CN117849808A - Parametric array side-scan sonar detection system and method - Google Patents
Parametric array side-scan sonar detection system and method Download PDFInfo
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- CN117849808A CN117849808A CN202410048123.6A CN202410048123A CN117849808A CN 117849808 A CN117849808 A CN 117849808A CN 202410048123 A CN202410048123 A CN 202410048123A CN 117849808 A CN117849808 A CN 117849808A
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- 238000001514 detection method Methods 0.000 title claims abstract description 42
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- 238000012545 processing Methods 0.000 claims abstract description 38
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- 238000006243 chemical reaction Methods 0.000 claims description 10
- 239000013535 sea water Substances 0.000 claims description 6
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to the technical field of submarine detection, and particularly provides a parametric array side-scan sonar detection system and a parametric array side-scan sonar detection method, wherein the detection system adopts a high-frequency sound wave generator, a receiver, a data processing device and a workstation; the detection method comprises the following steps: s1, arranging two high-frequency sound wave generators under water; s2, receiving a parametric array side scan sonar reflection signal by adopting a receiver; s3, setting a data processing device on water; s4, electrically connecting the data processing device with the receiver; s5, setting a workstation on water; s6, a display screen is arranged in the workstation; according to the invention, the seabed is detected by high-frequency sound waves, the penetrability of the seabed stratum is detected by low-frequency sound waves, the efficient and accurate searching and positioning of buried objects below the seabed are realized, and the method can be widely applied to marine pipe cable inspection and state evaluation, wind power cable inspection, buried object salvage, underwater archaeology and other operations, and is wide in application range.
Description
Technical Field
The invention relates to the technical field of submarine detection, in particular to a parametric array side-scan sonar detection system and a parametric array side-scan sonar detection method.
Background
The characteristic target information in the side scan sonar image has important application value in the aspects of ocean scientific research (such as ocean bottom distribution and deep sea hydrothermal formation mechanism), ocean engineering (such as ocean bottom pipeline site selection, ocean bottom landform acquisition and sunken ship discovery), ocean military and the like. The sea bottom line in the side-scan sonar waterfall map represents the distance from the towed fish to the sea bottom, is the boundary between the water droplet area and the substrate area, and is also an important parameter for target measurement, slope distance correction and image gray level equalization. The high-quality side scan sonar image for efficiently and accurately carrying out seabed line tracking has very important significance.
Referring to fig. 1-2, the side-scan sonar technology in the conventional technology uses high-frequency ultrasonic waves to detect the buried object on the sea floor, which is limited by the frequency of the ultrasonic waves, and the high-frequency ultrasonic waves cannot effectively penetrate the surface layer of the sea floor, so that the detection effect on the sea is poor.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is directed to a parametric array side-scan sonar detection system and method, which are used for solving the problem that the side-scan sonar technology in the prior art cannot effectively penetrate the surface layer of the seabed when detecting the seabed buried object by using high-frequency ultrasonic waves.
To achieve the above and other related objects, the present invention provides a parametric array side-scan sonar detection system employing two high-frequency sonic generators, a receiver, a data processing device, and a workstation;
the two high-frequency sound wave generators are used for simultaneously transmitting two high-frequency sound waves with different frequencies to the submarine stratum, and when the two high-frequency sound waves with different frequencies are transmitted by taking sea water as a medium, a difference frequency wave is formed due to the nonlinear effect of the water, so that the parametric array side-scan sonar with low-frequency pulse sound wave signals is synthesized;
the receiver is used for receiving the parametric array side-scan sonar signals reflected by the submarine stratum and below and pre-analyzing the position and shape of the submarine buried object;
the data processing device is electrically connected with the high-frequency sound wave generator and the receiver and is used for controlling the frequency of the high-frequency sound wave emitted by the high-frequency sound wave generator and processing signals received by the receiver to generate high-frequency and low-frequency images so as to obtain a landform side-scanning image;
the workstation is electrically connected with the data processing device, and the position and the shape of the submarine buried object are further determined by comparing the high-frequency image and the low-frequency image generated by the data processing device.
