CN100430694C - Multi-beam wide coverage submarine topography detection device - Google Patents

Abstract

The present invention relates to a multi-beam width coverage submarine topography detection device. It is composed of a preprocessing device, a signal conditioning device and a memory; the underwater extension is mainly composed of a signal generating device, a signal transmitting device, a multi-channel transmitting transducer array, a multi-channel receiving transducer array, and a signal amplifying device. It uses a high-performance multi-channel transmitting and receiving transducer array, and uses advanced signal processing technology to obtain information such as wide-coverage seabed topography and landforms, which greatly improves the efficiency and measurement accuracy of marine surveying and mapping; the device can also be widely used in Safety assurance of water transportation, channel dredging, flood fighting and emergency rescue, underwater navigation and positioning, submarine cable laying, obstacle detection and sunken object salvage, river and reservoir capacity prediction, dam and bridge pier sedimentation measurement, and even underwater archeology investigations and many other applications.

Description

Multi-beam wide coverage submarine topography detection device

(1) Technical field

The invention relates to the detection field, in particular to a multi-beam detection device for efficiently acquiring wide-coverage seabed topography and landform information.

(2) Background technology

With the development of modern science and technology, people have obtained relatively fine topography and landforms of the land parts of the earth where humans live through space telemetry technology, and based on this, they have guided people to transform nature and develop various land resources to serve the development of human society. However, our understanding of the topography of the seabed, which accounts for about 71% of the earth's surface area, and the underwater topography of a large number of rivers and lakes is far from what people expected. Topographic and geomorphic information requires the use of multi-beam detection equipment.

Foreign countries have been developing underwater terrain detection equipment since the middle of the last century. After decades of development and change, from the initial single-beam sounder to the later multi-beam sounder, to the current most advanced multi-beam topography The detection device has formed a series of products to meet the different needs of users. In China, the information, patents and products about underwater terrain detection equipment that can be consulted at present basically involve single-beam echo sounders (single-frequency or dual-frequency). The appearance of this prototype, which was born in the 1950s, once brought great convenience to the development and utilization of oceans, rivers and lakes for human beings, but today, their defects have greatly restricted the increasingly frequent water accidents in our society. Activity.

The working principle of the single-beam depth sounder is as follows: a single-beam ultrasonic wave is emitted directly below the surveying ship, and then the single-beam receives the scattered echo of the bottom of the water, and the depth of the water body is measured by measuring the time difference between the transmitted and received signals, but cannot Give terrain information. In order to avoid the influence of measuring the pitch and roll of the ship, a relatively wide single beam (usually around ±10°) is required, which leads to low measurement accuracy; In order to get a more comprehensive understanding of the water body information, the distance between the two measuring lines must be greatly reduced by using a single beam to measure the water depth, which leads to a great waste of manpower and material resources. This extremely low measurement efficiency directly leads to the increase of measurement cost, and the obtained measurement results cannot achieve full coverage measurement. These two limitations determine that the single-beam echo sounder is no longer suitable for the urgent needs of various water activities in the current society.

my country is a country with a large amount of marine resources, and the rich mineral resources in the ocean are an important pillar to meet the needs of our people's lives and develop the economy, but our country is not a country that is powerful in marine development. The most important reason is that my country's underwater topography and landform measurement technology and equipment lag far behind Western countries. From the mid-to-late 1990s to the present, new material acoustic arrays, high-performance processing computers, and new signal processing methods have been adopted. At this stage, underwater topography detection equipment launched internationally, such as Seabeam2120 series, Simrad EM120, Atlas The most important feature of companies such as Fansweep Coastal is that they can also complete geomorphological surveys in the same sea area while performing topographical surveys, and can even complete the judgment and identification of the bottom of the sea with the help of signal processing methods. The gap between my country and the world in the level of underwater topography and landform detection equipment makes my country subject to others in many aspects such as resource exploration and continental shelf demarcation. Due to the high price of imported foreign high-performance underwater topography and geomorphology detection equipment, and the inconvenience of use and maintenance, various objective facts clearly show that my country has a strong demand for high-performance underwater topography and geomorphology detection equipment with independent intellectual property rights.

(3) Contents of the invention

The purpose of the present invention is to provide a low-cost, high-efficiency, and high-precision multi-beam topography detection device.

