Sonar time-sharing control method and device, sonar system and storage medium

Abstract

The invention discloses a sonar time-sharing control method and device, a sonar system and a storage medium, and relates to the technical field of sonar control. The method comprises the steps that a sonar dry end sends target information or a first wave sending moment to a plurality of sonar wet ends, and the target information comprises a sound wave pulse period and a time division number; the plurality of sonar wet ends determine respective second wave-transmitting moments according to the target information and transmit acoustic pulses at the respective wave-transmitting moments, or transmit acoustic pulses at the first wave-transmitting moments, the time-sharing number is the number of different second wave-transmitting moments, and the time-sharing number is the number of different second wave-transmitting moments. At least two different moments exist in the first wave sending moments of the plurality of sonar wet ends. According to the technical scheme provided by the embodiment of the invention, the problem of sound interference during multi-sonar monitoring is solved, and sonar equipment is ensured not to interfere with each other in a working process, so that the overall performance and the working efficiency of a multi-sonar system are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sonar time-sharing control, and in particular to a sonar time-sharing control method, device, sonar system and storage medium. Background Art

[0002] Sonar is a technology that uses the propagation and reflection characteristics of sound waves in water to perform navigation and ranging through electroacoustic conversion and information processing. It also refers to electronic equipment that uses this technology to detect underwater targets (such as their presence, location, properties, and direction of movement) and communicate. It is the most widely used and important device in underwater acoustics and comes in both active and passive types. In complex applications such as large-scale ocean monitoring platforms and underwater detection systems, the coordinated deployment of multiple sonar devices is often necessary to achieve comprehensive, high-precision underwater environmental monitoring.

[0003] However, existing technologies, when multiple sonar systems operate simultaneously, the acoustic signals emitted by each device easily interfere with each other due to the superposition and interference effects of acoustic wave propagation, resulting in distorted sonar echo signals, erroneous data, or missing data. This acoustic interference problem seriously affects the monitoring accuracy and reliability of multi-sonar systems, rendering large amounts of observation data unusable due to interference, significantly reducing system efficiency and failing to meet the requirements for real-time, accurate detection and analysis of underwater targets. Summary of the Invention

[0004] The present invention provides a sonar time-sharing control method, device, sonar system and storage medium to solve the problem of mutual interference of sound wave signals emitted by multiple sonar devices.

[0005] In a first aspect, the present invention provides a sonar time-sharing control method, comprising:

[0006] The sonar dry end sends target information or the first wave transmission time to multiple sonar wet ends respectively, wherein the target information includes the sound wave pulse period and the time-sharing number;

[0007] The multiple sonar wet ends determine their own second transmission times according to the target information and transmit sound wave pulses at their own transmission times, or transmit sound wave pulses at the first transmission times, wherein the time-sharing number is the number of different second transmission times, and there are at least two different times among the first transmission times of the multiple sonar wet ends.

[0008] In a second aspect, the present invention provides a sonar time-sharing control device, comprising:

[0009] The information sending module in the sonar dry end is used to send target information or the first wave transmission time to multiple sonar wet ends respectively, wherein the target information includes the sound wave pulse period and the number of time sharing;

[0010] The pulse sending modules in the multiple sonar wet ends are configured to determine their own second transmission time according to the target information and transmit sound wave pulses at their own transmission time, or transmit sound wave pulses at the first transmission time, wherein the time-sharing number is the number of different second transmission time periods, and there are at least two different first transmission time periods among the multiple sonar wet ends.

[0011] In a third aspect, the present invention provides a sonar system, comprising: a sonar dry end and a plurality of sonar wet ends;

[0012] Among them, the sonar dry end can execute the steps executed by the sonar dry end in the sonar time-sharing control method described in the first aspect above; the multiple sonar wet ends can execute the steps executed by the sonar wet end in the sonar time-sharing control method described in the first aspect above.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions, which are used to enable a processor to implement the sonar time-sharing control method of the first aspect when executed.

[0014] The sonar time-sharing control solution provided by the present invention enables multiple sonar wet ends to determine the timing of transmitting their own sound wave pulses based on the target information sent by the sonar dry end, so that each sonar wet end can transmit sound wave signals in sequence at different times within the sound wave pulse cycle, or directly transmit sound wave signals according to the time when the sonar dry end occurs. This realizes the coordinated control of the sonar dry end over multiple sonar wet ends, solves the acoustic interference problem that occurs during multi-sonar monitoring on large platforms, ensures that sonar equipment does not interfere with each other during operation, and ensures that the observation data collected by each sonar is valid data, thereby significantly improving the overall performance and work efficiency of the multi-sonar system and meeting the urgent demand for high-precision data in applications such as underwater environment monitoring and target detection.

