Zoom mode implementation method based on foresight sonar system and foresight sonar system

Abstract

The invention discloses a foresight sonar system zoom mode-based implementation method and a foresight sonar system.The foresight sonar system comprises a main shell, a panel is arranged at the front end of the main shell, a transmitting transducer set and a receiving transducer set are arranged on the panel, an electronic machine core is arranged in the main shell, and the electronic machine core is arranged in the main shell. The electronic machine core is electrically connected with the transmitting transducer group and the receiving transducer group respectively, the receiving transducer group comprises a plurality of groups of receiving transducers which are arranged in parallel, each receiving transducer comprises a plurality of receiving elements, and the receiving elements of the receiving transducers are distributed side by side. The receiving elements corresponding to two adjacent groups of receiving transducers are arranged along the direction vertical to the extension direction of the panel, and the electronic movement is used for controlling the on or off state of the receiving transducers in the receiving transducer group. According to the invention, the on or off states of the receiving transducers are controlled by controlling the on or off states of the receiving elements of the receiving transducers, and different numbers of receiving transducers are selected as required to start working. Therefore, the foresight sonar system carries out underwater detection in a zoom mode or in a variable detection distance mode.

Description

Technical Field

[0001] The present invention relates to the technical field of sonar signal processing, and more particularly to a method for implementing a zoom mode based on a forward-looking sonar system and a forward-looking sonar system. Background Art

[0002] Unmanned Underwater Vehicles (UUVs) represent the future development direction of underwater robot technology and are widely used in ocean monitoring, resource exploration, and the military field, with a wide range of application scenarios. During the underwater navigation of a UUV, it is necessary to judge the situation of obstacles ahead in real time, such as the size, orientation, and distance of the obstacles, and then complete the comprehensive obstacle avoidance function based on this information. The entire underwater obstacle avoidance process of the UUV is automatic and controlled by a program. Therefore, it is necessary to obtain the orientation and distance information of the obstacles in real time to ensure the underwater navigation safety of the UUV.

[0003] Currently, UUVs mainly use forward-looking collision avoidance sonars to achieve the obstacle avoidance function. The forward-looking collision avoidance sonar is installed at the bow of the UUV, which is equivalent to its eyes, and detects the distribution of obstacles ahead in real time and notifies the control platform to avoid the obstacles. The farther the detection distance and the larger the detection opening angle of the forward-looking collision avoidance sonar, the more comprehensive the distribution information of the obstacles ahead can be detected, and the UUV has sufficient reaction time to select the safest navigation route. Especially for large UUVs, due to their large volume, weak underwater flexibility, and long maneuvering reaction time, it is more necessary to obtain the distribution information of obstacles ahead of the navigation direction in advance.

[0004] Therefore, there is an urgent need to propose a method for implementing a zoom mode based on a forward-looking sonar system and a forward-looking sonar system to solve the problems raised. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a method for implementing a zoom mode based on a forward-looking sonar system and a forward-looking sonar system that can achieve long-distance detection, and perform underwater detection in a variable detection distance mode according to detection requirements.

[0006] To solve the above technical problems, the technical solutions adopted by the present invention are:

[0007] In a first aspect, a forward-looking sonar system is provided, which includes a main housing. A panel is provided at the front end of the main housing. A transmitting transducer group and a receiving transducer group are installed on the panel. An electronic core is provided inside the main housing. The electronic core is electrically connected to the transmitting transducer group and the receiving transducer group respectively. The receiving transducer group includes multiple groups of receiving transducers arranged in parallel. Each receiving transducer includes a plurality of receiving elements. The multiple receiving elements of the receiving transducer are arranged side by side. The receiving elements corresponding to adjacent two groups of receiving transducers are arranged along a direction perpendicular to the extension direction of the panel. The electronic core is configured to control the on / off state of the receiving transducers in the receiving transducer group.

[0008] The electronic core controls the on / off state of different numbers of receiving transducers by controlling the on / off state of the receiving elements of the receiving transducers, so that the forward-looking sonar system can perform underwater detection in a zoom mode or in a variable detection distance mode.

[0009] Further, the electronic core includes a receiving and acquisition sub-unit. The receiving and acquisition sub-unit includes a multi-channel receiving circuit board and an AD acquisition circuit board. The multi-channel receiving circuit board is configured to be electrically connected to the receiving transducer group. The multi-channel receiving circuit board includes a first-stage circuit module and a second-stage circuit module. The first-stage circuit module is electrically connected to multiple groups of receiving transducers respectively. The second-stage circuit module is electrically connected to the AD acquisition circuit board. The second-stage circuit module is electrically connected to the first-stage circuit module. The first-stage circuit module is electrically connected to the receiving elements of multiple groups of receiving transducers respectively to control the on / off state of the receiving elements, and further control the on / off state of the receiving transducers corresponding to the receiving elements.

[0010] Further, the first-stage circuit module is electrically connected to the receiving elements of multiple groups of receiving transducers one by one through a plurality of analog switches to control the on / off state of the receiving elements, and further control the on / off state of the receiving transducers corresponding to the receiving elements.

[0011] Further, the first-stage circuit module includes a mode control unit and a differential amplification unit. The receiving elements corresponding to all the receiving transducers in the receiving transducer group are respectively connected to the differential amplification unit through an analog switch. The mode control unit is electrically connected to a plurality of analog switches respectively. The mode control unit is configured to control the on / off of the analog switches to control the on / off state of the receiving elements. In the first-stage circuit module, the receiving elements corresponding to each receiving transducer are combined in a direction perpendicular to the extension direction of the panel to form a receiving element group, and the receiving elements in the receiving element group are connected in parallel.

[0012] Further, the first-stage circuit module includes a mode control unit and a differential amplification unit. The receiving element corresponding to one of the receiving transducers in the transducer group is directly electrically connected to the differential amplification unit, and the receiving elements corresponding to the other receiving transducers in the transducer group are all connected to the differential amplification unit through an analog switch. The mode control unit is electrically connected to multiple analog switches respectively, and the mode control unit is used to control the on / off of the analog switches to control the on / off states of the receiving elements; in the first-stage circuit module, the receiving elements corresponding to each receiving transducer are combined in a direction perpendicular to the panel extension direction to form a receiving element group, and the receiving elements in the receiving element group are arranged in parallel.

