An unmanned ship sonar tilting mechanism

Abstract

The application discloses an unmanned ship sonar folding mechanism, which comprises a ship body, a folding part and a protection part. The folding part comprises a mounting seat mounted with the ship body, a driving part mounted on the mounting seat, a swing frame mounted with the output end of the driving part and a swing arm connected with the swing frame. The protection part comprises a driving arm arranged between the swing arm and the swing frame, a telescopic part mounted in the swing arm, a hard inner column and a flexible inner column which are connected in series at the output end of the telescopic part. The application realizes the function of folding and unfolding the sonar platform on the unmanned ship at any time, realizes the function of quickly arranging the sonar and other navigation devices, avoids placing the sonar assembly in water for a long time, improves the service life of the sonar, reduces the torque peak value when the driving part is started by controlling the state between the swing arm and the driving arm, reduces the load at the load end of the driving part when the driving part is started, and reduces the damage probability of the driving part.

Description

Technical Field

[0001] This invention relates to the field of ship sonar detection technology, and in particular to a sonar tilting mechanism for unmanned surface vessels. Background Technology

[0002] Sonar, as a marine instrument and navigation device, is mainly used for underwater target detection, positioning, and communication. It is one of the core devices for ship navigation and marine surveying, ensuring that ships have more advanced detection performance and longer detection range. With the introduction of advanced marine technologies and the continuous upgrading of equipment, unmanned surface vessels (USVs) are used for exploration missions. By carrying sonar equipment as a marine instrument or navigation device, USVs can perform long-term exploration missions. Therefore, the sonar equipment will be submerged in water for a long time. In order to improve the service life of the sonar equipment, how to deploy the sonar on the vessel is particularly important.

[0003] In the prior art, Chinese invention patent CN114394207A discloses an automatic deployment and retrieval mechanism for sonar on unmanned surface vessels (USVs), including a sonar compartment, an intelligent lifting device, a sealing device, a lifting rod support device, and a sonar mounting bracket. The intelligent lifting device drives a lead screw to move up and down, thereby causing the lifting rod to move up and down, achieving sonar deployment and retrieval. However, its lifting device occupies a large space and is not easily installed on USVs. Another example is Chinese patent CN218594526U, which discloses a sonar equipment fixing device, including a base plate. A box is provided at the lower end of the base plate, and two symmetrically arranged fixing rings are fixedly connected to the lower end of the box. Each fixing ring has a chamber, and multiple sets of circumferentially spaced connections run between the chamber and the inner wall of the fixing ring. The system features a through-slot, through which connecting plates are slidably connected. Two connecting plates on the same side are fixedly connected to their ends. Each of the two chambers contains multiple moving mechanisms for moving the connecting plates, and a driving mechanism for driving these mechanisms. These mechanisms push the clamping plates towards the center via the moving plates, bringing them into contact with the outer wall of the sonar device. This allows for rapid installation of the sonar device. While the installation components are simple and easy to use, the system typically places sonar and similar navigation instruments at the bottom of the ship, leaving the sonar submerged in seawater for extended periods, significantly reducing its lifespan. Furthermore, the system is less convenient for repairs when the sonar malfunctions, leading to a substantial increase in operating costs. Summary of the Invention

[0004] Therefore, it is necessary to provide an unmanned surface vessel (USV) sonar tilting mechanism to address the aforementioned technical problems. This would solve the problem that in the existing technology, sonar and other navigational instruments and equipment are placed at the bottom of the hull, which means that the sonar will be submerged in seawater for a long time, significantly reducing its service life. In addition, the sonar is difficult to repair when it malfunctions, which will lead to a significant increase in the cost of using the sonar.

[0005] A sonar tilting mechanism for unmanned surface vessels includes:

[0006] Hull;

[0007] The overturning component includes a mounting base installed on the hull, a drive unit installed on the mounting base, a swing frame installed on the output end of the drive unit, and a swing arm connected to the swing frame. The sonar assembly is installed at the end of the swing arm.

[0008] The protective component includes a drive arm disposed 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 drive arm is installed with the swing frame, and the other end is connected to 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 drive arm. The lengths of the rigid inner column and the flexible inner column are both greater than the length of the flexible sleeve.

[0009] In a preferred embodiment of the unmanned surface vessel sonar tilting 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 drive arm. The outer walls of the rigid inner column and the flexible inner column are provided with guide grooves along their axial direction. The inner walls of the swing arm and the drive arm are fixed with guide strips that match the guide grooves.

