Unmanned ship sonar lodging mechanism

Abstract

The invention discloses a sonar lodging mechanism of an unmanned ship. The sonar lodging mechanism comprises a ship body, a lodging part and a protection part, the lodging part comprises a mounting seat mounted with the boat body, a driving part mounted on the mounting seat, a swinging frame mounted with the output end of the driving part, and a swinging arm connected with the swinging frame; the protection component comprises a driving arm arranged between the swing arm and the swing frame, a telescopic piece installed in the swing arm, a hard inner column and a flexible inner column, wherein the hard inner column and the flexible inner column are installed at the output end of the telescopic piece in a series connection mode. According to the unmanned ship, the function of retracting and releasing the sonar platform on the unmanned ship at any time is achieved, the effect of rapidly arranging navigation instruments such as sonar and navigation equipment is achieved, the situation that a sonar assembly is placed in water for a long time is avoided, the service life of the sonar is prolonged, the torque peak value generated when a driving piece is started is reduced by controlling the state between the swing arm and the driving arm, and the service life of the sonar is prolonged. Load at the load end of the driving piece during starting is reduced, and the damage probability of the driving piece is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ship sonar detection, in particular to a sonar lying mechanism for an unmanned boat. Background Art

[0002] Sonar, as a marine instrument and navigation equipment, is mainly used for underwater target detection, positioning and communication. It is one of the core equipment for ship navigation and ocean mapping, ensuring that the hull has more advanced detection performance and a longer detection distance. With the introduction of marine high-tech and the continuous upgrading of equipment, unmanned boats will be used for exploration missions. By carrying sonar equipment as a marine instrument or navigation equipment, unmanned boats can perform long-term exploration missions. Therefore, the sonar equipment will also be soaked in water for a long time. In order to increase the service life of the sonar equipment, it is particularly important to know how to arrange the sonar on the boat.

[0003] In the prior art, a Chinese invention patent with publication number CN114394207A discloses an automatic deployment and recovery mechanism for an unmanned boat sonar, including a sonar cabin, an intelligent lifting device, a sealing device, a lifting rod support device and a sonar mounting bracket. The intelligent lifting device drives the lead screw to move up and down, thereby driving the lifting rod to move up and down to realize the deployment and recovery of the sonar. However, its lifting device occupies a large space and is not easy to be installed on an unmanned boat. Another example is a Chinese patent with publication number CN218594526U discloses a sonar equipment fixing device, including a bottom plate, a box body is provided at the lower end of the bottom plate, and two symmetrically arranged fixing rings are fixedly connected to the lower end of the box body, and a cavity is opened in each of the two fixing rings, and a plurality of groups of circumferential grooves are provided between the cavity and the inner wall of the fixing ring. A through groove is provided, and a connecting plate is slidably connected through each of the multiple through grooves, and the ends of the two connecting plates on the same side are fixedly connected to a clamping plate. A plurality of moving mechanisms for moving the connecting plates are provided in the two chambers, and a driving mechanism for driving the plurality of moving mechanisms is provided in the two chambers. The plurality of clamping plates are pushed toward the middle by the multiple moving plates, so that the multiple clamping plates are in contact with the outer wall of the sonar equipment, thereby achieving rapid installation of the sonar equipment. Although the installation component structure is simple and easy to use, it usually arranges navigation instruments and navigation equipment such as sonar at the bottom of the hull. The sonar will be placed in the seawater for a long time, which greatly reduces the service life of the sonar. In addition, when the sonar fails, the maintenance convenience is poor, which will lead to a significant increase in the cost of using the sonar. Summary of the Invention

[0004] Based on this, it is necessary to provide an unmanned boat sonar tumbling mechanism to address the above technical problems, so as to solve the problem that in the existing technology, navigation instruments and navigation equipment such as sonar are arranged at the bottom of the hull. The sonar will be placed in the sea water for a long time, which greatly reduces the service life of the sonar. In addition, when the sonar fails, the maintenance convenience is poor, which will lead to a significant increase in the cost of using the sonar.

