Positioning array and underwater equipment

Abstract

The invention provides a positioning array and underwater equipment, and relates to the field of underwater equipment. The positioning array comprises a flange, a shell and an electronic assembly, the shell is arranged on one side of the flange, and the shell is in sealing fit with the flange; the section made in the advancing direction of the positioning array is a longitudinal section, and the section made in the direction perpendicular to the advancing direction of the positioning array is a transverse section. The heights of a plurality of transverse sections of the shell are gradually reduced in the advancing direction of the positioning array, and the width of each transverse section of the shell is gradually reduced in the direction away from the flange, so that the fish back fin type shell is formed, and the resistance borne by the positioning array in the moving process of underwater equipment is effectively reduced; meanwhile, as the flow resistance is reduced, regenerated noise generated by contact of the surface of the shell and water is reduced, and the influence of the regenerated noise on the receiving performance of the positioning array is reduced.

Description

Technical Field

[0001] The present invention relates to the field of underwater equipment, and in particular to a positioning array and underwater equipment. Background Art

[0002] Baseline array is a technology used to determine the direction and distance of underwater carriers or equipment in underwater acoustic positioning systems. Depending on the length of the array baseline, it can be divided into three types: long baseline, short baseline and ultra-short baseline. Each type has its specific application scenarios and advantages and disadvantages.

[0003] Compared with long-baseline and short-baseline systems, ultra-short baseline is favored for its low cost. The transducer of ultra-short baseline can be integrated with a small inertial navigation system. The relative offset between each sensor has been internally calibrated and solidified in the system's internal program before leaving the factory, ensuring the system's high-precision navigation and positioning, thus eliminating the tedious on-site calibration work.

[0004] The ultrashort baseline is mainly composed of a shell, a transmitting transducer and a receiving array. The existing ultrashort baseline is installed on the surface of the underwater equipment. The ultrashort baseline is subject to greater resistance during the movement of the underwater equipment. The contact between the shell surface and the water produces greater regenerative noise, which affects the performance of the ultrashort baseline in the receiving state. Summary of the invention

[0005] The present invention provides a positioning matrix to solve the problem of large regeneration noise caused by large flow resistance in the existing ultra-short baseline.

[0006] The present invention provides a positioning array, comprising: Flange; A shell, the shell is arranged on one side of the flange, and the shell is sealed and matched with the flange; the section made along the moving direction of the positioning array is a longitudinal section, and the section made along the moving direction perpendicular to the positioning array is a transverse section, the heights of the multiple transverse sections of the shell gradually decrease along the moving direction of the positioning array, and the width of each transverse section of the shell gradually decreases in the direction away from the flange; The electronic component is arranged in the housing and connected to the flange.

[0007] According to a positioning array provided by the present invention, the shell is in the shape of a fish dorsal fin.

[0008] According to a positioning array provided by the present invention, the housing comprises: Two side surfaces, the two side surfaces are symmetrically arranged; A dorsal fin surface, the dorsal fin surface is located on a side of the two side surfaces away from the flange, and the dorsal fin surface is respectively connected to the two side surfaces; A rear end surface, the rear end surface is located on the side of the shell away from the moving direction of the positioning array, and the rear end surface is respectively connected to the dorsal fin surface and the two side surfaces.

[0009] According to a positioning array provided by the present invention, the transverse cross-section of the dorsal fin surface is in a first arc shape.

[0010] According to a positioning array provided by the present invention, the longitudinal cross-section of the dorsal fin surface is in a second arc shape.

[0011] According to a positioning array provided by the present invention, the curvature of the second arc gradually decreases along the direction of the dorsal fin surface away from the flange.

[0012] According to a positioning matrix provided by the present invention, the rear end surface is an arc surface recessed toward the inside of the shell.

[0013] According to a positioning array provided by the present invention, the side surface includes a connecting surface located on a side close to the dorsal fin surface and a main side surface located on a side away from the dorsal fin surface, the main side surface is connected to the dorsal fin surface through the connecting surface, and the connecting surface is an arc surface recessed toward the inside of the shell.

[0014] According to a positioning array provided by the present invention, the electronic component comprises: A transmitting transducer connected to the flange; A plurality of receiving arrays are arranged at intervals on the periphery of the transmitting transducer and connected to the flange.

[0015] The present invention also provides an underwater device, which includes any one of the positioning arrays described above.

