The problem of detecting obstacle in the water environment based on various Types sonar is one of the challenging issues in the guidance of various automatic underwater vehicles. Implementationof hardware platform and development of acoustic signal processing algorithm of mechanical scanning sonar is the goal of this research. In the proposed algorithm, using the hessian matrix, the extreme points in the acoustic signal are extracted and the signal containing the object is separated from other signals. After identifying the signal containing the object, the inter-frame correlation operation is performed on the signals of the adjacent rays. The hardware platform based on TMS processor is implemented for the development of acoustic signal processing algorithm and mechanical scan sonar user interface software. High processing speed, limited computational cost and simplicity in implementation for real-time use, resistance to noise and high accuracy for object recognition are prominent feature of the proposed system compared to other methods that have proven in the field test.