[0005] A sonar lodging mechanism for an unmanned boat, comprising: Hull; A lodging component, comprising a mounting seat mounted on the hull, a driving member mounted on the mounting seat, a swing frame mounted on an output end of the driving member, and a swing arm connected to the swing frame, wherein the sonar assembly is mounted on the end of the swing arm; A protective component, which includes a driving arm arranged between the swing arm and the swing frame, a telescopic component installed in the swing arm, and a rigid inner column and a flexible inner column installed in series at the output end of the telescopic component. One end of the driving arm is installed with the swing frame, and the other end is connected with the swing arm through a flexible sleeve. The telescopic component is used to drive the rigid inner column and the flexible inner column to slide along the inner cavity of the swing arm and the driving arm. The lengths of the rigid inner column and the flexible inner column are both greater than the length of the flexible sleeve.

[0006] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, the outer walls of the rigid inner column and the flexible inner column are both in contact with the inner walls of the swing arm and the driving arm, and the outer walls of the rigid inner column and the flexible inner column are provided with guide grooves along their axial directions, and the inner walls of the swing arm and the driving arm are fixed with guide strips matching the guide grooves.

[0007] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, a positioning tube is vertically installed in the driving arm, a positioning ball is placed in the inner cavity of the positioning tube, a lower proximity sensor is installed at the lower part of the positioning tube, a middle proximity sensor is installed at the middle part of the positioning tube, and an upper proximity sensor is installed at the upper part of the positioning tube.

[0008] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, a main controller is provided on the hull, and a crouching state control system is carried on the main controller, and the crouching state control system includes a crouching state monitoring unit, and the input end of the crouching state monitoring unit is connected to the state detection unit, and the output end of the crouching state monitoring unit is respectively connected to the crouching control unit and the crouching protection unit; the input end of the state detection unit is respectively connected to the lower proximity sensor, the middle proximity sensor and the upper proximity sensor signals, the output end of the crouching control unit is connected to the driving part signal, the input end of the crouching control unit is connected to the crouching control knob signal, and the output end of the crouching protection unit is connected to the telescopic part signal.

[0009] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, a flow velocity detection component is installed on one side of the mounting seat, and the flow velocity detection component includes a connecting rod installed with the mounting seat and a flow measuring tube installed at the bottom of the connecting rod. The flow measuring tube extends into the water, and the bottom opening of the connecting rod extends to the inner cavity of the flow measuring tube and faces the forward direction of the boat body. The inner cavity of the connecting rod is vertically slidably connected with a synchronization rod, and the bottom of the synchronization rod is installed with a piston that abuts against the inner wall of the connecting rod.

[0010] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, the top end of the synchronization rod passes through the side wall of the driving arm and extends to the middle of the positioning tube, the end of the synchronization rod is magnetically attracted to the positioning ball by a magnet, and placement grooves are provided at the corresponding positions of the positioning tube and the driving arm and the synchronization rod.

[0011] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, the flow measuring tube is installed horizontally, and the opening of the flow measuring tube faces the forward direction of the boat body.

[0012] As a preferred embodiment of the sonar crouching mechanism of an unmanned boat provided by the present invention, a recovery tank matching the sonar assembly is provided on the boat body, and a sonar detection component is provided in the recovery tank. The sonar detection component includes a support seat installed in the recovery tank and a pressure sensor provided at the bottom of the support seat.

[0013] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, the input end of the crouching state monitoring unit is also connected to a sonar detection unit, and the input end of the sonar detection unit is connected to the pressure sensor signal.

[0014] As a preferred embodiment of the unmanned boat sonar crouching mechanism provided by the present invention, the exterior of the sonar assembly is wrapped with a streamlined shell, the swing arm and the shell of the sonar assembly are detachably connected, the mounting seat and the hull are detachably connected, the driving member and the mounting seat are detachably connected, and an arm support seat corresponding to the driving arm is installed on the mounting seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a sonar tumbling mechanism for an unmanned boat, which realizes the function of retracting and deploying the sonar platform on the unmanned boat at any time, and realizes the rapid deployment of navigation instruments and navigation equipment such as sonar, and avoids placing the sonar component in the water for a long time, thereby improving the life of the sonar. The sonar component is retracted onto the boat body, which is convenient for calibration and maintenance of the sonar component at any time, thereby improving its service life. Multiple components can be detachably installed to realize a modular design. The modules are connected by bolts. When a module is damaged, it can be quickly replaced, which is convenient for maintenance, reduces costs, and is convenient for mass production and manufacturing, and has certain use value.

