A five-element right triangular pyramid deployable hydrophone array device

Abstract

The application provides a five-element right triangular pyramid-shaped deployable hydrophone array device, which comprises a waterproof shell shaped like a right triangular prism, three side surfaces of the shell and an upper end surface of the shell are respectively provided with scissor-type telescopic mechanisms, four scissor-type telescopic mechanisms and a lower end surface of the shell are respectively provided with hydrophones, five hydrophones form a five-element right triangular pyramid-shaped array, an internal drive device is arranged in the shell, and the drive device is simultaneously in transmission connection with the four scissor-type telescopic mechanisms; the scissor-type telescopic mechanism comprises a plurality of cross-linking units, the cross-linking unit comprises a connecting block and two connecting rods, and the middle parts of the two connecting rods are respectively hinged to the upper and lower ends of the connecting block; the drive device is highly integrated, only a single servo motor is used as a power source, and the four groups of scissor-type telescopic mechanisms can simultaneously and at the same speed realize telescopic movement in different directions in space, and the device has the advantages of simple control, small weight and compact structure.

Description

Technical Field

[0001] This invention relates to the field of underwater acoustic sensing technology, and in particular to a five-element regular triangular pyramid-shaped deployable hydrophone array device. Background Technology

[0002] Sound source localization technology is a technique that uses acoustic and electronic devices to receive and process sound field signals to determine the location of a sound source. Depending on whether it emits sound waves, sound source localization can be divided into active and passive types. The acoustic devices used in underwater sound source localization are underwater acoustic transducers. Passive underwater sound source localization uses a receiving transducer (hydrophone) that can only receive external sound wave signals and convert them into electrical signals. Due to its mature technology, good concealment, and low cost, passive sound source localization technology has been widely used in underwater target detection, localization, and tracking.

[0003] The basic principle of underwater sound source localization is as follows: an underwater acoustic transducer array receives the sound waves from the target sound source; a data acquisition card records the time delay value of the sound wave signal measured by each transducer on the array and transmits it to the signal processing controller; combined with the existing geometric parameters of the underwater acoustic transducer array, the accurate location of the target sound source can be calculated. Therefore, the geometric structure of the transducer array, the accuracy of the time delay value, and the number and arrangement of transducers all affect the accuracy of target sound source localization.

[0004] In underwater target sound source localization, ensuring the spatial directivity of each underwater acoustic transducer and achieving precise sound source localization is a crucial design task. A simple yet high-performance underwater acoustic transducer array is a vital component. An underwater acoustic transducer array, composed of several transducers arranged in a specific geometric structure, possesses extremely strong spatial selectivity, enabling the localization and tracking of underwater sound sources within a defined water area.

[0005] Based on differences in structure and the number of transducers, multi-element transducer arrays currently available both domestically and internationally can be categorized into linear arrays, ternary planar arrays, quaternary planar arrays, high-low quaternary arrays, quinary planar arrays, and regular square pyramidal arrays. Among these, linear and ternary arrays are unsuitable for detecting spatial sound sources. While quaternary arrays possess spatial sound source detection capabilities, their ranging accuracy is low, and their directional accuracy is dependent on the sound wave incident angle. Compared to quaternary arrays, quinary planar arrays exhibit smaller errors in positioning results compared to the actual location of the sound source, with the difference becoming more pronounced when measuring target sound sources that are far from the array and deviate significantly at large angles.

[0006] Existing technical solutions that meet practical needs are still mainly linear hydrophone array devices and multi-element planar hydrophone array devices. For example, application number CN202122868005.4 provides a deep-sea hydrophone array cable with an adjustable mounting bracket, which installs a hydrophone every few meters on the vertical array cable to form a deep-sea hydrophone array composed of several hydrophones, and transmits signals through the signal lines within the array cable; application number CN202211647551.8 provides a hydrophone array platform, which connects a buoyancy component, a gravity component, and a support component sequentially from top to bottom, with several hydrophones connected to the support component and distributed at intervals on the support component; the above two designs are essentially still linear arrays, and cannot detect spatial sound sources when equipped with scalar hydrophones. A type of air-dropped anti-submarine buoy used by the US Navy at the end of World War II had a five-element planar hydrophone array device as its underwater acoustic receiving unit, which could automatically deploy and operate at a predetermined water depth, but could not adjust the operating depth and array size.