[0015] It should be understood that the content described in this section is not intended to identify the key or important features of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a flow chart of a sonar time-sharing control method provided according to the first embodiment of the present invention;

[0018] Figure 2 This is a flow chart of a sonar time-sharing control method provided according to the second embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of state transition of a sonar wet end provided according to the second embodiment of the present invention;

[0020] Figure 4 This is a flow chart of a sonar time-sharing control method provided according to the third embodiment of the present invention;

[0021] Figure 5 This is a structural diagram of a sonar time-sharing control device provided according to a fourth embodiment of the present invention;

[0022] Figure 6 1 is a structural diagram of a sonar system provided according to embodiment 5 of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than that illustrated or described herein. In the description of the present invention, unless otherwise specified, "plurality" refers to two or more. "And / or" describes an association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0025] Example 1

[0026] Figure 1A flowchart of a sonar time-sharing control method is provided for the first embodiment of the present invention. This embodiment is applicable to controlling sonar equipment. The method can be executed by a sonar time-sharing control device. The sonar time-sharing control device can be implemented in the form of hardware and / or software. The sonar time-sharing control device can be configured in a sonar system. The sonar system can be composed of two or more physical entities or a single physical entity.

[0027] like Figure 1 As shown, the sonar time-sharing control method provided in the first embodiment of the present invention specifically includes the following steps:

[0028] S101. A sonar dry end sends target information or a first wave transmission time to multiple sonar wet ends respectively, wherein the target information includes a sound wave pulse period and a time-sharing number.

[0029] In this embodiment, the sonar dry end can transmit the sonic pulse period and time-sharing number to multiple sonar wet ends via a wireless network, or can transmit the first transmission time to multiple sonar wet ends based on the sonar wet end's identity identifier or IP address. The sonar pulse period can be understood as the period at which the sonar wet end transmits a sonic pulse. For example, if the sonar pulse period is 1 second, the sonar wet end transmits a sonic pulse once every 1 second. The time-sharing number is the number of time-sharing times at which the multiple sonar wet ends transmit sonic pulses. For example, if five sonar wet ends transmit sonic pulses at five different times, the time-sharing number is 5. The first transmission time is the optimal transmission time predetermined by the sonar dry end.

[0030] S102: The multiple sonar wet ends determine their own second transmission times according to the target information and transmit sound wave pulses at their own transmission times, or transmit sound wave pulses at the first transmission times, wherein the time-sharing number is the number of different second transmission times, and there are at least two different times among the first transmission times of the multiple sonar wet ends.

[0031] In this embodiment, after receiving the sonic pulse period and the number of time divisions, multiple sonar wet ends can determine the optimal time to transmit a sonic pulse within the sonic pulse period, i.e., the second transmission time, based on the sonic pulse period and the number of time divisions. For example, if the sonic pulse period is 1 second and the number of time divisions is 5, five different times can be selected from the sonic pulse period, and the five sonar wet ends can transmit sonic pulses at these different times. To better avoid acoustic interference between multiple sonar wet ends, the time at which the sonar wet end transmits a sonic pulse can be determined based on the location of the nearest sonar wet end. For example, if the current sonar wet end is close to the nearest sonar wet end, the time at which the current sonar wet end transmits a sonic pulse can be longer than the time at which the nearest sonar wet end transmits a sonic pulse. The times at which multiple sonar wet ends transmit sonic pulses can be consistent or inconsistent. Alternatively, after receiving the first transmission time, multiple sonar wet ends can directly transmit sonic pulses at the first transmission time. The first transmission time can be the same as or different from the second transmission time.

[0032] According to the technical solution of the embodiment of the present invention, multiple sonar wet ends determine the timing of transmitting their own sound wave pulses based on the target information sent by the sonar dry end, so that each sonar wet end can transmit the sound wave signal in sequence at different times within the sound wave pulse cycle, or directly transmit the sound wave signal according to the time when the sonar dry end occurs. This realizes the coordinated control of the sonar dry end over multiple sonar wet ends, solves the acoustic interference problem caused by multiple sonar monitoring on large platforms, ensures that the sonar equipment does not interfere with each other during operation, and ensures that the observation data collected by each sonar is valid data, thereby significantly improving the overall performance and work efficiency of the multi-sonar system, and meeting the urgent demand for high-precision data in applications such as underwater environment monitoring and target detection.

[0033] Optionally, a real-time clock RTC circuit is built into the multiple sonar wet ends.

[0034] Specifically, the sonar wet end has a built-in RTC (Real Time Clock) circuit, which has clock and time calibration functions.

[0035] Optionally, before the multiple sonar wet ends determine their own second wave transmission time according to the target information, it also includes: the multiple sonar wet ends configure their own IP addresses; wherein, the multiple sonar wet ends determine their own second wave transmission time according to the target information, including: the multiple sonar wet ends determine their own second wave transmission time according to the target information and their own IP addresses.

[0036] Specifically, the sonar wet end can configure its own IP address, which can vary from one sonar wet end to another. The sonar wet end can perform a preset calculation based on target information and its own IP address to determine the time to transmit a sonic pulse, which can vary from one sonar wet end to another.

[0037] For example, if the sonic pulse period is 1 second and the number of time divisions is 5, a preset operation can be performed on the IP address to obtain a target value. The target value will be different for different sonar wet ends, and there is a corresponding relationship between the target value and the time within the sonic pulse period. Five different times are selected from the sonic pulse period, and the five sonar wet ends transmit sonic pulses at the times corresponding to the target values.

