Agrysonar is an active-passive sonar system integrating a powerful transmitter, a microphone array and a camera into a compact portable package. AGRY-Sonar 1.0 is capable of transmitting ultrasonic signals from 2 loudspeakers and receiving echoes with an array of 3 microphones. AGRY-Sonar 1.0's onboard processor enables using sophisticated signals, processing the echoes and using programmable sonar sequences. The system allows both wireless and USB communication. The mechanical design is modular, enables positioning and aiming the loudspeakers according to the sonars specific tasks. AGRY-Sonar 1.0 can work autonomously or guided through a GUI on a PC platform. In addition to sonar sensing, it has an FPV camera enabling viewing the scanned target.

System Details

• Microphone:                                      3 Channels
• Ultrasonic Speaker:                          2 Channels
• Camera:                                            1 Channel

AGRY-Sonar 1.0

Microphone Channels

• ADC Resolution:                                         12 bit
   
• Programmable Sample Rate per Channel:
  3 Channels                                     Up to 1 MHz
  2 Channels                                  Up to 1.5 MHz
  1 Channel                                       Up to 3 MHz
   
• Input Sensitivity:
  Without Amp                                           -40 dBV
  With Amp Filter 1 (0.2÷170 kHz)             75 dBV
  With Amp Filter 2 (10÷170 kHz)              81 dBV

Speaker Channel

• DAC Resolution:                                         16 bit
   
• Programmable Sample Rate:        Up to 1.4 MHz
   
• Maximal Output Power:                           2 × 25 W
• Frequency Range:                    266 Hz ÷ 140 kHz

Camera Channel

• Frame Rate:                                               30 fps
   
• Image Resolution:                      1920 × 1080 px
   
• Image Sensor Resolution:                         2 Mpx
   
• Viewing Angle (V):                                        75º
  Viewing Angle (H):                                        75º

Communication

• WiFi 802.11a/b/g/n                                65 Mbps
   
• USB2                                                    480 Mbps

Dimensions

• Modular Size: 
  Sensing Box                        116 × 132 × 200 mm
  Loudspeaker Holder                                550 mm
  Expanded Loudspeaker Holder             1600 mm
   
• Weight:                                                
   Net Weight                                                    1 kg
   Weight  with Batteries                              1.64 kg
   Max Weight                                               1.9 kg
   
• Custom built mechanical connectors

Power Supply

• External:
  Voltage                                                 12-15 Volt
  Current Rating                                             7 A
   
• Batteries:                                                
  Patona Rechargeable Battery NP-F970        2 pc
  Capacity                                                    90 Whr
  Supply Voltage                                          15 Volt
   
• Power Consumption:
  Static                                                            5.5 W
  Operational*                                                 10 W
  Operational Time Period*                         8 hours

* 3.3% Duty Cycle, 10 ms Long Sonar Pulse at Max Output every 0.3 s.

Performance

• Effective Range                                          10 m
• Sonar Angle                                                60º
• Coverage Area*                                          6.8 m²

* at a distance of 1 m from the microphone channels.

Software

Agry-Sonar is fully programmable system with open architecture. The sensing system uses Python 3.9 with a library of API's operating the hardware. The user can control the the transmission signals, signal processing and signal transmission. Agry-Sonar 1.0 has a default operating app for sonaring. The collected echoes are processed by a Machine Learning and the scan results are stored and presented in a user friendly fashion.

GUI

GUI tasks:

• Enable acquisition
   
• Configuration of acquisition setup
   
• Opening of former acquisition sessions
   
• Summarizing the current session
   
• Presenting ML evaluation                     

Scan Result:

• Time Series of Mics
   
• Image
   
• Spectograms of Mics