Sonar array device and underwater mobile platform

Abstract

The application provides a sonar array device and an underwater mobile platform, and belongs to the technical field of underwater acoustic detection equipment. The device comprises a sonar array shell, a power mechanism and a sonar array. An internal cavity of the sonar array shell forms a power cabin. The power mechanism is arranged in the power cabin and comprises a pushing end. The sonar array comprises a hinged end and a moving end. The hinged end of the sonar array is hinged to the inner wall of the power cabin, and the moving end of the sonar array is connected to the pushing end of the power mechanism. The power mechanism is used to drive the sonar array to move, so that the sonar array is folded or stretched to adjust the aperture size of the sonar array. By combining a rigid folding planar array with a synchronous driving mechanism, the underwater mobile platform can dynamically switch between a low-resistance mode and a large-aperture array mode in a navigation posture, thereby realizing the large-aperture characteristics required for long-distance detection.

Description

Technical Field

[0001] This application belongs to the technical field of underwater acoustic detection equipment, specifically relating to a sonar array device and an underwater mobile platform. Background Technology

[0002] With the increasing demand for marine resource development and security defense, underwater detection technology has become a strategic area of ​​focus for many countries. As the core equipment for underwater detection, the performance of a sonar system directly depends on the acoustic aperture size of the array, a parameter that is positively correlated with the number of hydrophones and the detection range.

[0003] Currently, mainstream sonar arrays (such as towed arrays, fixed conformal arrays, and cylindrical arrays) suffer from the following technical bottlenecks: traditional arrays form a fixed physical structure after deployment, making it impossible to dynamically adjust the acoustic aperture size according to actual needs. This rigid structure creates a significant contradiction under the constraints of limited platform space—while small-aperture arrays can meet platform mounting requirements, they cannot simultaneously achieve the large-aperture characteristics required for long-distance detection, resulting in dimensional gaps in the system's detection performance under different operating conditions. Summary of the Invention

[0004] Therefore, the technical problem to be solved by this application is to provide a sonar array device and an underwater mobile platform, which, by combining a rigid folded planar array with a synchronous drive mechanism, enables the underwater mobile platform to dynamically switch between low-resistance mode and large-aperture array mode in its navigation attitude, thereby achieving the large-aperture characteristics required for long-distance detection.

[0005] To address the aforementioned problems, a first aspect of this application provides a sonar array device, comprising a sonar array housing, a power mechanism, and a sonar array. The sonar array housing has an internal cavity forming a power compartment. The power mechanism is disposed within the power compartment and includes a pushing end. The sonar array includes a hinged end and a moving end. The hinged end of the sonar array is hinged to the inner wall of the power compartment, and the moving end of the sonar array is connected to the pushing end of the power mechanism. The power mechanism is used to drive the sonar array to move, thereby folding or extending the sonar array to adjust the aperture size of the sonar array.

[0006] Optionally, the sonar array includes multiple sets of folding units and sonar units, with the ends of adjacent folding units hinged to form a telescopic main frame, and each end of the folding unit is provided with a corresponding sonar unit; the folding unit includes a hinged end and a moving end, the hinged end of the folding unit is hinged to the inner wall of the power compartment, and the moving end of the folding unit is connected to the pushing end of the power mechanism.

[0007] Optionally, the sonar array further includes a snap fastener, by which the sonar unit is fixed to the folding unit.

[0008] Optionally, the power mechanism includes a drive unit, a transmission assembly, and a pushing assembly. The drive unit is located at one end inside the power compartment. The transmission assembly is connected to the drive unit and the pushing assembly, and is used to drive the pushing assembly to move.

[0009] Optionally, the pushing assembly includes a push rod and a push block. The push rod includes a connecting end and a pushing end. The connecting end of the push rod is connected to the transmission assembly, and the pushing end of the push rod is provided with a push block. The moving end of the sonar array is connected to the push block.