[0013] Further, the second-stage circuit module includes a band-pass filtering unit and a time-varying gain control unit. The band-pass filtering unit is connected to the differential amplification unit, the time-varying gain control unit is connected to the band-pass filtering unit, and the time-varying gain control unit is electrically connected to the AD acquisition circuit board through an AD driving unit.

[0014] Further, multiple groups of the receiving transducers arranged in parallel are respectively denoted as the first receiving transducer, the second receiving transducer, ……, the nth receiving transducer. The receiving elements of two adjacent receiving transducers are arranged side by side in a direction perpendicular to the panel extension direction. The receiving elements of each receiving transducer are counted in a direction perpendicular to the panel extension direction. The receiving element of the first receiving transducer is denoted as element 1, the receiving element of the second receiving transducer is denoted as element 2, ……, the receiving element of the nth receiving transducer is denoted as element n. That is, the first receiving transducer is composed of multiple element 1s combined in the panel extension direction, the second receiving transducer is composed of multiple element 2s combined in the panel extension direction, ……, the nth receiving transducer is composed of multiple element ns combined in the panel extension direction; in the first-stage circuit module, in a direction perpendicular to the panel extension direction, element 1 to element n are combined to form a receiving element group, and element 1 to element n in the receiving element group are arranged in parallel.

[0015] Further, the electronic core also includes a multi-channel phased transmitter, a signal processing submachine, and a system power supply. The multi-channel phased transmitter is electrically connected to the transmitting transducer group, the signal processing submachine is electrically connected to the receiving acquisition submachine and the multi-channel phased transmitter respectively, and the system power supply is used to connect to an external power supply to provide the power required for the operation of the receiving acquisition submachine, the multi-channel phased transmitter, and the signal processing submachine.

[0016] Further, the transmitting transducer group is arranged in the upper half of the panel, and the receiving transducer group is arranged in the lower half of the panel.

[0017] In a second aspect, a method for implementing a zoom mode of a forward-looking sonar system is provided, which includes the following steps:

[0018] S1. Parallelly distribute multiple groups of transmitting transducers and multiple groups of receiving transducers on the panel. Among them, the receiving transducer includes multiple receiving elements, and the multiple receiving elements of the receiving transducer are arranged side by side. The receiving elements corresponding to two adjacent groups of receiving transducers are arranged along the direction perpendicular to the extension direction of the panel.

[0019] S2. Combine the receiving elements corresponding to each receiving transducer in the direction perpendicular to the extension direction of the panel to form a receiving element group, and the receiving elements in the receiving element group are connected in parallel. Set multiple analog switches to be electrically connected to the receiving elements in the receiving element group one by one, and control the on / off state of the receiving transducer corresponding to the receiving element by controlling the on / off state of the receiving element.

[0020] S3. The vertical detection angle θ corresponding to the echo signal received by the receiving transducer group is obtained by the formula , where λ is the acoustic wavelength, λ = c / f, c is the sound speed, f is the signal frequency, L is the total length of the receiving element group, and the total length of the receiving element group is the sum of the lengths of the receiving elements in the connected state in the receiving element group.

[0021] S4. The internal resistance noise e of the receiving source corresponding to the echo signal received by the receiving transducer group n is obtained by the formula , where k is the Boltzmann constant, T is the thermodynamic temperature, R is the total resistance value of the receiving element group, and Δf is the noise bandwidth.

[0022] In summary, an implementation method of a forward-looking sonar system based on a zoom mode and the forward-looking sonar system of the present invention control the on / off state of the receiving transducer by controlling the on / off state of the receiving elements of the receiving transducer, select different numbers of receiving transducers to be turned on for work as needed, and further enable the forward-looking sonar system to perform underwater detection in a zoom mode or in a variable detection distance mode. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of the forward-looking sonar system provided by the embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of the receiving transducer group provided by the embodiment of the present invention;

[0025] Figure 3 is a circuit block diagram of the electronic chassis provided by the embodiment of the present invention;

[0026] Figure 4 is a circuit block diagram of the multi-channel receiving circuit board provided by the embodiment of the present invention. Detailed Embodiment

[0027] To further understand the features, technical means, specific purposes, and functions of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] There are mainly three types of forward-looking collision avoidance sonars currently used in unmanned vehicles: mechanical scanning sonar, multi-beam electronic scanning sonar, and three-dimensional imaging sonar. The mechanical scanning sonar scans a fixed fan-shaped surface with a mechanically rotating single beam. This method is slow and relies on mechanical structures, making it difficult to ensure accuracy and real-time performance. The multi-beam forward-looking sonar has a fast imaging speed, can image moving objects, and is suitable for obstacle detection, but it cannot achieve long-distance detection and zoom detection. The three-dimensional imaging sonar can simultaneously obtain high-precision information in the horizontal direction perpendicular to the forward direction of the unmanned vehicle, the height direction of the unmanned vehicle from the seabed, and the forward direction of the unmanned vehicle. However, it has characteristics such as a complex system, high cost, and large computational volume, and it also cannot achieve long-distance and zoom detection.

[0029] Therefore, Figure 1 A schematic diagram of a forward-looking sonar system to which a method for implementing a zoom mode based on a forward-looking sonar system provided by the present invention is applicable is shown. Please refer to Figure 1 , the forward-looking sonar system is installed at the center position of the bow of the underwater vehicle, and is used to detect obstacles within a certain angle range in front of the underwater vehicle in real time, and output the size, azimuth, and distance information of the obstacles in real time, and provide it to the underwater vehicle for comprehensive collision avoidance processing.

[0030] As Figure 1 and Figure 2 shown, the forward-looking sonar system includes a main housing 10. The main housing 10 is installed at the center position of the bow of the underwater vehicle. The front end of the main housing 10 is provided with a panel 11 with an arc-shaped cross-section. A transmitting transducer group 20 and a receiving transducer group 30 are installed on the panel 11. An electronic core (not shown in the figure) is provided inside the main housing 10. The electronic core is electrically connected to the transmitting transducer group 20 and the receiving transducer group 30 respectively. The electronic core is used to control the transmitting transducer group 20 to emit acoustic wave signals. In addition, the electronic core is also used to control the receiving transducer group 30 to receive echo signals. In this embodiment, the orientation of the main housing 10 is consistent with the navigation direction of the underwater vehicle. The transmitting transducer group 20 is arranged in the upper half of the panel 11, and the receiving transducer group 30 is arranged in the lower half of the panel 11; alternatively, the transmitting transducer group 20 is arranged in the lower half of the panel 11, and the receiving transducer group 30 is arranged in the upper half of the panel 11; or the transmitting transducer group 20 and the receiving transducer group 30 can be arranged alternately according to needs. The arrangement and distribution of the transmitting transducer group 20 and the receiving transducer group 30 on the panel 11 can adopt a suitable arrangement and distribution method according to actual needs, which will not be elaborated here.