[0010] In a preferred embodiment of the unmanned surface vessel sonar tilting mechanism provided by the present invention, a positioning cylinder is vertically installed in the drive arm, a positioning ball is placed in the inner cavity of the positioning cylinder, a lower proximity sensor is installed at the lower part of the positioning cylinder, a middle proximity sensor is installed at the middle part of the positioning cylinder, and an upper proximity sensor is installed at the upper part of the positioning cylinder.

[0011] In a preferred embodiment of the unmanned surface vessel (USV) sonar collapse mechanism provided by the present invention, a main controller is provided on the hull, and a collapse state control system is mounted on the main controller. The collapse state control system includes a collapse state monitoring unit, the input of which is connected to a state detection unit, and the output of which is connected to a collapse control unit and a collapse protection unit. The input of the state detection unit is connected to signals from a lower proximity sensor, a middle proximity sensor, and an upper proximity sensor, respectively. The output of the collapse control unit is connected to signals from a drive component, the input of which is connected to signals from a collapse control knob, and the output of the collapse protection unit is connected to signals from a telescopic component.

[0012] In a preferred embodiment of the unmanned surface vessel (USV) sonar tilting mechanism provided by the present invention, a flow velocity detection component is installed on one side of the mounting base. The flow velocity detection component includes a connecting rod installed with the mounting base and a flow measuring cylinder installed at the bottom of the connecting rod. The flow measuring cylinder extends into the water, and the bottom opening of the connecting rod extends into the inner cavity of the flow measuring cylinder and faces the forward direction of the vessel. A synchronizing rod is vertically slidably inserted into the inner cavity of the connecting rod, and a piston that abuts against the inner wall of the connecting rod is installed at the bottom of the synchronizing rod.

[0013] In a preferred embodiment of the unmanned surface vessel sonar tilting mechanism provided by the present invention, the top end of the synchronizing rod passes through the side wall of the drive arm and extends to the middle of the measuring cylinder. The end of the synchronizing rod is magnetically attracted to the measuring ball by a magnet. The measuring cylinder and the drive arm are provided with placement slots at the corresponding positions of the synchronizing rod.

[0014] In a preferred embodiment of the unmanned surface vessel sonar tilting mechanism provided by the present invention, the flow meter is installed horizontally, and the opening of the flow meter faces the direction of the vessel's movement.

[0015] As a preferred embodiment of the unmanned surface vessel sonar collapse mechanism provided by the present invention, the hull is provided with a recovery trough that matches the sonar assembly, and a sonar detection component is provided in the recovery trough. The sonar detection component includes a support base installed in the recovery trough and a pressure sensor provided at the bottom of the support base.

[0016] In a preferred embodiment of the unmanned surface vessel sonar collapse mechanism provided by the present invention, the input end of the collapse state monitoring unit is also connected to a sonar detection unit, and the input end of the sonar detection unit is connected to a pressure sensor signal.

[0017] In a preferred embodiment of the unmanned surface vessel sonar tilting mechanism provided by the present invention, the sonar assembly is externally encased in a streamlined shell, the swing arm is detachably connected to the shell of the sonar assembly, the mounting base is detachably connected to the hull, the drive component is detachably connected to the mounting base, and an arm support corresponding to the drive arm is mounted on the mounting base.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention provides a sonar tilting mechanism for unmanned surface vessels (USVs), which enables the sonar platform on USVs to be deployed and retracted at any time. This facilitates the rapid deployment of sonar and other nautical instruments and navigation equipment, avoids placing the sonar components in the water for extended periods, thus extending the lifespan of the sonar. Furthermore, retracting the sonar components onto the hull allows for easy calibration and maintenance, further extending their service life. Multiple components are detachable and modular, with bolted connections between modules. This allows for quick replacement and convenient maintenance when a module is damaged, reducing costs and facilitating mass production. It has significant practical value.

[0020] 2. The sonar tilting mechanism provided by this invention can control the state between the swing arm and the drive arm when rapidly deploying sonar and other navigational instruments and equipment into the water, switching between a rigid connection and a flexible connection. When controlling the retraction of the sonar assembly from the water onto the hull, the drive arm and the swing arm are flexibly connected. When the drive is activated, the flexible inner column undergoes elastic deformation, which absorbs the energy of the sudden increase in fluid resistance during activation, reduces the peak torque, and attenuates the random vibration of the hull caused by waves, protecting the drive bearing. This reduces the load on the drive load end during activation, improves the service life of the drive during multiple sonar deployment and retrieval operations, and reduces the probability of damage to the drive.