[0038] Example 2

[0039] Figure 2 This is a flow chart of a sonar time-sharing control method provided in the second embodiment of the present invention. The technical solution of the embodiment of the present invention is further optimized on the basis of the above-mentioned optional technical solutions, and provides a specific method for controlling the sonar equipment.

[0040] Optionally, the method further includes: the sonar dry end broadcasting timing information to the at least two sonar wet ends using the User Datagram Protocol; and the sonar wet end correcting its own time based on the timing information. This arrangement has the advantage of using the sonar dry end's time to correct the sonar wet end's time, thereby ensuring the accuracy of the sonar dry end's coordinated control of multiple sonar wet ends.

[0041] Optionally, the multiple sonar wet ends determine their own second emission times based on the target information and their own IP addresses, including: the multiple sonar wet ends determine the result of performing a modulo operation on the target position value in their own IP addresses and the time-sharing number to obtain a target remainder, and then determine the quotient of the acoustic pulse period and the time-sharing number, wherein the target position value in the IP addresses of different sonar wet ends is different; the multiple sonar wet ends determine the product of the target remainder and the quotient, and determine the sum of the product and the start time of the current period as their own second emission time. The advantage of this configuration is that by using this method to determine the time to transmit the acoustic pulse, the sonar wet end ensures that the echo signal received by each sonar device is clear and accurate.

[0042] Optionally, the multiple sonar wet ends have built-in analog front-end (AFE) chips; wherein, after the multiple sonar wet ends transmit acoustic wave pulses, the multiple sonar wet ends further include: using the AFE chip to process the received reflected acoustic wave pulses, sending the processed results to the sonar dry end, and then switching from the acoustic wave transmitting state to the standby state; wherein, when the multiple sonar wet ends are in the standby state, the analog front-end (AFE) chip is in the off state, and when the multiple sonar wet ends are in the acoustic wave transmitting state, the analog front-end (AFE) chip is in the on state. The advantage of this configuration is that it can save power consumption of the sonar wet ends and extend the life of the AFE chip.

[0043] like Figure 2As shown, a sonar time-sharing control method provided by the second embodiment of the present invention specifically includes the following steps:

[0044] S201. The sonar dry end broadcasts target information and timing information to multiple sonar wet ends using the User Datagram Protocol, wherein the target information includes the acoustic wave pulse period and the number of time divisions.

[0045] Specifically, the time synchronization information may be standard time.

[0046] S202. The multiple sonar wet ends calibrate their own time according to the timing information.

[0047] Specifically, for precise time-sharing coordination between independent sonar wet ends, each must maintain a synchronized local real-time clock and be capable of receiving synchronization calibration at any time. Each sonar wet end can use its built-in RTC circuit to calibrate its own time based on synchronization information. The FPGA logic control in the sonar wet end only needs to maintain second and millisecond timekeeping to meet practical requirements. The second range is 0 to 59, requiring 6 bits, while the millisecond range is 0 to 999, requiring 10 bits. Therefore, to ensure that the sonar dry end can calibrate the sonar wet end timing, the FPGA port registers must be configured with 6 + 10 bits = 16 bits of time calibration data and a corresponding synchronization calibration control mechanism. Upon receiving commands from the host computer, the PS software extracts the second and millisecond data and writes them to the IO port registers, thereby calibrating the FPGA's local timekeeping. The sonar wet end comprises the Processing System (PS) and Programmable Logic (PL), respectively representing the Processing System (PS) and Programmable Logic (PL). The PL refers to the FPGA, and the PS refers to the ARM processor. The FPGA sends data to the ARM, which then packages the data and transmits it to the sonar dry end.

[0048] Furthermore, to attach complete date and millisecond time information to images uploaded by the sonar wet-end, the FPGA design in the sonar wet-end can add real-time timekeeping for minutes and seconds. This complete time information is output via the IO status port register for the PS to read. The PS must maintain date information, especially when the time span spans 24 hours and the host computer is out of time. The hour ranges from 0 to 23, requiring 5 bits, and the minute ranges from 0 to 59, requiring 6 bits. Therefore, the IO port control register requires an additional 11 bits for time calibration. The complete real-time time output for the PS to read—hour (5 bits) + minute (6 bits) + second (6 bits) + millisecond (10 bits)—requires 27 bits of the IO status port register.

[0049] S203, the multiple sonar wet ends determine the result of performing a modulo operation on the value at the target position in their own IP addresses and the time-sharing number to obtain a target remainder, and determine a quotient of the acoustic wave pulse period and the time-sharing number, wherein the values ​​at the target positions in the IP addresses of different sonar wet ends are different.

[0050] S204: The multiple sonar wet ends determine the product of the target remainder and the quotient value, and determine the sum of the product and the start time of the current cycle as their own wave transmission time, and emit sound wave pulses at their own wave transmission time.

