Three-dimensional sonar transducer holder structure for marine surveying and mapping and use method of three-dimensional sonar transducer holder structure

Abstract

The invention belongs to the technical field of transducer holders, and particularly relates to a three-dimensional sonar transducer holder structure for marine surveying and mapping and a using method thereof.The three-dimensional sonar transducer holder structure for marine surveying and mapping comprises a flow guide cylinder, flow guide fins, a detection opening, a gravity type detection mechanism and an impact reduction type noise reduction mechanism, the flow guide fins are arranged at one end of the flow guide cylinder, and the flow guide cylinder is a through cavity; the multiple sets of detection ports are formed in the side wall of the guide cylinder, the gravity type detection mechanism is arranged on the upper wall of the guide cylinder, the impact reduction type noise reduction mechanism is arranged on one side of the guide cylinder, and the gravity type detection mechanism comprises a positioning assembly and a sliding assembly. According to the three-dimensional sonar transducer holder structure for marine surveying and mapping and the using method thereof, noise generated by the water flow speed can be regulated and controlled, the influence of the water flow noise on the surveying and mapping precision of the transducer is reduced, and the position of the transducer can be adjusted in real time.

Description

Technical Field

[0001] This invention belongs to the field of transducer gimbal technology, specifically referring to a three-dimensional sonar transducer gimbal structure for marine mapping and its usage method. Background Technology

[0002] In marine mapping, the 3D sonar transducer gimbal is the core equipment used to precisely control the attitude of the sonar probe. Through technological innovation, the 3D sonar system upgrades the narrow "strip-like" cross-track scanning mode of traditional 2D detection to 3D spatial detection. It uses "area-like" pulse signals of a specific volume for three-dimensional coverage. The sonar pulses emitted in a single transmission can form a regular area of ​​area detection. Through the spatial superposition and data fusion of multiple sets of pulse signals, a high-precision 3D acoustic imaging model is finally constructed.

[0003] The existing gimbal structure for three-dimensional sonar transducers used in marine mapping has the following problems: Existing gimbal structures for 3D sonar transducers used in marine mapping, when directly mounted on the ship hull to fix the transducer, lack the ability to regulate noise generated by water flow velocity. As the ship's speed increases, the relative water flow velocity also increases, causing water flow noise to affect the transducer's mapping accuracy. At the same time, because the transducer's position cannot be adjusted in real time, when the ship sways due to wind and waves, the beam's emission direction changes instantaneously, causing 'blurring' and distortion of the seabed 3D point cloud. Summary of the Invention

[0004] In response to the above situation and to overcome the shortcomings of the existing technology, this solution provides a three-dimensional sonar transducer gimbal structure for marine mapping and its usage method, which can regulate the noise generated by the water flow velocity, reduce the impact of water flow noise on the transducer mapping accuracy, and can adjust the position of the transducer in real time.

[0005] The technical solution adopted in this proposal is as follows: This proposal provides a gimbal structure for a three-dimensional sonar transducer used in marine mapping, including a guide tube, guide fins, detection ports, a gravity-type detection mechanism, and a shock-reducing noise reduction mechanism. Multiple sets of guide fins are located at one end of the guide tube, which is a through-hole cavity. Multiple sets of detection ports are located on the side wall of the guide tube. The gravity-type detection mechanism is located on the upper wall of the guide tube. The shock-reducing noise reduction mechanism is located on one side of the guide tube. The gravity-type detection mechanism includes a positioning component and a sliding component. The positioning component is located on the upper wall of the guide tube, and the sliding component is located on both sides of the positioning component. The shock-reducing noise reduction mechanism includes a velocity measuring component, a flow-regulating component, and a drag-reducing component. The velocity measuring component is located on the side of the guide tube away from the guide fins, the flow-regulating component is located at the end of the velocity measuring component away from the guide tube, and the drag-reducing component is located on the flow-regulating component.

[0006] As a further preferred embodiment of the present invention, the positioning component includes a positioning frame, a bonding plate, and a clamping seat. The positioning frame is disposed on the upper wall of the guide tube, the bonding plate is disposed on the upper wall of the positioning frame, and multiple sets of clamping seats are disposed on the inner wall of the guide tube. The sliding component includes a sliding plate and a guide rail. The sliding plate is symmetrically disposed on both sides of the bonding plate, and the guide rail is disposed on the upper wall of the sliding plate. The sliding plate and the guide rail are slidably connected.