[0021] 3. The unmanned surface vessel sonar tilting mechanism provided by this invention addresses the issue that during prolonged use of the sonar assembly, it is subject to impacts from water and debris, causing damage to the sonar assembly shell and allowing water to enter. If not addressed promptly, this can lead to further damage to the internal components of the sonar assembly. Therefore, after the sonar assembly is stored in the recovery tank, a pressure sensor can detect the weight of the corresponding sonar assembly and compare it with the weight of the sonar assembly under normal conditions. This allows for a preliminary assessment of whether the sonar assembly has been damaged or infiltrated, enabling rapid repair of the sonar assembly. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure provided by the present invention when the sonar component is housed in the recovery tank;

[0025] Figure 3 This is a schematic diagram of the structure of the collapsed component provided by the present invention;

[0026] Figure 4 A schematic diagram of the structure of the protective component provided by the present invention when the rigid inner column corresponds to the flexible sleeve;

[0027] Figure 5 This is a schematic diagram of the structure of the protective component provided by the present invention when the flexible inner column corresponds to the flexible sleeve;

[0028] Figure 6 The control principle diagram of the lodging state control system provided by the present invention;

[0029] Figure 7 This is a cross-sectional structural schematic diagram of the flow velocity detection component provided by the present invention;

[0030] Figure 8 This is a schematic diagram of the sonar detection component provided by the present invention when detecting a sonar assembly.

[0031] The markings in the diagram are explained as follows:

[0032] 1. Hull; 2. Sonar assembly; 3. Recovery tank; 4. Swing arm; 5. Drive unit; 6. Mounting base; 7. Arm support base; 8. Swing frame; 9. Drive arm; 10. Flexible sleeve; 11. Flow measuring tube; 12. Connecting rod; 13. Telescopic component; 14. Rigid inner column; 15. Flexible inner column; 16. Position measuring tube; 17. Position measuring ball; 18. Synchronizing rod; 19. Lower proximity sensor; 20. Middle proximity sensor; 21. Upper proximity sensor; 22. Support base; 23. Pressure sensor. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the embodiments of the present invention can be combined with each other.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] Example 1

[0037] Please refer to Figures 1-5 A sonar tilting mechanism for an unmanned surface vessel (USV) includes a hull 1, a tilting component, and a protective component. The tilting component includes a mounting base 6 mounted to the hull 1, a drive component 5 mounted on the mounting base 6, a swing frame 8 mounted to the output end of the drive component 5, and a swing arm 4 connected to the swing frame 8. A sonar assembly 2 is mounted at the end of the swing arm 4. The drive component 5 is preferably a stepper motor or a hydraulic cylinder, capable of driving the swing frame 8 to swing at multiple angles. By setting up the tilting component, when it is necessary to control the position of the sonar assembly 2, the drive component 5 drives the swing frame 8 to swing, and the swing arm 4 controls the movement of the sonar assembly 2. The sonar assembly 2 can be swung to quickly deploy it into the water for sonar testing. When not in use, the sonar assembly 2 can be detached from the water and moved into the hull 1 via the drive unit 5. This enables the unmanned surface vessel (USV) to deploy and retract its sonar platform at any time, facilitating the rapid deployment of navigation instruments and equipment like sonar. It also avoids leaving the sonar assembly 2 submerged in water for extended periods, extending its lifespan. Furthermore, retracting the sonar assembly 2 onto the hull 1 allows for easy calibration and maintenance, further extending its service life.

