Phase-controlled single-beam sonar device and control method for transmitting angle of phase-controlled sonar

Abstract

The invention provides a phased single-beam sonar device and a control method of a phased sonar emission angle, the phased single-beam sonar device comprises a multi-channel phased emission array, a single-channel receiving array and a control unit, the multi-channel phased emission array has a plurality of phased emission arrays, and each phased emission array emits sound pulse signals in different detection directions; the single-channel receiving array synchronously receives an echo signal of a signal sent by the phased transmitting array; and the control unit outputs a control signal, the control signal controls the multi-channel phase control transmitting array to transmit an acoustic signal, acquires an echo signal received by the single-channel receiving array, and outputs target intensity and distance information of each detection angle. According to the phase-control single-beam sonar, the combination of the multi-channel phase-control transmitting array and the single-channel receiving array is adopted, the defect that a traditional single-beam sonar can only detect a single point is overcome, the function of detecting multiple points on one line is achieved through phase-control scanning, and the testing efficiency is greatly improved.

Description

Technical Field

[0001] This application relates to the field of sonar detection, and in particular to a phased-array single-beam sonar device and a method for controlling the emission angle of phased-array sonar. Background Technology

[0002] In traditional underwater detection, single-beam sonar systems are limited by mechanical scanning mechanisms, allowing detection of only a single point in a single direction at a time. This results in a significant efficiency bottleneck in large-scale underwater detection missions. Specifically, their mechanically rotating beam control method means that echo data can only be acquired from a single location within a single detection cycle. When applied to scenarios requiring rapid coverage over large areas, such as seabed topography mapping and underwater target search, traditional solutions often face the following technical drawbacks: Spatiotemporal resolution contradiction: The mechanical scanning rate is limited by the inertia of mechanical components, making it difficult to balance scanning speed and spatial resolution. Low coverage efficiency: Multiple scans are required to complete the detection of a designated area, and the detection time is linearly positively correlated with the area. Poor dynamic adaptability: In mobile platform applications (such as AUV / ROV), platform movement can lead to spatial mismatch of probe data.

[0003] Mechanical structures are prone to wear and tear: The high pressure and high humidity environment underwater will accelerate the corrosion and wear of motor bearings and transmission gears, which usually require regular disassembly and maintenance. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a phased-array single-beam sonar device and a method for controlling the phased-array sonar transmission angle, so as to solve the above problems.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution: In a first aspect, this application provides a phased-array single-beam sonar device, comprising: a multi-channel phased-array transmitting array, a single-channel receiving array, and a control unit. The multi-channel phased-array transmitting array has multiple phased-array transmitting arrays, each transmitting acoustic pulse signals in different detection directions. The single-channel receiving array synchronously receives the echo signals emitted by the phased-array transmitting arrays. The control unit outputs control signals to control the multi-channel phased-array transmitting arrays to transmit acoustic signals and to collect the echo signals received by the single-channel receiving arrays, outputting target intensity and distance information at various detection angles.

[0006] Furthermore, the phased-array single-beam sonar also includes a signal processing unit, which preprocesses the echo signal.

[0007] Furthermore, the single-channel receiving array is linearly arranged along one side of the multi-channel phased array, maintaining parallel or a preset angle with the multi-channel phased array.

[0008] Furthermore, the single-channel receiver array is located in the middle of the multi-channel phased-array transmitter array.

[0009] Furthermore, the basic elements of a single-channel receiver array are the same as those of a multi-channel phased-array transmitter array.

[0010] Furthermore, the multi-channel phased-array transmitter and the single-channel receiver array are piezoelectric ceramic arrays or MEMS sensor arrays.

[0011] Secondly, this application provides a method for controlling the emission angle of a phased sonar, applied to the above-mentioned phased single-beam sonar device. The control method includes: step S1: the control unit controls the multi-channel phased transmission array to emit a first sonar signal according to the initial phased angle, and obtains the echo information corresponding to the first sonar signal. Step S2: The control unit updates and adjusts the initial phased array angle based on the echo information to obtain the target phased array angle; Step S3: The control unit controls the multi-channel phased array to transmit the second sonar signal based on the target phased array angle.