[0016] The positioning array provided by the present invention forms a dorsal fin-shaped shell by gradually reducing the heights of multiple transverse sections of the shell along the moving direction of the positioning array, and gradually reducing the width of each transverse section of the shell in the direction away from the flange, thereby effectively reducing the resistance encountered by the positioning array during the movement of the underwater equipment; at the same time, due to the reduction of flow resistance, the regenerated noise generated by the contact between the shell surface and water is reduced, and the influence of the regenerated noise on the receiving performance of the positioning array is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1It is a side view structural schematic diagram of the positioning array provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the rear view structure of the positioning array provided by the present invention.

[0020] Figure 3 It is a schematic diagram of the top view structure of the positioning array provided by the present invention.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the positioning array provided by the present invention.

[0022] Reference numerals: 100, flange; 101, threaded hole; 200, shell; 210, side; 211, connection surface; 212, main side; 220, dorsal fin surface; 230, rear end surface; 300, electronic component; 310, transmitting transducer; 320, receiving array; 400, watertight connector. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0026] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0027] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0028] Combine the following Figure 1-Figure 4 The specific structure and working principle of the positioning array of the present invention are described.

[0029] Figure 1 The side view structural diagram of the positioning array provided by the present invention is illustrated. Figure 2 The rear view structure diagram of the positioning array provided by the present invention is illustrated. Figure 3 The schematic diagram of the top view of the positioning array provided by the present invention is illustrated. Figure 4 The three-dimensional structure diagram of the positioning array provided by the present invention is illustrated as follows: Figures 1 to 4 As shown, the positioning array includes a flange 100, a shell 200 and an electronic component 300. The shell 200 is arranged on one side of the flange 100, and the shell 200 is sealed with the flange 100; the section made along the moving direction of the positioning array is a longitudinal section, and the section made along the moving direction perpendicular to the positioning array is a transverse section. The heights of multiple transverse sections of the shell 200 gradually decrease along the moving direction of the positioning array, and the width of each transverse section of the shell 200 gradually decreases in the direction away from the flange 100; the electronic component 300 is arranged in the shell 200 and connected to the flange 100.

[0030] The positioning array provided by the present invention forms a dorsal fin-shaped shell by gradually reducing the heights of multiple transverse sections of the shell 200 along the moving direction of the positioning array, and gradually reducing the width of each transverse section of the shell 200 in the direction away from the flange 100, thereby effectively reducing the resistance encountered by the positioning array during the movement of the underwater equipment; at the same time, due to the reduction of flow resistance, the regenerated noise generated by the contact between the surface of the shell 200 and the water is reduced, and the influence of the regenerated noise on the receiving performance of the positioning array is reduced.

[0031] It should be noted here that, as shown in Figure 1, the moving direction of the positioning array is Figure 1 The direction in which the shear head points. Figure 2 As shown, the direction away from the flange 100 is Figure 2 As shown in FIG3 , the longitudinal direction of the present invention refers to the length direction of the housing 200, i.e. Figure 3 The horizontal direction refers to the width direction of the housing 200, that is, Figure 3 The up and down directions in .

[0032] In one embodiment of the present invention, the electronic component 300 includes a transmitting transducer 310 and a plurality of receiving arrays 320, wherein the transmitting transducer 310 is connected to the flange 100; and the plurality of receiving arrays 320 are arranged at intervals on the periphery of the transmitting transducer 310 and connected to the flange 100. Specifically, the transmitting transducer 310 is used to convert electrical energy into acoustic energy and send acoustic wave signals underwater so as to communicate with other underwater devices. The transmitting transducer 310 is fixed to the side of the flange 100 facing the housing 200. The plurality of receiving arrays 320 are arranged at equal intervals on the periphery of the transmitting transducer 310. In this embodiment, five receiving arrays 320 are arranged, and the five receiving arrays 320 are arranged on the same circle centered on the transmitting transducer 310; of course, the number of receiving arrays 320 is not limited thereto, and may also be four, six or more. When a large number of receiving arrays 320 are arranged, they are arranged in the form of an array.

[0033] In one embodiment of the present invention, the interior of the shell 200 is a solid structure, and a plurality of mounting holes are arranged inside. The mounting holes are used to accommodate the transmitting transducer 310 and the receiving array 320. The transmitting transducer 310 and the plurality of receiving arrays 320 are inserted into the plurality of mounting holes one by one. The shape of the mounting hole is adapted to the shape of the transmitting transducer 310 and the shape of the receiving array 320, so that the transmitting transducer 310 and the receiving array 320 are in contact with the inner wall of the mounting hole to ensure the transmission of the sound signal.