In one embodiment of the present invention, the high-frequency acoustic wave generator includes a power conversion module, an output transformer, and a transducer;
the power conversion module is used for converting alternating current into stable high-voltage direct current, the output transformer is used for converting direct current voltage input by the power conversion module into high-frequency pulse voltage with adjustable output frequency, and the transducer is used for converting electric power input by the output transformer into mechanical power and then transmitting the mechanical power.
In one embodiment of the invention, the receiver comprises a transducer array comprising a plurality of arrayed sub-block elements and an analysis module;
the transducer array is used for receiving signals transmitted by the low-frequency pulse sound wave signals and reflected by the submarine stratum;
the analysis module pre-analyzes the position and shape of the subsea burial based on the signals received by the transducer array.
In one embodiment of the present invention, the data processing apparatus includes a transmitting module and a receiving module;
the transmitting module is used for transmitting an electric signal and is connected with the high-frequency sound wave generator in a remote communication manner;
the receiving module is used for remotely communicating and connecting the electric signals with the receiver so as to acquire signals received by the receiver and reflected by the submarine stratum.
The parametric array side-scan sonar detection method comprises the parametric array side-scan sonar detection system, and comprises the following steps:
s1, arranging two high-frequency sound wave generators under water, wherein the two high-frequency sound wave generators are respectively used for generating two high-frequency ultrasonic waves f1 and f2 with different frequencies as main frequencies, and f1 and f2 form difference frequency waves due to the nonlinear effect of water when the sea water is used as a medium for propagation, so that a parametric array side-scan sonar with low-frequency pulse sound wave signals is synthesized and used for side-scan detection of a submarine region;
s2, receiving a parametric array side-scan sonar signal reflected by a submarine stratum and below by adopting a receiver, and pre-analyzing the position and shape of a submarine buried object according to the reflected signal;
s3, arranging a data processing device on water, and electrically connecting the data processing device with the sound wave generator for remotely controlling and adjusting the emission frequency of the high-frequency ultrasonic wave;
s4, electrically connecting the data processing device with the receiver, and acquiring a reflected signal received by the receiver and generating high-frequency and low-frequency images;
s5, arranging a workstation on water, electrically connecting the workstation with the data processing device, and further determining the position and shape of the submarine buried object by comparing the high-frequency image and the low-frequency image generated by the data processing device;
and S6, a display screen is arranged in the workstation and used for intuitively displaying the submarine detection condition.
In an embodiment of the present invention, when the high-frequency sound waves f1 and f2 propagate in the water medium, the difference frequency wave is formed due to the nonlinear effect of the water, and the frequency of the difference frequency wave can be controlled by changing the two main frequencies.
In an embodiment of the present invention, the difference frequency waves formed by the propagation of the two high-frequency ultrasonic waves f1, f2 with different frequencies through the nonlinear effect of water generate a series of secondary frequencies including f1, f2, (f1+f2), (f 1-f 2), and 2f1, 2f2, wherein (f 1-f 2) is a low-frequency pulse acoustic signal, and the frequencies of the low-frequency pulse acoustic signals (f 1-f 2) are very low due to the very close frequencies of f1, f2, so that the difference frequency wave has a very strong penetrating power of a sedimentary layer, and can be used for detecting the stratum structure of the shallow seabed.
As described above, the parametric array side-scan sonar detection system and method of the invention have the following beneficial effects:
1. according to the invention, a difference frequency wave is formed due to the nonlinear effect of water when two high-frequency sound waves are transmitted in the ocean, so that a parametric array side-scan sonar with low-frequency pulse sound wave signals is synthesized, the parametric array side-scan sonar is used for detecting the submarine stratum, and the high-penetration characteristic of the low-frequency sound waves is utilized for detecting the penetrability of the submarine stratum, so that efficient and accurate searching and positioning of buried objects below the submarine stratum are realized, and the detection effect on the ocean is improved; moreover, the invention can be widely applied to the operations of marine pipe cable inspection and state evaluation, wind power cable inspection, buried target salvage, underwater archaeology and the like, and has wide application range.