[0012] Thirdly, this application provides a computer system including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-described method for controlling the emission angle of a phased sonar.

[0013] Fourthly, this application provides a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the steps of the above-described method for controlling the emission angle of a phased sonar.

[0014] Fifthly, this application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the aforementioned phased sonar emission angle control method.

[0015] As can be seen from the above technical solutions, the advantages and positive effects of the phased-array single-beam sonar device and the phased-array sonar emission angle control method proposed in this application are as follows: The phased-array single-beam sonar of this application employs a combination of a multi-channel phased-array transmitter array and a single-channel receiver array. By controlling the phased-array transmission direction in a time-division manner, it works in conjunction with the receiver array to achieve point-by-point scanning of different locations at corresponding depths along a line. This approach overcomes the limitation of traditional single-beam sonar, which can only detect single points, by enabling multi-point detection along a line through phased-array scanning, significantly improving testing efficiency. Attached Figure Description

[0016] The above description of this application and the following detailed embodiments will be better understood when read in conjunction with the accompanying drawings. It should be noted that the drawings are merely examples of the claimed technical solutions.

[0017] Figure 1 This is a structural block diagram of the phased single-beam sonar device of this application; Figure 2 This is a schematic diagram of the layout of a traditional transmitting array and receiving array in existing technology; Figure 3a This is a schematic diagram of the layout of the multi-channel phased transmitter array and receiver array according to the first embodiment of this application; Figure 3b This is a schematic diagram of the layout of the multi-channel phased transmitter array and receiver array according to the second embodiment of this application; Figure 4 This is a design diagram of the multi-channel phased transmitter array and receiver array according to the first embodiment of this application; Figure 5 This is a design diagram of a multi-channel phased transmitter array and receiver array according to the second embodiment of this application; Figure 6 This is a schematic diagram of the phased single-beam sonar device of this application. Figure 7 This is a flowchart of the phased sonar emission angle control method of this application; Figure 8 This is the execution logic diagram of the phased sonar emission angle control method of this application.

[0018] The reference numerals in the attached figures are explained as follows: Single-channel receiver array: 1; Multi-channel phased array: 2; Linear array: 21; Linear array: 22; Signal processing unit: 3; Signal conditioning units: 4; Multi-channel power amplifier units: 5; Power supply: 6; Phased single-beam sonar device: 10. Detailed Implementation

[0019] The detailed features and advantages of this application are described below in the specific embodiments. The content of this description is sufficient to enable any person skilled in the art to understand the technical content of this application and implement it accordingly. Based on the specification, claims and drawings disclosed in this specification, a person skilled in the art can easily understand the related objectives and advantages of this application.

[0020] The invention will now be described with reference to the accompanying drawings, in which similar reference numerals denote similar elements. While specific structures and arrangements are discussed, it should be understood that this is done merely for illustrative purposes. Those skilled in the art will recognize that other structures and arrangements can be used without departing from the spirit and scope of the invention. It will be apparent to those skilled in the art that the invention can also be used in a variety of other applications.

[0021] In this specification and claims, several terms will be used, and unless otherwise indicated, these terms will be defined to have the following meanings: The singular forms “a” and “the” include their corresponding plural forms. “At least one” means one or more, and “more” means two or more. “At least one of the following” or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be expressed as: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0022] All figures used to represent component amounts, properties (e.g., molecular weight), reaction conditions, etc., should be considered to be modified in all cases by the terms "within the unavoidable margin of error" or "about". Therefore, the numerical values ​​set forth herein are approximate and may vary depending on the desired properties sought to be obtained by the present invention. The principles of equivalents, which are applied to a minimum and not intended to limit the scope of the claims, should be applied, for example, each value should be interpreted at least according to the reported significant digits and by applying conventional rounding techniques.

[0023] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0024] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed during use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0025] Unless otherwise indicated, the following abbreviations have the following meanings, and any other abbreviations used herein but not defined have their generally accepted standard meanings: All other terms used herein for special definition are intended to have the general meaning understood by one of ordinary skill in the art, and in particular, meaning that one of ordinary skill in the art, upon reading the claims, specification and drawings of this patent, can directly and without doubt determine how the technical solution of this patent can be implemented.

