Three-dimensional detection system and method based on sonar, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a three-dimensional detection system and method based on sonar, electronic equipment and a storage medium, and relates to the technical field of underwater detection equipment, and the system comprises an underwater subsystem, a water surface subsystem and an interconnection subsystem. The underwater subsystem comprises a transducer array, a sound wave emitting electronic system, a sound wave receiving electronic system, a rotating device and auxiliary equipment; the water surface subsystem comprises a data processor, a display control unit, a power supply unit and a rotating device remote controller; the interconnection subsystem comprises a dry and wet end interconnection watertight cable; the data processor comprises an acoustic signal processing subsystem, an acoustic data transmission subsystem, an acoustic data display subsystem and an acoustic control subsystem; the transducer array comprises a plurality of independent sub-arrays which are arranged in a multi-array-element disc shape. According to the invention, by integrating the three-dimensional sonar detection architecture in which multiple systems work cooperatively, high-precision three-dimensional positioning and category identification of an underwater target are realized, and the problems of poor anti-interference performance and weak environmental adaptability in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of underwater detection equipment technology, and in particular to a sonar-based three-dimensional detection system, method, electronic device and storage medium. Background Technology

[0002] With the vigorous development of the marine economy and the continuous progress of mariculture technology, underwater detection technology is playing an increasingly prominent role in fishery resource assessment and management.

[0003] Traditional fisheries detection has long relied on experience-based interpretation, resulting in low accuracy and strong subjectivity, which is no longer sufficient to meet the needs of modern sustainable marine resource development. Although active sonar-based underwater acoustic target detection technology has enabled the transformation from experience-based fisheries to quantitative acoustic assessment, existing acoustic fish detection technologies still have significant limitations: single-beam sonar can only detect the presence of targets and cannot analyze the direction and spatial distribution of fish schools; while traditional split-beam sonar can achieve two-dimensional planar positioning, it cannot obtain information on the vertical structure of fish schools, resulting in a lack of data dimensions in resource assessment.

[0004] Driven by the need for quantitative management of marine resources, fish-finding technology is undergoing a technological iteration from one-dimensional detection to three-dimensional positioning. However, existing three-dimensional detection solutions mostly rely on multi-device networking or mechanical scanning, resulting in high system complexity, poor real-time performance, and high costs. Particularly in vertical positioning, traditional methods suffer from limited accuracy in three-dimensional coordinate calculation because they cannot simultaneously acquire horizontal and vertical acoustic parameters.

[0005] Furthermore, single-beam / split-beam sonars are not strong enough to resist interference in complex marine environments and are susceptible to multipath effects and noise interference, which further restricts the reliability of detection results.

[0006] Therefore, there is an urgent need for a sonar-based three-dimensional detection method that can achieve simultaneous calculation of horizontal and vertical dimensions through a single device, break through the bottlenecks of traditional technologies in three-dimensional positioning, anti-interference capability and engineering applicability, and achieve full-dimensional, high real-time performance. Summary of the Invention

[0007] The embodiments of this invention provide a sonar-based three-dimensional detection method to solve the problems of existing single-beam sonar, which can only detect existence but cannot locate direction, and traditional split-beam sonar, which cannot resolve vertical structures. The technical solution is as follows: According to one aspect of the present invention, a sonar-based three-dimensional detection system is provided, the system comprising an underwater subsystem, a surface subsystem, and an interconnection subsystem; the underwater subsystem includes a transducer array, an acoustic wave transmitting electronic system, an acoustic wave receiving electronic system, a rotating device, and auxiliary equipment; the surface subsystem includes a data processor, a display control unit, a power supply unit, and a remote controller for the rotating device; the interconnection subsystem includes a wet-dry interconnection watertight cable; the data processor includes an acoustic signal processing subsystem, an acoustic data transmission subsystem, an acoustic data display subsystem, and an acoustic control subsystem; the transducer array comprises multiple independent subarrays arranged in a disk-like pattern.

[0008] In one embodiment, the transducer array is a transceiver transducer connected to the acoustic wave transmitting electronic system and the acoustic wave receiving electronic system; the transducer array is used to convert the electrical signal generated by the acoustic wave transmitting electronic system into a probe acoustic wave and radiate it underwater; the transducer array is used to convert the echo signal into an electrical signal and transmit it to the acoustic wave receiving electronic system; the echo signal includes the probe acoustic wave reflected after the probe acoustic wave reaches the underwater target.

[0009] In one embodiment, the acoustic transmitting electronic system is used to receive instructions from the data processor and generate a transmitting signal; the acoustic receiving electronic system includes a multi-channel synchronous acquisition module for ensuring signal timing consistency; the acoustic receiving electronic system is used to receive the echo signal from the subarray, convert it into an electrical signal, and transmit it to the data processor; the data processor is used to dynamically configure the transmitting signal frequency and timing, and to perform calculations on the electrical signal to obtain the acoustic feature localization of the underwater target; the underwater target includes a school of fish.

[0010] In one embodiment, the rotating device is located on both sides of the underwater subsystem, and is used to rotate the transducer array vertically and horizontally; the auxiliary equipment includes attitude sensors, position measurement sensors, sound velocity measurement sensors, depth measurement sensors, bottom elevation measurement sensors, and speed measurement sensors; the rotating device remote controller is used to control the rotating device; the display control unit consists of a high-performance processor and is used to display detection information in real time; the power supply unit is used for DC / DC and AC / DC conversion; the detection information includes sonar images, target positions, and system status.

[0011] According to one aspect of the present invention, a sonar-based three-dimensional detection method is provided, the method comprising: dynamically generating transmission signal parameters through the acoustic control subsystem of the data processor; configuring the acoustic wave transmitting electronic system with commands based on real-time environmental data collected by the auxiliary equipment to generate multi-band electrical signals and transmitting them to independent subarrays of the transducer array; the transmission signal parameters including frequency, pulse width, bandwidth, and timing; the environmental data including water temperature, sound speed, and depth; synchronously transmitting detection sound waves through the subarrays of the transducer array according to the timing to form a split beam field covering the horizontal plane; and simultaneously receiving reflected echo signals through the multi-channel synchronous acquisition module of the acoustic wave receiving electronic system, converting them into electrical signals, and transmitting them to the data processor. The data processor performs cross-correlation time delay estimation on the electrical signal, calculates the time delay difference between subarrays, and calculates the target's horizontal azimuth and slant range using a split beam positioning formula in conjunction with real-time sound velocity data. Simultaneously, the remote controller operates the rotating device to switch the transducer array to a vertical state. The transducer array emits sound waves, and the data processor collects vertical echo signals. The vertical azimuth and slant range are calculated using time delay and combined with the horizontal azimuth and slant range to generate three-dimensional coordinates. The acoustic signal processing subsystem synthesizes a full-band acoustic reflection characteristic curve and compares it with a database to obtain the target category. The display control unit outputs the three-dimensional coordinates, target category, and sonar image in real time for visualization.

[0012] In one embodiment, the target category is determined by synthesizing a full-band acoustic reflection characteristic curve through the acoustic signal processing subsystem and comparing it with a database through the following steps: The data processor controls multiple acoustic wave transmitting electronic systems, transducer arrays, and acoustic wave receiving electronic systems to transmit and receive acoustic waves according to sonar operating parameters for different frequency bands, obtaining multi-band received signals; the data processor performs multi-channel synthesis of the received signals for each frequency band, generating single-beam signals corresponding to each frequency band and performing preprocessing; envelope information and time delay information for each frequency band are extracted from the preprocessed single-beam signals through time-varying gain adjustment and envelope detection calculation; the envelope information of each frequency band is fitted into a full-band acoustic reflection characteristic curve, and the target category is determined by comparing and fitting it with standard acoustic reflection characteristic curves of known target types in the database; the full-band acoustic reflection characteristic curve reflects the acoustic response intensity distribution of underwater targets at different frequencies.