[0016] 2. The present invention provides a sonar crouching mechanism for an unmanned boat. When rapidly placing navigation instruments and navigation equipment such as sonar into the water, the present invention can control the state between the swing arm and the driving arm, switching between hard connection and flexible connection states. When controlling the storage of the sonar assembly from the water onto the hull, the driving arm and the swing arm are controlled to be flexibly connected. When the driving member is started, the flexible inner column undergoes elastic deformation. The elastic deformation absorbs the sudden increase in fluid resistance energy during startup, reduces the torque peak, and attenuates the random vibration of the hull caused by waves, protecting the driving member bearings, thereby reducing the load on the load end of the driving member during startup. This can increase the service life of the driving member during multiple sonar storage and deployment operations and reduce the probability of damage to the driving member.

[0017] 3. The present invention provides a sonar crouching mechanism for an unmanned boat. When the sonar assembly is used for a long time, the sonar assembly will be impacted by water and debris, causing damage to the shell of the sonar assembly. Water will enter the sonar assembly. If not handled in time, it will cause further damage to the internal components of the sonar assembly. Therefore, after the sonar assembly is stored in the recovery tank, the weight of the corresponding sonar assembly can be detected by the pressure sensor, and compared with the weight of the sonar assembly in the normal state, it can be preliminarily determined whether the sonar assembly is damaged and water ingress occurs, and the sonar assembly can be quickly repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of the overall structure provided by the present invention; Figure 2 This is a schematic diagram of the structure of the sonar assembly provided by the present invention when it is stored in the recovery tank; Figure 3 A schematic diagram of the structure of the lodging component provided by the present invention; Figure 4This is a schematic structural diagram of the rigid inner column and the flexible sleeve in the protective component provided by the present invention; Figure 5 This is a schematic structural diagram of the flexible inner column and the flexible sleeve in the protective component provided by the present invention; Figure 6 A control principle diagram of the lodging state control system provided by the present invention; Figure 7 A schematic cross-sectional view of the flow velocity detection component provided by the present invention; Figure 8 This is a structural schematic diagram of the sonar detection component provided by the present invention detecting a sonar assembly.

[0020] The markings in the figure are as follows: 1. Hull; 2. Sonar assembly; 3. Recovery tank; 4. Swing arm; 5. Drive member; 6. Mounting seat; 7. Arm support seat; 8. Swing frame; 9. Drive arm; 10. Flexible sleeve; 11. Flow tube; 12. Connecting rod; 13. Telescopic member; 14. Rigid inner column; 15. Flexible inner column; 16. Positioning tube; 17. Positioning ball; 18. Synchronizing rod; 19. Lower proximity sensor; 20. Middle proximity sensor; 21. Upper proximity sensor; 22. Support seat; 23. Pressure sensor. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only 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 making creative efforts should fall within the scope of protection of the present invention.

[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. It should be noted that the embodiments of the present invention and the features and technical solutions in the embodiments can be combined with each other unless there is any conflict.

[0023] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0024] Example 1 Please refer to Figure 1-Figure 5, an unmanned boat sonar crouching mechanism, including a hull 1, a crouching component and a protective component; the crouching component includes a mounting seat 6 installed with the hull 1, a driving member 5 installed on the mounting seat 6, a swing frame 8 installed with the output end of the driving member 5, and a swing arm 4 connected to the swing frame 8. The sonar component 2 is installed at the end of the swing arm 4. The driving member 5 is preferably a stepping motor or a cylinder, which can drive the swing frame 8 to swing at multiple angles. By setting the crouching component, when it is necessary to control the position of the sonar component 2, the swing frame 8 is driven to swing by the driving member 5, and the swing arm 4 is controlled The sonar assembly 2 is controlled to swing, and the sonar assembly 2 can be quickly put into the water body for sonar detection. In addition, when not in use, the sonar assembly 2 is controlled to be out of the water body by the driving member 5, and the sonar assembly 2 is moved to the hull 1, thereby realizing the function of retracting and deploying the sonar platform on the unmanned boat at any time, realizing the function of quickly deploying navigation instruments and navigation equipment such as sonar, and avoiding placing the sonar assembly 2 in the water for a long time, thereby improving the life of the sonar, and the sonar assembly 2 is retracted to the hull 1, so that it is convenient to calibrate and repair the sonar assembly 2 at any time, thereby improving its service life.