[0026] Even if there are incomplete descriptions, omissions, or ambiguities in the grammar, words, punctuation, graphics, symbols, etc. of the claims, specification, and drawings of this patent, a person skilled in the art can still arrive at the only correct understanding by reading the claims, specification, and drawings as a whole without extensive reasoning or experimentation, and effectively exclude various incorrect interpretations that are not aimed at achieving the purpose of this patent.

[0027] Those skilled in the art would first choose to read the claims, specification, and drawings of this patent to reasonably interpret the terms; secondly, they would choose to refer to the relevant definitions in other documents published by the applicant before the filing date to reasonably interpret the terms; thirdly, they would choose the references cited in this patent to reasonably interpret the terms; and finally, they would choose to combine the technical dictionaries, technical manuals, reference books, textbooks, national or industry technical standards, etc., commonly used by those skilled in the art to reasonably interpret the terms.

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0029] Please refer to Figure 1 This application provides a phased-array single-beam sonar device 10, which includes: a multi-channel phased-array transmitter array 2, a single-channel receiver array 1, a control unit, a signal processing unit 3, and a power supply 6.

[0030] Among them, the multi-channel phased-array transmitter 2 has multiple phased-array transmitters, including a first phased-array transmitter and a second phased-array transmitter, which transmit acoustic pulse signals in different detection directions.

[0031] The single-channel receiver array 1 receives the echo signal of the signal emitted by the phased transmitter array.

[0032] The control unit outputs control signals, which can periodically and according to a specific pattern control the multi-channel phased array 2 to transmit acoustic signals, and collect the echo signals received by the single-channel receiver array 1. It outputs target intensity and distance information at each detection angle, performs synchronous detection and processing, and calculates the target distance.

[0033] After the control unit completes a set of time-division scanning to detect all directions, it outputs the target intensity and distance information for each detection angle.

[0034] The signal processing unit 3 is used to preprocess the echo signal. For example, the single-channel receiving array 1 transmits the received echo signal to the signal conditioning unit 4, which amplifies, filters and digitizes the received echo signal.

[0035] The signal processing unit 3 is used to perform front-end preprocessing on the echo information acquired by the sonar detection component, providing high-quality input for subsequent data analysis, beamforming and image display.

[0036] For example, the single-channel receiving array 1 transmits the analog sonar echo signal acquired by underwater detection to the signal conditioning unit 4; the signal conditioning unit 4 sequentially performs low-noise amplification, adaptive filtering and analog-to-digital conversion (A / D) digitization processing on the analog signal, converting the analog sonar signal into a digital signal that meets the system processing requirements, thereby effectively suppressing underwater environmental noise and circuit interference, improving the signal-to-noise ratio, and laying a reliable foundation for subsequent phased beamforming, data transmission and display processing.

[0037] The signal processing unit 3 includes a control unit and a digital signal processing unit 3, which are used to realize the overall operation control, signal processing scheduling, and detection result output management of the phased single-beam sonar device 10. Among them, the control unit is responsible for system timing scheduling, working mode configuration, and coordinated control of various functional modules; the digital signal processing unit 3 is responsible for echo data calculation, beamforming algorithm execution, and data parsing processing, providing core support for the stable and efficient operation of the device.

[0038] The multi-channel power amplifier unit 5 is used to amplify the power of multiple transmitted signals to drive the corresponding multi-channel transmitted array. By independently controlling the phase and amplitude of the transmitted signals of each channel, flexible configuration of phased transmission and beam pointing can be achieved.

[0039] The power supply module 6 is used to provide a stable power supply to the various electrical components in the phased single beam sonar device 10, and to perform energy management, voltage conversion and power protection to ensure reliable power supply and safe operation of the device in the underwater working environment.