[0010] Optionally, the transmission assembly includes a lead screw and a slider. The lead screw includes a first end and a second end. The first end of the lead screw is connected to the drive unit. A lead screw nut is threaded onto the lead screw. The slider is fitted onto the lead screw and its end is fixed to the lead screw nut. A push rod is fitted onto the lead screw from the second end of the lead screw. The connecting end of the push rod is located on the side end face of the slider opposite to the lead screw nut.

[0011] Optionally, the transmission assembly further includes a sonar array guide and a sonar array guide rail. The sonar array guide rail is disposed on the inner wall of the sonar array housing. The sonar array guide is fitted onto the sonar array guide rail to form a sliding pair. One end of the sonar array guide is connected to the moving end of the sonar array, and the other end of the sonar array guide is connected to the push block.

[0012] Optionally, the sonar array housing has an opening arranged along the axial direction of the sonar array housing, and a brush is provided on the end face of the opening for scraping off the deposits on the sonar array.

[0013] Optionally, the power compartment of the sonar array housing is provided with a partition, which divides the power compartment into a control compartment and a transmission compartment. The drive unit is located in the control compartment, and the transmission assembly is located in the transmission compartment.

[0014] Optionally, the transmission assembly further includes a sleeve, one end of which is connected to the partition plate, the lead screw, the lead screw nut, and at least part of the push rod are located inside the sleeve, and an end cap is provided at the end of the sleeve away from the partition plate.

[0015] In a second aspect, this application provides an underwater mobile platform comprising the sonar array device described in any one of the foregoing descriptions.

[0016] By employing the above technical solution, the present invention has at least the following beneficial effects:

[0017] This application provides a sonar array device and an underwater mobile platform. Through a sonar array design that coordinates the sonar array with a propulsion mechanism, the large aperture characteristic required for long-range detection is achieved, improving the system's detection performance under different operating conditions. During navigation, the sonar array is completely housed within a streamlined sonar array casing, significantly reducing fluid resistance and ensuring platform maneuverability. During detection missions, it can rapidly deploy into a large-aperture planar array with a lateral dimension several to tens of times larger than the diameter of the sonar array casing, greatly enhancing overall underwater detection efficiency and mission adaptability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a sonar array device in the deployed state according to an embodiment of this application.

[0019] Figure 2 This is a top sectional view (AA) of the internal structure of a sonar array device in its deployed state, according to an embodiment of this application.

[0020] Figure 3 Examples of embodiments of this application Figure 2 Partial schematic diagram;

[0021] Figure 4 This is a partial right-side sectional view of the power mechanism of a sonar array device in the deployed state, as described in the application embodiment.

[0022] Figure 5 This is a front BB sectional view of the internal structure of a sonar array device in a retracted state, according to an embodiment of the application.

[0023] Figure 6 This is a schematic diagram of the assembly of the sonar array in the retracted state with the underwater mobile platform, according to an embodiment of the application.

[0024] Figure 7 This is a schematic diagram of the sonar array in the deployed state and its assembly with an underwater mobile platform, according to an embodiment of the application.

[0025] Figure 8 This is a schematic diagram of the assembly of two sets of sonar arrays connected in series with an underwater mobile platform, according to an embodiment of the application.

[0026] Figure 9 This is a front view of the sonar array deployed as a spatial cross array according to an embodiment of this application;

[0027] Figure 10 This is a perspective view of the sonar array deployed as a spatial cross array according to an embodiment of this application;

[0028] Figure 11 This is a schematic diagram of the parallel sonar array in its deployed state and its assembly with an underwater mobile platform, according to an embodiment of this application.

[0029] The reference numerals in the attached figures are as follows:

[0030] 1. Sonar array; 2. Sonar array housing; 3. Front connecting plate; 4. Control compartment; 5. Rear connecting plate; 6. Sonar unit; 7. Connecting component; 8. Sonar unit clip; 9. Fixing plate; 10. Motor mounting bracket; 11. Drive unit; 12. Coupling; 13. Lead screw; 14. Sonar array mounting base; 15. Sleeve; 16. Sleeve support plate; 17. Push rod; 18. Sonar array guide rail; 19. Push block; 20. Lower sonar array guide U-shaped frame; 21. Upper sonar array guide U-shaped frame; 22. Fixing component; 23. Bearing; 24. Sealing ring; 25. Bearing seat; 26. Slider positioning rod; 27. Lead screw nut; 28. Slider; 29. ​​End nut; 30. End cap; 31. Bow guide section; 32. Hook; 33. Stern power section; 34. Propeller. Detailed Implementation