[0013] In one embodiment, the data processor performs cross-correlation time delay estimation on the electrical signal, calculates the time delay difference between subarrays, and combines real-time sound velocity data to solve the target's horizontal azimuth and slant range using the split beam positioning formula. This is achieved through the following steps: each subarray is merged pairwise using a subarray merging strategy to obtain two signals, and a horizontal coordinate system is established. The time delay of the two signals is calculated using the time delay estimation formula, and the target's horizontal azimuth and slant range are solved using the split beam positioning formula, combined with the slant range. The time delay estimation formula includes: ;in, d is the time delay estimate, d is the center distance between the two subarrays in the two signals, θ is the azimuth angle, and c is the speed of sound.

[0014] In one embodiment, sound waves are emitted through the transducer array and vertical echo signals are acquired by the data processor. Three-dimensional coordinates are generated by calculating the vertical azimuth and slant range using time delay and combining them with the horizontal azimuth and slant range. This is achieved through the following steps: the data processor preprocesses the vertical echo signals to obtain time delay information; the vertical azimuth and slant range are calculated using time delay calculation based on the vertical displacement of the rotating device; and the three-dimensional coordinates are calculated using the horizontal azimuth and slant range according to a three-dimensional calculation formula. The three-dimensional measurement formula includes: ; Where (x, y, z) are the three-dimensional coordinates of the underwater target. For vertical displacement, It is the vertical azimuth angle. It is the vertical slant distance. and This is the azimuth angle in the horizontal direction. This represents the horizontal slant distance.

[0015] According to one aspect of the present invention, an electronic device includes at least one processor and at least one memory, wherein computer-readable instructions are stored on the memory; the computer-readable instructions are executed by one or more of the processors to cause the electronic device to implement the sonar-based three-dimensional detection method as described above.

[0016] According to one aspect of the present invention, a storage medium has computer-readable instructions stored thereon, which are executed by one or more processors to implement the sonar-based three-dimensional detection method as described above.

[0017] The beneficial effects of the technical solution provided by this invention are: In the above technical solution, this invention achieves high-precision three-dimensional positioning of underwater targets by integrating an underwater subsystem, a surface subsystem, and an interconnected subsystem. The system employs a transducer array, combined with multi-channel synchronous acquisition and cross-correlation delay estimation technology, to accurately calculate the target's horizontal azimuth and slant range. A rotating device enables vertical and horizontal rotation of the transducer array, further acquiring the vertical azimuth and slant range, which are then combined with horizontal data to generate three-dimensional coordinates. Simultaneously, the system utilizes dynamic configuration of multi-band sonar parameters and full-band acoustic reflection characteristic curve synthesis technology to effectively identify target categories. The data processor, through a high-performance computing unit, achieves real-time processing and visualization output of acoustic data, significantly improving detection efficiency and accuracy. This solution solves the problems of insufficient three-dimensional positioning capability and poor anti-interference in traditional sonar systems, providing an efficient and reliable technical means. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating a sonar-based three-dimensional detection method according to an exemplary embodiment; Figure 2 This is a schematic diagram illustrating the structure of a sonar-based three-dimensional detection system in an exemplary embodiment; Figure 3 yes Figure 2 Another schematic diagram of the sonar-based three-dimensional detection system in the corresponding embodiment; Figure 4 This is a schematic diagram of the partitioning and merging method of the transducer array in an application scenario; Figure 5 yes Figure 4 A schematic diagram illustrating the principle of rotating the transducer array to a vertical position in the corresponding application scenario; Figure 6 This is a hardware structure diagram of an electronic device according to an exemplary embodiment; Figure 7 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this disclosure means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0022] This invention provides a sonar-based 3D detection method. Through an integrated multi-system collaborative 3D sonar detection architecture, it achieves high-precision 3D positioning and category identification of underwater targets, solving the problems of insufficient 3D detection capability, poor anti-interference ability, and weak environmental adaptability of traditional sonar systems. This sonar-based 3D detection method is applicable to sonar-based 3D detection devices, which can be electronic devices. The sonar-based 3D detection method in this invention can be applied to various scenarios, such as sonar-based 3D detection of fish schools, etc.

[0023] In one exemplary embodiment, a sonar-based three-dimensional detection system is provided. The system includes an underwater subsystem, a surface subsystem, and an interconnection subsystem.

[0024] The underwater subsystem includes a transducer array, an acoustic wave transmitting electronic system, an acoustic wave receiving electronic system, a rotating device, and auxiliary equipment; the surface subsystem includes a data processor, a display control unit, a power supply unit, and a remote controller for the rotating device; the interconnection subsystem includes a watertight cable for dry and wet interconnection; the data processor includes an acoustic signal processing subsystem, an acoustic data transmission subsystem, an acoustic data display subsystem, and an acoustic control subsystem; and the transducer array includes multiple independent subarrays arranged in a disk-like pattern.

[0025] Specifically, the underwater subsystem, as the detection front end, includes a transducer array, an acoustic wave transmitting electronic system, an acoustic wave receiving electronic system, a rotating device, and auxiliary equipment, and is responsible for the transmission, reception, and preliminary processing of the detected acoustic waves; the surface subsystem, as the data processing and control center, includes a data processor, a display control unit, a power supply unit, and a remote controller for the rotating device, and is responsible for data processing, result display, and system control; the interconnection subsystem achieves stable data transmission and power supply between the underwater and surface systems through a dry-wet interconnection watertight cable.

[0026] This invention, through the close coordination of underwater, surface, and interconnected subsystems, achieves comprehensive integration of detection, processing, control, and display, thereby improving the overall system efficiency. Each subsystem adopts a modular design, facilitating installation, maintenance, and upgrades, and enhancing the system's flexibility and scalability. The use of dry-wet interconnected watertight cables ensures the stability and efficiency of data transmission between the underwater and surface systems. This system architecture significantly improves the accuracy and efficiency of underwater detection.

[0027] In one possible implementation, the transducer array is a transceiver transducer connected to the acoustic wave transmitting electronic system and the acoustic wave receiving electronic system; the transducer array is used to convert the electrical signal generated by the acoustic wave transmitting electronic system into a probe acoustic wave that is radiated underwater; the transducer array is used to convert the echo signal into an electrical signal and transmit it to the acoustic wave receiving electronic system.

[0028] The echo signal includes the sound waves reflected after the sound waves reach the underwater target, etc., which are not specified here.

[0029] Specifically, the transducer array, as the core component of the system, adopts a transceiver-integrated transducer design and is closely connected to the acoustic wave transmitting and receiving electronic systems. This array consists of multiple independent subarrays arranged in a disk-like pattern, capable of simultaneously transmitting and receiving sound waves and echo signals. During the transmission phase, the array converts the electrical signal generated by the acoustic wave transmitting electronic system into sound waves that are radiated underwater; during the receiving phase, it converts the echo signal back into an electrical signal and transmits it to the acoustic wave receiving electronic system.

[0030] In this embodiment of the invention, by adopting a transducer array with combined transmission and reception and a multi-element disk-shaped arrangement design, the system can achieve efficient and stable detection of sound wave transmission and reception in complex underwater environments, providing high-quality raw data support and realizing high-precision detection of underwater targets.

[0031] In one possible implementation, the acoustic transmitting electronic system is used to receive instructions from the data processor and generate a transmitting signal; the acoustic receiving electronic system includes a multi-channel synchronous acquisition module for ensuring signal timing consistency; the acoustic receiving electronic system is used to receive the echo signal from the subarray, convert it into an electrical signal, and transmit it to the data processor; the data processor is used to dynamically configure the frequency and timing of the transmitting signal, and to perform calculations on the electrical signal to obtain the acoustic feature localization of the underwater target.

[0032] Underwater targets include schools of fish, etc., without being specified here.