2. The invention adopts the parametric array side-scan sonar which synthesizes the low-frequency pulse sound wave signals after high frequency, and detects the ocean through the parametric array side-scan sonar, and the high-frequency sound wave has the characteristic of high frequency as the main frequency, so that the transducer can be made small, and the portability of the sound wave generator in use is improved; the signal intensity of the difference frequency wave generated by the high-frequency sound wave through the signal synthesizer is slightly higher than that of the main frequency sound wave, the attenuation is slower, and when the propagation reaches a diffraction unit length, the sound intensity is maximum and then the attenuation is gradually carried out; the difference frequency sound wave signal is very close to the beam angle in high frequency and has no side lobe, so the beam directivity is good, the resolution is higher, and the controllable difference frequency sound wave signal can reflect more information of the sedimentary layers, thereby being convenient for classifying the sedimentary layers and identifying the sedimentary layers in a three-dimensional way.
Drawings
Fig. 1 shows a schematic diagram of a prior art disclosed side-scan sonar technique for detecting seafloor using high frequency sound waves.
Fig. 2 shows an image obtained by detecting the sea floor using the prior art.
Fig. 3 shows a schematic structural diagram of the parametric array side-scan sonar detection system disclosed by the invention.
Fig. 4 shows a block schematic diagram of an acoustic wave generator.
Fig. 5 shows a block schematic diagram of a receiver.
Fig. 6 shows a block schematic diagram of a data processing apparatus.
Fig. 7 shows a schematic view of an acoustic wave generator emitting acoustic waves towards the sea bottom.
Fig. 8 shows an image obtained by detecting the sea floor using the present invention.
Description of element reference numerals
An acoustic wave generator 1; a power conversion module 11; an output transformer 12; a transducer 13; a receiver 2; a transducer array 21; an analysis module 22; a data processing device 3; a transmitting module 31; a receiving module 32; a workstation 4; a high-frequency sound wave a; low frequency pulsed sound wave b.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
Please refer to fig. 3 to 8. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention.
Embodiment 1 referring to fig. 3-8, the present embodiment provides a parametric array side-scan sonar detection system employing two high frequency sonic a generators 1, a receiver 2, a data processing device 3 and a workstation 4.
The two high-frequency sound wave a generators 1 are used for simultaneously transmitting two high-frequency sound waves a with different frequencies to a submarine stratum, and when the two high-frequency sound waves a with different frequencies are transmitted by taking sea water as a medium, a difference frequency wave is formed due to the nonlinear effect of the water, so that the parametric array side-scan sonar with the low-frequency pulse sound waves b is synthesized; specifically, the two high-frequency sound wave a generators 1 have the same structure and each comprise a power conversion module 11, an output transformer 12 and a transducer 13; the power conversion module 11 is used for converting alternating current into stable high-voltage direct current, the output transformer 12 is used for converting direct current voltage input by the power conversion module 11 into high-frequency pulse voltage with adjustable output frequency, and the transducer 13 is used for converting electric power input by the output transformer 12 into mechanical power and then transmitting the mechanical power.