[0031] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0035] See also Figures 1 to 11 As shown, according to a first aspect of an embodiment of this application, a sonar array device is provided, including a sonar array housing 2, a power mechanism, and a sonar array 1. The internal cavity of the sonar array housing 2 forms a power compartment. The power mechanism is disposed in the power compartment and includes a pushing end. The sonar array 1 includes a hinged end and a moving end. The hinged end of the sonar array 1 is hinged to the inner wall of the power compartment, and the moving end of the sonar array 1 is connected to the pushing end of the power mechanism. The power mechanism is used to drive the sonar array 1 to move so that the sonar array 1 can be folded or extended to adjust the aperture size of the sonar array.

[0036] Through the coordinated design of the sonar array 1 and the propulsion mechanism, the large aperture characteristics required for long-range detection are achieved simultaneously, improving the system's detection performance under different operating conditions. When underway, the sonar array 1 is completely housed within the streamlined sonar array housing 2, significantly reducing fluid resistance and ensuring platform maneuverability. During detection missions, it can be rapidly deployed into a large-aperture planar array with a lateral dimension several to tens of times larger than the diameter of the ultrasonic array housing 2, greatly enhancing the overall underwater detection effectiveness and mission adaptability.

[0037] The sonar array 1 can be deployed outward or retracted inward within the sonar array housing 2 along the radial direction of the underwater mobile platform. In other words, when folded, the sonar array 1 is completely housed within the sonar array housing 2, maintaining a compact shape. During missions, when fully deployed, the sonar array 1 forms a planar array structure larger than the diameter of the sonar array housing 2, with its lateral dimensions expanding to several times the diameter of the sonar array housing 2, thus constituting a large-aperture sonar array 1.

[0038] In this embodiment, sonar array 1 is a telescopic wing sonar array.

[0039] The sonar array housing 2 includes a housing, a front connecting plate 3 and a rear connecting plate 5. The front connecting plate 3 and the rear connecting plate 4 are respectively provided at both ends of the housing, and the ends of the housing are sealed by the front connecting plate 3 and the rear connecting plate 4.

[0040] Specifically, the sonar array hull 2 ​​is made of high-strength pressure-resistant alloy material to form a cylindrical sealed power compartment.

[0041] The specific implementation process is as follows: The power mechanism provides driving force, which drives the moving end of the sonar array 1 to move along the axis of the sonar array housing 2 via the pushing end. When performing a detection mission, the sonar array 1 unfolds outward from inside the sonar array housing 2 in a direction perpendicular to the left and right of the underwater mobile platform body, ultimately forming a continuous planar sonar array 1 with a lateral expansion dimension 2 to 20 times the diameter of the sonar array housing 2, constituting a large-aperture sonar detection array. During retraction, the sonar array 1 is completely folded into the power compartment of the sonar array housing 2, keeping the device's outline streamlined to adapt to the navigation requirements of the underwater mobile platform.

[0042] In another embodiment, the sonar array 1 includes multiple sets of folding units and sonar units 6. The ends of adjacent folding units are hinged to form a telescopic main frame. Each end of the folding unit is provided with a sonar unit 6. The folding unit includes a hinge end and a moving end. The hinge end of the folding unit is hinged to the inner wall of the power compartment, and the moving end of the folding unit is connected to the pushing end of the power mechanism.

[0043] The folding unit consists of intersecting connecting members 7, meaning that two connecting members 7 are hinged together at the middle via a hinge axis to form a hinged folding unit. The two connecting members 7 can rotate along the hinge axis. This design allows the connecting members 7 to unfold horizontally when the sonar array 1 needs to be deployed for detection, forming a continuous rigid planar structure; and when the sonar array 1 needs to be retracted for navigation or storage, the segments can fold around the hinge axis and nest together, achieving a compact nested storage within the sonar array housing 2.