The purpose of the present invention is achieved like this: it comprises water extension 1, underwater extension 2, first cable 7 and second cable 8, and water extension is mainly composed of embedded integrated industrial computer, signal processing device, signal acquisition and preprocessing device, signal conditioning device and memory; the underwater extension is mainly composed of a signal generating device, a signal transmitting device, a multi-channel transmitting transducer array, a multi-channel receiving transducer array, and a signal amplifying device. Among them, the embedded integrated industrial control Machine 3, signal processing device 4, first first cable 7, signal generating device 9, signal transmitting device 10 and multi-channel transmitting transducer array 11 are connected by electrical signals in sequence; multi-channel receiving transducer array 13, signal amplifying device 12. The second cable 8, the signal conditioning device 6, the signal acquisition and preprocessing device 5, the signal processing device 4, the embedded integrated industrial computer 3 and the memory 14 are electrically connected in sequence.

The present invention also has some structural features:

1, described signal processing device 4 is by PCI interface controller 15, the first DSP processor 16, the second DSP processor 17, the 3rd DSP processor 18, the 4th DSP processor 19, the 5th DSP processor 20 , the sixth DSP processor 21, a first logic controller 22, a second logic controller 23 and a serial port expansion module 24, wherein the PCI interface controller 15 is electrically connected to the first DSP processor 16; the second DSP processor 17, the second logic controller 23 are connected with PCI interface controller 15 electrical signals respectively; The second logic controller 23 is connected with the first DSP processor 16, the second DSP processor 17 mutual electrical signals; The logic controller 22 is connected with the electric signal between the 3rd DSP processor 18, the 4th DSP processor 19, the 5th DSP processor 20, and the 6th DSP processor 21; signal connection;

2, described signal acquisition and preprocessing device 5 are made up of the 3rd logic controller 25, the 7th DSP processor 26, the 8th DSP processor 27, analog-to-digital converter group 28 and mass memory 29, wherein, the 3rd The logic controller 25 is connected with the seventh DSP processor 26 and the eighth DSP processor 27 with electrical signals; the third logic controller 25 is connected with the mass memory 29 electrical signals; the analog-to-digital converter group 28 is connected with the seventh DSP processor 26 electrical signal connections;

3. The signal conditioning device 6 is composed of a bandpass filter group 33, a variable gain amplifier group 32, a bandpass filter 31 and a fixed gain amplifier group 30, which are electrically connected in sequence;

4. The signal generating device 9 is composed of a fourth logic controller 36, a memory group 37, a digital-to-analog converter group 38 and a wave shaper group 39 connected by electric signals in sequence;

5. The signal transmitting device 10 is composed of a power amplifier group 40 and an impedance matcher group 41 electrically connected to the multi-channel transmitting transducer array 11;

6. The multi-channel emitting transducer array 11 is a uniform arc array composed of equidistant multi-channel transducer arrays;

7. The signal amplifying device 12 is composed of a fixed gain amplifier group 35 and a bandpass filter group 34 connected by electrical signals;

8. The multi-channel receiving transducer array 13 is a uniform linear array composed of equidistant multi-channel transducer arrays.

The present invention utilizes the multi-channel transmitting transducer array to realize the wide coverage of ultrasonic detection, the multi-channel receiving transducer array ensures the high-resolution reception of the seabed scattered echo signal, and the advanced signal processing method completes the detection of the seabed topography and geomorphology information. high-precision acquisition.

Among them, water extension 1 controls the operation of the whole device, real-time display and storage of information. It is based on an embedded integrated industrial computer 3 , combined with a signal processing device 4 , a signal acquisition and preprocessing device 5 , a signal conditioning device 6 and a memory 14 . Among them, the industrial computer 3 and the signal processing device 4 are connected by electric signals; the signal conditioning device 6 , the signal acquisition and preprocessing device 5 , the signal processing device 4 , the industrial computer 3 and the memory 14 are connected by electric signals in sequence.