[0051] For example, if the target value in the sonar wet end's IP address is 34, the number of time divisions is 10, the sonic pulse period is 1 second, and the start time of the current period is 0:00:00, then the target remainder is 4, the quotient of the sonic pulse period and the number of time divisions is 100 milliseconds, and the product of the target remainder and the quotient is 400 milliseconds, then the sonar wet end emitted the sonic pulse at 0:00:400 milliseconds. The start time of the current period is the start time of the sonar wet end's current sonic pulse period. If the sonic pulse period is greater than 1 second, such as 2 seconds, the start times of the sonic pulse period are the 0th, 2nd, ..., and 60th seconds of each minute. If the sonic pulse period is 5 seconds, the start times of the sonic pulse period are the 0th, 5th, ..., and 60th seconds of each minute. The target value in the IP address can be the host bit.

[0052] S205: The multiple sonar wet ends process the received reflected sound wave pulses using an analog front-end (AFE) chip, and after sending the processing results to the sonar dry end, enter a standby state from a sound wave transmitting state. When the multiple sonar wet ends are in the standby state, the state of the AFE chip is off; when the multiple sonar wet ends are in the sound wave transmitting state, the state of the AFE chip is on.

[0053] Specifically, the sonar wet end may include the following modules:

[0054] 1) AFE power-on reset control module and its AFE sampling clock synchronization generator and dual-frequency dual-mode SPI interface. The AFE power-on reset control module is used to set the AFE device to the required working state before starting the sonar wet end function.

[0055] 2) Underwater acoustic emission control module, used to control the emission signal according to the current Ping operating frequency and range mode.

[0056] 3) AFE channel data acquisition, array signal processing and DMA transfer control module, which is used to constitute the signal acquisition and processing functions, control channel signal acquisition and send channel data or processed images to the PS through the DMA channel.

[0057] 4) The TGC control module is used to perform time gain compensation during signal acquisition and processing, adjusting and increasing the gain of the received echo signal to compensate for the attenuation of the far-field signal.

[0058] During the operation of the sonar wet end, not all functional components are working at the same time, but rather they are required to perform specified functions at specific moments according to a certain timing relationship. This process is dynamic. Figure 3 This is a schematic diagram of the state jump of a sonar wet end. Figure 3 The state transitions describe this dynamic process. The sonar wet end includes the PingProcCntrl11 module, the pulse process control module. This module is the core module controlling this process. After the PS program is started or automatically started, the PingProcCntrl module uses a finite state machine (FSM) to track and maintain the operating status of the current Ping cycle (i.e., the acoustic pulse cycle). It directs and controls other modules or functional units to run at appropriate times, collaboratively completing various operations within the Ping cycle.

[0059] like Figure 3 As shown in Figure 1, the sonar wet-end Ping process includes five states: initial state, standby state, initial AFE configuration, underwater acoustic emission, channel signal acquisition and processing, and DMA transfer. Because the initialization, function, and parameter configuration of the AFE chip is cumbersome, and the configuration must be persistent once completed, a status bit, PwrClkAFEs, can be added to track the configuration status of the AFE chip. The initial state indicates that the AFEs have not been initially configured, and the standby state indicates that the AFEs have been initially configured.

[0060] Under the control and management of the module PingProcCntrl in the sonar wet end, each functional module Figure 3 The process of working together with the timing relationship described in , specifically includes:

[0061] If the current state is "Initial" (i.e., the AFEs chip has not been initially configured), upon receiving a Ping process start pulse (either from a PS command or automatically initiated by the PL), the PingProcCntrl module determines whether the current state is "Initial" (AFEs not initially configured) or "Standby" (AFEs already initially configured) to determine the next state. If the current state is "Initial," the next state becomes "Initial Configuration of AFEs" and the AFE58JD28_RESET module is initiated to initialize the AFE chip, set mode parameters, and control the sampling clock. The AFEsInitOvr pulse generated after the AFE58JD28_RESET module completes the process, causing the Ping process to enter the "Underwater Acoustic Emission" state. Simultaneously, the variable PwrClkAFEs, which tracks the AFE chip status, is set to 1, indicating that the AFE chip is operating normally.

[0062] If the current state is "Standby", it means that the AFE chip is already in a state where it can work normally and does not need to be initially configured again. Therefore, the next state directly enters "Underwater Acoustic Emission".

[0063] In the "Underwater Acoustic Transmission" state, the PingProcCntrl module starts the CW_IF module to transmit acoustic pulses according to the pulse width and power consumption control specified by the range mode. Once the transmission is completed, the state jumps to "Channel Signal Acquisition and Processing and DMA Transfer".

[0064] In the "channel signal acquisition and processing and DMA transfer" state, the PingProcCntrl module starts the SigFd_RstFch, DMAaffairs, and SignalProc modules to organize the acquisition of channel array signals, transmit the channel signals to the SignalProc module for signal processing, and use the DMAaffairs module to transmit the processed image data or original channel signals to the PS through the DMA channel. After the DMA data volume agreed upon in the protocol is transferred, the DMAaffairs module outputs a completion pulse and the state jumps to "Standby". At this point, a complete Ping cycle ends. There are two ways to start the Ping cycle: PS program start (semi-automatic) and PL timed automatic start. The PS program start (semi-automatic) method is to write 1 to PSSCR[0] after the PS completes writing the mode and control parameters to the IO port register to start the PL Ping cycle. The PL timed automatic start method is that the PL periodically starts the Ping process at a certain time according to the Ping cycle set by the PS and the real-time clock maintained by the PL.