[0044] Specifically, the connecting component 7 is a U-shaped channel profile.

[0045] Each folding unit is equipped with a sonar unit 6 at one end. In other words, the connecting member 7 has sonar units 6 at both ends, and the sonar units 6 are located in the U-shaped groove of the profile. Thus, each folding unit has four sonar units 6.

[0046] The folding unit includes a hinged end and a movable end. The hinged end of the folding unit is hinged to the inner wall of the power compartment, and the movable end of the folding unit is connected to the pushing end of the power mechanism. In other words, the connecting member 7 located at the end includes a hinged end and a movable end. The hinged end of the connecting member is hinged to the inner wall of the power compartment, and the movable end of the connecting member is connected to the pushing end of the power mechanism.

[0047] In another embodiment, the sonar array also includes a snap fastener 8, by which the sonar unit 6 is secured to the folding unit.

[0048] The sonar unit 6 is quick-release and installation via a snap-fit ​​8, facilitating the installation, maintenance, or replacement of the sonar unit (6). In particular, a shock-absorbing rubber pad is provided at the bottom of the snap-fit ​​8. This shock-absorbing design effectively isolates the vibration transmission from the underwater mobile platform body, ensuring the working performance of the sonar unit 6.

[0049] In another embodiment, the power mechanism includes a drive unit 11, a transmission assembly, and a pushing assembly. The drive unit 11 is disposed at one end inside the power compartment. The transmission assembly is connected to the drive unit 11 and the pushing assembly is connected to drive the pushing assembly to move.

[0050] Power is provided by the drive unit 11, which drives the transmission component to transmit power to the pushing component. The pushing component is connected to the moving end of the sonar array 1, which drives the sonar array 1 to switch between a folded state and an unfolded state.

[0051] When the pushing component moves towards the end closer to the driving unit 11 under the drive of the driving unit 11, the sonar array 1 folds; when the pushing component moves away from the driving unit 11 under the drive of the driving unit 11, the sonar array 1 unfolds.

[0052] In this embodiment, the drive unit 11 is a drive motor. In other embodiments, it may also be a motor depending on the working conditions.

[0053] In another embodiment, the pushing assembly includes a push rod 17 and a push block 19. The push rod 17 includes a connecting end and a pushing end. The connecting end of the push rod 17 is connected to the transmission assembly, and the pushing end of the push rod 17 is provided with the push block 19. The moving end of the sonar array 1 is connected to the push block 19.

[0054] Among them, the end face of the pusher block 19 is provided with a mechanical forming limiter, including a trigger-type micro switch or a physical limit block, which is used to forcibly stop the overtravel deployment / retraction of the sonar array 1.

[0055] In another embodiment, the transmission assembly includes a lead screw 13 and a slider 28. The lead screw 13 includes a first end and a second end. The first end of the lead screw 13 is connected to the drive unit 11. A lead screw nut 27 is threaded onto the lead screw 13. The slider 28 is fitted onto the lead screw 13, and its end is fixed to the lead screw nut 27. A push rod 17 is fitted onto the lead screw 13 from the second end of the lead screw 13. The connecting end of the push rod 17 is located on the side end face of the slider 28 away from the lead screw nut 27.

[0056] In this embodiment, the first end of the lead screw 13 is connected to the drive unit 11. The output shaft of the drive unit 11 is connected to one end of the lead screw 13 through a coupling 12. A bearing seat 25 is provided on the end face of the coupling away from the drive unit 11. A bearing 23 is provided inside the bearing seat 25. The outer circumferential surface of the first end of the lead screw 13 cooperates with the inner ring of the bearing 23, so that the drive unit 11 drives the lead screw 13 to rotate.

[0057] The lead screw 13 is threaded with a lead screw nut 27, and a slider 28 is fitted onto the lead screw 13, with its end fixed to the lead screw nut 27. The slider 28 is fitted onto the lead screw 13, and it is evident that the diameter of the through hole on the slider 28 is larger than the outer diameter of the lead screw 13, to prevent interference between the slider 28 and the lead screw 13 during movement. The slider 28 is fixed to the lead screw nut 27, so that when the lead screw 13 rotates, the lead screw nut 27 moves along the lead screw 13, and consequently, the slider 28 moves along the lead screw 13 along with the lead screw nut 27.