[0031] Furthermore, the transmitting transducer array 20, the receiving transducer array 30 and the electronic core are integrally designed, which avoids signal attenuation caused by long-distance transmission of transducer array signals and introduced interference, and at the same time facilitates the assembly operation of the forward-looking sonar system.

[0032] The transmitting transducer array 20 includes multiple groups of transmitting transducers 21 arranged in parallel. Each group of transmitting transducers 21 is independently arranged. Each transmitting transducer 21 includes multiple transmitting elements 211. The multiple transmitting elements 211 of each group of transmitting transducers 21 are arranged side by side in a manner parallel to the extending direction of the panel 11. The multiple transmitting elements 211 of each transmitting transducer 21 are connected in parallel; the receiving transducer array 30 includes multiple groups of receiving transducers 31 arranged in parallel. The receiving transducers 31 include multiple receiving elements 311. The multiple receiving elements 311 of the receiving transducers 31 are arranged side by side along the extending direction of the panel 11. Each receiving element 311 in the receiving transducers 31 is independently arranged. The corresponding receiving elements 311 of two adjacent groups of receiving transducers 31 are arranged in contact along a direction perpendicular to the extending direction of the panel 11. The electronic core is used to control the on / off state of the receiving transducers 31 in the receiving transducer array 30. Specifically, the electronic core controls the on / off state of the receiving elements 311 of the receiving transducers 31 to control the on / off state of different numbers of receiving transducers 31, thereby facilitating the forward-looking sonar system to perform underwater detection in a zoom mode or a variable detection distance mode; among them, the zoom mode refers to a mode of changing the vertical detection angle of view of the transmitting transducer array 20 to achieve the effect of changing different narrow and wide vertical detection angles of view.

[0033] The forward-looking sonar system of the present invention has the detection effect of a variable zoom mode or a variable detection distance mode; in the zoom mode, the receiving transducer array 30 selects different numbers of receiving transducers 31 to turn on and work as needed, and uses the beam pointing characteristics of the multiple receiving elements 311 of the receiving transducers 31 to achieve the effect of changing the width of the detection angle of view of the forward-looking sonar system along the direction perpendicular to the advancing direction of the underwater vehicle. Correspondingly, the different numbers of receiving transducers 31 turned on and working in the receiving transducer array 30 will also cause the detection distance of the forward-looking sonar system to change. When all the receiving transducers 31 in the receiving transducer array 30 are turned on and working, the directivity of the receiving elements 311 is improved, the internal resistance noise of the receiving source is reduced, and the forward-looking sonar system can achieve the effect of the farthest detection distance.

[0034] Specifically, as the number of receiving transducers 31 turned on in the receiving transducer array 30 increases, the vertical detection angle of view range of the forward-looking sonar system gradually becomes smaller from large, and at the same time the detection distance of the forward-looking sonar system gradually becomes farther from near. In addition, the zoom mode operation of the forward-looking sonar system is realized; among them, the vertical detection angle of view refers to the detection angle of view range along the direction perpendicular to the advancing direction of the underwater vehicle.

[0035] As Figure 3 and Figure 4 shown, to achieve the detection effect of the forward-looking sonar system having a variable focus mode or a variable detection distance mode, the electronic core of the forward-looking sonar system of the present invention includes a receiving and acquisition sub-unit 40, a multi-channel phased transmitter 50, a signal processing sub-unit 60, and a system power supply 70. The receiving and acquisition sub-unit 40 is electrically connected to the receiving transducer group 30, and is used to achieve low-noise amplification, filtering, and analog-to-digital conversion of the echo signal; the multi-channel phased transmitter 50 uses a high-frequency broadband sonar transmitter to ensure the signal-to-noise ratio of the bottom backscattered echo. The multi-channel phased transmitter 50 is electrically connected to the transmitting transducer group 20, and is used to generate the required transmission signals for each channel in real time to excite the transmitting transducer group 20 to transmit ultrasonic signals into the water; the signal processing sub-unit 60 is respectively electrically connected to the receiving and acquisition sub-unit 40 and the multi-channel phased transmitter 50, and is used to control the working states of the receiving and acquisition sub-unit 40 and the multi-channel phased transmitter 50 to coordinate each working module, and further control the working process of the forward-looking sonar system and achieve real-time signal processing of the echo data; the system power supply 70 is used to connect to an external power supply to provide the power required for the operation of the receiving and acquisition sub-unit 40, the multi-channel phased transmitter 50, and the signal processing sub-unit 60.

[0036] Specifically, the receiving and acquisition sub-unit 40 includes a multi-channel receiving circuit board 41 and an AD acquisition circuit board 42. The multi-channel receiving circuit board 41 is used to be electrically connected to the receiving transducer group 30, and the multi-channel receiving circuit board 41 has a time-varying gain function to meet the dynamic range required by the difference in signal intensities between near-range echoes and far-range echoes; the AD acquisition circuit board 42 is electrically connected to the multi-channel receiving circuit board 41, and the AD acquisition circuit board 42 uses a high-precision 24-bit AD chip to meet the sampling resolution and dynamic requirements of the echo signal of the forward-looking sonar system.

[0037] Furthermore, the multi-channel receiving circuit board 41 amplifies the weak electrical signals received by the receiving transducer group 30 to achieve the best noise impedance matching with the receiving element 311 to obtain the maximum signal-to-noise ratio. In addition, the multi-channel receiving circuit board 41 performs band-pass filtering on the input signal to suppress out-of-band noise.

[0038] The multi-channel receiving circuit board 41 includes a first-stage circuit module 411 and a second-stage circuit module 412. The first-stage circuit module 411 is respectively electrically connected to multiple groups of receiving transducers 31, and the second-stage circuit module 412 is electrically connected to the AD acquisition circuit board 42. The second-stage circuit module 412 is electrically connected to the first-stage circuit module 411. The second-stage circuit module 412 is used to perform variable gain amplification and filtering operations on the analog signal output by the first-stage circuit module 411, and the output signal processed by the second-stage circuit module 412 is within the best working range of the AD acquisition circuit board 42.