[0040] It is understood that this invention aims to overcome the detection limitations of traditional single-beam sonar. On this basis, it integrates electronically scanned phased-array narrowband transmission technology and wide-angle broadband reception technology. By electronically controlling the transmitted beam and acquiring wide-angle broadband signals at the receiving end, it achieves precise point-to-point scanning of underwater depths at different positions along the detection baseline. This effectively replaces the traditional mechanical scanning or single-point detection mode, significantly shortens the detection cycle, and greatly improves the overall efficiency and spatial resolution of underwater detection operations.

[0041] like Figure 2 As shown, there are many types of existing multibeam sonar, but they are all similar: in order to pursue the ultimate performance, the transducers mostly adopt a "T" array, that is, a separate receiving array (mostly a linear array 21) and a separate transmitting array (mostly an arc shape), with the transmitting array and the receiving array perpendicular to each other in a "T" shape.

[0042] The receiving array is arranged horizontally, but each small element is vertical; the transmitting array is arranged vertically, but each element is horizontal. This results in a unique design for the external structure of the "T"-shaped array sonar equipment, which further increases production costs and equipment size.

[0043] The phased-array single-beam sonar device 10 of this application can be flexibly configured into two different transmitting and receiving array structures, such as a side-mounted array structure and a center-mounted array structure, to adapt to the needs of different underwater detection scenarios.

[0044] like Figure 3a As shown, in the side-mounted array structure, the receiving array is linearly arranged along one side of the transmitting array, parallel to or at a specific angle to the transmitting array. The transmitting array, as the main detection unit, forms a wide-coverage transmitting beam with clear directionality through phased-array drive, completing the initial scanning and situational awareness of a large-scale underwater environment. The side-mounted layout of the receiving array optimizes the beam pointing and echo reception angle, ensuring the integrity of the detection field of view while reducing crosstalk between transmitted and received signals, improving the signal-to-noise ratio and detection stability of the echo signal. This is suitable for scenarios such as underwater inspection and waterway mapping where high detection breadth and environmental adaptability are required.

[0045] like Figure 3b As shown, in the central array structure, the receiving array is embedded in the middle area of ​​the transmitting array, forming a symmetrical or segmented composite array of "transmitting array-receiving array-transmitting array".

[0046] The transmitting array can be divided into two segments, left and right or front and back. The two segments can be driven synchronously or independently, and precise beam focusing on the target area can be achieved through phase control.

[0047] A centrally positioned receiving array maximizes the effective path for receiving echo signals, significantly improving the angular resolution and echo intensity of the target area. It also optimizes the overall size and space utilization of the array, making it suitable for scenarios such as underwater target positioning, coral reef monitoring, and pipeline inspection where high accuracy in target identification and detailed detection are required.

[0048] The two array structures can be flexibly switched or reused according to operational needs. They can achieve large-scale and efficient detection through the side-mounted structure, and high-precision target observation through the center-mounted structure, providing the phased single-beam sonar device 10 with richer detection modes and scene adaptability.

[0049] A multi-channel transmit / receive array refers to an array with multiple internal elements / channels. In this application, the multi-channel phased-array transmit array 2 and the single-channel receive array 1 are arranged in the same direction, and both are piezoelectric ceramic arrays. Its most significant feature is its simplicity; the receive and transmit arrays can be designed identically (equivalent to using one ceramic array as the transmitter and the rest as the receiver).

[0050] Traditional multibeam sonar uses a "multi-receiver" approach, which requires multi-channel receiving and conditioning circuitry (dozens or even hundreds of channels) and multi-channel parallel processors (usually FPGAs). Overall, it has high power consumption and complex computational processing.

[0051] The phased-array single-beam sonar device 10 of this application adopts a single-receiver (one-receiver) scheme, which only requires one channel, thus greatly reducing the amount of data to be processed. It can even be implemented by a regular microcontroller, and the power consumption is very low.

[0052] In the sonar detection component of this application, the transmit / receive array of each channel can be composed of a combination of a pure linear array 21 or a pure line segment array 22, or it can be composed of a combination of linear array 21 and line segment array 22, so as to achieve more flexible beam pointing and resolution control.

[0053] like Figure 4 As shown in this embodiment, in the sonar detection component of this application, the transmit / receive array of each channel can adopt a pure linear array 21 structure.