[0058] In this configuration, the push rod 17 is fitted onto the lead screw 13 from the second end of the lead screw 13. It can be seen that the inner diameter of the push rod 17 is larger than the outer diameter of the lead screw 13 to avoid interference between the two when the push rod 17 moves relative to the lead screw 13. The connecting end of the push rod 17 is located on the side end face of the slider 28 away from the lead screw nut 27. When the lead screw 13 rotates, the lead screw nut 27 moves along the lead screw 13 under the rotational action, so that the lead screw nut 27, the slider 28 and the push rod 17 move together along the lead screw 13, pushing the moving end of the sonar array 1 to move, fold or unfold.

[0059] The specific implementation process is as follows: when the drive unit 11 drives the lead screw 13 to rotate, causing the lead screw nut 27 and slider 28 to move towards the side closer to the drive unit 11, the push rod 17 pulls the moving end of the sonar array 1 through the push block 19, thereby pulling the sonar array 1 to retract; when the lead screw nut 27 and slider 28 move away from the drive unit 11, the push rod 17 pushes the moving end of the sonar array 1 through the push block 19, thereby pushing the sonar array 1 to unfold.

[0060] In another embodiment, the transmission assembly further includes a sonar array guide frame and a sonar array guide rail 20. The sonar array guide rail 20 is disposed on the inner wall of the sonar array housing 2. The sonar array guide frame is fitted onto the sonar array guide rail 20 to form a sliding pair. One end of the sonar array guide frame is connected to the moving end of the sonar array 1, and the other end of the sonar array guide frame is connected to the push block 19. The sonar array guide rail 20 is used to limit the movement trajectory of the moving end of the sonar array 1, so that it moves along a predetermined path during movement, ensuring the stability of the sonar array 1 during the unfolding / folding process.

[0061] The sonar array guide rail 20 is located on the inner wall of the sonar array housing 2. That is, one end of the guide rail is bent toward the inner wall of the sonar array housing 2 and fixed to the side of the sonar array housing 2 near the sleeve support plate 16, and the other end is fixed to the side of the inner wall of the sonar array housing 2 near the front connecting plate 3 by the fastener 22.

[0062] Specifically, fastener 22 is an L-shaped fastener.

[0063] The sonar array guide rail 20 has a sliding groove, and the lower sonar array guide U-shaped frame 20 and the upper sonar array guide U-shaped frame 21 are located in the sliding groove, so that the lower sonar array guide U-shaped frame 20 and the upper sonar array guide U-shaped frame 21 can be slidably connected relative to the sliding groove of the sonar array guide rail 20.

[0064] In another embodiment, the sonar array housing 2 has an opening arranged along the axial direction of the sonar array housing 2, and a brush is provided on the end face of the opening for scraping off the deposits on the sonar array 1.

[0065] The open end face is equipped with a wear-resistant sealing brush, which is strip-shaped and used to scrape off marine deposits during the extension and retraction of the sonar array 1.

[0066] Specifically, the number of openings is the same as the number of sonar array 1.

[0067] The specific implementation process is as follows: When performing a detection mission, the sonar array 1 extends outward from inside the sonar array housing 2 through an opening in a direction perpendicular to the left and right of the underwater mobile platform, ultimately forming a horizontally extended continuous planar sonar array 1, constituting a large-aperture sonar detection array. During retraction, the sonar array 1 is completely folded into the power compartment of the sonar array housing 2 through an opening from the outside, maintaining a streamlined shape to adapt to the navigation requirements of the underwater mobile platform.

[0068] In another embodiment, a partition is provided in the power compartment of the sonar array housing 2, which divides the power compartment into a control compartment 4 and a transmission compartment. The drive unit 11 is located in the control compartment 4, and the transmission assembly is located in the transmission compartment.