The invention synthesizes the parametric array side-scan sonar with the low-frequency pulse sound wave b after adopting high frequency, so the parametric array side-scan sonar not only has the high-frequency sound wave a and the low-frequency pulse sound wave b, but also has the difference frequency waves with various frequencies in the synthesis process, the sea is detected by the parametric array side-scan sonar, and the high-frequency sound wave a has the characteristic of high frequency as the main frequency, so the transducer 13 can be made very small, and the portability of the use of the sound wave generator 1 is improved; the signal intensity of the difference frequency wave generated by the high-frequency sound wave a through the signal synthesizer is slightly higher than that of the main frequency sound wave, the attenuation is slower, and when the propagation reaches a diffraction unit length, the sound intensity is maximum and then the attenuation is gradually carried out; the difference frequency sound wave signals are very close to the beam angles in high frequency and have no side lobe, so that the beam directivity is good, the resolution is high, and a plurality of controllable difference frequency sound wave signals can reflect more information of the sedimentary layers so as to conveniently classify the sedimentary layers and identify the sedimentary layers in a three-dimensional way.
The receiver 2 comprises a transducer array 21 consisting of a plurality of arrayed sub-block elements and an analysis module 22; the transducer array 21 is used for receiving parametric array side-scan sonar signals reflected by the submarine stratum; the analysis module 22 pre-analyzes the location and shape of the subsea burial from the signals received by the transducer array 21. The receiving module 32 has the function of pre-analysis, and can timely find the target, stably track the target, predict and report the position, accurately identify the target, evaluate the detection effect, and primarily judge the position and shape of the submarine buried object, so that the frequency of the high-frequency sound wave a can be adjusted according to the pre-detection result, and the detection effect can be improved.
The data processing device 3 is electrically connected with the high-frequency sound wave a generator 1 and the receiver 2, and specifically, the data processing device 3 comprises a transmitting module 31 and a receiving module 32; the transmitting module 31 is used for transmitting an electric signal and is connected with the high-frequency sound wave a generator 1 in a remote communication way, and is used for controlling the frequency of the high-frequency sound wave a transmitted by the high-frequency sound wave a generator 1; the receiving module 32 is used for connecting the receiver 2 in a telecommunication way through electric signals, and is used for processing the signals received by the receiver 2 to generate high-frequency and low-frequency images so as to obtain the landform side-scanning imaging. The workstation 4 is electrically connected to the data processing device 3 for further determining the position and shape of the subsea burial by comparing the high frequency image and the low frequency image generated by the data processing device 3.
According to the invention, the difference frequency wave is formed due to the nonlinear effect of water when two high-frequency sound waves a are transmitted in the ocean, so that the parametric array side-scan sonar with the low-frequency pulse sound waves b is synthesized, the parametric array side-scan sonar is used for detecting the submarine stratum, and the high-penetration characteristic of the low-frequency sound waves is utilized for detecting the penetrability of the submarine stratum, so that efficient and accurate searching and positioning of buried objects below the submarine stratum are realized, and the detection effect on the ocean is improved.
Embodiment 2, based on embodiment 1, provides a parametric array side-scan sonar detection method, which includes the parametric array side-scan sonar detection system, and includes the following steps:
s1, arranging two high-frequency sound wave a generators 1 under water, wherein the two high-frequency sound wave a generators are respectively used for generating two high-frequency ultrasonic waves f1 and f2 with different frequencies as main frequencies, and f1 and f2 form difference frequency waves due to the nonlinear effect of water when the sea water is used as a medium for propagation, so that a parametric array side-scan sonar with low-frequency pulse sound waves b is synthesized and used for side-scan detection of a submarine region; specifically, the difference frequency wave formed by the propagation of the high-frequency ultrasonic waves f1 and f2 with two different frequencies through the nonlinear effect of water can generate a series of secondary frequencies including f1, f2, (f1+f2), (f 1-f 2) and 2f1 and 2f2, wherein (f 1-f 2) is a low-frequency pulse sound wave b, and the frequency of the low-frequency pulse sound wave b (f 1-f 2) is very low and can be as low as several kilohertz because the frequency of the low-frequency pulse sound wave b (f 1-f 2) is very close, so that the difference frequency can be very low, and the difference frequency can be very strong in the penetrating power of a sedimentary deposit, and can be used for detecting the stratum structure of the shallow part of the seabed. The signal intensity of the difference frequency wave is slightly higher than that of the main frequency sound wave, the attenuation is slower, and when the propagation reaches a diffraction unit length, the sound intensity is maximum and then the attenuation is gradually carried out; the difference frequency sound wave signals are very close to the beam angles in high frequency and have no side lobe, so that the beam directivity is good, the resolution is high, and a plurality of controllable difference frequency sound wave signals can reflect more information of the sedimentary layers so as to conveniently classify the sedimentary layers and identify the sedimentary layers in a three-dimensional way.