The underwater extension unit 2 completes the generation, amplification, and emission of detection signals and the amplification of seabed reflection and scattering echo signals. The composition includes: a signal generating device 9 , a signal transmitting device 10 , a multi-channel transmitting transducer array 11 , a signal amplifying device 12 and a multi-channel receiving transducer array 13 . Among them, the signal generating device 9 , the signal transmitting device 10 , and the multi-channel transmitting transducer array 11 are sequentially connected by electrical signals; the multi-channel receiving transducer array 13 is connected to the signal amplifying device 12 by electrical signals.

The above water extension 1 and the underwater extension 2 are connected by cables. The above water extension 1 transmits the working parameters to the underwater extension 2 through the first cable 7, and the underwater extension 2 transmits the amplified seabed reflection to the above water extension 1 through the second cable 8. scattered echo signal. Wherein, the signal processing device 4 , the first cable 7 and the signal generating device 9 are sequentially connected by electric signals; the signal amplifying device 12 , the second cable 8 and the signal conditioning device 6 are connected by electric signals in sequence.

The task of the signal processing device 4 is to receive the working parameters and control commands of the embedded integrated industrial computer 3, control the signal generating device 8 to correctly generate ultrasonic signals, and receive real-time information given by external auxiliary measurement equipment (attitude sensor, compass, DGPS, etc.) information, generate synchronous signals to coordinate the work of the entire device, and calculate and generate underwater topography information in real time. Its composition includes: PCI interface controller 15, the first DSP processor 16, the second DSP processor 17, the 3rd DSP processor 18, the 4th DSP processor 19, the 5th DSP processor 20, the 6th DSP processor 21. A first logic controller 22 , a second logic controller 23 and a serial port expansion module 24 . Wherein, the PCI interface controller 15 and the first DSP processor 16 are electrically connected to each other; the second DSP processor 17 and the second logic controller 23 are respectively connected to the PCI interface controller 15 with electrical signals successively; the second logic controller 23 is electrically connected with the first DSP processor 16 and the second DSP processor 17; the first logic controller 22 is connected with the third DSP processor 18, the fourth DSP processor 19, the fifth DSP processor 20, the The six DSP processors 21 are connected to each other by electrical signals; the serial port expansion module 24 is connected to the first DSP processor 16 by electrical signals in sequence.

The task of the signal acquisition and preprocessing device 5 is to collect the signal conditioned by the signal conditioning device 6 in real time and perform preprocessing on it. Its components include: a third logic controller 25 , a seventh DSP processor 26 , an eighth DSP processor 27 , an analog-to-digital converter group 28 and a mass memory 29 . Wherein, the third logic controller 25 is connected with the seventh DSP processor 26 and the eighth DSP processor 27 with electrical signals; the third logic controller 25 is connected with the mass memory 29 with electrical signals in turn; the analog-to-digital converter group 28 and The seventh DSP processor 26 is in turn electrically connected.

The signal conditioning device 6 further amplifies and conditions the echo signal, and its composition includes a bandpass filter bank 33 , a variable gain amplifier bank 32 , a bandpass filter 31 and a fixed gain amplifier bank 30 which are sequentially connected by electrical signals.

The signal amplifying device 12 completes the conditioning of the multi-channel target echo obtained by the multi-channel receiving transducer array 13 , and its composition includes a fixed-gain amplifier group 35 and a band-pass filter group 34 sequentially connected by electrical signals.

The task of the signal generating device 9 is to receive the working parameters given by the signal processing device 4, and generate a detection pulse waveform, which consists of a fourth logic controller 36, a memory group 37, a digital-to-analog converter group 38 and a sequential electrical signal connection. Wave shaper set 39.

The signal transmitting device 10 completes the power amplification and transmission of the detection pulse signal, and is composed of a power amplifier group 40 sequentially connected by electrical signals and an impedance matching group 41 matched with the multi-channel transmitting transducer array 11 .