[0034] Preferably, a coupling agent is arranged between the transmitting transducer 310 and the inner wall of the mounting hole to connect the transmitting transducer 310 and the inner wall of the mounting hole, thereby improving the coupling degree between the transmitting transducer 310 and the inner wall of the mounting hole, so that the sound signal emitted by the transmitting transducer 310 can be well transmitted through the shell 200.

[0035] Similarly, a coupling agent is provided between the receiving array 320 and the inner wall of the mounting hole to connect the receiving array 320 and the inner wall of the mounting hole, thereby improving the coupling degree between the receiving array 320 and the inner wall of the mounting hole, so that external sound signals can be transmitted to the receiving array 320 through the shell 200.

[0036] In one embodiment of the present invention, the housing 200 is in the shape of a fish dorsal fin. The housing 200 in the shape of a fish dorsal fin has the following advantages: 1. Streamlined design: The fish dorsal fin-shaped housing 200 can reduce eddies and turbulence around an object, thereby reducing fluid resistance.

[0037] 2. Reduce eddy currents: The design of the fish dorsal fin-shaped housing 200 helps reduce the eddy current areas behind the positioning array, which increase the resistance of the water flow. By optimizing the shape and angle of the fish dorsal fin-shaped housing 200, the formation of eddy currents can be controlled, thereby reducing energy loss.

[0038] 3. Controlling pressure distribution: The fish dorsal fin-shaped housing 200 can control the pressure distribution on the surface of the housing 200 through its unique shape. In fluid flow, the pressure distribution on the surface of the housing 200 has an important influence on the resistance. The fish dorsal fin-shaped housing 200 reduces the fluid resistance by adjusting the pressure distribution.

[0039] 4. Reduce turbulence: The dorsal fin-shaped shell 200 reduces turbulence through specific surface features. These turbulences increase fluid resistance. By reducing turbulence, fluid resistance can be reduced.

[0040] In a preferred embodiment of the present invention, the outer surface of the shell 200 is provided with a plurality of protruding textures, the plurality of textures are arranged at intervals, and the height of the textures and the distance between two adjacent textures are determined according to the actual effect. By providing the protruding textures on the outer surface of the shell 200, the flow of the boundary layer can be affected, the boundary layer separation can be reduced, and the resistance can be reduced. Preferably, the shape of the texture is the same as the shape of the texture on the shark skin.

[0041] In a preferred embodiment of the present invention, a layer of damping material is coated on the surface of the housing 200, and the damping material minimizes the mechanical vibration generated during the contact between the positioning array and the water flow, thereby further reducing the regeneration noise.

[0042] In one embodiment of the present invention, the shell 200 includes two side surfaces 210, a dorsal fin surface 220 and a rear end surface 230. The two side surfaces 210 are symmetrically arranged. When water flows on both sides of the shell 200, the two side surfaces 210 are subjected to the same pressure. Since the forces on both sides of the shell 200 are balanced, vibration of the shell 200 can be avoided, thereby further reducing the regeneration noise.

[0043] The dorsal fin surface 220 is located on the side of the two side surfaces 210 away from the flange 100, and the dorsal fin surface 220 is connected to the two side surfaces 210 respectively. Figure 2 As shown, the dorsal fin surface 220 is a symmetrical arc surface, the left side of the arc surface is connected to the left side surface 210, and the right side of the arc surface is connected to the right side surface 210. The rear end surface 230 is located on the side of the housing 200 away from the direction of travel of the positioning array, and the rear end surface 230 is respectively connected to the dorsal fin surface 220 and the two side surfaces 210.

[0044] Preferably, the connection between the side surface 210 and the dorsal fin surface 220, the connection between the rear end surface 230 and the side surface 210, and the connection between the rear end surface 230 and the dorsal fin surface 220 are all connected by a smoothly transitioned connection surface 211 to reduce the flow resistance of the shell 200 and further reduce the regeneration noise.

[0045] In one embodiment of the present invention, Figure 4 As shown, the dorsal fin surface 220 extends downward from the position connected to the rear end surface 230 to the position where the front section of the shell 200 is connected to the flange 100. The transverse cross-section of the dorsal fin surface 220 is a first arc shape, and the first arc shape is a part of a circle, that is, the first arc shape is a symmetrical structure. Such a setting method can make the pressure on both sides of the dorsal fin surface 220 the same. Since the forces on both sides of the shell 200 are balanced, vibration of the shell 200 can be avoided, and the regeneration noise can be further reduced.