S2, receiving a parametric array side-scan sonar signal reflected by the submarine stratum and below by adopting a receiver 2, and pre-analyzing the position and shape of the submarine buried object according to the reflected signal.
And S3, arranging a data processing device 3 on water, and electrically connecting the data processing device 3 with the sound wave generator 1 for remote control and adjustment of the emission frequency of high-frequency ultrasonic waves. Because the high-frequency sound waves af1 and f2 form difference frequency waves due to the nonlinear effect of water when propagating in the water medium, the frequencies of the two high-frequency sound waves a are adjusted according to the position and shape results of the submarine buried object pre-detected by the receiver 2, and then the frequencies of the difference frequency waves are controlled, so that the parametric array side-scan sonar can better detect the submarine buried object.
S4, electrically connecting the data processing device 3 with the receiver 2, and acquiring the reflected signals received by the receiver 2 and generating high-frequency and low-frequency images; specifically, the image changes in space, while the high-frequency image is an image whose intensity changes greatly, and the brightness level changes rapidly from one pixel to the next; the low frequency image may be an image of relatively uniform brightness or very slow variation; by comparing the high frequency and low frequency images, the position and shape of the seafloor buried object can be accurately determined, and the effect on seafloor detection is improved.
S5, arranging a workstation 4 on water, electrically connecting the workstation 4 with the data processing device 3, and further determining the position and shape of the submarine buried object by comparing the high-frequency image and the low-frequency image generated by the data processing device 3.
And S6, a display screen is arranged in the workstation 4 and used for intuitively displaying the submarine detection condition.
The invention adopts the mode of synthesizing the low-frequency pulse sound wave b after the high-frequency pulse sound wave b is firstly adopted to detect the ocean, and the high-frequency sound wave a is used as the main frequency and has the characteristic of high frequency, so that the transducer 13 can be made small, and the portability of the ultrasonic generator 1 in use is improved.
In summary, the invention forms a difference frequency wave due to the nonlinear effect of water when two high-frequency sound waves a are transmitted in the ocean, so as to synthesize the parametric array side-scan sonar with the low-frequency pulse sound waves b, and the parametric array side-scan sonar detects the submarine stratum, and the high-penetration characteristic of the low-frequency sound waves is utilized to detect the penetrability of the submarine stratum, thereby realizing efficient and accurate search and positioning of buried objects below the submarine stratum and improving the detection effect on the ocean; moreover, the invention can be widely applied to the operations of marine pipe cable inspection and state evaluation, wind power cable inspection, buried target salvage, underwater archaeology and the like, and has wide application range. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (7)
1. The parametric array side-scan sonar detection system is characterized in that the detection system adopts two high-frequency sonic generators, a receiver, a data processing device and a workstation;
the two high-frequency sound wave generators are used for simultaneously transmitting two high-frequency sound waves with different frequencies to the submarine stratum, and when the two high-frequency sound waves with different frequencies are transmitted by taking sea water as a medium, a difference frequency wave is formed due to the nonlinear effect of the water, so that the parametric array side-scan sonar with low-frequency pulse sound wave signals is synthesized;
the receiver is used for receiving the parametric array side-scan sonar signals reflected by the submarine stratum and below and pre-analyzing the position and shape of the submarine buried object;
the data processing device is electrically connected with the high-frequency sound wave generator and the receiver and is used for controlling the frequency of the high-frequency sound wave emitted by the high-frequency sound wave generator and processing signals received by the receiver to generate high-frequency and low-frequency images so as to obtain a landform side-scanning image;
the workstation is electrically connected with the data processing device, and the position and the shape of the submarine buried object are further determined by comparing the high-frequency image and the low-frequency image generated by the data processing device.