[0054] The linear array 21 is composed of multiple transducer elements arranged in series along a straight line, with each element maintaining a consistent element spacing and phase driving logic. At the transmitting end, by applying a synchronous excitation signal to all elements of the linear array 21, a wide-coverage beam extending along the array normal direction and with a stable main lobe direction can be formed.

[0055] At the receiving end, the 21 elements of the full linear array synchronously acquire echo signals and perform beamforming processing, enabling continuous scanning of a large underwater area and ensuring the integrity of the detection field of view and the comprehensiveness of environmental perception. This structure features regular beam shape, simple system control logic, and strong anti-interference capabilities, making it suitable for scenarios such as large-scale underwater inspection and initial situational awareness.

[0056] like Figure 5 As shown in this embodiment, in the sonar detection component of this application, the transmit / receive array of each channel can adopt a pure line segment array 22 structure.

[0057] The segment array 22 is a subarray composed of a subset of continuous transducer units selected from the complete linear array 21. Only this segment of units is driven and signal acquired independently. At the transmitting end, by applying a focusing excitation signal to the units of the segment array 22, acoustic energy can be concentrated on a target area at a specific angle and distance, forming a narrow and strong focused beam.

[0058] At the receiving end, only the echo signals of the 22 elements of the line array are collected and processed with high-precision beamforming, which can significantly improve the angular resolution and echo signal intensity of the target area, enabling refined detection of local targets. This structure features strong beam focusing capability, high detection accuracy, and controllable data volume, making it suitable for scenarios such as underwater target identification, detailed observation, and investigation of key areas.

[0059] It should be noted that in the sonar detection component of this application, the transmit / receive array of each channel can also adopt a hybrid structure of linear array 21 and segment array 22: the system is configured with a complete linear array 21 and at least one set of segment array 22 at the same time, and the two can work independently or in concert.

[0060] In the wide-area detection mode, the linear array 21 is activated to complete the full field of view scanning and quickly obtain the overall situation of the underwater environment; when a suspicious target or key area of ​​interest is identified, the mode is switched to the linear array 22 to focus on the target area and obtain high-resolution echo data.

[0061] Alternatively, the linear array 21 and the segment array 22 can work in parallel. The linear array 21 ensures overall field of view coverage, while the segment array 22 simultaneously performs high-precision monitoring of the preset area. This combined structure balances detection breadth and accuracy, and can dynamically switch operating modes according to operational needs, achieving an optimal balance between system power consumption, detection efficiency, and recognition accuracy.

[0062] Please refer to Figure 6 The phased-array single-beam sonar device 10 performs obstacle detection and mapping of the seabed topography. This equipment is suitable for areas with complex and varied seabed topography. When in use, the equipment can be securely installed on the bottom of the ship or fixed on the shore, pile foundation, or other locations.

[0063] Using phased-array scanning technology, the phased-array single-beam sonar device 10 can acquire seabed topographic information along a specific straight line in real time, thereby generating a high-precision seabed topographic strip image. This image can accurately and clearly present the specific location and shape of seabed obstacles, significantly improving the efficiency and accuracy of seabed mapping work.

[0064] Specifically, the control unit sets the initial transmission direction and parameters, the multi-channel phased array 2 transmits sound waves in a set sequence, and the single-channel receiver array 1 receives the reflected sound wave signal and transmits it to the signal processing unit 3.

[0065] The signal processing unit 3 processes the signal, generates depth data, and the control unit updates the next transmission direction until the scanning of the entire strip is completed.

[0066] Please refer to Figure 7 and Figure 8 Based on the same inventive concept, this application also provides a method for controlling the emission angle of phased sonar, the specific steps of which are as follows: Step S1: The control unit controls the multi-channel phased array 2 to transmit the first sonar signal according to the initial phased angle, and obtains the echo information corresponding to the first sonar signal.

[0067] Step S2: The control unit updates and adjusts the initial phased array angle based on the echo information to obtain the target phased array angle.

[0068] Step S3: The control unit controls the multi-channel phased array 2 to transmit the second sonar signal according to the target phased angle.

