Positioning array and underwater equipment

Abstract

The utility model provides a positioning array and underwater equipment, and relates to the field of underwater equipment. The positioning array comprises a flange, a shell and an electronic assembly, the shell is arranged on one side of the flange, and the shell is in sealing fit with the flange; the section made in the advancing direction of the positioning array is a longitudinal section, and the section made in the direction perpendicular to the advancing direction of the positioning array is a transverse section. The heights of a plurality of transverse sections of the shell are gradually reduced in the advancing direction of the positioning array, and the width of each transverse section of the shell is gradually reduced in the direction away from the flange, so that the fish back fin type shell is formed, and the resistance borne by the positioning array in the moving process of underwater equipment is effectively reduced; meanwhile, as the flow resistance is reduced, regenerated noise generated by contact of the surface of the shell and water is reduced, and the influence of the regenerated noise on the receiving performance of the positioning array is reduced.

Description

Technical Field

[0001] This utility model relates to the field of underwater equipment, and in particular to a positioning array and underwater equipment. Background Art

[0002] Baseline arrays are a technology used in underwater acoustic positioning systems to determine the location and distance of underwater vehicles or equipment. Based on the different lengths of the array baselines, they can be divided into three types: long baselines, short baselines, and ultra-short baselines. Each type has its specific application scenarios and advantages and disadvantages.

[0003] Compared to long baseline and short baseline systems, ultra-short baseline systems are favored for their low cost. The transducers of ultra-short baseline systems can be integrated with small inertial navigation systems. The relative offsets between the sensors are internally calibrated and fixed in the system's internal program before leaving the factory, ensuring high-precision navigation and positioning, thus eliminating the need for cumbersome on-site calibration work.

[0004] Ultra-short baselines (USBRs) mainly consist of a housing, a transmitting transducer, and a receiving array. Existing USBRs are installed on the surface of underwater equipment. During the movement of underwater equipment, USBRs experience significant resistance, and the contact between the housing surface and the water generates considerable regenerated noise, affecting the performance of USBRs in receiving mode. Utility Model Content

[0005] This invention provides a positioning array to solve the problem of high regeneration noise caused by high flow resistance in existing ultra-short baselines.

[0006] This utility model provides a positioning array, including:

[0007] Flange;

[0008] The housing is disposed on one side of the flange and is sealed to the flange; the cross section made along the travel direction of the positioning array is a longitudinal cross section, and the cross section made perpendicular to the travel direction of the positioning array is a transverse cross section. The height of multiple transverse cross sections of the housing gradually decreases along the travel direction of the positioning array, and the width of each transverse cross section of the housing gradually decreases away from the flange.

[0009] Electronic components are housed within the housing and connected to the flange.

[0010] According to the positioning array provided by this utility model, the shell is in the shape of a fish dorsal fin.

[0011] According to the positioning array provided by this utility model, the housing includes:

[0012] Two sides, the two sides being arranged symmetrically;

[0013] The dorsal fin surface is located on the side of the two sides away from the flange, and the dorsal fin surface is connected to the two sides respectively;

[0014] The rear end face is located on the side of the housing opposite to the direction of travel of the positioning array, and the rear end face is connected to the dorsal fin face and the two side faces respectively.

[0015] According to the positioning array provided by this utility model, the transverse cross section of the dorsal fin surface is in the shape of a first arc.

[0016] According to the positioning array provided by this utility model, the longitudinal section of the dorsal fin surface is in the shape of a second arc.

[0017] According to a positioning array provided by this utility model, the curvature of the second arc gradually decreases along the direction away from the flange on the dorsal fin surface.

[0018] According to the positioning array provided by this utility model, the rear end face is an arc surface that is recessed into the interior of the housing.

[0019] According to the positioning array provided by this utility model, the side includes a connecting surface located near the dorsal fin surface and a main side surface located away from the dorsal fin surface. The main side surface is connected to the dorsal fin surface through the connecting surface, and the connecting surface is an arc surface that is concave into the shell.

[0020] According to the positioning array provided by this utility model, the electronic components include:

[0021] A transmitting transducer is connected to the flange;

[0022] Multiple receiving arrays are spaced apart on the outer periphery of the transmitting transducer and connected to the flange.

[0023] This utility model also provides an underwater device, which includes the positioning array described in any of the above claims.