[0033] Specifically, the acoustic transmitting electronic system is responsible for receiving instructions from the data processor and generating transmission signals with corresponding frequencies, pulse widths, and bandwidths to meet different detection requirements. The acoustic receiving electronic system is equipped with a multi-channel synchronous acquisition module to ensure the timing consistency of the received echo signals and improve the accuracy of signal processing. The data processor, as the "brain" of the system, dynamically configures the transmission signal parameters and performs complex calculations on the received electrical signals to ultimately obtain the acoustic feature localization information of the underwater target, including the target's position and shape.

[0034] In the above process, the embodiments of the present invention, through dynamic configuration of transmission signal parameters and multi-channel synchronous acquisition technology, combined with high-performance data processing capabilities, enable the system to adapt to the needs of different detection scenarios, provide accurate underwater target acoustic feature positioning information, and achieve efficient and accurate monitoring of the underwater environment.

[0035] In one possible implementation, the rotating device is located on both sides of the underwater subsystem. The rotating device is used to rotate the transducer array vertically and horizontally. The rotating device remote controller is used to control the rotating device. The display control unit consists of a high-performance processor for real-time display of detection information. The power supply unit is used for DC / DC and AC / DC conversion.

[0036] The auxiliary equipment includes attitude sensors, position measurement sensors, sound speed measurement sensors, depth measurement sensors, altitude measurement sensors, speed measurement sensors, etc.; the detection information includes sonar images, target positions, system status, etc., none of which are specified here.

[0037] Specifically, the rotating device, as a key actuator of the system, is located on both sides of the underwater subsystem and is responsible for rotating the transducer array vertically and horizontally to adjust the radiation direction of the detected acoustic waves. Auxiliary equipment includes attitude sensors, position measurement sensors, sound velocity measurement sensors, depth measurement sensors, bottom elevation measurement sensors, and speed measurement sensors, used to monitor the system's operating status and environmental parameters in real time. The rotating device remote controller serves as a human-machine interface, allowing operators to remotely control the rotating device's movements. The display and control unit, composed of a high-performance processor, is responsible for displaying detection information in real time, including sonar images, target positions, and system status. The power supply unit provides stable and reliable power support to the system through DC / DC and AC / DC conversion technology.

[0038] In the above process, the embodiments of the present invention integrate a flexible rotating device, comprehensive auxiliary equipment, intuitive display control and a stable power supply system, enabling the system to maintain a high-efficiency and stable operating state in complex and ever-changing underwater environments, providing comprehensive and accurate detection information support, and realizing precise positioning and identification of underwater targets.

[0039] Through the above process, this embodiment of the invention achieves high-precision three-dimensional positioning and identification of underwater targets by integrating a multi-system collaborative three-dimensional sonar detection architecture, combining a transducer array with integrated transceiver, a dynamically configured acoustic wave transmitting and receiving electronic system, a flexible rotating device, and comprehensive auxiliary equipment. The system not only improves detection efficiency and accuracy but also enhances environmental adaptability and reliability.

[0040] Please see Figure 1 This invention provides a three-dimensional detection method based on the above-described three-dimensional detection system, which is applicable to electronic devices.

[0041] In the following method embodiments, for ease of description, the execution subject of each step of the method is an electronic device, but this does not constitute a specific limitation.

[0042] like Figure 1 As shown, the method may include the following steps: Step 110: The acoustic control subsystem of the data processor dynamically generates the transmission signal parameters, and combines the real-time environmental data collected by the auxiliary equipment to configure the acoustic wave transmission electronic system to generate multi-band electrical signals and transmit them to the independent subarray of the transducer array.

[0043] The transmitted signal parameters include frequency, pulse width, bandwidth, timing, etc., and the environmental data includes water temperature, sound speed, depth, etc., none of which are specified here.

[0044] Specifically, dynamic parameter generation: The acoustic control subsystem of the data processor dynamically generates transmission signal parameters based on preset strategies or user input. These parameters include frequency, pulse width, bandwidth, and timing. The frequency selection takes into account the attenuation characteristics of the underwater environment to ensure effective signal propagation; the pulse width and bandwidth affect the signal resolution and detection range.

[0045] Environmental data acquisition: Auxiliary equipment (such as water temperature sensors, sound velocity sensors, and depth sensors) acquires underwater environmental data in real time, including water temperature, sound velocity, and depth. This data is crucial for the accuracy of subsequent signal processing.

[0046] Multi-band electrical signal generation: Combining dynamically generated transmission signal parameters and real-time environmental data, the acoustic wave transmitting electronics system is configured to generate multi-band electrical signals and transmit them to independent subarrays of the transducer array. Each subarray transmits probe acoustic waves of the corresponding frequency band based on the received electrical signal.

[0047] In the above process, the embodiments of the present invention dynamically generate transmission signal parameters and configure the acoustic wave transmission electronic system in combination with real-time environmental data, enabling the system to adapt to different underwater environments, providing flexible and versatile detection methods, and realizing efficient and accurate multi-band signal transmission.

[0048] Step 120: The transducer array subarray synchronously transmits probe sound waves in sequence to form a split beam field covering the horizontal plane. At the same time, the multi-channel synchronous acquisition module of the sound wave receiving electronic system receives the reflected echo signal, converts it into an electrical signal, and transmits it to the data processor.

[0049] Specifically, the split beam field is formed by the subarrays of the transducer array synchronously transmitting sound waves according to a preset timing sequence, forming a split beam field covering the horizontal plane. This design improves the spatial resolution and coverage of the detection.

[0050] Echo signal reception and conversion: The multi-channel synchronous acquisition module of the acoustic wave receiving electronic system receives the reflected echo signal, converts it into an electrical signal, and transmits it to the data processor. The multi-channel design ensures signal integrity and timing consistency.

[0051] Horizontal azimuth and slant range calculation: The data processor performs cross-correlation time delay estimation on the electrical signals, calculates the time delay difference between subarrays, and combines real-time sound velocity data to calculate the target's horizontal azimuth and slant range using the split beam positioning formula. This step is crucial for horizontal plane positioning.

[0052] Attitude adjustment: At the same time, the rotating device is controlled by the remote control of the rotating device to switch the transducer array to a vertical state, in preparation for subsequent vertical direction detection.

[0053] In the above process, the embodiments of the present invention achieve high-precision target positioning on the horizontal plane by forming a split beam field, synchronously acquiring echo signals, and combining real-time sound velocity data to calculate the target's horizontal azimuth and slant range. Simultaneously, adjusting the transducer array attitude via a rotating device provides conditions for subsequent vertical detection, enabling flexible switching of the detection direction.

[0054] Step 130: The data processor performs cross-correlation time delay estimation on the electrical signal, calculates the time delay difference between subarrays, and combines real-time sound velocity data to solve the target's horizontal azimuth and slant range using the split beam positioning formula. At the same time, the remote control of the rotating device controls the rotating device to switch the transducer array to the vertical state.

[0055] In one possible implementation, a subarray merging strategy is used to merge each subarray in pairs to obtain two signals, and a horizontal coordinate system is established. The time delay of the two signals is calculated using a time delay estimation formula, and the horizontal azimuth and slant range of the target are calculated by establishing a set of equations using the split beam positioning formula in combination with the slant range. The time delay estimation formula includes: ; in, denoted as the time delay estimate, d as the center-to-center distance between the two subarrays in the two signals, θ as the azimuth angle, and c as the speed of sound.

[0056] Specifically, vertical acoustic wave emission and echo acquisition: The data processor controls the transducer array to emit vertical detection acoustic waves and acquires the reflected vertical echo signals. This step is fundamental to obtaining vertical information about the target.

[0057] Delay information extraction: The data processor preprocesses the vertical echo signal to extract delay information. This delay information reflects the time difference between the transmission and reception of the sound wave and is a key parameter for calculating the vertical azimuth and slant range.

[0058] Vertical azimuth and slant range calculation: Combining the vertical displacement information from the vertical rotation of the rotating device, the data processor calculates the vertical azimuth and slant range using a time-delay calculation formula. This step achieves precise positioning of the target in the vertical direction.