[0038] It is worth mentioning that you should refer to Figures 3-5 The protective components include a drive arm 9 positioned between the swing arm 4 and the 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 connected in series at the output end of the telescopic member 13. One end of the drive arm 9 is installed with the swing frame 8, and the other end is connected to the swing arm 4 via a flexible sleeve 10. The telescopic member 13 drives the rigid inner column 14 and the flexible inner column 15 to slide along the inner cavities of the swing arm 4 and the drive arm 9. The lengths of both the rigid inner column 14 and the flexible inner column 15 are greater than the length of the flexible sleeve 10. The telescopic member 13 is preferably a telescopic motor or a telescopic cylinder. By providing the protective components, the drive member 5 operates... The movable swing frame 8 and the drive arm 9 swing, and drive the swing arm 4 to swing through the flexible sleeve 10. The flexible sleeve 10 and the flexible inner column 15 are both made of elastic material, while the rigid inner column 14 is made of rigid material. By controlling the telescopic component 13 to work, the rigid inner column 14 and the flexible inner column 15 are driven to move back and forth synchronously. When the rigid inner column 14 moves to the position of the flexible sleeve 10, both ends of the rigid inner column 14 are connected to the drive arm 9 and the swing arm 4, realizing a hard connection between the drive arm 9 and the swing arm 4. In addition, when the flexible inner column 15 moves to the position of the flexible sleeve 10, both ends of the flexible inner column 15 are connected to the drive arm 9 and the swing arm 4, realizing a soft connection between the drive arm 9 and the swing arm 4.

[0039] Through the above structural design, when the sonar assembly 2 is operating in water, and the hull 1 moves at a certain speed, the telescopic component 13 operates to move the rigid inner column 14 to the position corresponding to the flexible sleeve 10, such as... Figure 4As shown, a rigid connection is achieved between the drive arm 9 and the swing arm 4, improving the connection strength between the swing arm 4 and the drive arm 9, and allowing the sonar assembly 2 to be stably inserted into the water for operation. Additionally, the impact force of the water on the swing arm 4 will act on the load end of the drive component 5. When the sonar assembly 2 needs to be mounted on the hull 1, the load end of the drive component 5 drives the swing arm 4 to swing via the drive arm 9. At this time, the load end of the drive component 5 experiences fluid resistance and additional mass, causing a sharp increase in its starting torque, which may trigger a stall in the drive component 5, resulting in starting overload and affecting the service life of the drive component 5. In this situation, the telescopic component 13 works to move the rigid inner column 14 and the flexible inner column 15, moving the flexible inner column 15 to the position corresponding to the flexible sleeve 10, as shown. Figure 5 As shown, the drive arm 9 and the swing arm 4 are flexibly connected. When the drive component 5 is started, the flexible inner column 15 undergoes elastic deformation. The elastic deformation absorbs the energy of the sudden increase in fluid resistance during startup, reduces the peak torque, and attenuates the random vibration of the hull 1 caused by waves, protecting the bearing of the drive component 5. This reduces the load on the load end of the drive component 5 during startup, which can improve the service life of the drive component 5 during multiple sonar deployment and retrieval operations and reduce the probability of damage to the drive component 5.

[0040] In addition, after the drive unit 5 has been started for a period of time, it will control the telescopic component 13 to move the rigid inner column 14 to the position corresponding to the flexible sleeve 10, so that the swing arm 4 and the drive arm 9 are rigidly connected, which makes it easy to stably store the sonar component 2 on the hull 1 in the state of bumpy water.

[0041] Preferred, such as Figure 4 As shown, the outer walls of both 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 drive arm 9. Guide grooves are provided along the axial direction of the outer walls of both the rigid inner column 14 and the flexible inner column 15. Guide strips matching the guide grooves are fixed to the inner walls of both the swing arm 4 and the drive arm 9. When the telescopic component 13 controls 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 reciprocate within the inner cavities of the swing arm 4 and the drive arm 9 and fit against their inner walls, providing good support for the swing arm 4 and the drive arm 9. Furthermore, by setting guide strips and guide grooves, the stability of the connection between the swing arm 4 and the drive arm 9 can be further improved, and the stable switching between the rigid connection and the flexible connection of the swing arm 4 and the drive arm 9 can be controlled.

[0042] During the installation and deployment of marine instruments and navigation equipment such as sonar, in order to facilitate the detection of the position status of the sonar assembly 2 on the swing arm 4, please refer to [link / reference needed]. Figure 4 and Figure 7A positioning cylinder 16 is vertically mounted in the drive arm 9. A positioning ball 17 is placed inside the 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. Due to gravity, when the swing arm 4 drives the sonar assembly 2 to a vertically downward state, the positioning ball 17 will contact the lower proximity sensor 19. The lower proximity sensor 19 can 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 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 a vertically upward state. This allows for a quick understanding of the position of the sonar assembly 2.

