging module is used to package the received pre-processed data into single-frame data and send it to the second communication module in blocks.

[0025] Preferably,

[0026] After receiving the control instruction transmitted by the integrated control terminal in the form of SOCKET, the first control command parsing module performs a domain check on the control instruction. If the control instruction does not conform to the corresponding domain, an error processing is performed.

[0027] Preferably,

[0028] The first control command parsing module receives the control instruction transmitted by the integrated control terminal in the form of SOCKET, and after performing a domain check, if the control instruction conforms to the corresponding domain, the control instruction is also aligned through the instruction header and the instruction length is judged. If the instruction length of the control instruction does not conform to the preset instruction length standard, the control instruction is not subsequently translated and parsed.

[0029] Preferably, it also includes:

[0030] A temperature sensor is provided inside the sonar transmitter, and the internal temperature of the sonar transmitter is detected by the temperature sensor, and the temperature data is sent to the hardware control module;

[0031] The hardware control module is also used to compare the temperature data with a preset temperature threshold after receiving the temperature data, and if the temperature data is greater than or equal to the preset temperature threshold, send a power drive instruction to the transmitting power supply of the sonar transmitter to control the transmitting power supply to be turned off;

[0032] The hardware control module is also used to send a power drive instruction to the transmitting power of the sonar transmitter again to control the transmitting power to turn on after the transmitting power is turned off and the received temperature data is lower than a preset temperature threshold.

[0033] Preferably,

[0034] When the sonar transmitter transmits the sonar signal, the array transmission channel is used to transmit the multi-channel sonar signal;

[0035] When the sonar receiver receives the echo signal, the array receiving channel is used to receive the echo signal returned after the multi-channel sonar signal encounters the target.

[0036] Preferably,

[0037] The first control command parsing module and the protocol packaging output module respectively establish a SOCKET connection with the integrated control terminal;

[0038] The first communication module and the second communication module establish a TCP / IP communication link to receive and send data or commands.

[0039] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0040] In the present application, for the control instructions sent by the integrated control terminal, the SDK module receives, parses and sends the control instructions to the underwater processing end through the instruction communication link. The underwater processing end also receives the parsed commands sent by the SDK module through the instruction communication link, performs secondary parsing and sends them to the hardware end. The sonar data collected by the hardware end is pre-processed through the data communication link and sent to the data communication link of the SDK module. The data communication link of the SDK module processes the pre-processed data to obtain sonar image data and sends it to the integrated control terminal. The present application adopts the instruction communication link to realize the transmission of control instructions and the data communication link to realize the transmission of data respectively. It avoids the mutual interference between commands and data during the transmission process caused by the use of one communication link to simultaneously send and receive data and commands in the prior art, thereby reducing the overall communication efficiency, and the data transmission will take up a lot of time, resulting in command processing delays. At the same time, when the communication link fails, the sending and receiving of commands and data will be affected, resulting in low stability of the system.

[0041] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0043] Figure 1 is an overall system schematic diagram of a side scan sonar communication system according to an exemplary embodiment;

[0044] Figure 2 is a system schematic diagram of an SDK module according to another exemplary embodiment;

[0045] Figure 3 is a system schematic diagram of an underwater processing end according to another exemplary embodiment;

[0046] Figure 4 is a system schematic diagram of an instruction communication link of an SDK module according to another exemplary embodiment;

[0047] Figure 5 is a system schematic diagram of a data communication link of an SDK module according to another exemplary embodiment;

[0048] Figure 6 is a system schematic diagram of a command communication link of an underwater processing terminal according to another exemplary embodiment;

[0049] Figure 7 is a system schematic diagram of a data communication link of an underwater processing terminal according to another exemplary embodiment;

[0050] Figure 8 is a system schematic diagram showing a communication connection between an SDK module and an underwater processing terminal according to another exemplary embodiment;

[0051] In the accompanying drawings: 1-integrated control terminal, 2-SDK module, 3-underwater processing terminal, 201-first control command parsing module, 202-first communication module, 203-signal processing module, 204-protocol packaging output module, 301-second communication module, 302-second control command parsing module, 303-hardware control module, 304-signal acquisition module, 305-signal preprocessing module, 306-data packaging module. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0053] Embodiment 1

[0054] Figure 1 is a schematic diagram of an overall system of a side scan sonar communication system according to an exemplary embodiment. Figure 1 As shown, the system includes:

[0055] Integrated control terminal 1: used to send control instructions to SDK module 2, and also used to receive sonar image data returned by the SDK module 2, and display the sonar image data;