[0025] It is worth mentioning that see Figure 3-Figure 5 , the protective component includes a driving arm 9 arranged between the swing arm 4 and the swing frame 8, a telescopic component 13 installed in the swing arm 4, a hard inner column 14 and a flexible inner column 15 installed in series at the output end of the telescopic component 13, one end of the driving arm 9 is installed with the swing frame 8, and the other end is connected to the swing arm 4 through the flexible sleeve 10, the telescopic component 13 is used to drive the hard inner column 14 and the flexible inner column 15 to slide along the inner cavity of the swing arm 4 and the driving arm 9, the length of the hard inner column 14 and the flexible inner column 15 are both greater than the length of the flexible sleeve 10, the telescopic component 13 is preferably a telescopic motor or a telescopic cylinder, by setting the protective component, the driving component 5 works to drive The movable swing frame 8 and the driving arm 9 swing, and the swing arm 4 is driven to swing through the flexible sleeve 10. The flexible sleeve 10 and the flexible inner column 15 are both made of elastic materials, and the hard inner column 14 is made of hard material. The hard inner column 14 and the flexible inner column 15 are driven to reciprocate synchronously by controlling the telescopic member 13. When the hard inner column 14 moves to the position of the flexible sleeve 10, the two ends of the hard inner column 14 are connected to the driving arm 9 and the swing arm 4, realizing a hard connection between the driving arm 9 and the swing arm 4. In addition, when the flexible inner column 15 is moved to the position of the flexible sleeve 10, the two ends of the flexible inner column 15 are connected to the driving arm 9 and the swing arm 4, realizing a soft connection between the driving arm 9 and the swing arm 4. Through the above structural design, when the sonar assembly 2 is working in the water, when the hull 1 moves at a certain speed, the telescopic member 13 works in this state to move the rigid inner column 14 to the position corresponding to the flexible sleeve 10, such as Figure 4As shown, the driving arm 9 and the swing arm 4 are hard-connected, the connection strength between the swing arm 4 and the driving arm 9 is improved, and the sonar component 2 is stably inserted into the water for operation; in addition, the impact force of the water on the swing arm 4 will act on the load end of the driving member 5. When the sonar component 2 needs to be received on the hull 1, the load end of the driving member 5 drives the swing arm 4 to swing through the driving arm 9. At this time, the load end of the driving member 5 is subject to fluid resistance and additional mass, resulting in a sharp increase in its starting torque, which may trigger the driving member 5 to stall and cause a starting overload, affecting the service life of the driving member 5. At this time, the telescopic member 13 works to drive the hard inner column 14 and the flexible inner column 15 to move, and the flexible inner column 15 is moved to a position corresponding to the flexible sleeve 10, as shown in FIG. Figure 5 As shown, a flexible connection is achieved between the driving arm 9 and the swing arm 4. When the driving member 5 is started, the flexible inner column 15 undergoes elastic deformation. The elastic deformation absorbs the sudden increase in fluid resistance energy during startup, reduces the torque peak, and attenuates the random vibration of the hull 1 caused by waves, protecting the bearings of the driving member 5, thereby reducing the load on the load end of the driving member 5 during startup, which can increase the service life of the driving member 5 during multiple sonar retraction and deployment operations and reduce the probability of damage to the driving member 5.

[0026] In addition, after the driving member 5 is started for a period of time, the telescopic member 13 will be controlled to move the rigid inner column 14 to the position corresponding to the flexible sleeve 10, so that the swing arm 4 and the driving arm 9 are rigidly connected, making it easier to stably store the sonar assembly 2 on the hull 1 in bumpy water conditions.