[0059] In the above process, this embodiment of the invention transmits vertical sound waves and collects echo signals, extracts time delay information, and calculates the vertical azimuth and slant range, enabling the system to achieve high-precision target positioning in the vertical direction. This step, combined with horizontal plane positioning, provides the necessary data support for subsequent three-dimensional coordinate generation.

[0060] Step 140: The transducer array emits sound waves and the data processor collects the vertical echo signal. The vertical azimuth and slant range are calculated by time delay and combined with the horizontal azimuth and slant range to generate three-dimensional coordinates. The acoustic signal processing subsystem synthesizes the full-band acoustic reflection characteristic curve and compares it with the database to obtain the target category. The display control unit outputs the three-dimensional coordinates, target category and sonar image in real time.

[0061] In one possible implementation, a data processor controls multiple acoustic wave transmitting electronic systems, transducer arrays, and acoustic wave receiving electronic systems to transmit and receive acoustic waves according to sonar operating parameters for different frequency bands, obtaining multi-band received signals. The data processor then performs multi-channel synthesis of the received signals from each frequency band, generating single-beam signals corresponding to each frequency band and performing preprocessing. Based on the preprocessed single-beam signals, envelope information and time delay information for each frequency band are extracted through time-varying gain adjustment and envelope detection calculation. The envelope information of each frequency band is fitted into a full-band acoustic reflection characteristic curve, and the target category is determined by comparing and fitting the curve with the standard acoustic reflection characteristic curves of known target types in the database.

[0062] Among them, the full-band acoustic reflection characteristic curve is used to reflect the acoustic response intensity distribution of underwater targets at different frequencies.

[0063] In one possible implementation, the vertical echo signal is preprocessed by a data processor to obtain time delay information. The vertical azimuth and slant range are obtained by combining the time delay with the vertical displacement of the rotating device. The three-dimensional coordinates are then calculated by combining the horizontal azimuth and slant range with the three-dimensional measurement formula. The three-dimensional measurement formulas include: ; Where (x, y, z) are the three-dimensional coordinates of the underwater target. For vertical displacement, It is the vertical azimuth angle. It is the vertical slant distance. and This is the azimuth angle in the horizontal direction. This represents the horizontal slant distance.

[0064] Specifically, the three-dimensional coordinates are generated by combining the horizontal azimuth and slant range information with the vertical azimuth and slant range information. The data processor then calculates the three-dimensional coordinates of the underwater target using a three-dimensional measurement formula. This step enables the three-dimensional spatial positioning of the target.

[0065] Full-band acoustic reflection characteristic curve synthesis: The acoustic signal processing subsystem performs multi-channel synthesis and preprocessing on the multi-band received signals, extracts the envelope information and time delay information of each frequency band, and fits them into a full-band acoustic reflection characteristic curve.

[0066] This curve reflects the distribution of the acoustic response intensity of an underwater target at different frequencies.

[0067] Target category identification: The full-band acoustic reflection characteristic curve is compared and fitted with standard acoustic reflection characteristic curves of known target types in the database to determine the target category. This step improves the accuracy and intelligence level of target identification.

[0068] Real-time visualization output: The display control unit outputs real-time visualization of 3D coordinates, target category, and sonar images, providing users with an intuitive and clear display of target information.

[0069] In the above process, this embodiment of the invention generates three-dimensional coordinates by combining positioning information in the horizontal and vertical directions, and synthesizes a full-band acoustic reflection characteristic curve for target category identification, enabling the system to provide comprehensive and accurate target information. Simultaneously, the real-time visualization output function improves the user experience and operational efficiency, achieving efficient and intelligent underwater target detection and identification.

[0070] Through the above process, this embodiment of the invention achieves high-precision three-dimensional positioning and intelligent identification of underwater targets by integrating technologies such as dynamic parameter configuration, multi-band signal transmission, horizontal and vertical split beam positioning, three-dimensional coordinate generation, and target recognition. This not only improves the adaptability and accuracy of detection but also enhances the intelligence level of target recognition, providing strong technical support for fields such as marine fishery resource monitoring, underwater archaeology, and seabed topographic mapping.

[0071] like Figure 2 As shown in an exemplary embodiment, a three-dimensional fish-finding sonar is proposed using the sonar-based three-dimensional detection system provided by the present invention. The sonar includes a data processor 1, a sound wave transmitting electronic system 2, a transducer array 3, and a sound wave receiving electronic system 4.

[0072] Data Processor 1: Issues sonar operating parameters and transmission commands, and generates a transmission signal source. It includes an acoustic signal processing subsystem, an acoustic data transmission subsystem, an acoustic data display subsystem, and an acoustic control subsystem.

[0073] Specifically, after the system starts up, the data processor configures the sonar operating parameters, such as the frequency and pulse width of the transmitted signal, according to the preset program or user input, and generates the corresponding transmitted signal source to prepare for subsequent sound wave transmission.

[0074] Acoustic wave transmitting electronic system 2: The input end is connected to the output end of the data processor to receive the transmitting signal source and generate the transmitting signal.

[0075] Specifically, the acoustic wave transmitting electronic system constantly monitors the connection channel with the data processor. Once it receives a transmission signal source, it immediately processes it, such as signal amplification and filtering, to generate a transmission signal that meets the requirements and transmit it to the transducer array.

[0076] Transducer array 3: The input end is connected to the output end of the acoustic wave transmitting electronic system. It has multiple subarrays arranged in an array, and is a transceiver transducer that converts the transmitted signal into an acoustic signal and transmits it into the water, or converts the acoustic signal received by each subarray into a received signal. The transducer array is divided into four quadrants, with four channels transmitting simultaneously, and adopts a disk-shaped arrangement of multiple array elements.

[0077] Specifically, upon receiving the transmission signal from the acoustic wave transmitting electronic system, the various subarrays in the transducer array work together to accurately convert the electrical signal into an acoustic signal, and then transmit the acoustic signal into the water according to the preset transmission direction and coverage area. When receiving the acoustic signal, each subarray works independently, converting the received acoustic signal into an electrical signal, i.e., the received signal.

[0078] Acoustic wave receiving electronic system 4: connected to the output of the transducer array, receiving multiple received signals and inputting them to the data processor.

[0079] Specifically, the acoustic wave receiving electronic system continuously monitors the signal output from the transducer array. Once a received signal is received, it is immediately received and preliminarily processed, such as signal amplification and noise reduction. Then, the processed multiple received signals are input into the data processor in an orderly manner to provide clear signal input for subsequent data processing.

[0080] In the implementation process, the data processor first starts up and completes initialization settings, then issues sonar operating parameters and transmission commands, generating a transmission signal source. The acoustic wave transmitting electronic system receives this signal source and generates a transmission signal, which is transmitted to the transducer array. The transducer array converts the electrical signal into an acoustic signal and transmits it into the water. After being reflected by the underwater target, the acoustic signal is received again by the transducer array and converted into a received signal, which is then transmitted back to the data processor through the acoustic wave receiving electronic system. The data processor preprocesses the received signal to obtain time delay information, and then calculates the target's position and other relevant information.

[0081] like Figure 3 As shown, the detection system of the three-dimensional fish-finding sonar is divided into a surface subsystem, an underwater subsystem, and an interconnection subsystem.

[0082] Specifically, the underwater subsystem includes: sonar array 3: and Figure 2 The transducer array in the first system has the same function, responsible for transmitting and receiving acoustic signals, and is a key component for underwater detection; Acoustic wave transmitting electronic system 2: same as... Figure 2 The corresponding part receives commands and generates transmission signals to drive the sonar array to emit acoustic signals; the rotating device 5 is used to adjust the direction of the sonar array to achieve omnidirectional detection; the acoustic wave receiving electronic system 4 and... Figure 2 It has the same function as the sonar array, receiving the received signal from the sonar array and transmitting it to the surface subsystem.

[0083] Specifically, the rotating device 5 is driven by a motor and can rotate in both horizontal and vertical directions. During the detection process, the angle of the sonar array 3 is precisely adjusted according to the control commands of the surface subsystem, enabling it to cover a larger detection range and acquire more comprehensive underwater information.