[0056] SDK module 2: used for receiving control instructions sent by the integrated control terminal 1 through the command communication link, translating and parsing the control instructions to obtain sonar working parameters, packaging the sonar working parameters into sonar working commands, and sending the sonar working commands to the underwater processing terminal 3;

[0057] It is also used to receive the pre-processed data sent by the underwater processing terminal 3 through the data communication link, perform image processing on the pre-processed data to obtain the sonar image data, and send the sonar image data to the integrated control terminal 1;

[0058] The underwater processing terminal 3 is used to receive the sonar working command sent by the SDK module 2 through the command communication link, and obtain the sonar transmitter driving command and the sonar receiver driving command after internal translation and analysis of the sonar working command; control the sonar transmitter to transmit the sonar signal according to the sonar transmitter driving command; and control the sonar receiver to receive the echo signal returned after the sonar signal encounters the target according to the sonar receiver driving command;

[0059] It is also used to convert the echo signal into a digital signal through a data communication link, perform orthogonal transformation and digital filtering on the digital signal to obtain pre-processed data, and send the pre-processed data to the SDK module 2;

[0060] It can be understood that, in this embodiment, for the control instructions sent by the integrated control terminal 1, the SDK module 2 receives, parses and sends the control instructions to the underwater processing terminal 3 through the instruction communication link. The underwater processing terminal 3 also receives the parsed command sent by the SDK module 2 through the instruction communication link, and sends it to the hardware end after secondary parsing. The sonar data collected by the hardware end is pre-processed through the data communication link and sent to the data communication link of the SDK module 2, and the data communication link of the SDK module 2 processes the pre-processed data to obtain sonar image data and sends it to the integrated control terminal 1; the present application adopts the instruction communication link to realize the transmission of control instructions, and adopts the data communication link to realize the transmission of data; it avoids the mutual interference between commands and data during the transmission process caused by the use of one communication link to simultaneously send and receive data and commands in the prior art, thereby reducing the overall communication efficiency, and data transmission will take a lot of time, resulting in command processing delays. At the same time, when the communication link fails, the sending and receiving of commands and data will be affected, and the stability of the system is low.

[0061] It is understandable that if Figure 2 As shown, the SDK module 2 includes: a first control command parsing module 201, a first communication module 202, a signal processing module 203 and a protocol packaging output module 204;

[0062] Among them, as attached Figure 4As shown, the first control command parsing module 201 and the first communication module 202 constitute the command communication link of the SDK module 2; the first control command parsing module 201 establishes a SOCKET connection with the integrated control terminal 1, the integrated control terminal 1 sends a control command to the first control command parsing module 201, after the first control command parsing module 201 receives the control command transmitted by the integrated control terminal 1 in the form of SOCKET, it translates and parses the control command to obtain the sonar working parameters, and at the same time packages the sonar working parameters into a sonar working command, and sends the packaged sonar working command to the first communication module 202, and the first communication module 202 sends the sonar working command to the command communication link of the underwater processing terminal 3;

[0063] Among them, as attached Figure 5 As shown, the first communication module 202, the signal processing module 203 and the protocol packaging output module 204 constitute the data communication link of the SDK module 2; the first communication module 202 receives the pre-processed data sent by the data communication link of the underwater processing terminal 3, and sends the pre-processed data to the signal processing module 203, the signal processing module 203 compresses, denoises, beamforms and corrects the received pre-processed data to obtain sonar image data, and sends the sonar image data to the protocol packaging output module 204, the protocol packaging output module 204 establishes a SOCKET connection with the integrated control terminal 1, and the protocol packaging output module 204 packages the processed sonar image data into a user data packet according to the user data protocol and transmits it to the integrated control terminal 1, and the integrated control terminal 1 further processes the received image data and directly displays it on the screen;

[0064] It is understandable that if Figure 3 As shown, the underwater processing end 3 includes: a second communication module 301, a second control command parsing module 302, a hardware control module 303, a signal acquisition module 304, a signal preprocessing module 305 and a data packaging module 306;

[0065] Among them, as attached Figure 8 As shown, the connection between the SDK module 2 and the underwater processing terminal 3 is realized through the first communication module 202 and the second communication module 301, and the first communication module 202 and the second communication module 301 receive and send data or commands by establishing a TCP / IP communication link;