[0069] The bulkhead divides the power compartment into the control compartment 4. In other words, the bulkhead, the sonar array housing 2, and the rear connecting plate 5 together form the control compartment 4. The control compartment 4 is a pressure-sealed compartment to prevent seawater from entering the control compartment 4 and causing the drive unit 11 to malfunction.

[0070] The control compartment 4 is equipped with a motor mounting bracket 10. The motor mounting bracket 10 is cylindrical in shape and its outer circumference is attached to the inner wall of the control compartment 4. One end of the motor mounting bracket 10 is open, and the other end is closed with an end plate. The end plate is in close contact with the partition. A circular hole is opened at the bottom of the end plate. A fan-shaped protrusion is provided inside the motor mounting bracket 10 with the circular hole as the center of symmetry. An installation position is formed between two fan-shaped protrusions. The drive unit 11 and the coupling 12 are installed in the installation position, and the coupling 12 abuts against the end plate of the motor mounting bracket 10. A fixing plate 9 is provided on the end face of the two fan-shaped protrusions. The fixing plate 9 is used to hold the end face of the drive unit 11, restrict the axial freedom of the drive unit 11, and fix the drive unit 11 on the motor mounting bracket 10.

[0071] The sonar array housing 2 has a sonar array mounting base 14 on its inner wall, and the sonar array mounting base 14 is arranged close to the partition. The hinge end of the connecting member 7 of the sonar array 1 is mounted on the sonar array mounting base 14 through a hinge shaft. This allows the connecting member 7 at the end of the sonar array 1 to rotate relative to the sonar array mounting base 14 during the unfolding or folding process.

[0072] In another embodiment, the transmission assembly further includes a sleeve 15, one end of which is connected to the partition plate. The lead screw 13, the lead screw nut 27, and at least part of the push rod 17 are located inside the sleeve 15. An end cap 30 is provided at the end of the sleeve 15 away from the partition plate.

[0073] One end of the sleeve 15 is connected to the partition plate, and the partition plate has a through hole for the sleeve 15 to pass through. The sleeve 15 passes through the through hole and abuts against the bearing seat 25. A sealing ring 24 is provided between the sleeve 15 and the partition plate to keep the connection between the two in a sealed state, so as to prevent seawater from entering the control room 4 and causing the drive unit 11 to malfunction.

[0074] The sleeve 15 has an end cap 30 at the end away from the partition, and the end cap 30 is fixed to the end of the sleeve 15 by an end nut 29. The end cap 30 has a hole in the middle for the push rod 17 to pass through.

[0075] The inner wall of the sonar array housing 2 is provided with a sleeve support plate 16. The sleeve support plate 16 is used to support the end of the sleeve 15 away from the drive unit 11, so that the push rod 17 can avoid the sleeve 15 from vibrating during the movement.

[0076] The sleeve 15 is provided with a slider positioning rod 26 along the axial direction. One end of the slider positioning rod 26 is connected to the end cover 30 of the sleeve 15, and the other end is connected to the flange end face of the bearing seat 25. The top of the slider 28 is fitted onto the slider positioning rod 26. The slider positioning rod 26 restricts the rotational freedom of the slider 28 on the one hand, and enables the slider 28 to slide stably along the slider positioning rod 26 on the other hand.

[0077] A second aspect of this application provides an underwater mobile platform including any of the sonar array devices described above.

[0078] The underwater mobile platform also includes a bow guide section 31, a stern power section 33, and a propeller 34; the front connecting plate 3 and the rear connecting plate 5 are used to form a rigid interface for the sonar array device. The front connecting plate 3 is configured to be sealed to the bow guide section 31 of the underwater mobile platform, and the rear connecting plate 5 is configured to be sealed to the functional sections of the underwater mobile platform; the functional sections include the stern power section 33 or the control equipment section; the propeller 34 is installed on the functional sections.