The working principle of the present invention is:

The above-water extension unit 1 of the multi-beam width coverage topography detection device is installed on the surface measurement mother ship or on the underwater operation submersible, and the underwater extension unit 2 is located underwater. When the device is working in the working water area, turn on the power of the device, set the working parameters of the device through the display control software according to the general situation of the working water area, load it into the device, and then start the device to start working. The signal generating device 9 generates a CW pulse with a frequency of 300 kHz, which is amplified by the signal transmitting device 10, and the electrical signal is converted into an acoustic signal through the multi-channel transmitting transducer array 11 and transmitted to the water, and the emitted sound wave is reflected by the target Scattering back, the multi-channel receiving transducer array 13 converts the received acoustic signal into an electrical signal, which is initially amplified, filtered and amplified by the signal amplifying device 12, and then sent to the signal conditioning device 6 for further processing, and then the conditioned signal is sent to To the signal acquisition and preprocessing device 5, control the signal conditioning device 6 to perform automatic gain control and preprocess the signal, send the preprocessing result to the signal processing device 4, and combine the measurement information of the auxiliary equipment to solve the underwater terrain and landform information , and send it to the embedded all-in-one industrial computer 3 for real-time display through the PCI controller 15, and store the information in the memory 14 at the same time.

The invention has the advantages of being able to obtain information such as wide-coverage seabed topography and landform, and greatly improving the efficiency and measurement accuracy of marine surveying and mapping. The present invention can also be widely used in water transportation safety assurance, waterway dredging, flood fighting and emergency rescue, underwater navigation and positioning, submarine cable laying, obstacle detection and sunken object salvage, river and reservoir capacity prediction, embankment, bridge pier sediment Siltation measurement, even underwater archaeological investigation and many other applications.

(4) Description of drawings

Fig. 1 is a structural principle block diagram of multi-beam width coverage topography detection device of the present invention;

Fig. 2 is a sub-device structural block diagram of the multi-beam width coverage topography detection device of the present invention;

Fig. 3 is a schematic circuit diagram of the signal acquisition and preprocessing device of the multi-beam width coverage terrain detection device of the present invention.

(5) Specific implementation methods

Below in conjunction with accompanying drawing, the present invention will be described in further detail:

In conjunction with Fig. 1, the present invention includes a water extension 1, an underwater extension 2, a first cable 7 and a second cable 8, and the water extension is mainly composed of an embedded integrated industrial computer, a signal processing device, a signal acquisition and preprocessing device, and a signal conditioning device and memory; the underwater extension is mainly composed of a signal generating device, a signal transmitting device, a multi-channel transmitting transducer array, a multi-channel receiving transducer array, and a signal amplifying device. Among them, the embedded integrated industrial computer 3, the signal The processing device 4, the first cable 7, the signal generating device 9, the signal transmitting device 10, and the multi-channel transmitting transducer array 11 are sequentially connected by electrical signals; the multi-channel receiving transducer array 13, the signal amplifying device 12, and the second cable 8 , the signal conditioning device 6, the signal acquisition and preprocessing device 5, the signal processing device 4, the embedded integrated industrial computer 3 and the memory 14 are sequentially connected by electrical signals.

In conjunction with Fig. 2, described signal processing device 4 is processed by PCI interface controller 15, first DSP processor 16, second DSP processor 17, the 3rd DSP processor 18, the 4th DSP processor 19, the 5th DSP 20, the sixth DSP processor 21, the first logic controller 22, the second logic controller 23 and the serial port expansion module 24, wherein, the PCI interface controller 15 and the first DSP processor 16 are electrically connected to each other; The second DSP processor 17 and the second logic controller 23 are respectively connected with the PCI interface controller 15 with electrical signals; the second logic controller 23 is connected with the first DSP processor 16 and the second DSP processor 17 with electrical signals; The first logic controller 22 is electrically connected with the third DSP processor 18, the fourth DSP processor 19, the fifth DSP processor 20, and the sixth DSP processor 21; the serial port expansion module 24 is connected with the first DSP processor 16 electrical signal connections; described signal acquisition and preprocessing device 5 are made up of the 3rd logic controller 25, the 7th DSP processor 26, the 8th DSP processor 27, analog-to-digital converter group 28 and mass memory 29, wherein , the third logic controller 25 is connected with the seventh DSP processor 26 and the eighth DSP processor 27 with electrical signals; the third logic controller 25 is connected with the mass memory 29 electrical signals; the analog-to-digital converter group 28 and the seventh DSP processor 26 electrical signal connection; Described signal conditioning device 6 is made up of electrical signal connection of bandpass filter bank 33, variable gain amplifier bank 32, bandpass filter 31 and fixed gain amplifier bank 30 successively;, described The signal generating device 9 is composed of a fourth logic controller 36, a memory group 37, a digital-to-analog converter group 38 and a wave shaper group 39 connected by electric signals in sequence; The amplifier group 40 is composed of an impedance matcher group 41 matched with the multi-channel transmitting transducer array 11; the multi-channel transmitting transducer array 11 is a uniform arc array composed of equidistant multi-channel transducer arrays; The signal amplifying device 12 is composed of a fixed gain amplifier group 35 and a bandpass filter group 34 connected by electric signals in turn; the multi-channel receiving transducer array 13 is composed of equidistant multi-channel transducer arrays Uniform line array.