[0065] The sonar wet end also includes a module SDTDstrgy12. The module SDTDstrgy is used to execute the method to achieve the effect of multiple sonars working simultaneously in a relatively small area without interfering with each other.

[0066] Specifically, the acoustic wave emission state is "underwater acoustic emission." The sonar wet end does not operate continuously. Each range mode has its own minimum cycle limit, and within a cycle, it operates at full capacity only for a portion of the time, while performing no effective work during the remaining portion. In other words, different range modes exhibit varying degrees of "duty cycle." The sonar wet end also includes a WakeUp module13. This module controls the delay between powering off and powering back on the AFE for different range modes, ensuring that the AFE resumes normal function before the ping process is completed. The AFE chip supports power off and has a dedicated GLB_PDN input pin. When the GLB_PDN input is high, the AFE chip enters a power-off state. At this point, the AFE chip's power consumption is reduced to approximately 5% of its normal operating state. This energy saving is significant for applications with high power consumption.

[0067] The FPGA controls the underlying workflow of the sonar wet-end with a precise timing mechanism, enabling precise power-down and power-down of the AFE chip. During sonar wet-end operation, when the PS requests a ping cycle, or when the FPGA itself initiates a ping cycle in collaborative mode, the FPGA first powers up the AFE and starts a timer with a 0.1ms accuracy. Ping processing only begins when the AFE power-up recovery time expires. The ping process ends when the FPGA completes transmission of the ping results (channel data or sonar imagery) to the PS, at which point the FPGA shuts down the AFE. This cycle repeats, achieving energy savings. By controlling the recovery time, the FPGA avoids the effects of power-up and power-down transients, ensuring the proper functioning of the sonar wet-end.

[0068] The sonar wet end optionally includes a module called GenerAFEclks14. This module provides the sampling clock for the AFE channel signals. It not only specifies the required operating frequency for acquisition but also coordinates with the specific timing of the AFE chip's initial configuration. It also ensures clock cycle integrity at the start, preventing artifacts such as narrow pulse glitches. The GenerAFEclks module utilizes the PL's ODDR resources to begin outputting the AFE sampling clock for the AFE chips at the specified AFE sampling frequency, starting at the timing specified by the AFE initial configuration module AFE58JD28_RESET. Before issuing a time-sharing command, the PL logic outputs the same number of sampling clocks based on the number of AFE chips, connecting each AFE chip via a peer-to-peer (P2P) connection to ensure clock signal integrity. The ODDR resources ensure the relative time difference between the clocks, allowing for PCB layout compensation and consistent clock delays. From the time-sharing command, the PL outputs only one set of clocks, with an external low-jitter clock chip providing the channel signal sampling clocks required by each AFE chip.

[0069] In the sonar time-sharing control method provided by the embodiments of the present invention, the dry-end sonar system uses the dry-end time to calibrate the wet-end time, ensuring the accuracy of coordinated control of multiple wet-ends by the dry-end. By using the aforementioned method to determine the time of transmitting acoustic pulses, the wet-end sonar system ensures that the echo signals received by each sonar device are clear and accurate, providing a high-quality data foundation for subsequent data analysis, target identification, and positioning, significantly improving the accuracy and reliability of the analysis results. The increase in valid data eliminates the need for the multi-sonar system to process large amounts of invalid data, reducing data processing time and computing resource consumption. Furthermore, each sonar device can operate stably and efficiently, improving the monitoring frequency and response speed of the entire system. This method is independent of the hardware structure and model of a specific sonar device and is compatible with a wide range of sonar devices, making it suitable for multi-sonar systems of varying sizes. This method can be conveniently applied to both the upgrade and modification of existing multi-sonar systems and the design and construction of new sonar systems, greatly facilitating the expansion and optimization of multi-sonar systems and reducing their upgrade and maintenance costs.

[0070] Example 3

[0071] Figure 4 This is a flow chart of a sonar time-sharing control method provided in Example 3 of the present invention. The technical solution of this embodiment of the present invention is further optimized on the basis of the above-mentioned optional technical solutions, and provides a specific method for controlling the sonar device.

[0072] Optionally, before the sonar dry end sends the first transmission time to each of the multiple sonar wet ends, the sonar dry end further includes: determining transmission interference correlation information based on the position information and transmission correlation information of the multiple sonar wet ends, and determining the first transmission time of each sonar wet end based on the transmission interference correlation information and the sonar pulse period. This configuration has the advantage of enabling the sonar dry end to determine the optimal transmission time, thereby efficiently instructing multiple sonar wet ends to transmit in a staggered manner.

[0073] like Figure 4 As shown, a sonar time-sharing control method provided by the third embodiment of the present invention specifically includes the following steps:

[0074] S301. The sonar dry end determines wave transmission interference association information based on position information and wave transmission association information of multiple sonar wet ends, and determines the wave transmission time of each sonar wet end based on the wave transmission interference association information and the sound wave pulse period, wherein the wave transmission time of the multiple sonar wet ends includes at least two different times.