[0007] Compared to quinary planar arrays, quinary regular triangular pyramid arrays can achieve better positioning results, and have better stability, higher reliability, and stronger anti-interference capabilities. They have better application prospects in underwater target detection, positioning, and tracking. However, there are currently no quinary regular triangular pyramid hydrophone array devices available on the market. Summary of the Invention

[0008] In order to overcome the shortcomings of the prior art, the present invention provides a five-element regular triangular pyramid deployable hydrophone array device to solve the above-mentioned technical problems.

[0009] The technical solution is as follows: This invention includes a waterproof shell shaped like a regular triangular prism. Scissor-type telescopic mechanisms are respectively provided on three sides and the upper end of the shell. Hydrophones are respectively installed on four scissor-type telescopic mechanisms and the lower end of the shell. The five hydrophones form a five-element regular triangular pyramid array. A driving device is provided inside the shell, which is simultaneously connected to the four scissor-type telescopic mechanisms. Each scissor-type telescopic mechanism includes multiple cross-hinged units. Each cross-hinged unit includes a connecting block and two connecting rods. The middle parts of the two connecting rods are respectively hinged to the upper and lower ends of the connecting block. The connecting rods in two adjacent cross-hinged units are hinged to form a deformable parallelogram. The connecting block has a round hole and a flat hole. A cable is inserted into the round hole, and a steel strip is inserted into the flat hole. Each scissor-type telescopic mechanism contains... A frame is fixedly connected to the connecting block on the cross-hinged unit at the head end. The frame is fixedly connected to the housing. A winding bin is provided on the frame, and a winding shaft with a spiral spring is rotatably connected in the winding bin. One end of the steel strip is wound on the winding shaft, and the other end of the steel strip is fixedly connected to the connecting block of the cross-hinged unit at the tail end. The extension of the steel strip pushes the scissor-type telescopic mechanism to extend. The spiral spring on the winding shaft provides power for the retraction of the steel strip. Two rollers located at the outlet of the winding bin are rotatably connected to the frame. The two rollers press against the steel strip, and the friction force when the rollers rotate pulls the steel strip out of the winding bin. Two linked pulleys are provided on the frame. One pulley is coaxially fixedly connected to one roller, and the other pulley is driven by the drive device. The drive device simultaneously controls the extension and retraction of the four scissor-type telescopic mechanisms.

[0010] Preferably, the housing comprises three independent outer shells, namely, the upper shell, the middle shell, and the bottom shell, from top to bottom. The middle shell has mounting boxes on its three sides, and the four frames are fixedly connected to the upper shell and the three mounting boxes respectively.

[0011] Preferably, the drive device includes a worm gear arranged vertically, the worm gear being located at the center of the housing and rotatably connected to the housing, and a support sleeve fixedly connected inside the housing and wrapped around the outside of the worm gear, the support sleeve being provided with three turbine assemblies equidistantly distributed along the circumference of the worm gear, the turbine in the turbine assembly being drively connected to the worm gear, and the turbine in the turbine assembly being coaxially keyed to a drive rod.

[0012] Preferably, the frames located in the three mounting boxes correspond one-to-one with the three turbine assemblies, and a pulley on the frame is coaxially keyed to the transmission rod in the corresponding turbine assembly. The rotation of the transmission rod drives the roller on the frame to rotate.

[0013] Preferably, the drive device further includes a bevel gear assembly disposed in the upper housing, and a pulley on the frame located at the upper end of the housing is connected to the worm gear drive through the bevel gear assembly. One bevel gear in the bevel gear assembly is coaxially fixedly connected to the upper end of the worm gear, and the other bevel gear in the bevel gear assembly is coaxially fixedly connected to a roller in the frame.

[0014] Preferably, the angle between the three scissor-type telescopic mechanisms located on the side of the housing and the worm gear is 109°28′.

[0015] Preferably, a servo motor is installed inside the lower housing, and the servo motor is connected to a worm gear drive via a coupling.

[0016] Preferably, the transmission ratio of the turbine and the worm is the same as the transmission ratio of the bevel gear assembly.

[0017] Preferably, the hydrophone on the scissor-type telescopic mechanism at the upper end of the housing and the hydrophone at the lower end of the housing are on the same straight line.