[0039] Specifically, the first-stage circuit module 411 is electrically connected to the receiving elements 311 of multiple groups of receiving transducers 31 one by one by setting multiple analog switches to control the on-off state of the receiving elements 311, and further control the on-off state of the corresponding receiving transducers 31 of the receiving elements 311. Different numbers of receiving transducers 31 are selected to be turned on for work as needed. The beam pointing characteristics of the multiple receiving elements 311 of the receiving transducers 31 are utilized to achieve the effect of changing the width of the detection angle of the forward-looking sonar system along the direction perpendicular to the forward direction of the underwater vehicle. Correspondingly, different numbers of receiving transducers 31 being turned on in the receiving transducer group 30 will also cause the detection distance of the forward-looking sonar system to change. When all the receiving transducers 31 in the receiving transducer group 30 are turned on for work, the directivity of the receiving elements 311 is improved, the internal resistance noise of the receiving source is reduced, and the forward-looking sonar system can achieve the effect of detecting the farthest distance. In this embodiment, at least one group of receiving transducers 31 in the receiving transducer group 30 is in a normally-on state to ensure the minimum underwater detection requirement of the forward-looking sonar system of the present invention.

[0040] The first-stage circuit module 411 realizes the effect of changing the width of the detection angle of the forward-looking sonar system along the direction perpendicular to the forward direction of the underwater vehicle by controlling the working states of different receiving transducers 31. When the first-stage circuit module 411 only controls one group of receiving transducers 31 to be in the on state, the vertical detection angle value of the forward-looking sonar system is the largest; when the first-stage circuit module 411 controls all the receiving transducers 31 in the receiving transducer group 30 to be in the on state, the vertical detection angle value of the forward-looking sonar system is the smallest. When the first-stage circuit module 411 only controls one group of receiving transducers 31 to be turned on for work, the detection distance of the forward-looking sonar system is the smallest; when the first-stage circuit module 411 controls all the receiving transducers 31 in the receiving transducer group 30 to be turned on for work, the directivity of the receiving elements 311 is improved, the internal resistance noise of the receiving source is reduced, and the forward-looking sonar system can achieve the effect of detecting the farthest distance, thereby realizing the zoom mode operation of the forward-looking sonar system.

[0041] Specifically, the first-level circuit module 411 includes a mode control unit 401 and a differential amplification unit 402. The receiving element 311 corresponding to one of the receiving transducers 31 in the receiving transducer group 30 is directly electrically connected to the differential amplification unit 402, that is, the receiving element 311 and the differential amplification unit 402 are always in an electrically connected state, and the receiving transducer 31 corresponding to the receiving element 311 is in a normally-on state to ensure underwater detection at the minimum requirement of the forward-looking sonar system of the present invention. The receiving elements 311 corresponding to the other receiving transducers 31 in the receiving transducer group 30 are all connected to the differential amplification unit 402 through an analog switch. The mode control unit 401 is respectively electrically connected to a plurality of analog switches. The mode control unit 401 is used to control the on and off of the analog switches, so as to control the on and off states of the receiving elements 311. In this embodiment, the individual receiving elements 311 corresponding to different receiving transducers 31 in the receiving transducer group 30 are connected in parallel with the differential amplification unit 402 in a parallel manner. Along the direction perpendicular to the extension direction of the panel 11, the individual receiving elements 311 corresponding to different receiving transducers 31 form a receiving element group in combination.

[0042] When the mode control unit 401 controls all the analog switches to be in the off state, the receiving element 311 corresponding to the analog switch is in the off state, and the receiving transducer 31 corresponding to the receiving element 311 is in the off state. Then only one receiving transducer 31 in the receiving transducer group 30 is in the on state, and the vertical detection viewing angle value of the forward-looking sonar system is the vertical detection viewing angle value in the initial state, and the vertical detection viewing angle value in the initial state is the maximum vertical detection viewing angle value of the forward-looking sonar system. When the mode control unit 401 controls one of the analog switches to be in the connected state, the receiving element 311 corresponding to the analog switch is in the on state, and the receiving transducer 31 corresponding to the receiving element 311 is in the on state. Then the vertical detection viewing angle value of the forward-looking sonar system begins to change, changing from the maximum vertical detection viewing angle value with only one receiving transducer 31 initially on to the vertical detection viewing angle value with two receiving transducers 31 currently on. When the mode control unit 401 controls all the analog switches to be in the connected state, the receiving elements 311 corresponding to the analog switches are all in the on state, and all the receiving transducers 31 are also in the on state. Then the vertical detection viewing angle value of the forward-looking sonar system changes from the maximum vertical detection viewing angle value when only one receiving transducer 31 is initially on to the minimum vertical detection viewing angle value when all the receiving transducers 31 are currently on, thereby realizing the zoom mode operation of the forward-looking sonar system.

[0043] Alternatively, the first - stage circuit module 411 includes a mode control unit 401 and a differential amplification unit 402. All the receiving elements 311 corresponding to the receiving transducers 31 in the receiving transducer group 30 are respectively connected to the differential amplification unit 402 through an analog switch. The mode control unit 401 is electrically connected to a plurality of analog switches respectively. The mode control unit 401 is used to control the on - off of the analog switches, so as to control the on - off state of the receiving elements 311. In this embodiment, the single receiving elements 311 corresponding to different receiving transducers 31 in the receiving transducer group 30 are connected in parallel with the differential amplification unit 402. Along the direction perpendicular to the extension direction of the panel 11, the single receiving elements 311 corresponding to different receiving transducers 31 are combined to form a receiving element group.

[0044] When the mode control unit 401 controls the analog switch to be in the off state, the receiving element 311 corresponding to the analog switch is in the off state, and the receiving transducer 31 corresponding to the receiving element 311 is in the off state. In this embodiment, when the forward - looking sonar system works, at least one receiving transducer 31 in the receiving transducer group 30 is in the on state, that is, the mode control unit 401 needs to control at least one analog switch to be in the connected state. When the mode control unit 401 only controls one analog switch to be in the connected state, the vertical detection view angle value of the forward - looking sonar system is the maximum vertical detection view angle value of the forward - looking sonar system. When the mode control unit 401 controls two of the analog switches to be in the connected state, the receiving elements 311 corresponding to the analog switches are in the on state, and the receiving transducers 31 corresponding to the receiving elements 311 are in the on state. Then the vertical detection view angle value of the forward - looking sonar system begins to change, from the maximum vertical detection view angle value with a single receiving transducer 31 on initially to the vertical detection view angle value with two receiving transducers 31 on currently. When the mode control unit 401 controls all the analog switches to be in the connected state, all the receiving elements 311 corresponding to the analog switches are in the on state, and all the receiving transducers 31 are also in the on state. Then the vertical detection view angle value of the forward - looking sonar system changes from the maximum vertical detection view angle value with a single receiving transducer 31 on initially to the minimum vertical detection view angle value with all the receiving transducers 31 on currently, thereby realizing the zoom - mode operation of the forward - looking sonar system.