[0007] Preferably, the speed measuring component includes a round-headed weighting block, a connecting block, a speed measuring column, and a mechanical flow velocity sensor. The round-headed weighting block is located on the side of the guide tube away from the guide fins, the connecting block is located on the side of the round-headed weighting block away from the guide tube, the speed measuring column is located on the side of the connecting block away from the round-headed weighting block, and the mechanical flow velocity sensor is located on the side of the speed measuring column away from the connecting block. The flow slowing component includes a flow slowing sleeve, a flow slowing block, a hinge, a flow slowing blade, a triangular block, a spring seat, and a flow slowing spring. Multiple sets of the flow slowing sleeves are located at the end of the speed measuring column away from the connecting block, multiple sets of the flow slowing blocks are located on the outside of the flow slowing sleeve, and the hinge is located on the upper wall of one end of the flow slowing block. The flow vane is hinged at the end of the hinge away from the flow-slowing block. The triangular block is located on the bottom wall of the flow vane. The spring seat is located on the side of the triangular block near the flow-slowing block. The flow-slowing spring is located between the spring seat and the flow-slowing block. The diameter of the metal wire of the flow-slowing spring gradually decreases from the end near the mechanical flow sensor to the end near the connecting block. The drag-reducing assembly includes a drag-reducing frame, a drag-reducing electromagnet, and a fixed magnet. The drag-reducing frame is located on the side wall of the flow-slowing block on one side of the flow-slowing spring. The drag-reducing electromagnet is located on the side of the drag-reducing frame near the flow vane. The fixed magnet is located on the inner side wall of the flow vane near the drag-reducing electromagnet. The drag-reducing electromagnet and the fixed magnet are arranged opposite each other.

[0008] Specifically, the positioning frame is equipped with a controller on its side wall.

[0009] The controller is electrically connected to both the mechanical flow sensor and the drag-reducing electromagnet.

[0010] A method for using a gimbal structure for a three-dimensional sonar transducer used in marine mapping, comprising the following steps: Step 1: The guide rail is fixed to the bottom of the surveying vessel, the transducer is fixedly installed inside the guide tube, and the sliding plate is slidably connected to the guide rail. When the surveying vessel is sailing on the sea, the guide tube is kept in a vertical position by gravity. When the vessel encounters wind and waves and sways, the positioning frame is kept in a vertical position by the sliding plate driven by the gravity of the guide tube through the bonding plate. Step 2: When the ship is sailing at low speed, the relative water flow speed is low and the noise generated is also low. At this time, the drag-reducing electromagnet is energized and generates magnetism. Since the drag-reducing electromagnet and the fixed magnet are set to opposite poles, the drag-reducing electromagnet attracts the fixed magnet through magnetic force. The magnetic attraction force overcomes the elastic force of the flow-slowing spring, causing the flow-slowing blades to rotate around the hinge, thereby reducing the opening and closing range of the flow-slowing blades, reducing water flow resistance, and helping to reduce navigation energy consumption. Step 3: When the mechanical flow velocity sensor detects an increase in relative water flow velocity, the state of the flow-slowing blades is adjusted to change the impact force of the oncoming water flow, reduce water flow noise, and allow the water flow to pass over the transducer surface in a stable and smooth manner. The drag-reducing electromagnet is de-energized or the current flowing into it is reduced. The flow-slowing spring elastically resets and pushes the flow-slowing blades to rotate and open along the hinge. The opening and closing range of the flow-slowing blades is expanded. After the water flow impacts the three sets of flow-slowing blades, the impact force gradually weakens, and thus becomes relatively stable when flowing over the transducer surface. This ensures that the interference of water flow noise on the transducer is within a controllable range during operation.