[0079] The front connecting plate 3 serves as the rigid interface at the front end of the device. It adopts a flange structure with an annular sealing groove and is equipped with a pressure-resistant sealing gasket on its end face. It achieves a watertight connection with the bow guide compartment 31 of the underwater mobile platform through a high-strength bolt group, ensuring a smooth transition of the fluid shape and bearing the navigation resistance. The rear connecting plate 5 serves as the multi-functional interface at the rear end of the device. It is designed as a load-bearing ring structure with reinforcing ribs. The flange face has an array of through-hole bolts, which can be adapted to the docking surfaces of different functional compartments such as the power compartment 35 or the control equipment compartment.

[0080] The sonar array housing 2 is equipped with hooks 32 at both ends of the top. The hooks 32 are collinear with the lifting points of the bow guide section 31 or functional section of the underwater mobile platform to ensure the force balance during the entire lifting process.

[0081] Specifically, one end of the hook 32 is fixed to the outer peripheral end of the sonar array housing 2, and the other end is fixed to the outer peripheral end of the bow guide section 31 or functional section of the underwater mobile platform.

[0082] Example 1

[0083] There are two sets of sonar array 1. Openings are provided on both the left and right sides of the sonar array housing 2. In the initial state, the two sets of sonar array 1 are folded up and down and stored inside the sonar array housing 2. At this time, there are two sonar array guide frames, the same number as the sonar array 1, including an upper sonar array guide U-shaped frame 21 and a lower sonar array guide U-shaped frame 20. One end of the upper sonar array guide U-shaped frame 21 and one end of the lower sonar array guide U-shaped frame 20 are respectively connected to the moving end of the corresponding sonar array 1. One end of the upper sonar array guide U-shaped frame 21 and one end of the lower sonar array guide U-shaped frame 20 are both connected to the push block 19. The two sets of sonar array 1 are simultaneously unfolded or folded by the power mechanism.

[0084] The cavity inside the connecting member 7 of the upper sonar array 1 is filled with buoyancy material to lower the center of gravity of the upper sonar array 1 section and generate a buoyancy moment opposite to the deployment direction, thus counteracting the overturning tendency.

[0085] The specific implementation process is as follows: When the push rod 17 of the transmission mechanism pushes the push block 19, the upper sonar array guide U-shaped frame 21 and the lower sonar array guide U-shaped frame 20 are forced to slide synchronously along the sonar array guide rail 20, driving the connecting component 7 directly connected to the push block 19 and its subsequent sonar array 1 connecting component 7, which are hinged to each other, to achieve a phase-difference-free deployment / retraction motion. For the design of fluid dynamics and post-deployment configuration stability, lightweight closed-cell foamed buoyancy material is filled into the internal cavity of the connecting component 7 of the upper sonar array 1, generating an upward net buoyancy force. This lowers the overall center of gravity of the upper array section, reduces the roll moment of inertia, and when the sonar array 1 deploys, the buoyancy point is located behind the leading edge of the sonar array 1, forming a restoring moment opposite to the deployment direction, effectively counteracting the tendency to roll over.

[0086] Example 2

[0087] According to the actual working conditions, the two sonar array devices are connected in series, and the number of sonar array 1 is 4; forming a cross-shaped sonar array 1 that is perpendicular and orthogonal to each other in space. The two sonar array devices are driven by the drive unit 11 in their respective control cabins 4. During use, the two sonar array devices are simultaneously unfolded or folded under the control of the drive unit 11 to ensure that the two sonar array devices move synchronously.

[0088] Example 3

[0089] According to the actual working conditions, the two sonar array devices are connected in series, and the number of sonar array 1 is 4; forming two sonar array 1 with parallel array planes. The two sonar array devices are driven by the drive unit 11 in their respective control cabins 4. During use, the two sonar array devices are simultaneously unfolded or folded under the control of the drive unit 11 to ensure that the two sonar array devices move synchronously.

[0090] When the sonar array device adopts a dual-module deployment scheme, two identical sonar array devices are symmetrically installed on the port and starboard sides of the underwater mobile platform. Each sonar array housing 2 is rigidly connected to the underwater mobile platform structure through an array of circumferential bolts, achieving mechanical integration. The control cabins 4 of the two modules are interconnected through waterproof cables to ensure strict synchronization of the start / stop and steering signals of the drive motors 11. After the arrays are deployed, two typical acoustic array configurations are formed: when the deployment planes of the two sonar arrays 1 are perpendicular and orthogonal to each other, they form a spatial cross-shaped detection array; when the two sonar arrays 1 are deployed in parallel planes, they form a rectangular large-aperture detection surface that works collaboratively.