[0024] The positioning array provided by this utility model gradually reduces the height of multiple transverse sections of the shell along the direction of travel of the positioning array, and gradually reduces the width of each transverse section of the shell along the direction away from the flange, thereby forming a fish dorsal fin-shaped shell, which effectively reduces the resistance encountered by the positioning array during the movement of underwater equipment; at the same time, due to the reduction of flow resistance, the regenerated noise generated by the shell surface contacting water is reduced, and the impact of regenerated noise on the receiving performance of the positioning array is reduced. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a side view of the positioning array provided by this utility model.

[0027] Figure 2 This is a rear view structural schematic diagram of the positioning array provided by this utility model.

[0028] Figure 3 This is a top view of the positioning array provided by this utility model.

[0029] Figure 4 This is a three-dimensional structural diagram of the positioning array provided by this utility model.

[0030] Figure label:

[0031] 100, Flange; 101, Threaded Hole; 200, Housing; 210, Side; 211, Connecting Surface; 212, Main Side; 220, Dorsal Fin Surface; 230, Rear End Surface; 300, Electronic Components; 310, Transmitter Transducer; 320, Receiver Array; 400, Watertight Connector. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0035] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0037] The following is combined Figures 1-4 This invention describes the specific structure and working principle of the positioning array of this utility model.

[0038] Figure 1 A side view of the positioning array provided by this utility model is shown in the example. Figure 2 A rear-view structural schematic diagram of the positioning array provided by this utility model is shown as an example. Figure 3 A top view of the positioning array provided by this utility model is shown as an example. Figure 4 A three-dimensional structural schematic diagram of the positioning array provided by this utility model is shown in the example, such as... Figures 1 to 4As shown, the positioning array includes a flange 100, a housing 200, and an electronic component 300. The housing 200 is disposed on one side of the flange 100 and is sealed to the flange 100. The cross section along the direction of travel of the positioning array is a longitudinal cross section, and the cross section perpendicular to the direction of travel of the positioning array is a transverse cross section. The height of multiple transverse cross sections of the housing 200 gradually decreases along the direction of travel of the positioning array, and the width of each transverse cross section of the housing 200 gradually decreases away from the flange 100. The electronic component 300 is disposed inside the housing 200 and connected to the flange 100.

[0039] The positioning array provided by this utility model gradually reduces the height of multiple transverse sections of the housing 200 along the direction of travel of the positioning array, and gradually reduces the width of each transverse section of the housing 200 along the direction away from the flange 100, thereby forming a fish dorsal fin-shaped housing. This effectively reduces the resistance encountered by the positioning array during the movement of underwater equipment. At the same time, due to the reduction of flow resistance, the regenerated noise generated by the contact between the surface of the housing 200 and the water is reduced, thereby reducing the impact of regenerated noise on the receiving performance of the positioning array.

[0040] It should be noted here that, as shown in Figure 1, the direction of travel of the positioning array is... Figure 1 The direction the arrow is pointing. For example... Figure 2 As shown, the direction away from the flange by 100 is Figure 2 The direction indicated by the middle arrow. As shown in Figure 3, the longitudinal direction of this utility model refers to the length direction of the shell 200, that is... Figure 3 The left and right directions refer to the left and right sides; the horizontal direction refers to the width of the shell 200, i.e. Figure 3 The up and down directions in the middle.

[0041] In one embodiment of this utility model, the electronic component 300 includes a transmitting transducer 310 and a plurality of receiving arrays 320. The transmitting transducer 310 is connected to a flange 100; the plurality of receiving arrays 320 are spaced apart on the outer periphery of the transmitting transducer 310 and connected to the flange 100. Specifically, the transmitting transducer 310 is used to convert electrical energy into acoustic energy and transmit acoustic signals underwater for communication with other underwater devices. The transmitting transducer 310 is fixed to the side of the flange 100 facing the housing 200. The plurality of receiving arrays 320 are equidistantly spaced on the outer periphery of the transmitting transducer 310. In this embodiment, five receiving arrays 320 are provided, arranged on the same circle centered on the transmitting transducer 310; of course, the number of receiving arrays 320 is not limited to this, and can also be four, six or more. When the number of receiving arrays 320 is large, they are arranged in an array.