[0069] Specifically, each Ping or frame's workflow begins with phased array transmission: the device emits pulse signals in a specific direction, precisely determined by the phased array angle. In the receiving phase, the device uses only one receiving channel, simplifying data processing; only the echo time and intensity need to be accurately calculated (significantly reducing complexity compared to common multibeam sonar). When the device operates continuously across multiple frames, it sequentially adjusts the scanning or phased array direction to different angles until scanning at each angle is complete. This achieves performance comparable to multibeam sonar measurements.

[0070] Sonar systems suffer from significant reverberation interference. If the phased array angles differ only slightly in each frame, adjacent frames may interfere with each other, leading to inaccurate results or low efficiency. Therefore, the phased array angles for each frame were individually optimized, as shown in Table 1. This ensures that the phased array angle spacing between adjacent frames is at least "MAX", significantly reducing inter-frame interference.

[0071] Table 1: Positive Phased Energizer Emission Angle

[0072] It is understandable that Max refers to the maximum phase control angle, such as 45° (the value range is 10°~75°); Step refers to the phase control step angle, such as 1° (the value range is 0.1°~10°); Phase angle range: -MAX ~ +MAX; MAX = Step N, where N is a positive integer, is the subdivision number of the phase control to the maximum angle.

[0073] like Figure 2 As shown, based on a similar phased-array emission angle method, the phased-array angle is also a negative angle phased-array.

[0074] Table 2: Negative Phased Coil Emission Angle

[0075] It should be noted that this application pertains to ultrasonic detection. Ultrasonic waves are mechanical waves, and their speed generally does not exceed 2 km / s. Based on the same inventive concept, the above-mentioned method for controlling the emission angle of phased sonar can be implemented as a computer-readable instruction that can run on a computer system.

[0076] This application also provides a computer system including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the program, it implements the aforementioned method for controlling the phased sonar emission angle.

[0077] The computer system can be a server. The computer system includes a processor, non-volatile storage medium, internal memory, input device, display screen, and network interface connected via a system bus. The non-volatile storage medium of the computer system can store an operating system and computer-readable instructions. When executed, these computer-readable instructions can cause the processor to execute a phased-array sonar emission angle control method according to various embodiments of this application. The specific implementation process of this method can be found in [reference needed]. Figure 7 The specific details will not be elaborated here.

[0078] The processor of this computer system provides computing and control capabilities, supporting the operation of the entire system. The internal memory stores computer-readable instructions, which, when executed by the processor, enable the processor to perform a method for controlling the phased-array sonar transmission angle. The computer system's input devices are used for inputting various parameters, its display screen is used for display, and its network interface is used for network communication.

[0079] Based on the same inventive concept, this application provides a computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps in the aforementioned method for controlling the emission angle of a phased sonar.

[0080] The memory in this application embodiment can be volatile memory or non-volatile memory, or it can include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0081] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs.

[0082] When computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions according to the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means.

[0083] Computer-readable storage media can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives (SSDs).

[0084] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0085] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0086] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0088] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0090] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0091] In this specification, references to "an embodiment" or "a specific implementation" mean that a particular feature, structure, or characteristic described in connection with that embodiment / specific implementation is included in at least one embodiment / specific implementation of the invention. Therefore, the phrase "in one embodiment / specific implementation" appearing in various places in this specification does not necessarily refer to the same embodiment / setting, but rather to potentially different embodiments. Furthermore, specific features, structures, or characteristics may be combined in one or more embodiments / settings in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0092] Similarly, it should be understood that in the above description of exemplary embodiments / specific implementations of the invention, various features of the invention are sometimes combined in a single embodiment / specific implementation or its figures and description, with the aim of simplifying the disclosure and aiding in the understanding of one or more of the various aspects of the invention. However, the method of description in this patent should not be construed as reflecting an intention that the claimed features of the invention are more than those expressly stated in each claim, except where expressly stated otherwise or in obvious technical contradictions or exclusions are found. Rather, the inventive aspects reflected in the claims are not all the features of a single foregoing disclosed embodiment / specific implementation. Therefore, the claims following the detailed description are expressly incorporated herein by reference, and each claim exists independently as a separate embodiment / specific implementation of the invention.