[0084] The surface subsystem includes: Data Processor 1: Composed of homogeneous or heterogeneous high-performance computing units such as CPU, GPU, and FPGA, it performs large-scale acoustic data processing, including acoustic data parsing, acoustic image reconstruction, motion compensation, and image enhancement. It includes an acoustic signal processing subsystem, an acoustic data transmission subsystem, an acoustic data display subsystem, and an acoustic control subsystem.

[0085] Specifically, after receiving the received signal from the underwater subsystem, data processor 1 first transmits the signal to the acoustic signal processing subsystem via the acoustic data transmission subsystem. The acoustic signal processing subsystem analyzes and processes the signal, extracts key data such as time delay information, and then transmits the processing results to the acoustic data display subsystem for display. The acoustic control subsystem is responsible for controlling and adjusting the operating parameters of the entire sonar system.

[0086] Rotary remote controller 6: Remotely controls the rotating device to adjust the direction of the sonar array 3.

[0087] Specifically, the operator sends control commands via the remote control of the rotating device. The commands are transmitted to the rotating device of the underwater subsystem through the communication module of the surface subsystem. The rotating device performs corresponding rotation operations according to the commands, thereby achieving precise control of the sonar array direction.

[0088] Power supply unit 7: After completing the DC / DC and AC / DC conversion, it provides a stable, reliable, low-noise, high-quality power supply for the underwater target detection system.

[0089] Specifically, power supply unit 7 converts and stabilizes the input power according to the power demand of each part of the system, ensuring that the required power supply is provided to each device of the underwater subsystem and guaranteeing the stable operation of the system.

[0090] Display control unit 8: Composed of homogeneous and heterogeneous high-performance display control units consisting of CPU, GPU, and other processors, it is responsible for the display and control of acoustic data.

[0091] Specifically, the display control unit 8 receives the processing results from the data processor and displays them on the screen as intuitive images and data. Simultaneously, operators can use the display control unit to set and adjust the system's display parameters, operating modes, and other settings.

[0092] Furthermore, the connection unit connects the surface subsystem and the underwater subsystem via an interconnect cable (a watertight cable with dry and wet ends, mainly consisting of a power supply core, optical fiber, Kevlar or armor, etc.) to perform functions such as power supply, data transmission, watertightness, and load-bearing.

[0093] Specifically, the connection unit ensures a stable connection between the surface and underwater subsystems. The power supply core is responsible for transmitting power from the surface subsystem to the underwater subsystem; optical fiber is used for high-speed, stable data transmission, ensuring the timely transmission of received signals and commands; Kevlar or armor protects the watertight cable and also bears a certain amount of tensile force, ensuring the safe use of the watertight cable in water.

[0094] Specifically, the data processor 1 of the surface subsystem sends control commands and transmission signal parameters, which are transmitted to the acoustic wave transmitting electronic system 2 of the underwater subsystem via the connection unit of the interconnected subsystem. The acoustic wave transmitting electronic system 2 generates a transmission signal and transmits it to the sonar array, emitting an acoustic signal. The reflected signal is received by the sonar array 3 and converted into a received signal, which is then transmitted back to the data processor 1 of the surface subsystem via the acoustic wave receiving electronic system 4 and the connection unit. The data processor 1 processes the received signal, extracts the target's position information, and displays it through the display control unit. The rotary remote controller 6 can remotely control the rotating device 5 to adjust the direction of the sonar array 3, achieving omnidirectional detection. The display control unit 8 receives the processing results from the data processor 1 and displays them on the screen as intuitive images and data.

[0095] Through the above process, this embodiment of the invention constructs a system comprising a data processor, an acoustic wave transmitting electronic system, a transducer array, and an acoustic wave receiving electronic system. These components work collaboratively to complete the transmission, reception, and preliminary processing of acoustic signals. The system is further subdivided into surface, underwater, and interconnected subsystems. The surface subsystem is responsible for data processing, display control, and remote operation; the underwater subsystem performs acoustic signal transmission and reception and direction adjustment; and the interconnected subsystem ensures stable surface and underwater connections and data transmission. The surface subsystem issues commands to drive the underwater subsystem to transmit acoustic signals, and the reflected signals are processed and fed back to the surface subsystem for display. Through the close cooperation of all components, efficient and accurate underwater target detection and positioning are achieved, providing strong technical support for fields such as marine fisheries.

[0096] In one application scenario, the sonar-based three-dimensional detection system and method provided by this invention are used for three-dimensional detection of underwater fish schools.

[0097] Specifically, it may include the following steps: Step S1: System installation and initialization.

[0098] Specifically, the underwater subsystem is installed first, with core components such as the transducer array, acoustic transmitting electronic system, acoustic receiving electronic system, and rotating device precisely installed onto the main body of the sonar equipment according to design requirements. This ensures that the four independent subarrays of the transducer array are neatly arranged and that the transmit and receive functions of each subarray are functioning correctly.

[0099] Furthermore, the surface subsystem's rotating device remote controller, data processor, display control unit, and power supply unit are installed, and a reliable connection between the surface and underwater subsystems is achieved through a high-strength, dry-wet interconnection watertight cable, ensuring stable power supply and error-free data transmission.

[0100] In the above process, the embodiments of the present invention, through meticulous system layout and strict connection standards, laid a solid foundation for subsequent detection work and ensured the overall stability and reliability of the system.

[0101] Step S2: Power on the device and configure parameters.

[0102] Specifically, the power supply unit is activated to perform DC / DC and AC / DC conversion, providing a stable, low-noise, and high-quality power supply for the entire system and ensuring the normal operation of all components.

[0103] Furthermore, detailed parameter configurations, including but not limited to key parameters such as sonar operating frequency, transmission power, and pulse width, are performed through a display control unit or data processor to meet the needs of different detection scenarios. Simultaneously, a unified time controller is activated to ensure strict synchronization of all sub-units, forming a high-precision time frame and providing an accurate time reference for subsequent data processing.

[0104] In the above process, the embodiments of the present invention ensure the accuracy and stability of the system's collaborative work and improve the reliability of the detection data through precise parameter configuration and time synchronization mechanism.

[0105] Step S3: Planar positioning and fish school identification.

[0106] Specifically, the data processor sends out sonar operating parameters and transmission commands. The acoustic wave transmitting electronics system generates precise transmission signals according to the commands, driving the four subarrays of the transducer array to simultaneously transmit detection sound waves of the same frequency and phase. The detection sound waves propagate in the water, reflect back after encountering an underwater target, are received by the transducer array, and are converted into electrical signals.

[0107] Furthermore, the acoustic receiving electronic system performs preliminary processing on the received echo signal to remove noise and interference, and then transmits the clean echo signal to the data processor. The data processor performs detailed preprocessing on the echo signal, including filtering and gain adjustment, and then extracts the time delay information. It calculates the target's slant range and azimuth using a time delay difference calculation algorithm to achieve planar positioning of the underwater target.

[0108] Meanwhile, by combining the characteristic analysis of fish school echo signals, information such as fish school identification measurement, threshold, and morphology can be obtained, thereby improving the accuracy and comprehensiveness of fish school detection.

[0109] The system comprises multiple acoustic wave transmitting electronic systems, transducer arrays, and acoustic wave receiving electronic systems. Each of these systems is connected to a single data processor. The data processor sends sonar operating parameters for different frequency bands to each of the multiple acoustic wave transmitting electronic systems, performs multi-band synthesis on the received signals of the corresponding frequency bands to obtain a single-beam signal for that frequency band, performs secondary preprocessing on the single-beam signal to obtain envelope information at the corresponding frequency, receives multiple signals and obtains envelope and time delay information at the corresponding frequencies, fits the multiple envelope information into a full-band acoustic reflection characteristic curve, and determines the type of underwater target based on the full-band acoustic reflection characteristic curve.