[0027] Preferably, Figure 4 As shown, the outer walls of the rigid inner column 14 and the flexible inner column 15 are both in contact with the inner walls of the swing arm 4 and the driving arm 9, and the outer walls of the rigid inner column 14 and the flexible inner column 15 are provided with guide grooves along their axial directions. The inner walls of the swing arm 4 and the driving arm 9 are both fixed with guide strips that match the guide grooves. When the telescopic member 13 works to control the movement of the rigid inner column 14 and the flexible inner column 15, the rigid inner column 14 and the flexible inner column 15 can move back and forth in the inner cavity of the swing arm 4 and the driving arm 9 and be in contact with their inner walls, thereby providing better support for the swing arm 4 and the driving arm 9. By setting the guide strips and guide grooves, the stability of the connection between the swing arm 4 and the driving arm 9 can be further improved, and the swing arm 4 and the driving arm 9 can be controlled to stably switch between the rigid connection and the flexible connection.

[0028] In the process of installing and arranging navigation instruments and equipment such as sonar, in order to facilitate the detection of the position status of the sonar component 2 on the swing arm 4, please refer to Figure 4 and Figure 7A positioning tube 16 is vertically installed in the driving arm 9, and a positioning ball 17 is placed in the inner cavity of the positioning tube 16. A lower proximity sensor 19 is installed at the lower part of the positioning tube 16, a middle proximity sensor 20 is installed in the middle part of the positioning tube 16, and an upper proximity sensor 21 is installed at the upper part of the positioning tube 16. Due to the effect of gravity, when the swing arm 4 drives the sonar assembly 2 to be in a vertically downward state, the positioning ball 17 will contact the lower proximity sensor 19, and the lower proximity sensor 19 can be used to determine that the swing arm 4 is in a vertically downward state; similarly, when the position of the positioning ball 17 is detected by the middle proximity sensor 20, it can be determined that the swing arm 4 drives the sonar assembly 2 to be in a horizontal state; when the position of the positioning ball 17 is detected by the upper proximity sensor 21, it can be determined that the swing arm 4 drives the sonar assembly 2 to be in a vertically upward state, and the position state of the sonar assembly 2 can be quickly understood.

[0029] In order to realize automatic control of the deployment and retraction of navigation instruments and equipment such as the sonar assembly 2 and reduce the damage of the driving member 5 during the deployment and retraction process, please refer to Figure 3-Figure 7A main controller is provided on the hull 1, and a lodging state control system is mounted on the main controller. The lodging state control system includes a lodging state monitoring unit. The input end of the lodging state monitoring unit is connected to the state detection unit, and the output end of the lodging state monitoring unit is respectively connected to the lodging control unit and the lodging protection unit; the input end of the state detection unit is respectively connected to the lower proximity sensor 19, the middle proximity sensor 20 and the upper proximity sensor 21, the output end of the lodging control unit is connected to the drive member 5 signal, the input end of the lodging control unit is connected to the lodging control knob signal, and the output end of the lodging protection unit is connected to the telescopic member 13 signal. When it is necessary to control the retraction and extension of the sonar assembly 2, the retraction control unit sends a retraction and extension signal by rotating the retraction control button, controls the driving member 5 to work, moves the sonar assembly 2 to any angle, and retracts and extends the sonar assembly 2. The state detection unit judges the position state of the sonar assembly 2 through the position signals fed back by the lower proximity sensor 19, the middle proximity sensor 20 and the upper proximity sensor 21, and feeds back to the retraction state monitoring unit. When it is not in the retraction process, the retraction state monitoring unit sends a corresponding protection signal to the retraction protection unit. At this time, the retraction protection unit controls the telescopic member 13 to work and moves the rigid inner column 14 to the position aligned with the flexible sleeve 10. The swing arm 4 and the driving arm 9 are hard-connected; when the retraction control unit is sent a storage signal through the retraction control knob, the retraction state monitoring unit sends a corresponding protection signal to the retraction protection unit, and the retraction protection unit controls the telescopic member 13 to move the flexible inner column 15 to the position corresponding to the flexible sleeve 10, so that the swing arm 4 and the driving arm 9 are in a flexible connection state, thereby reducing the load on the load end of the driving member 5 in the starting state, and protecting the driving member 5. When the driving member 5 drives the swing arm 4 to drive the sonar assembly 2 to gradually move toward the horizontal state, the positioning ball 17 breaks away from the lower proximity sensor 19 and moves toward the middle proximity sensor 20 moves. At this time, the state detection unit receives the signal of the lower proximity sensor 19 that is out of contact with the positioning ball 17, and feeds it back to the falling state monitoring unit. The falling state monitoring unit sends a corresponding protection signal to the falling protection unit. The falling protection unit controls the telescopic member 13 to insert the telescopic member 13 into the position corresponding to the flexible sleeve 10, and switches the swing arm 4 and the driving arm 9 to the hard connection state, thereby achieving the purpose of automatically controlling the retraction and extension of the sonar component 2, and in the process of storing the sonar component 2 from the water body, the driving component 5 is automatically protected, the load on the load end of the driving component 5 is reduced, and a certain protection effect is played on the driving component 5.

