阅读说明：本技术 一种自清洁式多波束前视声呐及其使用方法 (Self-cleaning type multi-beam forward-looking sonar and use method thereof ) 是由 袁经文 洪坤 秦影茹 于 2021-08-27 设计创作，主要内容包括：本发明公开了一种自清洁式多波束前视声呐及其使用方法,其包括防护架,所述防护架的内部安置有声呐本体,所述声呐本体的侧表面上依次设有第一清洁机构和第二清洁机构,所述第二清洁机构上设有用于清洁声呐本体前侧的第三清洁机构,所述防护架包括平行设置的底板和顶板,所述底板和顶板之间通过连接杆相连,所述防护架的内部设有水草清除机构。本发明通过设置第一清洁机构、第二清洁机构和第三清洁机构,对声呐本体的表面定期进行清理,避免海中生物依附在声呐本体上,对声呐的探测性能造成影响,通过设置水草清除机构,使得使得水草难以缠附在防护架和声呐本体上,避免水草对回收声呐造成不良影响。(The invention discloses a self-cleaning type multi-beam forward-looking sonar and a using method thereof, and the self-cleaning type multi-beam forward-looking sonar comprises a protective frame, wherein a sonar body is arranged in the protective frame, a first cleaning mechanism and a second cleaning mechanism are sequentially arranged on the side surface of the sonar body, a third cleaning mechanism used for cleaning the front side of the sonar body is arranged on the second cleaning mechanism, the protective frame comprises a bottom plate and a top plate which are arranged in parallel, the bottom plate and the top plate are connected through a connecting rod, and a waterweed removing mechanism is arranged in the protective frame. According to the invention, the surface of the sonar body is regularly cleaned by arranging the first cleaning mechanism, the second cleaning mechanism and the third cleaning mechanism, so that the influence on the detection performance of the sonar caused by the attachment of marine organisms on the sonar body is avoided, and the aquatic weeds are difficult to be wound on the protection frame and the sonar body by arranging the aquatic weeds cleaning mechanism, so that the adverse influence on the recovery of the sonar caused by the aquatic weeds is avoided.)

1. The utility model provides a self-cleaning formula multi-beam forward-looking sonar, includes protection frame (1), its characterized in that: protection frame (1)'s inside arrangement has sonar body (2), be equipped with first clean mechanism (3) and the clean mechanism of second (4) on the side surface of sonar body (2) in proper order, be equipped with third clean mechanism (5) that are used for cleaning sonar body (2) front side on the clean mechanism of second (4), protection frame (1) is including parallel arrangement's bottom plate (101) and roof (102), link to each other through connecting rod (103) between bottom plate (101) and roof (102), the inside of protection frame (1) is equipped with pasture and water clearance mechanism (11), and its upper surface is fixed with lug (12).

2. The self-cleaning multi-beam forward-looking sonar according to claim 1, characterized in that: first clean mechanism (3) are including setting up first installation cavity (301) on sonar body (2) inside wall, install first waterproof electric putter (302) in first installation cavity (301), it is provided with first annular scraper blade (303) to slide on the lateral wall of sonar body (2), the inboard of first annular scraper blade (303) is connected with first push pedal (304), first shallow groove (305) have been seted up on the lateral wall of first installation cavity (301), the one end of first push pedal (304) runs through first shallow groove (305) and extends to in first installation cavity (301) and rather than sliding connection, and its one end that extends to in first installation cavity (301) links to each other with the drive end of first waterproof electric putter (302).

3. A self-cleaning multi-beam forward-looking sonar according to claim 2, wherein: the upper and lower both ends of sonar body (2) lateral wall all are equipped with first spout (6), be fixed with on the inside wall of first annular scraper blade (303) with first spout (6) sliding fit's first T type slide (306).

4. The self-cleaning multi-beam forward-looking sonar according to claim 1, characterized in that: clean mechanism (4) of second is including setting up second installation cavity (401) on sonar body (2) inside wall, install waterproof electric putter (402) of second in second installation cavity (401), it is provided with second annular scraper blade (403) to slide on the lateral wall of sonar body (2), the inboard of second annular scraper blade (403) is connected with second push pedal (404), second push slot (405) have been seted up on the lateral wall of second installation cavity (401), the one end of second push pedal (404) runs through second push slot (405) and extends to in second installation cavity (401) and rather than sliding connection, and extends to the drive end of the one end in second installation cavity (401) and waterproof electric putter (402) of second and links to each other.

5. A self-cleaning multi-beam forward-looking sonar according to claim 4, characterized in that: the upper end and the lower end of the outer side wall of the sonar body (2) are both provided with a second sliding groove (7), and a second T-shaped sliding plate (406) in sliding fit with the second sliding groove (7) is fixed on the inner side wall of the second annular scraper (403).