[0045] In one embodiment, the second-stage circuit module 412 includes a band-pass filtering unit 403 and a time-varying gain (TVG) control unit 404. The band-pass filtering unit 403 is connected to the differential amplification unit 402, and the time-varying gain control unit 404 is connected to the band-pass filtering unit 403. The time-varying gain control unit 404 is electrically connected to the AD acquisition circuit board 42 through the AD driving unit 405, so as to perform filtering and variable gain amplification operations on the analog signal output by the differential amplification unit 402, so that the output signal sent by the time-varying gain control unit 404 is within the optimal working range of the AD acquisition circuit board 42.

[0046] When the first-stage circuit module 411 of the present invention works specifically, the receiving transducer group 30 includes multiple groups of receiving transducers 31 arranged in parallel, which are respectively denoted as the first receiving transducer, the second receiving transducer,..., the nth receiving transducer. The multiple receiving elements 311 of the receiving transducers are arranged side by side in a manner parallel to the extending direction of the panel 11. The receiving elements 311 of two adjacent receiving transducers are arranged side by side in a manner perpendicular to the extending direction of the panel 11. Count the receiving elements 311 of each receiving transducer in a direction perpendicular to the extending direction of the panel 11. The receiving elements 311 of the first receiving transducer are denoted as element 1, the receiving elements 311 of the second receiving transducer are denoted as element 2,..., and the receiving elements 311 of the nth receiving transducer are denoted as element n. That is, the first receiving transducer is composed of multiple element 1s combined in the extending direction of the panel 11, the second receiving transducer is composed of multiple element 2s combined in the extending direction of the panel 11,..., and the nth receiving transducer is composed of multiple element ns combined in the extending direction of the panel 11; in the first-stage circuit module 411, the receiving elements 311 corresponding to each receiving transducer are combined in a direction perpendicular to the extending direction of the panel 11 to form a receiving element group, that is, element 1 to element n are combined to form a receiving element group, and element 1 to element n in the receiving element group are connected in parallel; when working, different groups of receiving transducers are turned on according to the detection needs. In addition, although the multiple elements in each receiving transducer operate independently, the multiple elements in each receiving transducer need to be turned on synchronously to ensure the consistency and stability of the received echo signal, avoid unnecessary detection errors, and further ensure the stability of the forward-looking sonar system of the present invention; when the present invention works specifically, the first receiving transducer is in a normally open state to ensure the underwater detection of the lowest requirement of the forward-looking sonar system of the present invention.

[0047] Element 1 is directly connected to the differential amplifier unit 402, so that at least one receiving transducer in the receiving transducer group 30 is always in the on state, so as to ensure the underwater detection of the forward-looking sonar system of the present invention that meets the minimum requirements; element 2 to element n are respectively connected to the differential amplifier unit 402 through analog switches, that is, element 1 to element n are connected to the differential amplifier unit 402 in parallel, and the mode control unit 401 is respectively electrically connected to multiple analog switches, and the mode control unit 401 controls the on and off of the analog switch by receiving the digital control signal sent by the signal processing extension 60, and then controls the on and off state of element 2 to element n. When the analog switches corresponding to element 2 to element n are in the connected state, the receiving transducers corresponding to element 2 to element n are also in the on state, and then the vertical detection viewing angle value of the forward-looking sonar system can be changed by changing the connected state of the analog switches corresponding to element 2 to element n, so as to realize the zoom mode operation of the forward-looking sonar system.

[0048] In one embodiment, the multi-channel phased-control transmitter 50 includes a multi-channel transmitting power amplifier circuit board 51 and a transmitting signal processing circuit board 52. The multi-channel transmitting power amplifier circuit board 51 is a high-power transmitting power amplifier circuit board. The multi-channel transmitting power amplifier circuit board 51 is electrically connected to the transmitting transducer group 20. The transmitting signal processing circuit board 52 is electrically connected to the multi-channel transmitting power amplifier circuit board 51 and the signal processing extension 60 respectively; the transmitting signal processing circuit board 52 receives a synchronous trigger signal corresponding to the transmitting parameters sent by the signal processing extension 60. After the multi-channel transmitting power amplifier circuit board 51 detects the synchronous trigger signal, it generates the transmitting signal required by each transmitting channel in real time, drives the power amplifier to generate a power signal, and excites the transmitting transducer group 20 to transmit ultrasonic waves into the water.

[0049] In one embodiment, the signal processing extension 60 includes a sonar main control circuit board 61, a digital signal processing circuit board 62, and a router 63. The sonar main control circuit board 61 is electrically connected to the AD acquisition circuit board 42, the transmit signal processing circuit board 52, the digital signal processing circuit board 62, and the router 63 respectively. The transmit signal processing circuit board 52 receives the transmit parameters issued by the sonar main control circuit board 61. The sonar main control circuit board 61 is responsible for coordinating each working module, and thus controlling the working process of the forward-looking sonar system. The digital signal processing circuit board 62 takes the DSP chip TMS320C667X with the highest performance in the industry as the core to realize the real-time signal processing of echo data. The digital signal processing circuit board 62 has functions such as multi-channel AD, control IO interface, data memory, network communication interface, etc., and can realize functions such as real-time signal processing, control, communication, and storage. The router 63 uploads the result data of the sonar to multiple remote hosts and receives the control parameter configuration of the remote hosts. In this embodiment, the digital signal processing circuit board 62 sends a digital control signal to the mode control unit 401, and the mode control unit 401 controls the on / off of the analog switch through the digital control signal sent by the digital signal processing circuit board 62.