[0042] In one embodiment of this utility model, the interior of the housing 200 is a solid structure with multiple mounting holes. The mounting holes are used to accommodate the transmitting transducer 310 and the receiving array 320. The transmitting transducer 310 and the multiple receiving arrays 320 are inserted into the multiple mounting holes in a one-to-one correspondence. The shape of the mounting holes is adapted to the shape of the transmitting transducer 310 and the shape of the receiving array 320 so that the transmitting transducer 310 and the receiving array 320 are in contact with the inner wall of the mounting hole to ensure the transmission of sound signals.

[0043] Preferably, a coupling agent is provided between the transmitting transducer 310 and the inner wall of the mounting hole to connect the transmitting transducer 310 and the inner wall of the mounting hole, thereby improving the coupling degree between the transmitting transducer 310 and the inner wall of the mounting hole, so that the sound signal emitted by the transmitting transducer 310 can be well transmitted through the housing 200.

[0044] Similarly, a coupling agent is provided between the receiving array 320 and the inner wall of the mounting hole to connect the receiving array 320 and the inner wall of the mounting hole, thereby increasing the coupling between the receiving array 320 and the inner wall of the mounting hole, so that external sound signals can be transmitted to the receiving array 320 through the housing 200.

[0045] In one embodiment of this utility model, the shell 200 is in the shape of a fish dorsal fin. The fish dorsal fin shaped shell 200 has the following advantages:

[0046] 1. Streamlined design: The fish-shaped shell 200 can reduce eddies and turbulence around the object, thereby reducing fluid resistance.

[0047] 2. Reduced eddies: The design of the fish-shaped dorsal fin shell 200 helps reduce eddy regions behind the positioning array, which increase water flow resistance. By optimizing the shape and angle of the fish-shaped dorsal fin shell 200, eddy formation can be controlled, thereby reducing energy loss.

[0048] 3. Controlling Pressure Distribution: The fish-shaped dorsal fin shell 200 can control the pressure distribution on its surface through its unique shape. In fluid flow, the pressure distribution on the surface of the shell 200 has a significant impact on resistance. The fish-shaped dorsal fin shell 200 reduces fluid resistance by adjusting the pressure distribution.

[0049] 4. Reduce turbulence: The dorsal fin-shaped shell 200 reduces turbulence through specific surface features. Turbulence increases fluid resistance, and reducing turbulence can reduce fluid resistance.

[0050] In a preferred embodiment of this invention, the outer surface of the shell 200 is provided with multiple raised textures, which are spaced apart. The height of the textures and the distance between adjacent textures are determined based on the actual effect. By providing raised textures on the outer surface of the shell 200, the flow of the boundary layer can be affected, reducing boundary layer separation and thus reducing drag. Preferably, the shape of the texture is the same as that of the texture on shark skin.

[0051] In a preferred embodiment of the present invention, the surface of the housing 200 is coated with a damping material. The damping material minimizes the mechanical vibration generated during the contact between the positioning array and the water flow, thereby further reducing regeneration noise.

[0052] In one embodiment of the present invention, the shell 200 includes two side surfaces 210, a dorsal fin surface 220 and a rear end surface 230. The two side surfaces 210 are symmetrically arranged. When water flows on both sides of the shell 200, the pressure on the two side surfaces 210 is the same. Since the forces on both sides of the shell 200 are balanced, vibration of the shell 200 can be avoided, and regeneration noise can be further reduced.

[0053] The dorsal fin surface 220 is located on the side of the two sides 210 away from the flange 100, and the dorsal fin surface 220 is connected to the two sides 210 respectively. Specifically, as shown... Figure 2 As shown, the dorsal fin surface 220 is a symmetrical arc surface, with the left side of the arc surface connected to the left side surface 210 and the right side of the arc surface connected to the right side surface 210. The rear end surface 230 is located on the side of the shell 200 opposite to the direction of travel of the positioning array, and the rear end surface 230 is connected to the dorsal fin surface 220 and the two side surfaces 210 respectively.

[0054] Preferably, the connection between the side surface 210 and the dorsal fin surface 220, the connection between the rear end surface 230 and the side surface 210, and the connection between the rear end surface 230 and the dorsal fin surface 220 are all connected by a smooth transition connection surface 211 to reduce the flow resistance of the shell 200 and further reduce regeneration noise.

[0055] In one embodiment of the present invention, Figure 4 As shown, the dorsal fin surface 220 extends downward from the position where it connects with the rear end face 230 to the position where the front section of the shell 200 connects with the flange 100. The transverse cross section of the dorsal fin surface 220 is a first arc shape, which is a part of a circle. That is, the first arc shape is a symmetrical structure. This arrangement can make the pressure on both sides of the dorsal fin surface 220 the same. Since the forces on both sides of the shell 200 are balanced, the shell 200 can be prevented from vibrating, further reducing regeneration noise.