[0011] The beneficial effects achieved by this solution using the above structure are as follows: Compared with existing technologies, this solution combines a gravity-type detection mechanism with a mechanical flow velocity sensor. Through the setting of positioning components, sliding components, velocity measuring components, flow-slowing components, and drag-reducing components, it can adjust the flow state of the water flowing over the transducer surface according to the relative flow velocity of the water. This allows the water to flow over the transducer surface in a stable and smooth manner, reducing noise interference caused by high water flow velocity, ensuring the accuracy of marine mapping, improving the utilization efficiency of the transducer gimbal, demagnetizing the drag-reducing electromagnet by de-energizing or reducing the current flowing into it, and elastically restoring the flow-slowing spring to push the flow-slowing blades to rotate and open along the hinge. The opening and closing range of the flow-slowing blades is expanded, and the impact force of the water flow gradually weakens after impacting the three sets of flow-slowing blades, thus becoming relatively stable when flowing over the transducer surface. This ensures that the interference of water flow noise on the transducer during operation is within a controllable range. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this solution; Figure 2 This is the front perspective stereoscopic view of this solution; Figure 3 This is a bottom-view perspective of the design. Figure 4 This is a schematic diagram of the gravity-type detection mechanism in this scheme; Figure 5 This is a schematic diagram of the impact-reducing noise reduction mechanism in this solution; Figure 6 This is the main view of this solution; Figure 7This is a top view of the plan; Figure 8 This is a bottom view of the plan; Figure 9 for Figure 7 Sectional view of AA section; Figure 10 for Figure 1 An enlarged structural view of section I.

[0013] Among them, 1. Flow guide tube, 2. Flow guide fin, 3. Detection port, 4. Gravity-type detection mechanism, 5. Positioning component, 6. Positioning frame, 7. Adhesive plate, 8. Clamping seat, 9. Sliding component, 10. Sliding plate, 11. Guide slide rail, 12. Impact reduction and noise reduction mechanism, 13. Speed ​​measuring component, 14. Round head weighting block, 15. Connecting block, 16. Speed ​​measuring column, 17. Mechanical flow velocity sensor, 18. Flow slowing component, 19. Flow slowing sleeve, 20. Flow slowing block, 21. Hinge, 22. Flow slowing blade, 23. Triangular block, 24. Spring seat, 25. Flow slowing spring, 26. Drag reduction component, 27. Drag reduction frame, 28. Drag reduction electromagnet, 29. Fixed magnet, 30. Controller.

[0014] The accompanying drawings are provided to further understand the present solution and form part of the specification. They are used together with the embodiments of the present solution to explain the present solution and do not constitute a limitation thereof. Detailed Implementation

[0015] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this solution, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this solution without creative effort are within the scope of protection of this solution.

[0016] In the description of this solution, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this solution and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this solution.

[0017] like Figures 1-10As shown, this solution proposes a three-dimensional sonar transducer gimbal structure for marine mapping, including a flow guide tube 1, flow guide fins 2, detection ports 3, a gravity-type detection mechanism 4, and a shock-reducing noise reduction mechanism 12. Multiple sets of the flow guide fins 2 are located at one end of the flow guide tube 1, which is a through-hole cavity. Multiple sets of the detection ports 3 are located on the side wall of the flow guide tube 1. The gravity-type detection mechanism 4 is located on the upper wall of the flow guide tube 1. The shock-reducing noise reduction mechanism 12 is located on one side of the flow guide tube 1. The force-type detection mechanism 4 includes a positioning component 5 and a sliding component 9. The positioning component 5 is located on the upper wall of the guide tube 1, and the sliding component 9 is located on both sides of the positioning component 5. The impact-reducing noise reduction mechanism 12 includes a velocity measuring component 13, a flow-slowing component 18, and a drag-reducing component 26. The velocity measuring component 13 is located on the side of the guide tube 1 away from the guide fin 2, the flow-slowing component 18 is located at the end of the velocity measuring component 13 away from the guide tube 1, and the drag-reducing component 26 is located on the flow-slowing component 18.

[0018] The positioning component 5 includes a positioning frame 6, a bonding plate 7, and a clamping seat 8. The positioning frame 6 is disposed on the upper wall of the guide tube 1, the bonding plate 7 is disposed on the upper wall of the positioning frame 6, and multiple sets of clamping seats 8 are disposed on the inner wall of the guide tube 1. The sliding component 9 includes a sliding plate 10 and a guide rail 11. The sliding plate 10 is symmetrically disposed on both sides of the bonding plate 7, and the guide rail 11 is disposed on the upper wall of the sliding plate 10. The sliding plate 10 and the guide rail 11 are slidably connected.