[0046] In one embodiment of the present invention, the longitudinal cross-section of the dorsal fin surface 220 is in a second arc shape. Figure 1 As shown, the second arc extends downward from the position connected to the rear end face 230 to the position where the front section of the shell 200 is connected to the flange 100, so that the height of the shell 200 gradually decreases from the right end to the left end, forming a streamlined structure similar to a bullet, further reducing the resistance of the shell 200.

[0047] In one embodiment of the present invention, the curvature of the second arc gradually decreases along the direction of the dorsal fin surface 220 away from the flange. Figure 1As shown in the figure, the curvature at A is the smallest, the curvature at B is greater than the curvature at A, and the curvature at C is greater than the curvature at B. During the movement of the positioning array, the shell 200 at C first contacts the water flow, and the shell 200 at C is used to divide the water flow, directing most of the water flow to the two sides of the shell 200, and part of the water flow moves upward along the dorsal fin surface 220. Since the curvatures at A and B are smaller, the water flow encounters less resistance at A and B, and the generated regeneration noise is also smaller.

[0048] In one embodiment of the present invention, the rear end surface 230 is a curved surface that is recessed toward the inside of the housing 200. Figure 1 As shown, after the water flows through the shell 200, an eddy current zone is formed on the rear end face 230 of the shell 200. By setting the rear end face 230 as an arc surface that is recessed toward the inside of the shell 200, the arc surface is used to guide the eddy current to flow along the arc surface, thereby preventing the eddy current from directly hitting the rear end face 230 and generating regenerative noise. Alternatively, the rear end face 230 guides the eddy current to flow so that the eddy current merges with the water flow on both sides of the shell 200 at a suitable angle, thereby preventing the eddy current from merging with the water flow on both sides of the shell 200 at a vertical or opposite angle, thereby reducing the resistance of the water flow on both sides of the shell 200. The radius of curvature corresponding to the rear end face 230 is determined specifically according to the size of the eddy current formed.

[0049] In one embodiment of the present invention, the side surface 210 includes a connecting surface 211 located on a side close to the dorsal fin surface 220 and a main side surface 212 located on a side away from the dorsal fin surface 220. The main side surface 212 is connected to the dorsal fin surface 220 through the connecting surface 211. The connecting surface 211 is an arc surface that is concave toward the inside of the shell 200. Specifically, Figure 2 and Figure 4 As shown, the distance between the two main side surfaces 212 is relatively large, thereby providing sufficient installation space for the installation of the transmitting transducer 310 and the receiving array 320. Since no electronic components need to be arranged between the two connecting surfaces 211, the width of the housing 200 between the two connecting surfaces 211 is reduced by making the two connecting members recessed into the housing 200, thereby further reducing the flow resistance of the housing 200. In addition, since the connecting surface 211 is a curved surface, the outer surface of the housing 200 is smoother, thereby further reducing the flow resistance of the housing 200.

[0050] In one embodiment of the present invention, the shell 200 and the flange 100 are detachably connected to facilitate maintenance of the transmitting transducer and the receiving array. Specifically, a circle of ridges is provided on the side of the flange 100 facing the shell 200, and the shape of the ridges is adapted to the shape of the shell, and the shell 200 is sleeved on the ridges; of course, the connection method between the shell 200 and the flange 100 is not limited thereto, and a boss can also be provided to connect with the shell 200, which is determined according to actual needs. Preferably, the shell 200 and the flange 100 are sealed and matched, and the shell 200 and the flange 100 cooperate to form a sealed cavity.

[0051] In one embodiment of the present invention, the shell 200 is made of polyurethane. On the one hand, the shell 200 made of polyurethane can form a shell with a certain hardness, thereby protecting the internal transmitting transducer and receiving array; on the other hand, the characteristic impedance of the polyurethane shell is close to the impedance of water, and has little effect on acoustic propagation. The transmitting transducer and the receiving array are arranged on the flange 100, and the material of the flange 100 is metal. The flange 100 made of metal makes the flange 100 have greater hardness, which can provide better support and protection for the transmitting transducer and the receiving array.

[0052] In one embodiment of the present invention, Figure 2 As shown, the flange 100 is provided with a connection part, which is used to connect with the underwater equipment. The connection part is provided on the flange 100 to facilitate the installation of the transducer. Specifically, the connection part is a threaded hole 101, which is a blind hole, and the threaded hole 101 is located on the side of the flange 100 away from the housing 200. There are multiple threaded holes 101, and the multiple threaded holes 101 are spaced apart at the edge of the flange 100 away from the housing 200. The distance between two adjacent threaded holes 101 may be equal or unequal, which is determined according to actual needs. During installation, the screws are connected to the underwater equipment, and the multiple screws are correspondingly inserted into the multiple threaded holes 101 one by one. The transducer is fixed to the surface of the underwater equipment by the screws and the threaded holes 101. Of course, the specific structural form of the connection part is not limited to this, and it can also be a positioning protrusion or other structural forms.