[0050] In one embodiment, the system power supply 70 includes a low-voltage power supply interface circuit board 71, a transmit energy storage circuit board 72, a transmit power supply circuit board 73, and a power filter 74, etc. The low-voltage power supply interface circuit board 71, the transmit energy storage circuit board 72, the transmit power supply circuit board 73, and the power filter 74 are electrically connected in sequence. The transmit energy storage circuit board 72 is electrically connected to the multi-channel transmit power amplifier circuit board 51 and the transmit signal processing circuit board 52 respectively. The low-voltage power supply interface circuit board 71 is electrically connected to the AD acquisition circuit board 42. The low-voltage power supply interface circuit board 71 provides various power supplies except for the high-power transmit power supply. The transmit energy storage circuit board 72 is used to provide the high-power current required during transmission, so as to reduce the power demand for the external power supply. The transmit energy storage circuit board 72 is charged by the transmit power supply circuit board 73 to realize energy storage. The system power supply 70 uses the power filter 74 to filter the externally input power supply.

[0051] In one embodiment, the forward-looking sonar system further includes a signal transfer circuit board 80, a motherboard 90, and a water leakage detection circuit board (not shown in the figure). Among them, the signal transfer circuit board 80 includes a transmit output circuit board 81 and a receive output circuit board 82. The transmit output circuit board 81 is electrically connected to the transmit transducer group 20 and the multi-channel transmit circuit board respectively. The receive output circuit board 82 is electrically connected to the receive transducer group 30 and the multi-channel receive circuit board 41 respectively, so that the wire layout inside the main housing 10 is more reasonable and tidy, and unnecessary maintenance troubles are avoided when the forward-looking sonar system is maintained.

[0052] The motherboard 90 is electrically connected to the AD acquisition circuit board 42, the sonar main control circuit board 61, and the low-voltage power interface circuit board 71 respectively, so that the wire layout among the acquisition submachine 40, the signal processing submachine 60, and the system power supply 70 received inside the main housing 10 is more reasonable and tidy, avoiding unnecessary maintenance troubles when the forward-looking sonar system is maintained.

[0053] The leakage detection circuit boards are respectively arranged at the front and rear ends of the main housing 10 to monitor the leakage state inside the main housing 10 in real time, avoiding the influence of water ingress inside the main housing 10 on the working stability and service life of the forward-looking sonar system. Among them, the leakage detection circuit board does not involve the invention point of the present invention and can adopt the scheme in the prior art, which will not be elaborated here.

[0054] In one embodiment, a transformer matching circuit board is also arranged between the multi-channel transmitting circuit board and the transmitting transducer group 20. The transformer matching circuit board cancels out the reactance component of the transmitting transducer group 20 through the impedance elements it adopts, making the transmitting transducer group 20 tend to a pure resistance state, thereby improving the active power output by the transmitting transducer group 20. This is known technology and will not be elaborated here.

[0055] To achieve the detection effect of the variable focus mode or the variable detection distance mode of the forward-looking sonar system of the present invention, the working principle adopted by the forward-looking sonar system of the present invention is as follows.

[0056] The variable focus mode of the forward-looking sonar system of the present invention is realized by changing the vertical detection angle θ corresponding to the echo signal received by the receiving transducer group 30.

[0057] The vertical detection angle θ corresponding to the echo signal received by the receiving transducer group 30 is obtained through the formula where λ is the acoustic wavelength, in m, λ = c / f, c is the speed of sound, in m / s, f is the signal frequency, in Hz, and L is the total length of the receiving element group, in m; in this embodiment, the total length of the receiving element group is the sum of the lengths of the receiving elements 311 in the receiving element group that are in a connected state, and the lengths of the receiving elements 311 corresponding to the two receiving transducers 31 are the same, and the receiving elements 311 corresponding to adjacent two receiving transducers 31 are arranged in a fitting manner, which is convenient for subsequent calculation of the vertical detection angle.

[0058] Through the formula It can be known that in the first-stage circuit module 411, the elementary units 1, 2, …, n are independent receiving elementary units 311. Let the length of the receiving elementary unit 311 be l, and the length of the receiving elementary unit 311 is the length measured perpendicular to the extension direction of the panel 11. When the analog switches corresponding to other receiving elementary units 311 are disconnected, that is, the forward-looking sonar system only receives the echo signal of the receiving elementary unit 3111, N = 1, the total length of the receiving elementary unit group is l, and the initial vertical detection angle θ of the echo signal received by the receiving transducer group 30 is This initial vertical detection angle is the maximum vertical detection angle value of the forward-looking sonar system; when there are N receiving transducers 31 in the receiving transducer group 30 in the on state, N≥2, then the total length of the receiving elementary unit group is Nl, and the current value of the vertical detection angle θ of the echo signal received by the receiving transducer group 30 is That is, as the number of connected analog switches corresponding to the receiving elementary unit 311 in the receiving elementary unit group increases and the N value becomes larger, the vertical detection angle θ of the echo signal received by the receiving transducer group 30 becomes smaller, thereby realizing the variable-focus mode operation of the forward-looking sonar system.

[0059] The variable detection distance mode of the forward-looking sonar system of the present invention is realized by changing the receiving source internal resistance noise e n When the receiving source internal resistance noise of the receiving transducer group 30 decreases, the signal-to-noise ratio of the receiving transducer group 30 increases synchronously. When the signal-to-noise ratio of the receiving transducer group 30 increases, the detectable distance of the receiving transducer group 30 will correspondingly increase.

[0060] The receiving source internal resistance noise e corresponding to the echo signal received by the receiving transducer group 30 n is obtained through the formula where k is the Boltzmann constant, k takes the value of 1.38*10 -23 J / K, T is the thermodynamic temperature, the unit is K, R is the total resistance value of the receiving elementary unit group, the unit is ohm, and Δf is the noise bandwidth, the unit is Hz.

[0061] Through the formula it can be known that the receiving source internal resistance noise e n is positively correlated with the total resistance value R. Let the resistance value of a single receiving elementary unit 311 be r. When there is only one receiving transducer 31 in the receiving transducer group 30 in the on state, the total resistance value R of the receiving elementary unit group in the first-stage circuit module 411 = r, and the initial value of the receiving source internal resistance noise e n is When there are N receiving transducers 31 in the receiving transducer group 30 in the on state, the total resistance value R of the receiving elementary unit group in the first-stage circuit module 411 = r / N, and the current value of the receiving source internal resistance noise e n is The internal resistance noise e of the receiving source in the current state n is reduced to of the original value. Therefore, the signal-to-noise ratio is increased to times the original value. After the signal-to-noise ratio of the receiving transducer group 30 is increased, the detectable distance of the receiving transducer group 30 will also increase synchronously, thereby realizing the variable detection distance mode operation of the forward-looking sonar system.