The functions of each part are explained as follows:

The real-time display control software of the device running on the embedded integrated industrial computer 3, through the PCI interface controller 15, utilizes the mouse or keyboard to input the operating parameters and control commands to the first DSP processor 16 on the signal processing device 4 respectively, and control The commands include: start command, pause command, and stop command, and the working parameters include: pulse length, transmission power level, and detection cycle; the output information of the auxiliary measuring equipment transmitted from the data processing device 4, and the calculated underwater topography can also be displayed in real time. , terrain and other information. And store these information in memory 14.

The first DSP processor 16 is responsible for receiving the control commands and operating parameters transmitted by the embedded integrated industrial computer 3, reading and storing the measurement information of the auxiliary equipment in real time through the serial port expansion module 24, and generating the control signal according to the acquired attitude information of the mother ship. The device 9 generates the detection signal and provides the synchronous working pulse of the whole device. The second logic controller 23 completes the data interaction between the first DSP processor 16, the second DSP processor 17, and the first logic controller 22, stores the calculation results transmitted by the first logic controller 22, and generates embedded The integrated industrial computer 3 accesses the timing logic of the DSP 16 and the second DSP processor 17 through the PCI interface controller 15 . The second DSP processor 17 completes the terrain information solution based on the preprocessed data transmitted by the eighth DSP processor 27; and the second DSP processor 17, the third DSP processor 18, the fourth DSP processor 19 and the The five DSP processors 20 jointly complete the terrain information calculation, and the first logic controller 22 is responsible for the data interaction among them.

The fourth logic controller 36 receives the command control code, operating parameters and device synchronization signals sent to the signal generating device 9 by the first DSP processor 16 through the first cable 7, and selects from the memory bank 37 storing the detection waveform data. The correct data generates a 300-kHz single-frequency filling pulse signal through the digital-to-analog converter group 38, and transmits it to the waveform shaper 39 for filtering and other shaping processing, and then performs power amplification through the power amplifier group 40, and the power amplifier group 40 and multiple There is an impedance matching group 41 between the channel transmitting transducer arrays 11 , whose function is to use matching inductance to match the multi-channel transmitting transducer arrays 11 well, so as to obtain higher electro-acoustic conversion efficiency.

The fixed gain amplifier group 35 in the signal amplifying device 12 has high input impedance, low output impedance and very high gain-bandwidth product, and also has extremely low noise simultaneously, and its fixed gain is 40dB. The transducer array 13 performs impedance matching so as to receive the target echo signal without distortion; and the bandpass filter bank 34 is used to select the echo signal within the operating frequency band of the device.

The band-pass filter bank 33 in the signal conditioning device 6 is an active second-order band-pass filter bank constructed by an operational amplifier, which has small fluctuations in the signal receiving frequency band, and the rejection ratio inside and outside the pass band reaches 40dB. Used to filter out the noise introduced by the transmission of the signal from the underwater extension 2 to the above-water extension 1 through the second cable 8; the variable gain amplifier group 32 further amplifies the signal on the one hand (magnification is adjustable); The frequency mixing processing of the device modulates the high-frequency narrow-band echo signal to the low-frequency band to facilitate further acquisition and processing; the band-pass filter bank 31 is a combination of a high-pass filter bank and a low-pass filter bank, and is used to filter out the echo The low frequency envelope of the signal; the fixed gain amplifier group 30 is also an amplifier group with a fixed gain up to 40dB to further amplify the signal.