[0075] Specifically, the sonar dry end uses a built-in algorithm or model to determine transmission interference correlation information, such as the relative positional relationship and distance between sonar wet ends, based on the positional information and transmission correlation information (such as range) of multiple sonar wet ends. This information can then be used to assess the optimal time for each sonar wet end to transmit within a sonic pulse cycle, namely, the first transmission time. For example, based on the relative positional relationship and distance information between the sonar wet ends, the time within a single cycle at which multiple sonar wet ends can transmit sonic pulses without interfering with each other can be determined.

[0076] Optionally, the sonar dry end determines the wave transmission interference association information based on the position information and wave transmission association information of the multiple sonar wet ends, and determines the first wave transmission moment of each sonar wet end based on the wave transmission interference association information and the sound wave pulse period, including: the sonar dry end uses a convolutional neural network to process the position information and wave transmission association information of the multiple sonar wet ends to obtain the wave transmission interference association information, wherein the wave transmission interference association information includes an interference spectrum diagram and sonar characteristic diagrams of the multiple sonar wet ends; the sonar dry end uses a dynamic programming algorithm to determine the first wave transmission moment of each sonar wet end from the sound wave pulse period according to the wave transmission interference association information.

[0077] Specifically, convolutional neural networks can automatically extract complex features related to the spatial location of sonar wet-ends and their associated transmission information (such as signal waveforms). Through structures such as convolutional and pooling layers, they can efficiently capture interference correlations between sonar wet-ends due to their spatial distribution, reducing data dimensionality and highlighting important information. The features output by the convolutional neural network serve as a crucial basis for the dynamic programming algorithm's calculations and decision-making. The dynamic programming algorithm, through its computational logic, searches for the optimal solution within the sonar state space. The dynamic programming algorithm decomposes the sonar wet-end transmit time calculation problem into multiple subproblems. Using state transition equations, the algorithm gradually calculates the optimal transmit time for each subproblem based on the time series and spatial relationships of the sonar wet-end, given the known sonar operating mode, acoustic wave propagation characteristics, and interference correlation information, ultimately achieving a global optimal solution. Specifically, during the calculation process, the dynamic programming algorithm converts the features output by the convolutional neural network into relevant parameters in the state transition equation. For example, it converts sonar signatures into acoustic wave propagation delays and uses interference spectrum features to assess the degree of interference. Starting from the initial state, the state transition equation is used to calculate the local optimal solution for all possible states at each stage, and the global optimal solution is gradually obtained recursively. The sonar feature map includes the relative position relationship of the sonar wet end and distance information.

[0078] S302: The sonar dry end broadcasts the transmission time and timing information to multiple sonar wet ends using the User Datagram Protocol.

[0079] S303: The multiple sonar wet ends calibrate their own time according to the timing information.

[0080] S304: The multiple sonar wet ends transmit sound wave pulses at the time of the received waves.

[0081] S305: The multiple sonar wet ends process the received reflected sound wave pulses using an analog front-end (AFE) chip, and send the processing results to the sonar dry end, and then enter a standby state from a sound wave transmitting state. When the multiple sonar wet ends are in the standby state, the state of the AFE chip is off; when the multiple sonar wet ends are in the sound wave transmitting state, the state of the AFE chip is on.

[0082] The sonar time-sharing control method provided by the embodiments of the present invention enables optimal sonar dry-end transmission timing to be determined, effectively directing the staggered transmission of multiple sonar wet-ends. This ensures that each sonar device receives clear and accurate echo signals, providing a high-quality data foundation for subsequent data analysis, target identification, and positioning. This significantly improves the accuracy and reliability of analysis results. The increase in valid data eliminates the need for the multi-sonar system to process large amounts of invalid data, reducing data processing time and computing resource consumption. Furthermore, each sonar device can operate stably and efficiently, improving the monitoring frequency and response speed of the entire system. This method is independent of the hardware structure and model of a specific sonar device and is compatible with a wide range of sonar devices, making it suitable for multi-sonar systems of varying sizes. Whether upgrading or renovating existing multi-sonar systems or designing and constructing new sonar systems, this method can be conveniently applied, greatly facilitating the expansion and optimization of multi-sonar systems and reducing their upgrade and maintenance costs.

[0083] Example 4

[0084] Figure 5 This is a schematic diagram of the structure of a sonar time-sharing control device provided by the fourth embodiment of the present invention. Figure 5 As shown, the device includes: an information sending module 301 in a sonar dry end and a plurality of pulse sending modules 302 in a sonar wet end, wherein:

[0085] An information sending module is used to send target information or the first wave emission time to multiple sonar wet ends respectively, wherein the target information includes the sound wave pulse period and the number of time divisions;

[0086] A pulse sending module is used to determine its own second wave transmission time according to the target information and transmit a sound wave pulse at its own wave transmission time, or to transmit a sound wave pulse at the first wave transmission time, wherein the time-sharing number is the number of different second wave transmission time periods, and there are at least two different time periods among the first wave transmission time periods of the multiple sonar wet ends.