[0030] In this example, see Figure 7The flow measuring tube 11 is installed in the water, and the opening of the bottom of the connecting rod 12 is extended to the inner cavity of the flow measuring tube 11 and faces the forward direction of the hull 1. The inner cavity of the connecting rod 12 is vertically slidably connected with a synchronization rod 18. The bottom of the synchronization rod 18 is equipped with a piston that abuts against the inner wall of the connecting rod 12. When the hull 1 moves forward in the water, the water will pass through the flow measuring tube 11, and part of the water will enter the connecting rod 12 at the moving speed and push the synchronization rod 18 upward. As the forward speed of the hull 1 increases, the upward movement distance of the synchronization rod 18 increases. The moving speed of the hull 1 can be judged more quickly by the height of the synchronization rod 18. The flow measuring tube 11 is installed horizontally, and the opening of the flow measuring tube 11 faces the forward direction of the hull 1, so that the water can enter the flow measuring tube 11 more smoothly.

[0031] In addition, when the hull 1 is moving forward at a high speed, the sonar assembly 2 and the swing arm 4 are subjected to a large impact force from the water, which can easily damage the swing arm 4 and the sonar assembly 2. In addition, starting the storage work of the sonar assembly 2 in this state will increase the load on the load end of the drive member 5. Please refer to Figure 7 The top of the synchronization rod 18 passes through the side wall of the driving arm 9 and extends to the middle of the positioning tube 16. The end of the synchronization rod 18 is magnetically attracted to the positioning ball 17 by a magnet. The positioning tube 16 and the driving arm 9 and the synchronization rod 18 are all provided with placement grooves at the corresponding positions. When the sonar assembly 2 is driven into the water by controlling the swing arm 4 to swing, the upper end of the synchronization rod 18 is inserted into the positioning tube 16 and adsorbed with the positioning ball 17. When the speed of the hull 1 gradually increases, the synchronization rod 18 will drive the positioning ball 17 to move upward and move to the middle proximity sensor 20 and the upper proximity sensor 21 positions in turn. When the positioning ball 17 moves to the middle proximity sensor 20, the status detection unit determines that the hull 1 is at the load threshold through the position signal fed back by the middle proximity sensor 20, and sends the judgment result To the overturning state monitoring unit, the overturning state monitoring unit determines that the sonar component 2 should be stored with caution in this state, and the operator can actively control the storage operation by operating the overturning control knob through remote control; when the positioning ball 17 moves to the upper proximity sensor 21, the state detection unit determines that the hull 1 is at the load alarm value through the position signal fed back by the upper proximity sensor 21, and sends the judgment result to the overturning state monitoring unit. The overturning state monitoring unit determines that the sonar component 2 cannot be stored in this state, and reminds to slow down to the load threshold and below for the storage operation. It can make corresponding storage prompts according to the traveling speed of the hull 1, reduce the probability of damage to the drive component 5, and play a better protective role for the drive component 5, the swing arm 4 and the sonar component 2.

[0032] In this example, see Figure 3The outside of the sonar assembly 2 is wrapped with a streamlined shell, the swing arm 4 and the shell of the sonar assembly 2 are detachably connected, the mounting seat 6 and the hull 1 are detachably connected, the driving member 5 and the mounting seat 6 are detachably connected, and an arm support seat 7 corresponding to the driving arm 9 is installed on the mounting seat 6. The streamlined shell reduces the impact of water flow and reduces damage to the sonar assembly 2. Multiple components can be detachably installed to realize modular design. Bolts are used to connect the modules. When a module is damaged, it can be quickly replaced and repaired conveniently, which reduces costs and facilitates mass production and manufacturing, and has certain use value.