[0066] Among them, as attached Figure 6As shown, the second communication module 301, the second control command parsing module 302 and the hardware control module 303 constitute the command communication link of the underwater processing terminal 3. After the second communication module 301 receives the sonar working command sent by the first communication module 202, it forwards the sonar working command to the second control command parsing module 302; after the second control command parsing module 302 receives the sonar working command sent by the second communication module 301, it internally translates and parses the sonar working command to obtain the sonar transmitter driving command and the sonar receiver driving command, and sends the sonar transmitter driving command and the sonar receiver driving command to the hardware control module 303. After receiving the sonar transmitter driving command and the sonar receiver driving command, the hardware control module 303 controls the sonar transmitter to transmit the sonar signal and controls the sonar receiver to receive the echo signal respectively;

[0067] Among them, as attached Figure 7 As shown, the second communication module 301, the signal acquisition module 304, the signal preprocessing module 305 and the data packaging module 306 constitute the data communication link of the underwater processing end 3. The data acquisition module 304 collects the echo signal of the sonar receiver, converts the echo signal into a digital signal and sends it to the signal preprocessing module 305. The signal preprocessing module 305 performs orthogonal transformation and digital filtering on the digital signal, and then transmits it to the data packaging module 306. The data packaging module 306 packages the transmitted data and control parameters into a single frame of data, and then transmits them in blocks to the second communication module 301, and then the second communication module 301 returns it to the first communication module 202 of the SDK module 2 to realize the return of data.

[0068] It can be understood that in order to transmit a wide beam and form a plurality of parallel beams for the multi-channel receiving signal beamforming process at the same time, the present embodiment can perform full coverage scanning of small underwater targets under high speed conditions. When the sonar transmitter transmits the sonar signal, the array transmitting channel is used to transmit the multi-channel sonar signal; at the same time, when the sonar receiver receives the echo signal, the array receiving channel is used to receive the echo signal returned after the multi-channel sonar signal encounters the target.

[0069] It is understandable that when the network of this system is abnormally disconnected, the software automatically reconnects and supports automatic communication recovery after the hardware device is reset; in addition to sonar data, the user data protocol also contains sonar working information, which can facilitate the understanding of the working status of the device;

[0070] It can be understood that this system adopts the bottom-level driver encapsulation, and the receiving and sending commands and data processing are automatically completed in the driver. The user only needs to access the corresponding control command interface and data interface. The control command and data reception use independent interfaces and data protocols. The interface protocol is simple and convenient for users to use.

[0071] It can be understood that the first control command parsing module 201 performs domain checking and control on various input instructions, and reports an error if it does not conform to the corresponding domain, and performs corresponding processing to prevent incorrect external input data from affecting the normal operation of the system;

[0072] It is understandable that after performing the domain check, the first control command parsing module 201 also performs instruction header alignment, length judgment and data verification, and does not respond to incorrect data and instructions;

[0073] It can be understood that a temperature sensor is provided inside the sonar transmitter, and the temperature sensor is in communication with the hardware control module 303. The temperature sensor sends the real-time temperature inside the sonar transmitter to the hardware control module 303. A temperature threshold (generally between 80 degrees Celsius and 90 degrees Celsius) is preset in the hardware control module 303. After receiving the real-time temperature, the hardware control module 3 compares the real-time temperature with the preset temperature threshold. If the real-time temperature is greater than or equal to the preset temperature threshold, it indicates that the temperature inside the sonar transmitter is too high and needs to enter the over-temperature protection mode. The hardware control module 303 transmits an analog / digital circuit power supply signal to shut down the power supply of the sonar transmitter. When the temperature is normal, the power is restored and the system can resume normal operation.