[0110] The steps of fitting multiple single-beam signals of different frequency bands into a full-band acoustic reflection characteristic curve include: acquiring multiple single-beam signals; performing time-varying gain adjustment and envelope detection calculation on the single-beam signals to obtain envelope information and time delay information at the corresponding frequencies; and synthesizing a full-band acoustic reflection characteristic curve containing the intensity of underwater targets at different frequencies based on the envelope information of multiple different frequencies.

[0111] like Figure 4 As shown, due to the distance and phase differences in the arrival of the fish target echo signal at the four receiving subarrays, the target's position is calculated by estimating the time delay of the fish target echo signals received by the four channels. First, according to... Figure 4 Subarrays are merged as shown. Subarrays 1 and 2 are merged to obtain subarray a, subarrays 2 and 4 are merged to obtain subarray b, subarrays 1 and 3 are merged to obtain subarray c, and subarrays 3 and 4 are merged to obtain subarray d. An X-axis is established along the center direction of subarrays c and b, a Y-axis is established along the center direction of subarrays a and d, and a Z-axis is established along the direction perpendicular to the horizontal plane downwards. The target position is calculated using this coordinate system. Since the center-to-center distance of the subarrays is much smaller than the distance between the target and the transducer, the sound rays incident on the split beam transducer can be approximated as parallel sound rays.

[0112] Specifically, Figure 4 The diagram illustrates the partitioning and merging method of the transducer array and the principle of establishing the target positioning coordinate system. The left side shows the original partitioning diagram of the transducer array, in which a circular array is evenly divided into four quadrants, labeled 1, 2, 3, and 4. Each subarray can operate independently, providing the basic unit for the transmission and reception of acoustic signals.

[0113] The middle section illustrates the subarray merging strategy: subarrays 1 and 2 are merged to form subarray a; subarrays 2 and 4 are merged to form subarray b; subarrays 1 and 3 are merged to obtain subarray c; and subarrays 3 and 4 are merged to form subarray d. This merging method helps to integrate signal resources and enhance signal transmission and reception capabilities to adapt to different detection needs and environmental conditions.

[0114] The diagram on the right illustrates the establishment of the target positioning coordinate system. An X-axis is established along the center directions of subarrays c and b, a Y-axis along the center directions of subarrays a and d, and a Z-axis is established along the direction perpendicular to the horizontal plane downwards, thus constructing a three-dimensional spatial coordinate system. Within this coordinate system, by measuring parameters such as the time delay of the signals received by each subarray, and combining this with appropriate positioning algorithms, the target's position information in three-dimensional space can be accurately calculated, providing crucial data support for subsequent underwater target detection and analysis.

[0115] in, Let represent the center distance between the two subarrays a and d or c and b after merging. Then the time delay of the two signals is:

[0116] Where c is the speed of sound; the time delay in both directions is denoted as . and .

[0117] Assuming the underwater target's coordinates are (x, y, z) and its slant distance is R, it's worth noting that the slant distance R of the target fish group is approximately equal to its projection onto the x / y plane, R'. Based on this premise, the following equation can be established:

[0118] Similarly, another direction is:

[0119] Obtained through time delay estimation and By combining this with R, we can obtain the target's horizontal orientation. The following section will explain how to calculate this using time delay information. and .

[0120] Assume the two echo signals are:

[0121] Where x, s, and n1 represent: the observed echo signal, the desired original useful signal, and noise, respectively.

[0122] The cross-correlation function of the two echo signals is:

[0123] Where the noise n and the echo signal are uncorrelated, the correlation function can be simplified to:

[0124] in, Let be the autocorrelation function of the signal s. From the properties of the autocorrelation function, we know that... That is, when At this point, the autocorrelation function reaches its maximum value, indicating the highest correlation between the two received signals. The location of the peak point of the cross-correlation function is the estimated time delay. The calculation method is as follows:

[0125] Find Maximum value position ,but:

[0126] in, The sampling rate.

[0127] In this way, the slope distance can be calculated. and the azimuth in the horizontal direction and The data processor calculates based on multiple time delay information to obtain the horizontal azimuth and slant range, and then calculates the position information of the underwater target in the two-dimensional plane based on the slant range and horizontal azimuth.

[0128] In the above process, the embodiments of the present invention achieve accurate planar positioning of underwater targets and fish identification through multi-channel synchronous transmission and precise signal processing technology, providing basic data for subsequent three-dimensional positioning.

[0129] Step S4: Adjust the transducer by horizontal rotation.

[0130] Specifically, based on the planar positioning results, a remote control is used to rotate the sonar equipment horizontally, precisely adjusting the attitude of the 3D fish-finding sonar so that the vertical rotation axis of the transducer array is perpendicular to the direction of the target fish school. During the rotation, attitude sensors and position measurement sensors acquire rotation angle and position information in real time to ensure the accuracy and stability of the rotation. The real-time data during the rotation is fed back to the data processor for fine-tuning of the rotation angle, ensuring that the transducer array is accurately oriented towards the target fish school.

[0131] After horizontal positioning, the transducer is rotated horizontally so that its vertical rotation axis is perpendicular to the target fish school. The rotation device is mounted on both sides of the sonar system and includes a surface-mounted remote controller. The remote controller manipulates the rotation device to perform the rotational action. Using the remote controller, the fish finder sonar is rotated horizontally, adjusting its attitude until the vertical rotation axis of the sonar array is perpendicular to the target fish school. The transducer is then rotated vertically, making the transducer array vertical and facing the fish school.

[0132] like Figure 5 As shown, after the data processor calculates the horizontal position information, the remote controller drives the rotating device to rotate, causing the sonar equipment to rotate vertically until the transducer array is vertical and facing the fish school. The vertical displacement generated by the 3D fish-finding sonar during operation is recorded as follows: .

[0133] Specifically, Figure 5 The principle of transducer array rotation and vertical positioning was demonstrated. After horizontal target detection and acquisition of horizontal position information, the data processor issued a command, and the remote controller started the rotation device. The rotation device drove the sonar equipment to rotate vertically until the transducer array was in a vertical position and accurately facing underwater targets such as schools of fish. During this operation, the vertical displacement generated by the 3D fish-finding sonar was recorded as Z1. This displacement information will serve as an important parameter for subsequent vertical positioning calculations.

[0134] Once the transducer array is aligned vertically, the acoustic emission electronic system generates an acoustic emission signal and transmits it underwater via the transducer. The sound wave propagates in the water and is reflected upon encountering the target. The reflected echo signal, which includes the reflected signal from the target, is received by the acoustic receiving electronic system.

[0135] The data processor preprocesses the received echo signal to extract time delay information. Based on this time delay information, combined with environmental parameters such as sound speed, a specific positioning algorithm is used to calculate the vertical azimuth angle θz and slant range R2. Using these parameters, along with previously acquired horizontal position information and vertical displacement Z1, the precise position of the target in three-dimensional space can be determined, achieving omnidirectional, high-precision positioning and detection of underwater targets.

[0136] In the above process, the embodiments of the present invention ensure that the transducer array can be flexibly and accurately adjusted in direction through the precise control of the rotating device and the real-time feedback mechanism of the sensor, providing the necessary conditions for subsequent three-dimensional positioning.

[0137] Step S5: Vertical rotation and positioning of the transducer.

[0138] Specifically, after the horizontal rotation adjustment is completed, the remote control drives the rotating device to rotate vertically, gradually changing the transducer array from a state parallel to the sea surface to a state perpendicular to the sea surface, and accurately aligning it with the location of the fish school. During the rotation process, the vertical displacement Z1 generated during the operation is recorded for subsequent three-dimensional positioning calculations.

[0139] Furthermore, the acoustic wave transmitting electronic system re-emits the detection acoustic wave, the acoustic wave receiving electronic system receives the echo signal, and transmits the echo signal to the data processor.

[0140] The data processor calculates the vertical azimuth and slant range based on the time delay information, and combines this with the slant range and azimuth information obtained during the horizontal positioning stage to provide data support for subsequent three-dimensional positioning. In the above process, this embodiment of the invention achieves precise vertical positioning of underwater targets through vertical rotation and precise signal processing techniques, providing crucial data for three-dimensional positioning.