[0062] As Figures 1 to 4 shown, a method for implementing the zoom mode of a forward-looking sonar system according to the present invention includes the following steps:

[0063] S1. A plurality of transmitting transducer groups 21 and a plurality of receiving transducer groups 31 are arranged in parallel on the panel 11. Among them, the receiving transducer group 31 includes a plurality of receiving elements 311. The plurality of receiving elements 311 of the receiving transducer group 31 are arranged side by side, and the receiving elements 311 corresponding to two adjacent receiving transducer groups 31 are arranged along a direction perpendicular to the extension direction of the panel 11.

[0064] S2. The receiving elements 311 corresponding to each receiving transducer group 31 are combined in a direction perpendicular to the extension direction of the panel 11 to form a receiving element group. The receiving elements 311 in the receiving element group are connected in parallel. By providing a plurality of analog switches and electrically connecting them to the receiving elements 311 in the receiving element group one by one, the on-off state of the receiving elements 311 is controlled, and thus the on-off state of the corresponding receiving transducer group 31 is controlled.

[0065] S3. The vertical detection angle θ corresponding to the echo signal received by the receiving transducer group 30 is obtained through the formula , where λ is the acoustic wavelength, λ = c / f, c is the speed of sound, f is the signal frequency, and L is the total length of the receiving element group. In this embodiment, the total length of the receiving element group is the sum of the lengths of the receiving elements 311 in the receiving element group that are in the connected state.

[0066] S4. The internal resistance noise e of the receiving source corresponding to the echo signal received by the receiving transducer group 30 n is obtained through the formula , where k is the Boltzmann constant, T is the thermodynamic temperature, R is the total resistance value of the receiving element group, and Δf is the noise bandwidth.

[0067] Through the formula It can be known that in the first-level circuit module 411, the primitive elements 1, 2, …, n are independent receiving primitive elements 311. Let the length of the receiving primitive element 311 be l, and the length of the receiving primitive element 311 is the length measured in a direction perpendicular to the extension direction of the panel 11. When the analog switches corresponding to other receiving primitive elements 311 are turned off, that is, the forward-looking sonar system only receives the echo signal of the primitive element 3111, N = 1, the total length of the receiving primitive element group is l, and the initial vertical detection angle θ of the receiving transducer group 30 for receiving the echo signal is This initial vertical detection angle is the maximum vertical detection angle value of the forward-looking sonar system; when there are N receiving transducers 31 in the receiving transducer group 30 in the on state, N ≥ 2, then the total length of the receiving primitive element group is Nl, and the current value of the vertical detection angle θ of the receiving transducer group 30 for receiving the echo signal is That is, as the number of connected analog switches corresponding to the receiving primitive elements 311 in the receiving primitive element group increases and the N value becomes larger, the vertical detection angle θ of the receiving transducer group 30 for receiving the echo signal becomes smaller, thereby realizing the variable-focus mode operation of the forward-looking sonar system.

[0068] Through the formula it can be known that the receiving source internal resistance noise e n is positively correlated with the total resistance value R. Let the resistance value of a single receiving primitive element 311 be r. When only one receiving transducer 31 in the receiving transducer group 30 is in the on state, the total resistance value R of the receiving primitive element group in the first-level circuit module 411 = r, and the initial value of the receiving source internal resistance noise e n is When there are N receiving transducers 31 in the receiving transducer group 30 in the on state, the total resistance value R of the receiving primitive element group in the first-level circuit module 411 = r / N, and the current value of the receiving source internal resistance noise e n is The receiving source internal resistance noise e n in the current state is reduced to of the original. Therefore, the signal-to-noise ratio is increased to times the original. After the signal-to-noise ratio of the receiving transducer group 30 is increased, the detectable distance of the receiving transducer group 30 will also increase synchronously, thereby realizing the variable detection distance mode operation of the forward-looking sonar system.

[0069] Compared with the prior art, the beneficial effects of the method for realizing the zoom mode of the forward-looking sonar system and the forward-looking sonar system of the present invention are:

[0070] 1. By closing all the analog switches through digital control signals and simultaneously receiving the echo signals of the receiving elements 311 of multiple receiving transducers 31, the receiving directivity can be improved, the receiving source resistance noise can be reduced, thereby improving the signal-to-noise ratio and achieving the maximum detection range of the forward-looking sonar system. Additionally, by controlling different analog switches to close through digital control signals and receiving the echo signals of the receiving elements 311 of one or more receiving transducers 31, the change in the detection range of the forward-looking sonar system is completed by utilizing the beam pointing characteristics of the receiving elements 311 in the receiving transducer 31 and the receiving source internal resistance noise, realizing the variable detection range mode operation of the forward-looking sonar system.

[0071] 2. By selecting the on / off state of the analog switch through digital control signals and receiving the echo signals of single or multiple receiving transducers 31, the change in the width of the detection angle of the forward-looking sonar system along the direction perpendicular to the advancing direction of the underwater vehicle is completed by utilizing the beam pointing characteristics of the receiving elements 311 in the receiving transducer 31, realizing the detection operation in the variable focus mode of the forward-looking sonar system.

[0072] In summary, in a method for implementing a zoom mode of a forward-looking sonar system and the forward-looking sonar system according to the present invention, the on / off state of the receiving transducer 31 is controlled by controlling the on / off state of the receiving element 311 of the receiving transducer 31. Different numbers of receiving transducers 31 are selected to be turned on for operation as needed, so that the forward-looking sonar system performs underwater detection in the zoom mode or in the variable detection range mode.

[0073] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0074] In several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0075] The steps in the method of the embodiments of the present invention can be adjusted, combined, and deleted according to actual needs. The units in the device of the embodiments of the present invention can be combined, divided, and deleted according to actual needs. In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a device (which can be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention.