[0056] In one embodiment of this utility model, the longitudinal section of the dorsal fin surface 220 is a second arc shape. Specifically, as shown... Figure 1As shown, the second arc extends downward from the position where it connects with the rear end face 230 to the position where the front section of the housing 200 connects with the flange 100, so that the height of the housing 200 gradually decreases from the right end to the left end, forming a streamlined structure similar to a bullet, which further reduces the resistance of the housing 200.

[0057] In one embodiment of this invention, the curvature of the second arc gradually decreases along the direction of the dorsal fin surface 220 away from the flange. Specifically, as shown... Figure 1 As shown in the figure, the curvature at point A is the smallest, the curvature at point B is greater than that at point A, and the curvature at point C is greater than that at point B. During the movement of the positioning array, the shell 200 at point C first comes into contact with the water flow. The shell 200 at point C is used to separate the water flow, guiding most of the water flow to both sides of the shell 200. Some of the water flow moves upward along the dorsal fin surface 220. Because the curvature at points A and B is smaller, the water flow experiences less resistance at points A and B, resulting in less regeneration noise.

[0058] In one embodiment of this utility model, the rear end face 230 is an arc surface recessed into the housing 200. For example... Figure 1 As shown, after the water flows through the shell 200, a vortex region will be formed on the rear end face 230 of the shell 200. By setting the rear end face 230 as an arc surface that is concave into the shell 200, the vortex is guided to flow along the arc surface, avoiding the vortex from directly impacting the rear end face 230 and generating regenerated noise. Alternatively, the rear end face 230 can guide the vortex flow so that the vortex merges with the water flow on both sides of the shell 200 at a suitable angle, avoiding the vortex from merging with the water flow on both sides of the shell 200 at a perpendicular or opposite angle, thus reducing the resistance of the water flow on both sides of the shell 200. The radius of curvature corresponding to the rear end face 230 is specifically determined according to the size of the vortex formed.

[0059] In one embodiment of this utility model, the side surface 210 includes a connecting surface 211 located near the dorsal fin surface 220 and a main side surface 212 located away from the dorsal fin surface 220. The main side surface 212 is connected to the dorsal fin surface 220 through the connecting surface 211, and the connecting surface 211 is an arc surface recessed into the shell 200. Specifically, as shown... Figure 2 and Figure 4 As shown, the distance between the two main side surfaces 212 is relatively large, thus providing sufficient installation space for the transmitting transducer 310 and the receiving array 320. Since no electronic components need to be placed between the two connecting surfaces 211, the width of the housing 200 between the two connecting surfaces 211 is reduced by making the two connectors recessed into the housing 200, further reducing the flow resistance of the housing 200. In addition, since the connecting surfaces 211 are curved, the outer surface of the housing 200 is smoother, further reducing the flow resistance of the housing 200.

[0060] In one embodiment of this utility model, the housing 200 and the flange 100 are detachably connected to facilitate maintenance of the transmitting transducer and the receiving array. Specifically, a raised rib is provided on the side of the flange 100 facing the housing 200, the shape of which matches the shape of the housing, and the housing 200 is fitted onto the raised rib. Of course, the connection method between the housing 200 and the flange 100 is not limited to this; a boss can also be provided to connect with the housing 200, depending on actual needs. Preferably, the housing 200 and the flange 100 are sealed together, forming a sealed cavity.

[0061] In one embodiment of this utility model, the housing 200 is made of polyurethane. Using polyurethane for the housing 200 provides a rigid outer shell, protecting the internal transmitting transducer and receiving array. Furthermore, the characteristic impedance of the polyurethane housing is close to that of water, having minimal impact on acoustic propagation. The transmitting transducer and receiving array are mounted on the flange 100, which is made of metal. Using a metal flange 100 provides greater rigidity, offering better support and protection for the transmitting transducer and receiving array.