[0019] The speed measuring component 13 includes a round-headed weighting block 14, a connecting block 15, a speed measuring column 16, and a mechanical flow velocity sensor 17. The round-headed weighting block 14 is located on the side of the guide tube 1 away from the guide fin 2. The connecting block 15 is located on the side of the round-headed weighting block 14 away from the guide tube 1. The speed measuring column 16 is located on the side of the connecting block 15 away from the round-headed weighting block 14. The mechanical flow velocity sensor 17 is located on the side of the speed measuring column 16 away from the connecting block 15. The flow slowing component 18 includes a flow slowing sleeve 19, a flow slowing block 20, a hinge 21, a flow slowing blade 22, a triangular block 23, a spring seat 24, and a flow slowing spring 25. Multiple sets of the flow slowing sleeves 19 are located at the end of the speed measuring column 16 away from the connecting block 15. Multiple sets of the flow slowing blocks 20 are located outside the flow slowing sleeves 19. The hinge 21 is located on the upper wall of one end of the flow slowing block 20. The flow vane 22 is hinged to the end of the hinge 21 away from the flow slowing block 20. The triangular block 23 is located on the bottom wall of the flow slowing vane 22. The spring seat 24 is located on the side of the triangular block 23 near the flow slowing block 20. The flow slowing spring 25 is located between the spring seat 24 and the flow slowing block 20. The diameter of the wire of the flow slowing spring 25 gradually decreases from the end near the mechanical flow sensor 17 to the end near the connecting block 15. The drag reduction assembly 26 includes a drag reduction frame 27, a drag reduction electromagnet 28, and a fixed magnet 29. The drag reduction frame 27 is located on the side wall of the flow slowing block 20 on the side of the flow slowing spring 25. The drag reduction electromagnet 28 is located on the side of the drag reduction frame 27 near the flow slowing vane 22. The fixed magnet 29 is located on the inner side wall of the end of the flow slowing vane 22 near the drag reduction electromagnet 28. The drag reduction electromagnet 28 and the fixed magnet 29 are arranged opposite each other.

[0020] The positioning frame 6 is equipped with a controller 30 on its side wall.

[0021] The controller 30 is electrically connected to the mechanical flow sensor 17 and the drag-reducing electromagnet 28, respectively.

[0022] A method for using a gimbal structure for a three-dimensional sonar transducer used in marine mapping, comprising the following steps: Step 1: The guide rail 11 is fixed to the bottom of the surveying vessel, the transducer is fixedly installed inside the guide tube 1, and the sliding plate 10 is slidably connected to the guide rail 11. When the surveying vessel is sailing on the sea, the guide tube 1 is kept in a vertical position by gravity. When the vessel encounters wind and waves and sways, the positioning frame 6, under the gravity of the guide tube 1, drives the sliding plate 10 to slide along the guide rail 11 through the bonding plate 7 to keep it in a vertical position. Step 2: When the ship is sailing at low speed, the water flow speed is relatively low and the noise generated is also relatively small. At this time, the drag-reducing electromagnet 28 is energized and generates magnetism. The drag-reducing electromagnet 28 and the fixed magnet 29 are set with opposite poles. The drag-reducing electromagnet 28 is fixed to the side wall of the drag-reducing frame 27 and the fixed magnet 29 is attracted by magnetic force. The fixed magnet 29 uses the elastic deformation of the flow-slowing spring 25 to drive the flow-slowing blade 22 to rotate along the hinge 21. The opening and closing range of the flow-slowing blade 22 is reduced, which reduces water flow resistance and reduces navigation energy consumption. Step 2: When the ship is sailing at a low speed, the relative water flow speed is low and the noise generated is also low. At this time, the drag-reducing electromagnet 28 is energized and generates magnetism. Since the drag-reducing electromagnet 28 and the fixed magnet 29 are set to opposite magnetic poles, the drag-reducing electromagnet 28 attracts the fixed magnet 29 through magnetic force. The magnetic attraction force overcomes the elastic force of the flow-slowing spring 25, causing the flow-slowing blade 22 to rotate around the hinge 21, thereby reducing the opening and closing range of the flow-slowing blade 22, reducing water flow resistance, and helping to reduce navigation energy consumption. Step 3: When the mechanical flow velocity sensor 17 detects an increase in relative water flow velocity, the state of the flow-slowing blades is adjusted to change the impact force of the oncoming water flow, reduce water flow noise, and allow the water flow to pass over the transducer surface in a stable and smooth manner. The drag-reducing electromagnet 28 is de-energized or the current flowing into it is reduced. The flow-slowing spring 25 elastically resets and pushes the flow-slowing blades 22 to rotate and open along the hinge 21. The opening and closing range of the flow-slowing blades 22 is expanded. After the water flow impacts the three sets of flow-slowing blades 22, the impact force gradually weakens, and then becomes relatively stable when flowing over the transducer surface. This ensures that the interference of water flow noise on the transducer is within a controllable range during operation.