[0018] Compared with existing known technologies, the technical solution provided by this invention has the following significant advantages: 1. This invention can be equipped with five hydrophone units, which can be unfolded into a pentagonal triangular pyramid hydrophone array. It has advantages such as good stability, high reliability, better positioning effect, and strong anti-interference ability. Moreover, different types of hydrophones can be replaced according to mission requirements, making it highly versatile. In the working state, the array can be fully unfolded, and the working range is adjustable; in the standby state, the entire device can be retracted and folded into a small storage state, improving the adaptability of the array device in complex sea conditions.

[0019] 2. The transmission method of this invention is unique and the drive device is highly integrated. It can realize the simultaneous and same speed telescopic movement of four sets of scissor-type telescopic mechanisms in different directions in space by using only a single servo motor as the power source. It has the advantages of simple operation, light weight and compact structure.

[0020] 3. This invention utilizes a shell-shaped steel strip to drive the telescopic extension and retraction of a scissor structure, offering advantages such as fast response speed, high acceleration, and simple control. It also ensures smooth, rapid, and precise movement of the entire device and its end-effector. The hollowed-out scissor-type telescopic mechanism protects the steel strip, improving the rigidity of the extended portion while achieving weight reduction. The overall device structure is simple, lightweight, and possesses high stability and safety. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the housing structure of the present invention.

[0023] Figure 3 This is a schematic diagram of the structure of the present invention after the shell is removed.

[0024] Figure 4 This is a schematic diagram of the drive device of the present invention.

[0025] Figure 5 This is a schematic diagram showing the positions of the three frames and the worm gear located on the side of the present invention.

[0026] Figure 6 This is a schematic diagram of the internal structure of the frame of the present invention.

[0027] Figure 7 This is a schematic diagram of the scissor-type telescopic mechanism of the present invention.

[0028] Explanation of the labels in the diagram: 100. Shell; 101. Upper shell; 102. Middle shell; 103. Bottom shell; 1021. Channel; 200. Scissor-type telescopic mechanism; 201. Cross-hinged unit; 2011. Connecting block; 2012. Linkage rod; 2013. Round hole; 2014. Flat hole; 300. Drive unit; 301. Worm gear; 302. Support sleeve; 303. Turbine assembly; 304. Transmission rod; 305. Bevel gear assembly; 306. Servo motor; 400. Frame; 401. Take-up bin; 4011. Take-up shaft; 402. Roller; 403. Pulley; 500. Cables; 600, steel strip; 700. Hydrophone. Detailed Implementation

[0029] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] refer to Figure 1 The device includes a waterproof housing 100 in the shape of a regular triangular prism. Scissor-type telescopic mechanisms 200 are provided on three sides and the upper end of the housing 100. Hydrophones 700 are installed on the four scissor-type telescopic mechanisms 200 and the lower end of the housing 100. The five hydrophones 700 form a five-element regular triangular pyramid array. A drive device 300 is provided inside the housing 100. The drive device 300 is simultaneously connected to the four scissor-type telescopic mechanisms 200.

[0031] refer to Figure 2The aforementioned housing 100 includes three independent outer shells: upper shell 101, middle shell 102, and bottom shell 103, from top to bottom. The middle shell 102 has mounting boxes on its three sides, and the four frames 400 are fixedly connected to the upper shell 101 and the three mounting boxes, respectively.

[0032] The housing 100 is formed by connecting waterproof screws. The housing 100 is designed with sealing rings, hinges and hatches to facilitate the installation and replacement of parts.

[0033] The angle between the three scissor-type telescopic mechanisms 200 located on the side of the housing 100 and the worm gear 301 is 109°28′.

[0034] The hydrophone 700 on the scissor-type telescopic mechanism 200 located at the upper end of the housing 100 and the hydrophone 700 at the lower end of the housing 100 are on the same straight line.

[0035] By controlling the forward and reverse rotation of the servo motor 5 through the motor drive board, the four sets of scissor-type telescopic mechanisms 200 achieve linear telescopic action at the same speed, thereby adjusting the position of the hydrophone 700 fixed at the end of the scissor-type telescopic mechanism 200, so that the device can be unfolded into a five-element regular square pyramidal array of hydrophones 700.