[0091] The sonar array device in this application supports sonar arrays 1 that are symmetrically deployed on both sides of the sonar array housing 2, and can be unfolded or folded. Synchronous drive control is achieved through the drive unit 11 inside the control cabin 4. When two sonar array devices are installed in series, they form a spatially orthogonal cross-shaped array or two planar arrays with parallel planes after unfolding, which greatly expands the detection dimension and coverage. This modular design provides highly flexible configuration options for different mission requirements.

[0092] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0093] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A sonar array device, characterized in that, include: The sonar array housing (2) has an internal cavity that forms a power compartment; A power mechanism, which is disposed within the power compartment, includes a pushing end; A sonar array (1) includes a hinged end and a movable end. The hinged end of the sonar array (1) is hinged to the inner wall of the power compartment, and the movable end of the sonar array (1) is connected to the pushing end of the power mechanism. The power mechanism is used to drive the sonar array (1) to move so that the sonar array (1) can be folded or extended to adjust the aperture size of the sonar array; The sonar array (1) includes multiple sets of folding units and sonar units (6). The ends of adjacent folding units are hinged to form a telescopic main frame. Each end of the folding unit is provided with a sonar unit (6). The folding unit includes a hinge end and a moving end. The hinge end of the folding unit is hinged to the inner wall of the power compartment, and the moving end of the folding unit is connected to the pushing end of the power mechanism.

2. The sonar array device according to claim 1, characterized in that, The sonar array also includes a clip (8), through which the sonar unit (6) is fixed to the folding unit.

3. A sonar array device according to claim 1, characterized in that, The power mechanism includes a drive unit (11), a transmission assembly and a pushing assembly. The drive unit (11) is located at one end inside the power compartment. The transmission assembly is connected to the drive unit (11) and the pushing assembly is connected to drive the pushing assembly to move.

4. A sonar array device according to claim 3, characterized in that, The pushing assembly includes a push rod (17) and a push block (19). The push rod (17) includes a connecting end and a pushing end. The connecting end of the push rod (17) is connected to the transmission assembly. The pushing end of the push rod (17) is provided with a push block (19). The moving end of the sonar array (1) is connected to the push block (19).

5. A sonar array device according to claim 4, characterized in that, The transmission assembly includes a lead screw (13) and a slider (28). The lead screw (13) includes a first end and a second end. The first end of the lead screw (13) is connected to the drive unit (11). A lead screw nut (27) is threaded onto the lead screw (13). The slider (28) is fitted onto the lead screw (13) and its end is fixed to the lead screw nut (27). A push rod (17) is fitted onto the lead screw (13) from the second end of the lead screw (13). The connecting end of the push rod (17) is located on the side end face of the slider (28) away from the lead screw nut (27).

6. A sonar array device according to claim 4, characterized in that, The transmission assembly also includes a sonar array guide and a sonar array guide rail (18). The sonar array guide rail (18) is disposed on the inner wall of the sonar array housing (2). The sonar array guide is fitted on the sonar array guide rail (18) to form a sliding pair. One end of the sonar array guide is connected to the moving end of the sonar array (1), and the other end of the sonar array guide is connected to the push block (19).

7. A sonar array device according to claim 6, characterized in that, The sonar array housing (2) has an opening, which is arranged along the axial direction of the sonar array housing (2). A brush is provided on the end face of the opening, which is used to scrape off the attached material on the sonar array (1).

8. A sonar array device according to claim 7, characterized in that, The sonar array housing (2) has a partition in the power compartment, which divides the power compartment into a control compartment (4) and a transmission compartment. The drive unit (11) is located in the control compartment (4), and the transmission assembly is located in the transmission compartment.

9. An underwater mobile platform, characterized in that, Includes the sonar array device according to any one of claims 1 to 8.

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