[0023] In practical use, the guide rail 11 is fixed to the bottom of the surveying vessel, the transducer is fixedly installed inside the guide tube 1, the sliding plate 10 is slidably connected to the guide rail 11, and the guide tube 1 drives the transducer to always maintain a vertical posture (relative to the horizontal plane), which is independent of the swaying of the vessel. The initial state of the flow-slowing spring 25 is the extension setting, and the opening and closing range of the flow-slowing blade 22 is the maximum value. When a surveying vessel is surveying the ocean, before reaching the ocean to be surveyed, the controller 30 controls the drag-reducing electromagnet 28 to start. The drag-reducing electromagnet 28 generates magnetism when energized. The drag-reducing electromagnet 28 and the fixed magnet 29 are set with opposite poles. The drag-reducing electromagnet 28 is fixed to the side wall of the drag-reducing frame 27 and the fixed magnet 29 is attracted by magnetic force. The fixed magnet 29 uses the elastic deformation of the flow-slowing spring 25 to drive the flow-slowing blade 22 to rotate along the hinge 21. The opening and closing range of the flow-slowing blade 22 is reduced, which reduces water flow resistance and reduces navigation energy consumption. After arriving at the ocean area to be surveyed, when conducting low-speed surveying of the area, the ship's speed is low and the water flow speed is relatively low. The water flow can flow over the transducer surface in a relatively smooth state, and the noise generated is relatively small, so it will not cause much interference to the transducer. The guide fin 2 is kept in the minimum opening and closing state. When the ship's speed increases, the controller 30 activates the mechanical flow velocity sensor 17. When the mechanical flow velocity sensor 17 detects an increase in relative water flow velocity, the noise generated by the water flowing over the transducer surface increases, which can interfere with the transducer and affect its accuracy in oceanographic mapping. It is necessary to adjust the state of the flow-damping blades to change the impact force of the oncoming water flow, reduce water flow noise, and allow the water flow to pass over the transducer surface in a stable and smooth manner. The controller 30 controls the drag-reducing electromagnet 28 to de-energize or reduce the current flowing into it. The flow-damping spring 25 elastically resets, pushing the flow-damping blade 22 to rotate and open along the hinge 21. The opening and closing range of the flow-damping blade 22 expands. After the water flow impacts the flow-damping blade 22, the flow-damping blade... The blade 22 rotates along the hinge 21 by means of the deformation of the flow-slowing spring 25, adjusting the opening and closing angle to buffer the impact force of the water flow. The water flow, after being unloaded by the first set of flow-slowing blades 22, impacts the second set of flow-slowing blades 22. The flow-slowing blades 22 further buffer the water flow using the flow-slowing spring 25 with lower stiffness. The water flow, after being unloaded by the second set of flow-slowing blades 22, impacts the third set of flow-slowing blades 22. The flow-slowing blades 22 then use the flow-slowing spring 25 with the weakest elasticity to provide the final buffer for the water flow, allowing the water flow to flow smoothly over the transducer surface. The impact force gradually weakens, and the water flow noise decreases accordingly. This ensures that the interference of water flow noise on the transducer is within a controllable range during operation, ensuring the accuracy of the transducer for marine mapping. When surveying the ocean, the guide tube 1, with the assistance of the round-headed weight block 14, keeps the transducer in a vertical position under the action of gravity. When the ship encounters wind and waves during navigation, the positioning frame 6, under the gravity of the guide tube 1, drives the sliding plate 10 to slide along the guide rail 11 through the bonding plate 7 to maintain a vertical state, effectively preventing the transducer beam emission direction from changing instantly and improving the surveying quality; the above operation can be repeated for the next use.

[0024] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0025] The present solution and its implementation methods have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present solution; the actual structure is not limited to this. In conclusion, if a person skilled in the art, inspired by this description, designs a similar structure and embodiment without departing from the inventive intent of this solution, such design should fall within the protection scope of this solution.