[0036] refer to Figure 7 The aforementioned scissor-type telescopic mechanism 200 includes multiple cross-hinged units 201. Each cross-hinged unit 201 includes a connecting block 2011 and two connecting rods 2012. The middle parts of the two connecting rods 2012 are respectively hinged to the upper and lower ends of the connecting block 2011. The connecting rods 2012 in two adjacent cross-hinged units 201 are hinged to form a deformable parallelogram. The connecting block 2011 has a round hole 2013 and a flat hole 2014. A cable 500 is inserted into the round hole 2013, and a steel strip 600 is inserted into the flat hole 2014. The steel strip 600 adopts a three-dimensional structure formed by combining two shell-shaped steel strips 600, which can be flattened and folded into a steel strip 600 roll and stored in the steel strip 600 winding bin 401 on the frame 400.

[0037] refer to Figure 5 , Figure 6 and Figure 7In each of the aforementioned scissor-type telescopic mechanisms 200, a frame 400 is fixedly connected to a connecting block 2011 on the cross-hinged unit 201 at the head end. The frame 400 is fixedly connected to the housing 100. A winding chamber 401 is provided on the frame 400. A winding shaft 4011 with a spiral spring is rotatably connected in the winding chamber 401. One end of the steel strip 600 is wound on the winding shaft 4011, and the other end of the steel strip 600 is fixedly connected to the connecting block 2011 of the cross-hinged unit 201 at the tail end. The extension of the steel strip 600 pushes the scissor-type telescopic mechanism 200 to extend, and the spiral spring on the winding shaft 4011 provides power for the retraction of the steel strip 600.

[0038] refer to Figure 6 The frame 400 is rotatably connected to two rollers 402 located at the outlet of the take-up bin 401. The two rollers 402 press against the steel strip 600. The friction of the rollers 402 when they rotate pulls the steel strip 600 out of the take-up bin 401. The frame 400 is provided with two linked pulleys 403. One pulley 403 is coaxially fixedly connected to one roller 402, and the other pulley 403 is connected to the drive device 300. The drive device 300 simultaneously controls the extension and retraction of the four scissor-type telescopic mechanisms 200.

[0039] refer to Figure 3 and Figure 4 and Figure 5 The aforementioned drive device 300 includes a worm gear 301 arranged vertically. The worm gear 301 is located at the center of the housing 100 and is rotatably connected to the housing 100. A support sleeve 302 is fixedly connected inside the housing 100 and wraps around the outside of the worm gear 301. A servo motor 306 is installed inside the lower housing. The servo motor 306 is connected to the worm gear 301 via a coupling. The drive device 300 includes two transmission structures. The servo motor 3065 is electrically connected to the motor drive board and is installed in the lower layer inside the housing via waterproof screws.

[0040] The first type of transmission structure The support sleeve 302 is provided with three turbine assemblies 303 that are equidistantly distributed along the circumference of the worm 301. The turbine in the turbine assembly 303 is connected to the worm 301 in a transmission. The turbine in the turbine assembly 303 is coaxially keyed to the transmission rod 304, forming a three-worm gear worm 301 transmission structure. The frame 400 located in the three mounting boxes corresponds to the three turbine assemblies 303 one by one. A pulley 403 on the frame 400 is coaxially keyed to the transmission rod 304 in the corresponding turbine assembly 303. The rotation of the transmission rod 304 drives the roller 402 on the frame 400 to rotate.

[0041] Second transmission structure; The aforementioned drive device 300 also includes a bevel gear assembly 305 disposed within the upper housing 101. One bevel gear in the bevel gear assembly 305 is coaxially and fixedly connected to the upper end of the worm gear 301, and the other bevel gear in the bevel gear assembly 305 is coaxially and fixedly connected to a roller 402 in the frame 400, forming a bevel gear transmission mechanism.

[0042] In the two transmission structures described above, the transmission ratio of the turbine and worm 301 is consistent with the transmission ratio of the bevel gear assembly 305, ensuring that the four scissor-type telescopic mechanisms 200 can extend and retract synchronously when the worm 301 rotates.

[0043] By controlling the forward and reverse rotation of the servo motor 5 through the motor drive board, the four sets of scissor-type telescopic mechanisms 200 achieve linear telescopic action at the same speed, thereby adjusting the position of the hydrophone 700 fixed at the end of the scissor-type telescopic mechanism 200, so that the device can be unfolded into a five-element regular square pyramidal array of hydrophones 700.