[0076] The above embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A forward-looking sonar system, comprising a main housing, a panel is provided at the front end of the main housing, and a transmitting transducer group and a receiving transducer group are installed on the panel, characterized in that, An electronic movement is arranged inside the main housing. The electronic movement is electrically connected to the transmitting transducer group and the receiving transducer group respectively. The receiving transducer group includes multiple groups of receiving transducers arranged in parallel. Each receiving transducer includes multiple receiving elements. The multiple receiving elements of the receiving transducer are arranged side by side. The receiving elements corresponding to adjacent two groups of receiving transducers are arranged along the direction perpendicular to the panel extension direction. The electronic movement is used to control the on / off state of the receiving transducers in the receiving transducer group. The electronic movement controls the on / off state of different numbers of receiving transducers by controlling the on / off state of the receiving elements of the receiving transducers, so that the forward-looking sonar system can perform underwater detection in a zoom mode or in a variable detection distance mode.

2. The forward-looking sonar system according to claim 1, characterized in that, The electronic movement includes a receiving and acquisition sub-unit. The receiving and acquisition sub-unit includes a multi-channel receiving circuit board and an AD acquisition circuit board. The multi-channel receiving circuit board is used to be electrically connected to the receiving transducer group. The multi-channel receiving circuit board includes a first-stage circuit module and a second-stage circuit module. The first-stage circuit module is electrically connected to multiple groups of receiving transducers respectively. The second-stage circuit module is electrically connected to the AD acquisition circuit board. The second-stage circuit module is electrically connected to the first-stage circuit module. The first-stage circuit module is electrically connected to the receiving elements of multiple groups of receiving transducers respectively to control the on / off state of the receiving elements, and further control the on / off state of the receiving transducers corresponding to the receiving elements.

3. The forward-looking sonar system according to claim 2, wherein, The first-stage circuit module is electrically connected to the receiving elements of multiple groups of receiving transducers one by one through a plurality of analog switches to control the on / off state of the receiving elements, and further control the on / off state of the receiving transducers corresponding to the receiving elements.

4. The forward-looking sonar system according to claim 3, wherein, The first-stage circuit module includes a mode control unit and a differential amplification unit. The receiving elements corresponding to all the receiving transducers in the receiving transducer group are respectively connected to the differential amplification unit through an analog switch. The mode control unit is electrically connected to a plurality of analog switches respectively. The mode control unit is used to control the on / off of the analog switches to control the on / off state of the receiving elements. In the first-stage circuit module, the receiving elements corresponding to each receiving transducer are combined in the direction perpendicular to the panel extension direction to form a receiving element group. The receiving elements in the receiving element group are arranged in parallel.

5. The forward-looking sonar system according to claim 3, wherein, The first-stage circuit module includes a mode control unit and a differential amplification unit. The receiving elements corresponding to one of the receiving transducers in the receiving transducer group are directly electrically connected to the differential amplification unit. The receiving elements corresponding to the other receiving transducers in the receiving transducer group are connected to the differential amplification unit through an analog switch. The mode control unit is electrically connected to a plurality of analog switches respectively. The mode control unit is used to control the on / off of the analog switches to control the on / off state of the receiving elements. In the first-stage circuit module, the receiving elements corresponding to each receiving transducer are combined in the direction perpendicular to the panel extension direction to form a receiving element group. The receiving elements in the receiving element group are arranged in parallel.

6. The forward-looking sonar system according to claim 4 or 5, characterized in that, The second-stage circuit module includes a band-pass filtering unit and a time-varying gain control unit. The band-pass filtering unit is connected to the differential amplification unit, the time-varying gain control unit is connected to the band-pass filtering unit, and the time-varying gain control unit is electrically connected to the AD acquisition circuit board through the AD driving unit.

7. The forward-looking sonar system according to claim 4 or 5, characterized in that: The multiple groups of receiving transducers arranged in parallel are respectively denoted as the first receiving transducer, the second receiving transducer,..., the nth receiving transducer. The receiving elements of adjacent two receiving transducers are arranged side by side in a direction perpendicular to the extending direction of the panel. Count the receiving elements of each receiving transducer in a direction perpendicular to the extending direction of the panel. The receiving element of the first receiving transducer is denoted as element 1, the receiving element of the second receiving transducer is denoted as element 2,..., and the receiving element of the nth receiving transducer is denoted as element n. That is, the first receiving transducer is composed of multiple element 1s combined in the extending direction of the panel, the second receiving transducer is composed of multiple element 2s combined in the extending direction of the panel,..., and the nth receiving transducer is composed of multiple element ns combined in the extending direction of the panel; in the first-stage circuit module, in a direction perpendicular to the extending direction of the panel, element 1 to element n are combined to form a receiving element group, and element 1 to element n in the receiving element group are connected in parallel.

8. The forward-looking sonar system according to claim 2, wherein The electronic chassis further includes a multi-channel phased transmitter, a signal processing submachine, and a system power supply. The multi-channel phased transmitter is electrically connected to the transmitting transducer group, the signal processing submachine is electrically connected to the receiving acquisition submachine and the multi-channel phased transmitter respectively, and the system power supply is used to be connected to an external power supply to provide the power required for the operation of the receiving acquisition submachine, the multi-channel phased transmitter, and the signal processing submachine.

9. The forward-looking sonar system according to claim 1, characterized in that, The transmitting transducer group is arranged in the upper half of the panel, and the receiving transducer group is arranged in the lower half of the panel.

10. A method for implementing variable focus based on a forward-looking sonar system, characterized in that, It includes the following steps: S1. Distribute multiple groups of transmitting transducers and multiple groups of receiving transducers parallelly on the panel; wherein, each receiving transducer includes multiple receiving elements, and the multiple receiving elements of the receiving transducer are arranged side by side, and the corresponding receiving elements of adjacent two groups of receiving transducers are arranged in a direction perpendicular to the extending direction of the panel; S2. Combine the corresponding receiving elements of each receiving transducer in a direction perpendicular to the extending direction of the panel to form a receiving element group, and the receiving elements in the receiving element group are connected in parallel; set multiple analog switches to be electrically connected to the receiving elements in the receiving element group one by one, and control the on-off state of the corresponding receiving transducer of the receiving element by controlling the on-off state of the receiving element. S3. The vertical detection angle θ corresponding to the echo signal received by the receiving transducer array is obtained through the formula where λ is the acoustic wavelength, λ = c / f, c is the speed of sound, f is the signal frequency, L is the total length of the receiving element array, and the total length of the receiving element array is the sum of the lengths of the receiving elements in the connected state in the receiving element array; S4. The receiving transducer group receives the receiving source internal resistance noise e corresponding to the echo signal n through the formula to obtain, where k is the Boltzmann constant, T is the thermodynamic temperature, R is the total resistance value of the receiving element group, and Δf is the noise bandwidth.

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