[0087] The sonar time-sharing control device provided by the embodiment of the present invention enables multiple sonar wet ends to determine the timing of transmitting their own sound wave pulses based on the target information sent by the sonar dry end, so that each sonar wet end can transmit sound wave signals in sequence at different times within the sound wave pulse cycle, or directly transmit sound wave signals according to the time when the sonar dry end occurs. This realizes the coordinated control of the sonar dry end over multiple sonar wet ends, solves the acoustic interference problem that occurs during multi-sonar monitoring on large platforms, ensures that sonar equipment does not interfere with each other during operation, and ensures that the observation data collected by each sonar is valid data, thereby significantly improving the overall performance and work efficiency of the multi-sonar system and meeting the urgent demand for high-precision data in applications such as underwater environment monitoring and target detection.

[0088] Optionally, the device further includes:

[0089] The transmission time determination module in the sonar dry end is used to determine the transmission interference association information according to the position information and transmission association information of the multiple sonar wet ends before the sonar dry end sends the first transmission time to each of the multiple sonar wet ends, and determine the first transmission time of each of the sonar wet ends according to the transmission interference association information and the sound wave pulse period.

[0090] Furthermore, the sonar dry end determines the wave transmission interference association information based on the position information and wave transmission association information of the multiple sonar wet ends, and determines the first wave transmission moment of each of the sonar wet ends based on the wave transmission interference association information and the sound wave pulse period, including: the sonar dry end uses a convolutional neural network to process the position information and wave transmission association information of the multiple sonar wet ends to obtain the wave transmission interference association information, wherein the wave transmission interference association information includes an interference spectrum diagram and the wave transmission characteristic diagrams of the multiple sonar wet ends; the sonar dry end uses a dynamic programming algorithm to determine the first wave transmission moment of each of the sonar wet ends from the sound wave pulse period according to the wave transmission interference association information.

[0091] Optionally, the device further includes:

[0092] The timing information sending module in the sonar dry end is used to broadcast timing information to the multiple sonar wet ends using the User Datagram Protocol;

[0093] The correction modules in the multiple sonar wet ends are used to correct their own time according to the timing information.

[0094] Optionally, a real-time clock RTC circuit is built into the multiple sonar wet ends.

[0095] Optionally, the device further includes:

[0096] The configuration modules in the plurality of sonar wet ends are configured to configure their own IP addresses before transmitting the acoustic pulses according to the target information;

[0097] Among them, the pulse sending module includes:

[0098] The transmitting time determination unit is used to determine its own second transmitting time according to the target information and its own IP address.

[0099] Furthermore, the multiple sonar wet ends determine their own second wave transmission time based on the target information and their own IP addresses, including: the multiple sonar wet ends determine the result of performing a modulo operation on the value at the target position in their own IP addresses and the time-sharing number to obtain a target remainder, and determine a quotient of the sound wave pulse period and the time-sharing number, wherein the values ​​at the target positions in the IP addresses of different sonar wet ends are different; the multiple sonar wet ends determine the product of the target remainder and the quotient, and determine the sum of the product and the start time of the current period as their own second wave transmission time.

[0100] Optionally, the multiple sonar wet ends are equipped with an analog front-end AFE chip;

[0101] The device further comprises:

[0102] The state conversion module in the multiple sonar wet ends is used to process the received reflected sound wave pulses using the AFE chip after the multiple sonar wet ends transmit sound wave pulses, and send the processing results to the sonar dry end, and then enter the standby state from the sound wave transmitting state; wherein, when the multiple sonar wet ends are in the standby state, the state of the AFE chip is off, and when the multiple sonar wet ends are in the sound wave transmitting state, the state of the AFE chip is on.

[0103] The sonar time-sharing control device provided in the embodiment of the present invention can execute the sonar time-sharing control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0104] Example 5

[0105] Figure 6 FIG. 5 shows a schematic diagram of the structure of a sonar system 50 that can be used to implement an embodiment of the present invention. Figure 6 As shown, the sonar system 50 includes a sonar dry end 51 and a plurality of sonar wet ends 52 .

[0106] Among them, the sonar dry end can execute the steps executed by the sonar dry end in the sonar time-sharing control method described above; the multiple sonar wet ends can execute the steps executed by the sonar wet end in the sonar time-sharing control method described above.

[0107] The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the inventions described and / or claimed herein. The sonar system provided above can be used to implement the sonar time-sharing control method provided in any of the above embodiments, with the corresponding functions and beneficial effects.

[0108] In some embodiments, the sonar time-sharing control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as a memory unit. In some embodiments, part or all of the computer program can be loaded and / or installed into the sonar system 50 via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by the processor, one or more steps of the sonar time-sharing control method described above can be performed. Alternatively, in other embodiments, the processor can be configured to execute the sonar time-sharing control method via any other suitable means (e.g., via firmware).