[0141] Step S6: 3D position calculation and display.

[0142] Specifically, the data processor integrates azimuth and time delay information in the horizontal and vertical directions, and combines it with key parameters such as vertical displacement Z1, vertical azimuth θz, and slant range R2 to accurately calculate the three-dimensional coordinates of the underwater target using a three-dimensional spatial analytical algorithm. This algorithm considers the influence of sound wave propagation speed, refraction, and scattering in water on the positioning results, ensuring the accuracy and reliability of the calculation results.

[0143] The acoustic wave transmitting electronic system generates an acoustic wave transmission signal and transmits the detection acoustic wave through a transducer; the acoustic wave receiving electronic system receives the echo signal, which includes the reflected signal from the detection target; the data processor preprocesses the received signal to obtain time delay information, and calculates the vertical azimuth angle based on the time delay information. and slant distance .

[0144] Based on the azimuth and slant range information collected by the 3D fish-finding sonar in the horizontal and vertical planes, the position information of the detected target in the 3D spatial field is calculated. The calculation formula is as follows:

[0145] Furthermore, the calculated three-dimensional position information is displayed in real time on the display control unit, including the target's horizontal position, vertical depth, and specific coordinates in three-dimensional space.

[0146] Meanwhile, the data can be further analyzed and processed as needed, such as generating fish distribution maps and movement trajectory maps, providing intuitive and comprehensive data support for fishery production, marine resource monitoring and other fields.

[0147] In the above process, the embodiments of the present invention achieve high-precision three-dimensional positioning and visualization of underwater targets by comprehensively processing information in the horizontal and vertical directions and using efficient three-dimensional spatial analysis algorithms, providing strong technical support for research and application in related fields.

[0148] Through the above process, this embodiment of the invention fully utilizes the core technological advantages of the system, such as multi-channel synchronous transmission, rotation device, and high-precision data processing, in each step, from system installation and initialization, equipment power-on and parameter configuration, planar positioning and fish identification, transducer horizontal and vertical rotation adjustment, to three-dimensional position calculation and display. Through meticulous system layout, precise parameter configuration, real-time sensor feedback, and efficient data processing algorithms, this embodiment of the invention achieves high-precision three-dimensional positioning and visualization of underwater targets. This not only improves the accuracy and comprehensiveness of detection but also provides intuitive and comprehensive data support for fields such as fisheries production and marine resource monitoring, demonstrating broad application prospects and significant practical value.

[0149] Figure 6 A schematic diagram of the structure of an electronic device according to an exemplary embodiment is shown.

[0150] It should be noted that this electronic device is merely an example adapted to the present invention and should not be construed as providing any limitation on the scope of use of the present invention. Furthermore, this electronic device should not be interpreted as requiring or depending on having... Figure 6 One or more components of the exemplary electronic device 2000 shown.

[0151] The hardware structure of electronic devices 2000 can vary significantly due to differences in configuration or performance, such as... Figure 6 As shown, the electronic device 2000 includes: a power supply 210, an interface 230, at least one memory 250, and at least one central processing unit (CPU) 270.

[0152] Specifically, power supply 210 is used to provide operating voltage for various hardware devices on electronic device 2000.

[0153] Interface 230 includes at least one wired or wireless network interface 231 for interacting with external devices. Of course, in other examples adapted to this invention, interface 230 may further include at least one serial-to-parallel conversion interface 233, at least one input / output interface 235, and at least one USB interface 237, etc. Figure 6 As shown, this does not constitute a specific limitation.

[0154] The memory 250 serves as a carrier for resource storage and can be a read-only memory, random access memory, disk, or optical disk, etc. The resources stored on it include the operating system 251, application programs 253, and data 255, etc., and the storage method can be temporary storage or permanent storage.

[0155] The operating system 251 is used to manage and control the various hardware devices and application programs 253 on the electronic device 2000, so as to enable the central processing unit 270 to perform calculations and processing on the massive data 255 in the memory 250. It can be Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0156] Application 253 is a computer-readable instruction based on operating system 251 that performs at least one specific task, and may include at least one module ( Figure 6 (Not shown), each module may contain computer-readable instructions for electronic device 2000. For example, a sonar-based three-dimensional detection device can be considered as application program 253 deployed on electronic device 2000.

[0157] Data 255 may be signal information, etc., and is stored in memory 250.

[0158] The central processing unit 270 may include one or more processors and is configured to communicate with the memory 250 via at least one communication bus to read computer-readable instructions stored in the memory 250, thereby performing operations and processing on massive amounts of data 255 stored in the memory 250. For example, a sonar-based three-dimensional detection method can be implemented by the central processing unit 270 reading a series of computer-readable instructions stored in the memory 250.

[0159] Furthermore, the present invention can also be implemented through hardware circuits or a combination of hardware circuits and software. Therefore, the implementation of the present invention is not limited to any specific hardware circuit, software, or combination thereof.

[0160] Please see Figure 7 This invention provides an electronic device 4000, which may include: a desktop computer, a laptop computer, a server, etc., with sensor recognition capabilities.

[0161] exist Figure 7 In this context, the electronic device 4000 includes at least one processor 4001 and at least one memory 4003.

[0162] The data interaction between the processor 4001 and the memory 4003 can be achieved through at least one communication bus 4002. This communication bus 4002 may include a path for transmitting data between the processor 4001 and the memory 4003. The communication bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0163] Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0164] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computing functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0165] The memory 4003 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program instructions or code in the form of instructions or data structures and accessible by the electronic device 4000, but not limited thereto.

[0166] The memory 4003 stores computer-readable instructions, and the processor 4001 can read the computer-readable instructions stored in the memory 4003 through the communication bus 4002.

[0167] The computer-readable instructions are executed by one or more processors 4001 to implement the sonar-based three-dimensional detection methods in the above embodiments.

[0168] Furthermore, this embodiment of the invention provides a storage medium storing computer-readable instructions, which are executed by one or more processors to implement the sonar-based three-dimensional detection method as described above.

[0169] This invention provides a computer program product, which includes computer-readable instructions stored in a storage medium. One or more processors of an electronic device read the computer-readable instructions from the storage medium, load and execute the computer-readable instructions, thereby enabling the electronic device to implement the sonar-based three-dimensional detection method as described above.

[0170] Compared with related technologies, the beneficial effects of the present invention are: 1. This invention can achieve high-precision three-dimensional positioning of underwater targets; by using the four-channel synchronous transmission mechanism and multi-element disk topology of the transducer array, the transmission response loss is reduced, the sidelobe level is suppressed, and the array directivity is improved. Combined with the rotation device to adjust the spatial attitude of the transducer array, the coordinated detection of the horizontal and vertical planes is realized. Finally, the three-dimensional coordinate information of the underwater target is accurately calculated through the three-dimensional spatial analysis algorithm.

[0171] 2. This invention has a more comprehensive target detection capability; through the design of four independent subarrays of the transducer array, it can not only locate the direction of the fish school, but also increase the detection of parameters such as fish school identification measurement, threshold, and morphology. It solves the problem that traditional single-beam sonar can only detect the existence but cannot locate the direction, as well as the defect of traditional split beam sonar that can only locate in a two-dimensional plane but cannot resolve vertical structures.

[0172] 3. This invention can improve the system space utilization and engineering applicability; the transducer array adopts a multi-element disk-shaped arrangement, which saves installation space and is easy to install and use. The system structure is optimized by the four-channel synchronous transmission mechanism, making the whole system more compact and efficient, and adaptable to the detection needs in different environments.

[0173] 4. This invention has strong anti-interference capabilities and high-precision synchronization performance; through the acoustic synchronization controller and the time unification controller, the synchronization control of each underwater target detection system unit and the unification of the time system are completed, solving the acoustic interference problem of the system and ensuring that each unit, processor, etc. are in a completely consistent time frame, thereby improving the accuracy and reliability of the detection data.