Claims

1. A gimbal structure for a three-dimensional sonar transducer used in marine mapping, comprising a flow guide tube, flow guide fins, and a detection port, characterized in that: It also includes a gravity-type detection mechanism and a shock-reducing noise reduction mechanism. Multiple sets of guide fins are located at one end of the guide tube, which is a through-hole. Multiple sets of detection ports are located on the side wall of the guide tube. The gravity-type detection mechanism is located on the upper wall of the guide tube, and the shock-reducing noise reduction mechanism is located on one side of the guide tube. The gravity-type detection mechanism includes a positioning component and a sliding component. The positioning component is located on the upper wall of the guide tube, and the sliding component is located on both sides of the positioning component. The shock-reducing noise reduction mechanism includes a velocity measuring component, a flow-slowing component, and a drag-reducing component. The velocity measuring component is located on the side of the guide tube away from the guide fins, the flow-slowing component is located at the end of the velocity measuring component away from the guide tube, and the drag-reducing component is located on the flow-slowing component. The speed measuring component includes a connecting block, a speed measuring column, and a mechanical flow velocity sensor; The flow control assembly includes a flow control sleeve, a flow control block, a hinge, flow control blades, a triangular block, a spring seat, and a flow control spring; Multiple sets of flow-slowing sleeves are located at the end of the velocity measuring column away from the connecting block. Multiple sets of flow-slowing blocks are located on the outside of the flow-slowing sleeves. A hinge is located on the upper wall of one end of the flow-slowing block. The flow-slowing blade is hinged at the end of the hinge away from the flow-slowing block. A triangular block is located on the bottom wall of the flow-slowing blade. A spring seat is located on the side of the triangular block close to the flow-slowing block. A flow-slowing spring is located between the spring seat and the flow-slowing block. The diameter of the metal wire of the flow-slowing spring gradually decreases from the end closer to the mechanical flow sensor to the end closer to the connecting block.

2. The gimbal structure for a three-dimensional sonar transducer used in marine mapping according to claim 1, characterized in that: The positioning assembly includes a positioning frame, a bonding plate, and clamping seats. The positioning frame is disposed on the upper wall of the guide tube, the bonding plate is disposed on the upper wall of the positioning frame, and multiple sets of clamping seats are disposed on the inner wall of the guide tube.

3. The gimbal structure for a three-dimensional sonar transducer used in marine mapping according to claim 2, characterized in that: The sliding assembly includes a sliding plate and a guide rail. The sliding plate is symmetrically arranged on both sides of the bonding plate, and the guide rail is arranged on the upper wall of the sliding plate.

4. The gimbal structure for a three-dimensional sonar transducer used in marine mapping according to claim 3, characterized in that: The speed measuring component also includes a round-headed weight-adding block, which is located on the side of the guide tube away from the guide fin. The connecting block is located on the side of the round-headed weight-adding block away from the guide tube. The speed measuring column is located on the side of the connecting block away from the round-headed weight-adding block. The mechanical flow velocity sensor is located on the side of the speed measuring column away from the connecting block.

5. The gimbal structure for a three-dimensional sonar transducer used in marine mapping according to claim 3, characterized in that: The sliding plate is slidably connected to the guide rail.

6. The gimbal structure for a three-dimensional sonar transducer used in marine mapping according to claim 4, characterized in that: The drag reduction assembly includes a drag reduction frame, a drag reduction electromagnet, and a fixed magnet. The drag reduction frame is disposed on the side wall of the flow-reducing block on one side of the flow-reducing spring. The drag reduction electromagnet is disposed on the side of the drag reduction frame near the flow-reducing blade. The fixed magnet is disposed on the inner side wall of the end of the flow-reducing blade near the drag reduction electromagnet.

7. The gimbal structure for a three-dimensional sonar transducer used in marine mapping according to claim 1, characterized in that: The drag-reducing electromagnet is positioned opposite to the fixed magnet.

8. The method of using the gimbal structure of a three-dimensional sonar transducer for marine mapping according to claim 6, characterized in that: Step 1: The guide rail is fixed to the bottom of the surveying vessel, the transducer is fixedly installed inside the guide tube, and the sliding plate is slidably connected to the guide rail; Step 2: The drag-reducing electromagnet is energized and generates magnetism. Since the drag-reducing electromagnet and the fixed magnet are set to opposite magnetic poles, the drag-reducing electromagnet attracts the fixed magnet through magnetic force. The magnetic attraction force overcomes the elastic force of the slow-flow spring, causing the slow-flow blades to rotate around the hinge, thereby reducing the opening and closing range of the slow-flow blades. Step 3: The de-energizing electromagnet is de-energized or the current flowing into it is reduced. The flow-slowing spring is elastically reset and pushes the flow-slowing blades to rotate and open along the hinge. The opening and closing range of the flow-slowing blades is expanded. After the water flow hits the three sets of flow-slowing blades, the impact force gradually weakens and becomes relatively stable when flowing over the transducer surface.

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