[0074] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0075] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0076] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0077] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0078] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0079] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0080] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0082] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A side scan sonar communication system, characterized in that: The system comprises: Integrated control terminal: used to send control instructions to the SDK module, and also used to receive the sonar image data returned by the SDK module and display the sonar image data; SDK module: used for receiving the control command sent by the integrated control terminal through the command communication link, translating and parsing the control command to obtain the sonar working parameters, packaging the sonar working parameters into a sonar working command, and sending the sonar working command to the underwater processing terminal; It is also used to receive the pre-processed data sent by the underwater processing end through the data communication link, perform image processing on the pre-processed data to obtain the sonar image data, and send the sonar image data to the integrated control terminal; The underwater processing end is used to receive the sonar working command sent by the SDK module through the command communication link, and obtain the sonar transmitter driving command and the sonar receiver driving command after internal translation and analysis of the sonar working command; control the sonar transmitter to transmit the sonar signal according to the sonar transmitter driving command; and control the sonar receiver to receive the echo signal returned after the sonar signal encounters the target according to the sonar receiver driving command; It is also used to convert the echo signal into a digital signal through a data communication link, perform orthogonal transformation and digital filtering on the digital signal to obtain pre-processed data, and send the pre-processed data to the SDK module; The SDK module includes: a first control command parsing module, a first communication module, a signal processing module and a protocol packaging output module; The first control command parsing module is used to receive the control command transmitted by the integrated control terminal in the form of SOCKET, translate and parse the control command to obtain the sonar working parameters, package the sonar working parameters into a sonar working command, and send the sonar working command to the first communication module; The first communication module is used to receive the sonar working command sent by the control command parsing module, and send the sonar working command to the underwater processing end; the first communication module is also used to receive the pre-processing data sent by the underwater processing end, and send the pre-processing data to the signal processing module; The signal processing module is used to receive the pre-processed data sent by the first communication module, and perform compression, denoising, beamforming and image correction processing on the pre-processed data to obtain the sonar image data; the signal processing module is also used to send the sonar image data to the protocol packaging output module; The protocol packaging output module is used to receive the sonar image data sent by the signal processing module, and send the sonar image data to the integrated control terminal; The underwater processing end includes: a second communication module, a second control command parsing module, a hardware control module, a signal acquisition module, a signal preprocessing module and a data packaging module; The second communication module is used to receive the sonar working command sent by the first communication module, and send the sonar working command to the second control command parsing module; the second communication module is also used to receive the pre-processed data sent by the data packaging module, and send the pre-processed data to the first communication module; The second control command parsing module is used to receive the sonar working command sent by the second communication module, and obtain the sonar transmitter driving instruction and the sonar receiver driving instruction after internal translation and parsing of the sonar working command, and send the sonar transmitter driving instruction and the sonar receiver driving instruction to the hardware control module; The hardware control module is used to receive the sonar transmitter driving instruction and the sonar receiver driving instruction sent by the second control command parsing module, and control the sonar transmitter to transmit the sonar signal according to the sonar transmitter driving instruction; the hardware control module is also used to control the sonar receiver to receive the echo signal after the sonar signal encounters the target according to the sonar receiver driving instruction; The signal acquisition module is used to collect the echo signal of the sonar receiver, and convert the echo signal into a digital signal and send it to the signal preprocessing module; The signal preprocessing module is used to perform orthogonal transformation and digital filtering on the received digital signal to obtain the preprocessed data, and send the preprocessed data to the data packaging module; The data packaging module is used to package the received pre-processed data into single-frame data and send it to the second communication module in blocks.

2. The system according to claim 1, characterized in that After receiving the control instruction transmitted by the integrated control terminal in the form of SOCKET, the first control command parsing module performs a domain check on the control instruction. If the control instruction does not conform to the corresponding domain, an error processing is performed.

3. The system according to claim 2, characterized in that The first control command parsing module receives the control instruction transmitted by the integrated control terminal in the form of SOCKET, and after performing a domain check, if the control instruction conforms to the corresponding domain, the control instruction is also aligned through the instruction header and the instruction length is judged. If the instruction length of the control instruction does not conform to the preset instruction length standard, the control instruction is not subsequently translated and parsed.

4. The system according to claim 3, characterized in that Also includes: A temperature sensor is provided inside the sonar transmitter, and the internal temperature of the sonar transmitter is detected by the temperature sensor, and the temperature data is sent to the hardware control module; The hardware control module is also used to compare the temperature data with a preset temperature threshold after receiving the temperature data, and if the temperature data is greater than or equal to the preset temperature threshold, send a power drive instruction to the transmitting power supply of the sonar transmitter to control the transmitting power supply to be turned off; The hardware control module is also used to send a power drive instruction to the transmitting power of the sonar transmitter again to control the transmitting power to turn on after the transmitting power is turned off and the received temperature data is lower than a preset temperature threshold.

5. The system according to claim 4, characterized in that When the sonar transmitter transmits the sonar signal, the array transmission channel is used to transmit the multi-channel sonar signal; When the sonar receiver receives the echo signal, the array receiving channel is used to receive the echo signal returned after the multi-channel sonar signal encounters the target.

6. The system according to claim 5, characterized in that The first control command parsing module and the protocol packaging output module respectively establish a SOCKET connection with the integrated control terminal; The first communication module and the second communication module establish a TCP / IP communication link to receive and send data or commands.

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