[0093] Furthermore, while some embodiments / specific implementations described herein include, but are not limited to, other features included in other embodiments / specific implementations, combinations of features from different embodiments / specific implementations are intended to be within the scope of the invention and form different embodiments / specific implementations, as will be understood by those skilled in the art. For example, in the following claims, embodiments / specific implementations of any claim can be used in any combination.

[0094] The terms and expressions used in this specification are for illustrative purposes and not for limitation. In using these terms and expressions, it is not intended to exclude any equivalents of the features or portions thereof shown and described, but rather to recognize that various modifications may be possible within the scope of the invention.

[0095] Therefore, it should be understood that although the invention has been specifically disclosed through preferred embodiments, exemplary embodiments and optional features, those skilled in the art may take variations or modifications of the concepts disclosed herein, and such variations and modifications are therefore considered to be within the scope of the invention as defined by the appended claims.

[0096] The specific embodiments given in this specification are examples of useful implementations of the present invention. It will be apparent to those skilled in the art that the present invention can be implemented using many variations of the devices, device components, and method steps disclosed in this specification.

[0097] The foregoing description of specific embodiments fully discloses the general features of the present invention, enabling others to easily modify and / or adapt such specific embodiments for various applications by applying knowledge within the scope of the art, without conducting excessive experimentation and without departing from the general concept of the present invention.

[0098] Therefore, based on the teachings and guidance provided herein, it is intended that such modifications and alterations be included within the meaning and scope of equivalents of the disclosed embodiments. It should be understood that the wording or terminology used herein is for descriptive purposes and is not intended to be limiting; thus, the wording or terminology in this specification will be interpreted by those skilled in the art based on the foregoing teachings and guidance.

[0099] Furthermore, the scope of the invention should not be limited to any of the exemplary embodiments described above, but is defined solely by the appended claims and their equivalents.

Claims

1. A phased-array single-beam sonar device, characterized in that, The phased-array single-beam sonar device includes: a multi-channel phased-array transmitter array, a single-channel receiver array, and a control unit. The multi-channel phased-array transmitter has multiple phased-array transmitters, each of which transmits acoustic pulse signals in different detection directions; The single-channel receiving array synchronously receives the echo signal of the signal emitted by the phased transmitting array; The control unit outputs a control signal, which controls the multi-channel phased array to transmit acoustic signals and collects the echo signals received by the single-channel receiver array, outputting target intensity and distance information at each detection angle.

2. The phased-array single-beam sonar device according to claim 1, characterized in that, The phased-array single-beam sonar also includes a signal processing unit, which preprocesses the echo signal.

3. The phased-array single-beam sonar device according to claim 1, characterized in that, The single-channel receiving array is arranged linearly along one side of the multi-channel phased-array transmitting array, and is arranged parallel to or at a preset angle to the multi-channel phased-array transmitting array.

4. The phased-array single-beam sonar device according to claim 1, characterized in that, The single-channel receiver array is located in the middle of the multi-channel phased-array transmitter array.

5. The phased-array single-beam sonar device according to claim 1, characterized in that, The basic elements of the single-channel receiving array are the same as those of the multi-channel phased-array transmitting array.

6. The phased-array single-beam sonar device according to claim 1, characterized in that, The multi-channel phased-array transmitter and the single-channel receiver array are piezoelectric ceramic arrays or MEMS sensor arrays.

7. A method for controlling the emission angle of a phased-array sonar, characterized in that, The control method is applied to the phased-array single-beam sonar device according to any one of claims 1-6, and the control method includes: Step S1: The control unit controls the multi-channel phased array to transmit the first sonar signal according to the initial phased angle, and obtains the echo information corresponding to the first sonar signal; Step S2: The control unit updates and adjusts the initial phased array angle based on the echo information to obtain the target phased array angle; Step S3: The control unit controls the multi-channel phased array to transmit a second sonar signal according to the target phased angle.

8. A computer system comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the phased sonar emission angle control method according to claim 7.

9. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the phased sonar emission angle control method as described in claim 7.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the phased sonar emission angle control method as described in claim 7.

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