[0043] To achieve automated control of the deployment and retrieval of nautical instruments and navigation equipment such as sonar assembly 2, and to minimize damage to the drive components 5 during deployment and retrieval, please refer to [link to relevant documentation]. Figures 3-7The hull 1 is equipped with a main controller, which carries a lodging control system. The lodging control system includes a lodging monitoring unit. The input of the lodging monitoring unit is connected to a status detection unit, and the output of the lodging monitoring unit is connected to a lodging control unit and a lodging protection unit. The input of the status detection unit is connected to the lower proximity sensor 19, the middle proximity sensor 20, and the upper proximity sensor 21. The output of the lodging control unit is connected to the drive component 5, and the input of the lodging control unit is connected to the lodging control knob. The output of the lodging protection unit is connected to the telescopic component 13. When it is necessary to control the retraction and extension of the sonar assembly 2, the retraction and extension signal is sent to the retraction and extension control unit by rotating the retraction control button, which controls the drive component 5 to work and move the sonar assembly 2 to any angle for retraction and extension. The status detection unit determines the position status 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 it back to the retraction status monitoring unit. During non-retraction processes, the retraction status monitoring unit sends a corresponding protection signal to the retraction protection unit. At this time, the retraction protection unit controls the telescopic component 13 to work and move the rigid inner column 14 to be aligned with the flexible sleeve 10. In response, a rigid connection is achieved between the swing arm 4 and the drive arm 9. When a retraction signal is sent to the collapse control unit via the collapse control knob, the collapse state monitoring unit sends a corresponding protection signal to the collapse protection unit. The collapse protection unit controls the telescopic component 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 drive arm 9 are in a flexible connection state, thereby reducing the load on the drive component 5 in the start-up state and protecting the drive component 5. When the drive component 5 drives the swing arm 4 to move the sonar assembly 2 gradually towards the horizontal state, the positioning ball 17 disengages from the lower proximity sensor 19 and moves towards the middle proximity sensor. 20. When the device moves, the status detection unit receives a signal from the proximity sensor 19 indicating that it has lost contact with the positioning ball 17, and sends it back to the collapse status monitoring unit. The collapse status monitoring unit sends a corresponding protection signal to the collapse protection unit. The collapse protection unit controls the telescopic component 13 to insert the telescopic component 13 into the position corresponding to the flexible sleeve 10, and switches the swing arm 4 and the drive arm 9 to a hard connection state, thereby achieving the purpose of automatically controlling the sonar component 2 to be retracted and extended. During the process of retracting the sonar component 2 from the water, it also provides automatic protection for the drive component 5, reducing the load on the load end of the drive component 5 and providing a certain degree of protection for the drive component 5.

[0044] In this embodiment, please refer to Figure 7A flow velocity detection component is installed on one side of the mounting base 6. The flow velocity detection component includes a connecting rod 12 installed with the mounting base 6 and a flow measuring cylinder 11 installed at the bottom of the connecting rod 12. The flow measuring cylinder 11 extends into the water, and the bottom opening of the connecting rod 12 extends into the inner cavity of the flow measuring cylinder 11 and faces the forward direction of the boat 1. A synchronizing rod 18 is vertically slidably inserted into the inner cavity of the connecting rod 12. A piston is installed at the bottom of the synchronizing rod 18 that abuts against the inner wall of the connecting rod 12. When the boat 1 moves forward in the water, water will pass through the flow measuring cylinder 11, and some water will enter the connecting rod 12 at a moving speed, pushing the synchronizing rod 18 upward. The faster the boat 1 moves forward, the higher the upward distance of the synchronizing rod 18. The moving speed of the boat 1 can be quickly determined by the height of the synchronizing rod 18. The flow measuring cylinder 11 is installed horizontally, and the opening of the flow measuring cylinder 11 faces the forward direction of the boat 1, so that the water flow can enter the flow measuring cylinder 11 more smoothly.