[0109] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip (SOC) systems, complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0111] Example 6

[0112] In the context of the present invention, a computer-readable storage medium may be a tangible medium, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a sonar time-sharing control method, the method comprising:

[0113] The sonar dry end sends target information or the first wave transmission time to multiple sonar wet ends respectively, wherein the target information includes the sound wave pulse period and the time-sharing number;

[0114] The multiple sonar wet ends determine their own second transmission times according to the target information and transmit sound wave pulses at their own transmission times, or transmit sound wave pulses at the first transmission times, wherein the time-sharing number is the number of different second transmission times, and there are at least two different times among the first transmission times of the multiple sonar wet ends.

[0115] In the context of the present invention, computer-readable storage medium can be a tangible medium that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage medium can include but is not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0116] The computer device provided above can be used to execute the sonar time-sharing control method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0117] It is worth noting that in the embodiment of the above-mentioned sonar time-sharing control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0118] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A sonar time-sharing control method, characterized in that: include: The sonar dry end sends target information or the first wave transmission time to multiple sonar wet ends respectively, wherein the target information includes the sound wave pulse period and the time-sharing number; The multiple sonar wet ends determine their own second transmission times according to the target information and transmit sound wave pulses at their own transmission times, or transmit sound wave pulses at the first transmission times, wherein the time-sharing number is the number of different second transmission times, and there are at least two different times among the first transmission times of the multiple sonar wet ends.

2. The method according to claim 1, characterized in that Before the sonar dry end sends the first wave transmission moment to the multiple sonar wet ends respectively, the method further includes: The sonar dry end determines the wave transmission interference correlation information according to the position information and wave transmission correlation information of the multiple sonar wet ends, and determines the first wave transmission moment of each sonar wet end according to the wave transmission interference correlation information and the sound wave pulse period.

3. The method according to claim 2, characterized in that The sonar dry end determines the wave transmission interference correlation information according to the position information and the wave transmission correlation information of the multiple sonar wet ends, and determines the first wave transmission time of each of the sonar wet ends according to the wave transmission interference correlation information and the sound wave pulse period, including: The sonar dry end processes the position information and wave transmission correlation information of the multiple sonar wet ends using a convolutional neural network to obtain wave transmission interference correlation information, wherein the wave transmission interference correlation information includes an interference spectrum graph and sonar characteristic graphs of the multiple sonar wet ends; The sonar dry end uses a dynamic programming algorithm to determine the first wave transmission moment of each sonar wet end from the sound wave pulse period according to the wave transmission interference correlation information.

4. The method according to claim 1, wherein Also includes: The sonar dry end broadcasts timing information to the multiple sonar wet ends using the User Datagram Protocol; The multiple sonar wet ends correct their own time according to the timing information.

5. The method according to claim 1 or 4, characterized in that The multiple sonar wet ends are equipped with a real-time clock (RTC) circuit.

6. The method according to claim 1, characterized in that Before the multiple sonar wet ends determine their own second wave transmission moments according to the target information, the method further includes: The multiple sonar wet ends are configured with their own IP addresses; The multiple sonar wet ends determine their own second wave transmission moments according to the target information, including: The multiple sonar wet ends determine their own second wave transmission time according to the target information and their own IP addresses.

7. The method according to claim 6, characterized in that The multiple sonar wet ends determine their own second wave transmission times according to the target information and their own IP addresses, including: The multiple sonar wet ends determine the result of performing a modulo operation on the value at the target position in their own IP addresses and the time-sharing number to obtain a target remainder, and determine a quotient of the acoustic wave pulse period and the time-sharing number, wherein the values ​​at the target positions in the IP addresses of different sonar wet ends are different; The multiple sonar wet ends determine the product of the target remainder and the quotient value, and determine the sum of the product and the start time of the current cycle as the second wave transmission time of the sonar wet ends.

8. The method according to claim 1, characterized in that The multiple sonar wet ends are equipped with analog front-end (AFE) chips. After the multiple sonar wet ends transmit sound wave pulses, the method further includes: The multiple sonar wet ends process the received reflected sound wave pulses using the AFE chip, and send the processing results to the sonar dry end, and then enter the standby state from the sound wave transmitting state; When the multiple sonar wet ends are in the standby state, the state of the AFE chip is off; when the multiple sonar wet ends are in the sound wave transmitting state, the state of the AFE chip is on.

9. A sonar time-sharing control device, characterized in that: include: The information sending module in the sonar dry end is used to send target information or the first wave transmission time to multiple sonar wet ends respectively, wherein the target information includes the sound wave pulse period and the number of time sharing; The pulse sending modules in the multiple sonar wet ends are configured to determine their own second transmission time according to the target information and transmit sound wave pulses at their own transmission time, or transmit sound wave pulses at the first transmission time, wherein the time-sharing number is the number of different second transmission time periods, and there are at least two different first transmission time periods among the multiple sonar wet ends.

10. A sonar system, characterized in that: The sonar system includes: a sonar dry end and a plurality of sonar wet ends; Wherein, the sonar dry end can execute the steps executed by the sonar dry end in the sonar time-sharing control method according to any one of claims 1-8; the multiple sonar wet ends can execute the steps executed by the sonar wet end in the sonar time-sharing control method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the sonar time-sharing control method according to any one of claims 1 to 8 when executed.

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