[0033] Example 2 The unmanned boat sonar lying mechanism provided in the first embodiment is further optimized. The difference from the first embodiment is that, please refer to Figure 8 A recovery tank 3 matching the sonar assembly 2 is provided on the hull 1, and a sonar detection component is provided in the recovery tank 3. The sonar detection component includes a support seat 22 installed in the recovery tank 3 and a pressure sensor 23 provided at the bottom of the support seat 22. The sonar assembly 2 is moved to the recovery tank 3 by the driving member 5, and the sonar assembly 2 is collected from the water body, thereby reducing the damage of the water body to the sonar assembly 2 and facilitating the maintenance of the sonar assembly 2 in the hull 1. At this time, the sonar assembly 2 is located on the support seat 22 to support the sonar assembly 2. At this time, the sonar assembly 2 exerts a certain force on the support seat 22, and acts on the pressure sensor 23. The corresponding pressure value can be detected by the pressure sensor 23; Through the above structural design, when the sonar assembly 2 is used for a long time, the sonar assembly 2 will be impacted by water and debris, causing damage to the shell of the sonar assembly 2. Water will enter the sonar assembly 2. If not handled in time, it will cause further damage to the internal components of the sonar assembly 2. Therefore, after the sonar assembly 2 is stored in the recovery tank 3, the weight of the corresponding sonar assembly 2 can be detected by the pressure sensor 23. By comparing it with the weight of the sonar assembly 2 in a normal state, it can be preliminarily determined whether the sonar assembly 2 is damaged or water-infiltrated, and the sonar assembly 2 can be quickly repaired.

[0034] It is worth mentioning that see Figure 6 and Figure 8 The input end of the lodging state monitoring unit is also connected to the sonar detection unit, and the input end of the sonar detection unit is connected to the pressure sensor 23 signal. After the lodging control unit controls the sonar assembly 2 to be stored on the recovery tank 3, the lodging state monitoring unit sends a maintenance signal to the lodging protection unit and the sonar detection unit. The lodging protection unit controls the telescopic member 13 to work, such as Figure 8As shown, the telescopic part 13 controls the hard inner column 14 and the flexible inner column 15 to be retracted into the swing arm 4, and both are in a non-corresponding state with the flexible sleeve 10. The driving arm 9 and the swing arm 4 are connected in series through the flexible sleeve 10. Since the flexible sleeve 10 is made of flexible material, the force of the driving arm 9 on the swing arm 4 is reduced, so that the sonar component 2 can better transfer the weight to the support seat 22. The pressure sensor 23 feeds back the detected pressure data to the sonar detection unit. The sonar detection unit compares the received pressure data with a preset pressure threshold (the sonar detection unit is preset with a pressure value detected by the pressure sensor 23 when the sonar component 2 is normal). When it is judged that the preset pressure threshold is exceeded, the sonar component 2 is in a damaged and water-infiltrated state. Therefore, it is convenient to quickly understand the damage condition of the sonar component 2 and to quickly repair the sonar component 2.

Claims

1. A sonar landing mechanism for an unmanned boat, characterized in that: include: Hull (1); A landing component, the landing component comprising a mounting seat (6) mounted on the hull (1), a driving member (5) mounted on the mounting seat (6), a swing frame (8) mounted on the output end of the driving member (5), and a swing arm (4) connected to the swing frame (8), wherein the sonar assembly (2) is mounted on the end of the swing arm (4); A protective component, comprising a driving arm (9) arranged between a swing arm (4) and a swing frame (8), a telescopic member (13) installed in the swing arm (4), and a rigid inner column (14) and a flexible inner column (15) installed in series at an output end of the telescopic member (13), one end of the driving arm (9) being installed with the swing frame (8), and the other end being connected with the swing arm (4) through a flexible sleeve (10), the telescopic member (13) being used to drive the rigid inner column (14) and the flexible inner column (15) to slide along the inner cavity of the swing arm (4) and the driving arm (9), and the lengths of the rigid inner column (14) and the flexible inner column (15) being greater than the length of the flexible sleeve (10).