The analog-to-digital converter group 28 in the signal acquisition and preprocessing device 5 collects the signal from the signal conditioning device 6, and the seventh DSP processor 26 controls the variable gain amplifier group 32 according to the signal to carry out AGC control of the device, and through the first The three logic controllers 25 store the original data in the mass memory 29 and the first logic controller 22, and simultaneously send the data to the eighth DSP processor 27 for further processing.

The multi-channel transmitting transducer array 11 is composed of 20 ceramic narrow wafers spliced together, each with 56 channels, forming a transmitting directivity of 1.2°×130°; the multi-channel receiving transducer array 13 is composed of 80 ceramic narrow strips It is composed of splicing chips to form a receiving directivity of 1.2°×60°. The two synthesize a 1.2°×1.2° high-resolution directivity in a wide coverage area of 130°.

Wherein, the number of channels of the multi-channel transmitting transducer array 11 and the multi-channel receiving transducer array 13 is determined by the requirements of the detection index.

The multi-channel transmitting transducer array 11 and the multi-channel receiving transducer array 13 of the present invention are vertically packaged in a disk shell. The disc is installed under the keel or on the side of the ship. In order to ensure the detection effect, the disc should be installed on the ship as far as possible from the aspects of reducing navigation noise (mechanical conduction noise and propeller noise) and reducing or avoiding the bubble layer. The place where the splash is the least and the pitch and sway of the hull is the smallest during sailing is generally at a position between one-third to two-fifths away from the bow, and the draft should not exceed the depth of the keel, and the surface of the disc is placed parallel to the water surface . The central axis of the multi-channel transmitting transducer array 11 points to the direction of the ship, and the central axis of the multi-channel receiving transducer array 13 is perpendicular to the direction of the ship. The first DSP processor 16 adopts the TMS320C6713BGDP200 of the U.S. TI company, what the PCI interface controller 15 adopts is the PCI2040 of the T1 company, what the digital-to-analog converter group 38 adopts is the AD7945 of the AD company, what the fixed gain amplifier group 18 adopts is the AD company AD8066, variable gain amplifier group 32 adopts AD7943 of AD Company, what the first logic controller 22 adopts is EP2C35F484C8 of ALTERA Company, and what the analog-to-digital converter group 28 selects is AD7865 of AD Company.

After the device is powered on by 220V AC or 48V DC, the signal processing device 4, the signal acquisition and preprocessing device 5 and the signal generating device 9 respectively guide the program, enter the standby state, start the display control software in the water extension 1, and set the parameters . The emission sound power (weak, weak, standard, strong) can be adjusted in four levels, the detection pulse length (0.15ms, 0.25ms, 0.5ms, 1ms) can be adjusted in four levels, and the detection period (0.05s, 0.2s, 0.5s, 1s) ) four gears are adjustable.

After completing the setting of the working parameters, press the start command to make the multi-beam width coverage terrain detection device start to work. The working process is: the signal generating device 9 generates corresponding detection signals according to the set working parameters, and the signal transmitting device 10 uses the set power launch out. The signal amplifying device 12 and the signal conditioning device 6 start receiving after the detection signal of the signal transmitting device 10 has been transmitted. Simultaneously, the signal acquisition and preprocessing device 5 starts to gather, and carries out AGC control and signal transformation; Then send into the second DSP processor 17 to carry out seabed landform information solution, pass through the 3rd logic controller 25 and the first logic controller simultaneously 22 forwarded to the second DSP processor 17, the third DSP processor 18, the fourth DSP processor 19 and the fifth DSP processor 20 to complete the acquisition of seabed terrain information, and transfer to the second DSP processor 22 by the first logic controller The logic controller 23 finally transmits the auxiliary equipment measurement information obtained by the first DSP processor 16, the seabed landform information in the second DSP processor 17, and the seabed topography information in the second logic controller 23 through the PCI interface controller 15 to the embedded all-in-one industrial computer 3 for display, and store it in the memory 14 at the same time.

In conjunction with Fig. 3, the present invention adopts the integrated circuit to carry out the circuit control, only taking the 8-channel data acquisition circuit as an example, wherein U26 and U28 are 4-channel analog-to-digital converters AD7865, which are used to realize analog-to-digital conversion, and U16 is FIFO, and SN74ALVC7814 is selected , used for data buffering, and AD8066 such as operational amplifier OP20A, OP20B and some small devices such as resistor R169 and capacitor C185. The system needs 10 identical parts to realize 80-channel data acquisition. And the control circuits of other parts in the present invention can all be realized by using the prior art, and they will not be detailed here.