[0045] Additionally, when the forward speed of the hull 1 is relatively high, the sonar assembly 2 and the swing arm 4 are subjected to greater impact forces from the water, which can easily damage the swing arm 4 and the sonar assembly 2. Furthermore, initiating the retraction of the sonar assembly 2 in this state will increase the load on the drive unit 5. Please refer to [link / reference needed]. Figure 7 The top of the synchronizing rod 18 passes through the side wall of the drive arm 9 and extends to the middle of the measuring cylinder 16. The end of the synchronizing rod 18 is magnetically attracted to the measuring ball 17 by a magnet. The measuring cylinder 16 and the drive arm 9 are provided with placement slots corresponding to the synchronizing rod 18. When the swing arm 4 is controlled to swing and drive the sonar assembly 2 into the water, the upper end of the synchronizing rod 18 is inserted into the measuring cylinder 16 and attracted to the measuring ball 17. As the speed of the hull 1 gradually increases, the synchronizing rod 18 will drive the measuring ball 17 to move upward and sequentially move to the positions of the middle proximity sensor 20 and the upper proximity sensor 21. When the measuring ball 17 moves to the middle proximity sensor 20, the status detection unit determines that the hull 1 is at the load threshold based on the position signal fed back by the middle proximity sensor 20 and sends the determination result. The system provides a lodging status monitoring unit. If the system determines that the sonar assembly 2 is in this state, the operator should proceed with caution during the retraction operation. The operator can remotely control the retraction operation by operating the lodging control knob. When the positioning ball 17 moves to the upper proximity sensor 21, the status detection unit determines that the hull 1 is at a load alarm value based on the position signal fed back by the upper proximity sensor 21. The system then sends the determination to the lodging status monitoring unit, which determines that the sonar assembly 2 cannot be retracted in this state and prompts the operator to reduce speed to or below the load threshold before retraction. This system can provide corresponding retraction prompts based on the hull 1's travel speed, reducing the probability of damage to the drive component 5 and providing better protection for the drive component 5, the swing arm 4, and the sonar assembly 2.

[0046] In this embodiment, please refer to Figure 3The sonar assembly 2 is encased in a streamlined shell. The swing arm 4 is detachably connected to the shell of the sonar assembly 2. The mounting base 6 is detachably connected to the hull 1. The drive component 5 is detachably connected to the mounting base 6. The mounting base 6 is equipped with an arm support seat 7 corresponding to the drive arm 9. The streamlined shell reduces the impact of water flow and reduces damage to the sonar assembly 2. Multiple components can be detached and installed to achieve a modular design. The modules are connected by bolts, which allows for quick replacement and convenient maintenance when a module is damaged. This reduces costs, facilitates mass production, and has certain practical value.

[0047] Example 2

[0048] The sonar tilting mechanism for unmanned surface vessels provided in Embodiment 1 is further optimized. The differences from Embodiment 1 are as follows: Please refer to [link to Embodiment 1]. Figure 8 The hull 1 is provided with a recovery tank 3 that matches the sonar assembly 2. The recovery tank 3 is equipped with a sonar detection component, which includes a support base 22 installed in the recovery tank 3 and a pressure sensor 23 installed at the bottom of the support base 22. The sonar assembly 2 is moved into the recovery tank 3 by the drive component 5 to collect the sonar assembly 2 from the water, reducing the damage of the sonar assembly 2 to the sonar assembly 2 by the water 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 base 22, which supports the sonar assembly 2. The sonar assembly 2 exerts a certain force on the support base 22 and acts on the pressure sensor 23. The pressure sensor 23 can detect the corresponding pressure value.

[0049] Through the above structural design, when the sonar assembly 2 is used for a long time, it 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 dealt with 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 pressure sensor 23 can detect the weight of the corresponding sonar assembly 2 and compare it with the weight of the sonar assembly 2 under normal conditions. This allows for a preliminary judgment on whether the sonar assembly 2 has been damaged or infiltrated, and allows for rapid repair of the sonar assembly 2.

[0050] It is worth mentioning that you should refer to Figure 6 and Figure 8 The input of the lodging condition monitoring unit is also connected to a sonar detection unit. The input of the sonar detection unit is connected to the pressure sensor 23. After the lodging control unit controls the sonar assembly 2 to be stored in the recovery tank 3, the lodging condition monitoring unit sends a maintenance signal to the lodging protection unit and the sonar detection unit. The lodging protection unit controls the telescopic component 13 to work, such as... Figure 8As shown, the telescopic component 13 controls the rigid inner column 14 and the flexible inner column 15 to retract into the swing arm 4. Both are in a non-corresponding state with the flexible sleeve 10. The drive 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, it reduces the force of the drive arm 9 on the swing arm 4, so that the sonar assembly 2 can better transfer the weight to the support 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 the preset pressure threshold (the sonar detection unit has a preset pressure value detected by the pressure sensor 23 when the sonar assembly 2 is normal). When it is determined that the preset pressure threshold is exceeded, the sonar assembly 2 is in a damaged and water-infiltrated state. Therefore, it is convenient to quickly understand the damage of the sonar assembly 2 and to quickly repair the sonar assembly 2.