2. A parametric array side-scan sonar detection system according to claim 1, wherein: the high-frequency sound wave generator comprises a power conversion module, an output transformer and a transducer;
the power conversion module is used for converting alternating current into stable high-voltage direct current, the output transformer is used for converting direct current voltage input by the power conversion module into high-frequency pulse voltage with adjustable output frequency, and the transducer is used for converting electric power input by the output transformer into mechanical power and then transmitting the mechanical power.
3. A parametric array side-scan sonar detection system according to claim 1, wherein: the receiver comprises a transducer array formed by a plurality of arrayed sub-block elements and an analysis module;
the transducer array is used for receiving signals transmitted by the low-frequency pulse sound wave signals and reflected by the submarine stratum;
the analysis module pre-analyzes the position and shape of the subsea burial based on the signals received by the transducer array.
4. A parametric array side-scan sonar detection system according to claim 1, wherein the data processing means comprises a transmit module and a receive module;
the transmitting module is used for transmitting an electric signal and is connected with the high-frequency sound wave generator in a remote communication manner;
the receiving module is used for remotely communicating and connecting the electric signals with the receiver so as to acquire signals received by the receiver and reflected by the submarine stratum.
5. A parametric array side-scan sonar detection method, comprising the parametric array side-scan sonar detection system of any one of claims 1-4, characterized by comprising the steps of:
s1, arranging two high-frequency sound wave generators under water, wherein the two high-frequency sound wave generators are respectively used for generating two high-frequency ultrasonic waves f1 and f2 with different frequencies as main frequencies, and f1 and f2 form difference frequency waves due to the nonlinear effect of water when the sea water is used as a medium for propagation, so that a parametric array side-scan sonar with low-frequency pulse sound wave signals is synthesized and used for side-scan detection of a submarine region;
s2, receiving a parametric array side-scan sonar signal reflected by a submarine stratum and below by adopting a receiver, and pre-analyzing the position and shape of a submarine buried object according to the reflected signal;
s3, arranging a data processing device on water, and electrically connecting the data processing device with the sound wave generator for remotely controlling and adjusting the emission frequency of the high-frequency ultrasonic wave;
s4, electrically connecting the data processing device with the receiver, and acquiring a reflected signal received by the receiver and generating high-frequency and low-frequency images;
s5, arranging a workstation on water, electrically connecting the workstation with the data processing device, and further determining the position and shape of the submarine buried object by comparing the high-frequency image and the low-frequency image generated by the data processing device;
and S6, a display screen is arranged in the workstation and used for intuitively displaying the submarine detection condition.
6. The parametric array side-scan sonar detection method of claim 5, wherein: when the high-frequency sound waves f1 and f2 propagate in the water medium, a difference frequency wave is formed due to the nonlinear effect of water, and the frequency of the difference frequency wave can be controlled by changing the two main frequency frequencies.
7. The parametric array side-scan sonar detection method of claim 6, wherein: the difference frequency wave formed by the propagation of the two high-frequency ultrasonic waves f1 and f2 with different frequencies through the nonlinear effect of water can generate a series of secondary frequencies including f1, f2, (f1+f2), (f 1-f 2) and 2f1 and 2f2, wherein (f 1-f 2) is a low-frequency pulse sound wave signal, and the frequencies of the low-frequency pulse sound wave signals (f 1-f 2) are very low because the frequencies of the f1 and f2 are very close, so that the difference frequency wave signal has very strong penetrating power of a sedimentary deposit and can be used for detecting the stratum structure of the shallow part of the seabed.
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