Claims (9)

1. A multi-beam width covers seabed topography and landform detecting device, and it comprises water extension (1), underwater extension (2) and the first cable (7) and the second cable (8) that connect the two, it is characterized in that The water extension (1) is made up of an embedded integrated industrial computer (3), a signal processing device (4), a signal acquisition and preprocessing device (5), a signal conditioning device (6) and a memory (14); The lower extension (2) is composed of a signal generating device (9), a signal transmitting device (10), a multi-channel transmitting transducer array (11), a signal amplifying device (12) and a multi-channel receiving transducer array (13); Among them, the embedded integrated industrial computer (3), the signal processing device (4), the first cable (7), the signal generating device (9), the signal transmitting device (10) and the multi-channel transmitting transducer array (11) Sequential electrical signal connection; multi-channel receiving transducer array (13), signal amplification device (12), second cable (8), signal conditioning device (6), signal acquisition and preprocessing device (5), signal processing device (4), the embedded integrated industrial computer (3) and the memory (14) are connected by electrical signals in sequence. 2. multi-beam width according to claim 1 covers seabed topography detecting device, it is characterized in that described signal processing device (4) is by PCI interface controller (15), the first DSP processor (16), the first Two DSP processors (17), the 3rd DSP processor (18), the 4th DSP processor (19), the 5th DSP processor (20), the 6th DSP processor (21), the first logic controller ( 22), the second logic controller (23) and the serial port expansion module (24) form; Wherein, the PCI interface controller (15) is connected with the electric signal between the first DSP processor (16); The second DSP processor ( 17), the second logic controller (23) is respectively connected with the electrical signal of the PCI interface controller (15) successively; The second logic controller (23) is connected with the first DSP processor (16), the second DSP processor (17) ) are electrically connected to each other; the first logic controller (22) and the third DSP processor (18), the fourth DSP processor (19), the fifth DSP processor (20), the sixth DSP processor (21 ) are connected with each other by electrical signals; the serial port expansion module (24) is connected with the first DSP processor (16) by electrical signals. 3. multi-beam width coverage seabed topography detection device according to claim 1, is characterized in that described signal acquisition and preprocessing device (5) are by the 3rd logic controller (25), the 7th DSP processor ( 26), the eighth DSP processor (27), analog-to-digital converter group (28) and mass memory (29); wherein, the third logic controller (25) and the seventh DSP processor (26), the eighth The DSP processors (27) are connected to each other by electric signals; the third logic controller (25) is connected to the mass memory (29) by electric signals; the analog-to-digital converter group (28) is connected to the seventh DSP processor (26) by electric signals . 4. multi-beam width coverage seabed topography detection device according to claim 1, is characterized in that described signal conditioning device (6) is composed of band-pass filter bank (33), variable gain amplifier bank (32), The band-pass filter (31) and the fixed-gain amplifier group (30) are sequentially connected with electric signals to form. 5. multi-beam width coverage seabed topography detection device according to claim 1, is characterized in that described signal generation device (9) is made up of the 4th logic controller (36), memory group (37), digital-to-analog conversion The device group (38) and the wave shaper group (39) are sequentially connected by electric signals to form. 6. multi-beam width coverage seabed topography detection device according to claim 1 is characterized in that described signal transmitting device (10) is composed of power amplifier group (40) and multi-channel transmitting transducer array (11 ) to form an impedance matcher group (41) for electrical signal connection. 7. multi-beam width coverage seabed topography detection device according to claim 1, is characterized in that described multi-channel transmitting transducer array (11) is the uniform arc array that is made up of equidistant multi-channel transducer array . 8. multi-beam width coverage seabed topography detection device according to claim 1, is characterized in that described signal amplifying device (12) is composed of fixed gain amplifier group (35) and band-pass filter group (34) circuit Signal connection composition. 9. multi-beam width coverage seabed topography detection device according to claim 1, is characterized in that described multi-channel receiving transducer array (13) is the uniform line array that is made up of equidistant multi-channel transducer array .