[0174] 5. This invention can flexibly adapt to different detection needs; through the design of the rotating device, the sonar system can rotate freely in the horizontal / vertical direction, and the transducer can transmit / receive echo signals in different directions, thereby flexibly adjusting the detection angle and range to meet the detection needs in different scenarios and improving the system's flexibility and adaptability.

[0175] 6. This invention has efficient data processing and display capabilities; the data processing unit is composed of homogeneous or heterogeneous high-performance computing units consisting of CPU, GPU, and FPGA, which can complete large-scale acoustic data processing work, including acoustic data analysis, acoustic image reconstruction, motion compensation, image enhancement and other functions, and displays the detection results in real time through the display control unit, thereby improving data processing efficiency and visualization.

[0176] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0177] The above description is only a partial embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A sonar-based three-dimensional detection system, characterized in that, The system comprises an underwater subsystem, a surface subsystem, and an interconnection subsystem. The underwater subsystem includes a transducer array, an acoustic wave transmitting electronic system, an acoustic wave receiving electronic system, a rotating device, and auxiliary equipment. The surface subsystem includes a data processor, a display control unit, a power supply unit, and a remote controller for the rotating device. The interconnection subsystem includes a wet-dry interconnection watertight cable. The data processor includes an acoustic signal processing subsystem, an acoustic data transmission subsystem, an acoustic data display subsystem, and an acoustic control subsystem. The transducer array comprises multiple independent subarrays arranged in a disk-like pattern.

2. The sonar-based three-dimensional detection system as described in claim 1, characterized in that, The transducer array is a transceiver transducer connected to the acoustic wave transmitting electronic system and the acoustic wave receiving electronic system; the transducer array is used to convert the electrical signal generated by the acoustic wave transmitting electronic system into a detection acoustic wave and radiate it underwater; the transducer array is used to convert the echo signal into an electrical signal and transmit it to the acoustic wave receiving electronic system; the echo signal includes the detection acoustic wave reflected after the detection acoustic wave reaches the underwater target.

3. The sonar-based three-dimensional detection system as described in claim 1, characterized in that, The acoustic wave transmitting electronic system is used to receive instructions from the data processor and generate a transmission signal; the acoustic wave receiving electronic system includes a multi-channel synchronous acquisition module for ensuring signal timing consistency; the acoustic wave receiving electronic system is used to receive the echo signal from the subarray, convert it into an electrical signal, and transmit it to the data processor; the data processor is used to dynamically configure the transmission signal frequency and timing, and to perform calculations on the electrical signal to obtain the acoustic feature localization of the underwater target; the underwater target includes a school of fish.

4. The sonar-based three-dimensional detection system as described in claim 1, characterized in that, The rotating device is located on both sides of the underwater subsystem and is used to rotate the transducer array vertically and horizontally. The auxiliary equipment includes an attitude sensor, a position measurement sensor, a sound velocity measurement sensor, a depth measurement sensor, a height above the bottom measurement sensor, and a speed measurement sensor. The remote controller for the rotating device is used to control the rotating device. The display control unit consists of a high-performance processor and is used to display detection information in real time; The power supply unit is used for DC / DC and AC / DC conversion; The detection information includes sonar images, target location, and system status.

5. A sonar-based three-dimensional detection method, characterized in that, The method is applied to the sonar-based three-dimensional detection system according to any one of claims 1 to 4, and the method includes: The acoustic control subsystem of the data processor dynamically generates transmission signal parameters, and combines them with real-time environmental data collected by the auxiliary equipment to configure the acoustic wave transmission electronic system to generate multi-band electrical signals and transmit them to the independent subarrays of the transducer array; the transmission signal parameters include frequency, pulse width, bandwidth, and timing; the environmental data includes water temperature, sound speed, and depth. The transducer array subarray synchronously transmits probe sound waves in the specified timing sequence to form a split beam field covering the horizontal plane. At the same time, the multi-channel synchronous acquisition module of the sound wave receiving electronic system receives the reflected echo signal, converts it into an electrical signal, and transmits it to the data processor. The data processor performs cross-correlation time delay estimation on the electrical signal, calculates the time delay difference between subarrays, and combines real-time sound velocity data to solve the target horizontal azimuth and slant range using the split beam positioning formula. At the same time, the remote control of the rotating device controls the rotating device to switch the transducer array to a vertical state. Sound waves are emitted through the transducer array and vertical echo signals are acquired by the data processor. The vertical azimuth and slant range are calculated by time delay and combined with the horizontal azimuth and slant range to generate three-dimensional coordinates. The full-band acoustic reflection characteristic curve is synthesized by the acoustic signal processing subsystem and compared with the database to obtain the target category. The three-dimensional coordinates, target category and sonar image are visualized and output in real time by the display control unit.

6. The sonar-based three-dimensional detection method as described in claim 5, characterized in that, The process of synthesizing a full-band acoustic reflection characteristic curve through the acoustic signal processing subsystem and comparing it with the database to obtain the target category includes: The data processor controls multiple acoustic wave transmitting electronic systems, transducer arrays, and acoustic wave receiving electronic systems to transmit and receive acoustic waves according to sonar operating parameters of different frequency bands, thereby obtaining multi-band received signals. The data processor performs multi-channel synthesis on the received signals of each frequency band to generate single-beam signals corresponding to each frequency band and performs preprocessing. The envelope information and time delay information of each frequency band are extracted from the preprocessed single-beam signals through time-varying gain adjustment and envelope detection calculation. The envelope information of each frequency band is fitted into a full-band acoustic reflection characteristic curve, and the target category is determined by comparing and fitting it with the standard acoustic reflection characteristic curve of known target types in the database; the full-band acoustic reflection characteristic curve is used to reflect the acoustic response intensity distribution of underwater targets at different frequencies.

7. The sonar-based three-dimensional detection method as described in claim 5, characterized in that, The step of estimating the cross-correlation time delay of the electrical signal through the data processor, calculating the time delay difference between subarrays, and solving the target's horizontal azimuth and slant range using the split beam positioning formula in conjunction with real-time sound velocity data includes: The subarray merging strategy is adopted to merge each subarray in pairs to obtain two signals, and a horizontal coordinate system is established. The time delay of the two signals is calculated by the time delay estimation formula. Combined with the slant range, the horizontal azimuth and slant range of the target are calculated by establishing a set of equations using the split beam positioning formula. The time delay estimation formula includes: ; in, d is the time delay estimate, d is the center distance between the two subarrays in the two signals, θ is the azimuth angle, and c is the speed of sound.

8. The sonar-based three-dimensional detection method as described in claim 5, characterized in that, The process of transmitting sound waves through the transducer array and acquiring vertical echo signals through the data processor, and generating three-dimensional coordinates by calculating the vertical azimuth and slant range through time delay and combining them with the horizontal azimuth and slant range, includes: The data processor preprocesses the vertical echo signal to obtain time delay information, and combines it with the vertical displacement based on the vertical rotation of the rotating device to calculate the time delay and obtain the vertical azimuth and slant range. The horizontal azimuth and slant range are then combined with the three-dimensional calculation formula to obtain the three-dimensional coordinates. The three-dimensional measurement formula includes: ; Where (x, y, z) are the three-dimensional coordinates of the underwater target. For vertical displacement, It is the vertical azimuth angle. It is the vertical slant distance. and This is the azimuth angle in the horizontal direction. This represents the horizontal slant distance.

9. An electronic device, characterized in that, include: At least one processor and at least one memory, wherein, The memory stores computer-readable instructions; The computer-readable instructions are executed by one or more of the processors, causing the electronic device to implement the sonar-based three-dimensional detection method as described in any one of claims 5 to 8.

10. A storage medium having computer-readable instructions stored thereon, characterized in that, The computer-readable instructions are executed by one or more processors to implement the sonar-based three-dimensional detection method as described in any one of claims 5 to 8.

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