2. The unmanned boat sonar crouching mechanism according to claim 1, characterized in that: The outer walls of the rigid inner column (14) and the flexible inner column (15) are in contact with the inner walls of the swing arm (4) and the driving arm (9), and the outer walls of the rigid inner column (14) and the flexible inner column (15) are provided with guide grooves along their axial directions. The inner walls of the swing arm (4) and the driving arm (9) are fixed with guide strips matching the guide grooves.

3. The unmanned boat sonar crouching mechanism according to claim 1, characterized in that: A positioning cylinder (16) is vertically installed in the driving arm (9), a positioning ball (17) is placed in the inner cavity of the positioning cylinder (16), a lower proximity sensor (19) is installed at the lower part of the positioning cylinder (16), a middle proximity sensor (20) is installed at the middle part of the positioning cylinder (16), and an upper proximity sensor (21) is installed at the upper part of the positioning cylinder (16).

4. The unmanned boat sonar crouching mechanism according to claim 3, characterized in that: The hull (1) is provided with a main controller, and the main controller is equipped with a lodging state control system, and the lodging state control system includes a lodging state monitoring unit, the input end of the lodging state monitoring unit is connected to the state detection unit, and the output end of the lodging state monitoring unit is respectively connected to the lodging control unit and the lodging protection unit; the input end of the state detection unit is respectively connected to the lower proximity sensor (19), the middle proximity sensor (20) and the upper proximity sensor (21) signals, the output end of the lodging control unit is connected to the driving member (5) signal, the input end of the lodging control unit is connected to the lodging control knob signal, and the output end of the lodging protection unit is connected to the telescopic member (13) signal.

5. The unmanned boat sonar crouching mechanism according to claim 4, characterized in that: A flow rate detection component is installed on one side of the mounting seat (6), and the flow rate detection component includes a connecting rod (12) installed with the mounting seat (6), and a flow measuring tube (11) installed at the bottom of the connecting rod (12). The flow measuring tube (11) extends into the water, and the bottom opening of the connecting rod (12) extends to the inner cavity of the flow measuring tube (11) and faces the forward direction of the hull (1). The inner cavity of the connecting rod (12) is vertically slidably plugged with a synchronization rod (18), and the bottom of the synchronization rod (18) is installed with a piston that abuts against the inner wall of the connecting rod (12).

6. The unmanned boat sonar crouching mechanism according to claim 5, characterized in that: The top end of the synchronization rod (18) passes through the side wall of the driving arm (9) and extends to the middle of the positioning cylinder (16). The end of the synchronization rod (18) is magnetically attracted to the positioning ball (17) by a magnet. The positioning cylinder (16) and the driving arm (9) are all provided with placement grooves at corresponding positions to the synchronization rod (18).

7. The unmanned boat sonar crouching mechanism according to claim 6, characterized in that: The flow measuring tube (11) is installed transversely, and the opening of the flow measuring tube (11) faces the forward direction of the hull (1).

8. The unmanned boat sonar crouching mechanism according to claim 4, characterized in that: The hull (1) is provided with a recovery tank (3) that matches the sonar assembly (2), and a sonar detection component is provided in the recovery tank (3). The sonar detection component includes a support seat (22) installed in the recovery tank (3) and a pressure sensor (23) provided at the bottom of the support seat (22).

9. The unmanned boat sonar crouching mechanism according to claim 8, characterized in that: The input end of the falling state monitoring unit is also connected to a sonar detection unit, and the input end of the sonar detection unit is connected to the pressure sensor (23) signal.

10. The unmanned boat sonar crouching mechanism according to claim 1, characterized in that: The sonar assembly (2) is wrapped with a streamlined shell on the outside, the swing arm (4) and the shell of the sonar assembly (2) are detachably connected, the mounting seat (6) and the hull (1) are detachably connected, the driving member (5) and the mounting seat (6) are detachably connected, and an arm support seat (7) corresponding to the driving arm (9) is installed on the mounting seat (6).

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