[0053] In one embodiment of the present invention, Figure 2 As shown, the transducer also includes a watertight connector 400, which is used to connect the transmitting transducer, the receiving array and the cable (not shown). The flange 100 is provided with a mounting hole, which is a circular through hole. The watertight connector 400 is inserted into the mounting hole and is sealed with the inner wall of the mounting hole. Preferably, the outer peripheral surface of the watertight connector 400 is provided with an annular limiting groove, and a sealing ring is provided in the annular limiting groove. The sealing ring is an O-ring, and the sealing ring is sealed with the watertight connector 400 and the inner wall of the mounting hole.

[0054] The transmitting transducer and the receiving array are electrically connected to the watertight connector 400, and the watertight connector 400 is electrically connected to the underwater equipment through a cable. Preferably, the electronic component is provided with a first metal plug-in, and the first metal plug-in is plug-connected with one end of the watertight connector 400, so that the electronic component and the watertight connector 400 can be quickly connected. Similarly, a second metal plug-in is provided at one end of the cable close to the watertight connector 400, and the second metal plug-in is plug-connected with the other end of the watertight connector 400, so that the watertight connector 400 and the cable can be quickly connected.

[0055] The present invention also provides an underwater device, which includes the positioning array described in any one of the above embodiments for performing underwater acoustic communication.

[0056] In one embodiment of the present invention, the underwater equipment includes hydroacoustic communication equipment, hydroacoustic navigation equipment, hydroacoustic positioning equipment, hydroacoustic detection equipment, underwater real-time monitoring equipment, hydroacoustic robot or autonomous underwater vehicle.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning array, characterized in that: include: Flange (100); A housing (200), the housing (200) being arranged on one side of the flange (100), the housing (200) and the flange (100) being in sealing cooperation; A cross section taken along the direction of travel of the positioning matrix is ​​a longitudinal cross section, a cross section taken along the direction perpendicular to the direction of travel of the positioning matrix is ​​a transverse cross section, the heights of the multiple transverse cross sections of the shell (200) gradually decrease along the direction of travel of the positioning matrix, and the width of each transverse cross section of the shell (200) gradually decreases in a direction away from the flange (100); An electronic component (300) is disposed in the housing (200) and connected to the flange (100).

2. The positioning array according to claim 1, characterized in that: The housing (200) is in the shape of a fish dorsal fin.

3. The positioning array according to claim 2, characterized in that: The housing (200) comprises: Two side surfaces (210), the two side surfaces (210) being symmetrically arranged; a dorsal fin surface (220), the dorsal fin surface (220) being located on a side of the two side surfaces (210) away from the flange (100), and the dorsal fin surface (220) being respectively connected to the two side surfaces (210); A rear end surface (230), the rear end surface (230) being located on a side of the housing (200) that is away from the direction of travel of the positioning array, and the rear end surface (230) being respectively connected to the dorsal fin surface (220) and the two side surfaces (210).

4. The positioning array according to claim 3, characterized in that: The transverse cross-section of the dorsal fin surface (220) is in a first arc shape.

5. The positioning array according to claim 3, characterized in that: The longitudinal cross-section of the dorsal fin surface (220) is in a second arc shape.

6. The positioning array according to claim 5, characterized in that: The curvature of the second arc gradually decreases in a direction along the dorsal fin surface (220) away from the flange.

7. The positioning array according to any one of claims 3 to 6, characterized in that: The rear end surface (230) is a curved surface that is recessed toward the interior of the shell (200).

8. The positioning array according to claim 7, characterized in that: The side surface (210) comprises a connecting surface (211) located on a side close to the dorsal fin surface (220) and a main side surface (212) located on a side away from the dorsal fin surface (220); the main side surface (212) is connected to the dorsal fin surface (220) via the connecting surface (211); the connecting surface (211) is an arc surface recessed toward the interior of the shell (200).

9. The positioning array according to any one of claims 1 to 6, characterized in that: The electronic component (300) comprises: A transmitting transducer (310) connected to the flange (100); A plurality of receiving arrays (320) are arranged at intervals on the periphery of the transmitting transducer (310) and connected to the flange (100).

10. An underwater device, characterized in that: The underwater equipment comprises the positioning array according to any one of claims 1 to 9.

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