[0044] This invention has illustrated its principles and implementation methods using specific examples. The descriptions of these embodiments are merely illustrative of the method and its core ideas; furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the principles of this invention. Therefore, the content of this specification should not be construed as limiting the invention.

Claims

1. A five-element regular triangular pyramid-shaped deployable hydrophone array device, characterized in that, The device includes a waterproof housing shaped like a regular triangular prism. The housing has scissor-type telescopic mechanisms on three sides and the top surface. Hydrophones are installed on the four scissor-type telescopic mechanisms and the bottom surface of the housing. The five hydrophones form a five-element regular triangular pyramid array. The housing has a drive device inside, which is connected to the four scissor-type telescopic mechanisms. The scissor-type telescopic mechanism includes multiple cross-hinged units. Each cross-hinged unit includes a connecting block and two connecting rods. The middle parts of the two connecting rods are respectively hinged to the upper and lower ends of the connecting block. The connecting rods in two adjacent cross-hinged units are hinged to form a deformable parallelogram. The connecting block has a round hole and a flat hole. A cable is inserted into the round hole, and a steel strip is inserted into the flat hole. In each of the scissor-type telescopic mechanisms, the connecting block of the cross-hinged unit at the head end is fixedly connected to a frame. The frame is fixedly connected to the housing. The frame is provided with a winding chamber. A winding shaft with a spiral spring is rotatably connected in the winding chamber. One end of the steel strip is wound on the winding shaft, and the other end of the steel strip is fixedly connected to the connecting block of the cross-hinged unit at the tail end. The extension of the steel strip pushes the scissor-type telescopic mechanism to extend. The housing includes three independent outer shells: upper shell, middle shell, and bottom shell, from top to bottom. The middle shell has mounting boxes on its three sides, and the four frames are fixedly connected to the upper shell and the three mounting boxes respectively. Two rollers located at the outlet of the take-up bin are rotatably connected to the frame. The two rollers press against the steel strip. The friction force when the rollers rotate pulls the steel strip out of the take-up bin. The frame is equipped with two linked pulleys. One pulley is coaxially fixedly connected to one roller, and the other pulley is connected to the drive device for transmission. The drive device simultaneously controls the extension and retraction of the four scissor-type telescopic mechanisms; the drive device includes a worm gear arranged vertically, the worm gear is located at the center of the housing and rotatably connected to the housing, and a support sleeve is fixedly connected inside the housing and wrapped around the outside of the worm gear. The support sleeve is provided with three turbine assemblies equidistantly distributed along the circumference of the worm gear, the turbine in the turbine assembly is drivenly connected to the worm gear, and the turbine in the turbine assembly is coaxially keyed to a transmission rod; the three scissor-type telescopic mechanisms located on the side of the housing all have an angle of 109°28′ with the worm gear.

2. The five-element regular triangular pyramid-shaped deployable hydrophone array device according to claim 1, characterized in that, The frames located in the three mounting boxes correspond one-to-one with the three turbine assemblies. A pulley on the frame is coaxially keyed to the transmission rod in the corresponding turbine assembly. The rotation of the transmission rod drives the roller on the frame to rotate.

3. The five-element regular triangular pyramid-shaped deployable hydrophone array device according to claim 1, characterized in that, The drive unit also includes a bevel gear assembly disposed within the upper housing. One bevel gear in the bevel gear assembly is coaxially and fixedly connected to the upper end of the worm gear, and the other bevel gear in the bevel gear assembly is coaxially and fixedly connected to a roller located in the frame within the upper housing.

4. The five-element regular triangular pyramid-shaped deployable hydrophone array device according to claim 1, characterized in that, A servo motor is installed inside the bottom shell, and the servo motor is connected to a worm gear drive via a coupling.

5. The five-element regular triangular pyramid-shaped deployable hydrophone array device according to claim 1, characterized in that, The transmission ratio of the turbine and worm is the same as the transmission ratio of the bevel gear assembly.

6. The five-element regular triangular pyramid-shaped deployable hydrophone array device according to claim 1, characterized in that, The hydrophone on the scissor-type telescopic mechanism at the upper end of the housing is on the same straight line as the hydrophone at the lower end of the housing.

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