Claims

1. A sonar tilting mechanism for unmanned surface vessels, characterized in that, include: Hull (1); The overturning component includes a mounting base (6) installed with the hull (1), a drive unit (5) installed on the mounting base (6), a swing frame (8) installed with the output end of the drive unit (5), and a swing arm (4) connected to the swing frame (8). The sonar assembly (2) is installed at the end of the swing arm (4). The protective component includes a drive arm (9) disposed between the swing arm (4) and the swing frame (8), a telescopic component (13) installed in the swing arm (4), and a rigid 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 drive arm (9) is installed with the swing frame (8), and the other end is connected to the swing arm (4) through a flexible sleeve (10). The telescopic component (13) is 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 drive arm (9). The lengths of the rigid inner column (14) and the flexible inner column (15) are both greater than the length of the flexible sleeve (10).

2. The unmanned surface vessel sonar tilting 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 drive arm (9). The outer walls of the rigid inner column (14) and the flexible inner column (15) are provided with guide grooves along their axial direction. The inner walls of the swing arm (4) and the drive arm (9) are fixed with guide strips that match the guide grooves.

3. The unmanned surface vessel sonar tilting mechanism according to claim 1, characterized in that, A measuring cylinder (16) is vertically installed in the drive arm (9). A measuring ball (17) is placed in the inner cavity of the measuring cylinder (16). A lower proximity sensor (19) is installed at the lower part of the measuring cylinder (16). A middle proximity sensor (20) is installed in the middle part of the measuring cylinder (16). An upper proximity sensor (21) is installed at the upper part of the measuring cylinder (16).

4. The unmanned surface vessel sonar tilting mechanism according to claim 3, characterized in that, The hull (1) is equipped with a main controller, which is equipped with a lodging state control system. The lodging state control system includes a lodging state monitoring unit. The input end of the lodging state monitoring unit is connected to a state detection unit. The output end of the lodging state monitoring unit is connected to a lodging control unit and a lodging protection unit, respectively. The input end of the state detection unit is connected to the lower proximity sensor (19), the middle proximity sensor (20), and the upper proximity sensor (21), respectively. The output end of the lodging control unit is connected to the drive unit (5). The input end of the lodging control unit is connected to the lodging control knob. The output end of the lodging protection unit is connected to the telescopic component (13).

5. The unmanned surface vessel sonar tilting mechanism according to claim 4, characterized in that, A flow velocity detection component is installed on one side of the mounting base (6). The flow velocity detection component includes a connecting rod (12) installed with the mounting base (6) and a flow measuring cylinder (11) installed at the bottom of the connecting rod (12). The flow measuring cylinder (11) extends into the water. The bottom opening of the connecting rod (12) extends into the inner cavity of the flow measuring cylinder (11) and faces the forward direction of the hull (1). A synchronizing rod (18) is vertically slidably inserted into the inner cavity of the connecting rod (12). A piston that abuts against the inner wall of the connecting rod (12) is installed at the bottom of the synchronizing rod (18).

6. The unmanned surface vessel sonar tilting mechanism according to claim 5, characterized in that, The top of the synchronizing rod (18) passes through the side wall of the drive arm (9) and extends to the middle of the measuring cylinder (16). The end of the synchronizing rod (18) is magnetically attracted to the measuring ball (17) by a magnet. The measuring cylinder (16) and the drive arm (9) are provided with placement slots at the corresponding positions of the synchronizing rod (18).

7. The unmanned surface vessel sonar tilting mechanism according to claim 6, characterized in that, The flow meter (11) is installed horizontally, with its opening facing the forward direction of the hull (1).

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

9. The unmanned surface vessel sonar tilting mechanism according to claim 8, characterized in that, The input end of the lodging 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 surface vessel sonar tilting mechanism according to claim 1, characterized in that, 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 base (6) and the hull (1) are detachably connected. The drive unit (5) and the mounting base (6) are detachably connected. The mounting base (6) is equipped with an arm support seat (7) corresponding to the drive arm (9).

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