[0062] In one embodiment of the present invention, Figure 2 As shown, flange 100 is provided with a connecting part for connecting to underwater equipment. The connecting part on flange 100 facilitates transducer installation. Specifically, the connecting part is a threaded hole 101, which is a blind hole located on the side of flange 100 away from housing 200. Multiple threaded holes 101 are provided, spaced apart on the edge of flange 100 away from housing 200. The distance between adjacent threaded holes 101 may be equal or unequal, depending on actual needs. During installation, screws are used to connect to the underwater equipment. Multiple screws are inserted one-to-one into the multiple threaded holes 101, and the transducer is fixed to the surface of the underwater equipment by the engagement of the screws with the threaded holes 101. Of course, the specific structural form of the connecting part is not limited to this; it can also be a positioning protrusion or other structural forms.

[0063] In one embodiment of the present invention, Figure 2 As shown, the transducer also includes a watertight connector 400, which is used to connect the transmitting transducer, the receiving array, and cables (not shown). The flange 100 has a mounting hole, which is a circular through hole. The watertight connector 400 passes through the mounting hole and seals against the inner wall of the mounting hole. Preferably, the outer circumferential surface of the watertight connector 400 has an annular limiting groove, and a sealing ring, which is an O-ring, is disposed within the annular limiting groove. The sealing ring seals against the watertight connector 400 and the inner wall of the mounting hole.

[0064] The transmitting transducer and receiving array are electrically connected to the watertight connector 400, which is electrically connected to the underwater equipment via a cable. Preferably, the electronic component is provided with a first metal plug, which is inserted into one end of the watertight connector 400 to enable quick connection between the electronic component and the watertight connector 400. Similarly, a second metal plug is provided near one end of the cable adjacent to the watertight connector 400, which is inserted into the other end of the watertight connector 400 to enable quick connection between the watertight connector 400 and the cable.

[0065] This utility model also provides an underwater device, which includes the positioning array described in any of the above embodiments for underwater acoustic communication.

[0066] In one embodiment of this utility model, the underwater equipment includes underwater acoustic communication equipment, underwater acoustic navigation equipment, underwater acoustic positioning equipment, underwater acoustic detection equipment, underwater real-time monitoring equipment, underwater acoustic robot, or autonomous underwater vehicle.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A positioning array, characterized in that, include: Flange (100); A housing (200) is disposed on one side of the flange (100), and the housing (200) is in a sealing fit with the flange (100); The cross section made along the travel direction of the positioning array is a longitudinal cross section, and the cross section made perpendicular to the travel direction of the positioning array is a transverse cross section. The height of the multiple transverse cross sections of the housing (200) gradually decreases along the travel direction of the positioning array, and the width of each transverse cross section of the housing (200) gradually decreases in the direction away from the flange (100). An electronic component (300) is disposed within the housing (200) and connected to the flange (100).

2. The positioning array according to claim 1, characterized in that, The shell (200) is in the shape of a fish dorsal fin.

3. The positioning array according to claim 2, characterized in that, The housing (200) includes: Two sides (210) are arranged symmetrically. The dorsal fin surface (220) is located on the side of the two sides (210) away from the flange (100), and the dorsal fin surface (220) is connected to the two sides (210) respectively. The rear end face (230) is located on the side of the housing (200) away from the direction of travel of the positioning array. The rear end face (230) is connected to the dorsal fin face (220) and the two side faces (210) respectively.

4. The positioning array according to claim 3, characterized in that, The transverse cross-section of the dorsal fin surface (220) is in the shape of a first arc.

5. The positioning array according to claim 3, characterized in that, The longitudinal section of the dorsal fin surface (220) is a second arc shape.

6. The positioning array according to claim 5, characterized in that, The curvature of the second arc gradually decreases along the direction away from the flange on the dorsal fin surface (220).

7. The positioning array according to any one of claims 3 to 6, characterized in that, The rear end face (230) is an arc surface that is recessed into the housing (200).

8. The positioning array according to claim 7, characterized in that, The side surface (210) includes a connecting surface (211) located near the dorsal fin surface (220) and a main side surface (212) located away from the dorsal fin surface (220). The main side surface (212) is connected to the dorsal fin surface (220) through the connecting surface (211). The connecting surface (211) is an arc surface that is recessed into the interior of the shell (200).

9. The positioning array according to any one of claims 1 to 6, characterized in that, The electronic component (300) includes: A transmitting transducer (310) is connected to the flange (100); Multiple receiving arrays (320) are spaced apart on the outer periphery of the transmitting transducer (310) and connected to the flange (100).

10. An underwater device, characterized in that, The underwater device includes the positioning array as described in any one of claims 1 to 9.

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