6. A self-cleaning multi-beam forward-looking sonar according to claim 4, characterized in that: third cleaning mechanism (5) are including fixing flange (501) at second annular scraper blade (403) lateral wall both ends, two arc scraper blade (502) with sonar body (2) front end laminating are connected with through the pivot rotation between flange (501), one of them be fixed with on flange (501) rotate waterproof motor (503) of being connected with the pivot.

7. The self-cleaning multi-beam forward-looking sonar according to claim 1, characterized in that: be fixed with connecting block (8) with connecting rod (103) sliding sleeve's on the both sides wall of sonar body (2), the upper and lower both ends of connecting block (8) all are equipped with expanding spring (9), and upper and lower both ends the other end of expanding spring (9) links to each other with roof (102) and bottom plate (101) respectively, and its endotheca is equipped with connecting rod (103).

8. The self-cleaning multi-beam forward-looking sonar according to claim 1, characterized in that: bottom plate (101) and roof (102) all are equipped with cassette (10) towards one side of sonar body (2), the recess the same with its surface radian is all seted up to cassette (10) towards one side of sonar body (2), and the recess internal fixation has the rubber pad.

9. The self-cleaning multi-beam forward-looking sonar according to claim 1, characterized in that: the aquatic weed removing mechanism (11) comprises a U-shaped cavity (1101) fixed on the lower surface of the top plate (102), a plurality of rotating rods (1102) distributed in a U shape are arranged in the U-shaped cavity (1101), the rotating rods (1102) positioned in the middle are connected with the driving end of a stepping motor (1103) fixed on the lower surface of the top plate (102), and a plurality of rotating rods (1102) which are positioned on the same straight line with the stepping motor (1103) are provided with first gears (1104), the first gears (1104) are connected with each other through a first toothed belt (1105) in a meshing way, the two rows of rotating rods (1102) which are arranged in parallel are provided with second gears (1106), the second gears (1106) which are positioned on the same side are connected with each other through second toothed belts (1107) which are also positioned on the same side in a meshing way, two ends of the rotating rod (1102) are respectively connected with the bottom plate (101) and the top plate (102) in a rotating mode, and cutting blades (1108) are fixed on the rotating rod.

10. Use of a self-cleaning multi-beam forward-looking sonar according to any one of claims 1-9, characterized in that: comprises the following steps;

s1: checking whether the sonar body (2) is intact, and whether the first cleaning mechanism (3), the second cleaning mechanism (4), the third cleaning mechanism (5) and the waterweed removing mechanism (11) can work normally;

s2: the power supply of the sonar body (2) is turned off, the protective frame (1) is lifted through the lifting lugs (12) and slowly placed into water, after the sonar body (2) enters the water, the sonar body (2) is started again, and the line is slowly released, so that the sonar body (2) sinks to an undetermined depth;

s3: confirm whether sonar body (2) can normally work, confirm the back of accomplishing, make sonar body (2) stabilize in treating the fixed depth, open first clean mechanism (3), second clean mechanism (4), the control system of third clean mechanism (5) and pasture and water clearance mechanism (11), make first clean mechanism (3), second clean mechanism (4), third clean mechanism (5) and pasture and water clearance mechanism (11) move once at every other one end time, wherein, third clean mechanism (5) only begin to move when second clean mechanism (4) move foremost, third clean mechanism (5) during operation, second clean mechanism (4) keep standby state, wait for third clean mechanism (5) clean work completion back second clean mechanism (4) work again.

Technical Field

The invention relates to the technical field of underwater acoustic communication, in particular to a sonar and a using method thereof.

Background

The marine acoustic mapping technique is a very effective means of detecting the ocean. By using the acoustic mapping technology, the submarine topography can be detected, the ocean dynamic phenomenon can be observed, the submarine stratum profile can be detected, and the information of navigation, collision avoidance and submarine contour tracking can be provided for the submersible. With the demand of ocean resource development and ocean economy development in recent years, the detection and analysis of ocean floor types become more and more important in China, the detection of the ocean through a sonar becomes an important research means for many research and teaching units to carry out ocean geological research, and a multi-beam forward-looking sonar can acquire information of a plurality of wave channels due to the fact that a plurality of wave beams work simultaneously, so that a plurality of targets in different directions can be observed and tracked simultaneously, and the contact is not easy to lose. The multi-beam sonar has high utilization rate and high searching speed, can detect a target with a larger angle at one time, is widely used, and has the following problems:

1. when the multi-beam forward-looking sonar is used in the ocean, plankton and shellfish living in the ocean are easy to adhere to the surface of the sonar, so that the detection effect of the sonar is interfered, and the sonar can be disabled in serious cases.

2. There is a large amount of pasture and water's existence in the ocean, and the sonar surface is twined by pasture and water easily on the protection frame that is used for protecting the sonar not gnawed by great marine organism when the sonar sinks in the ocean for a long time, causes the influence to retrieving the sonar, probably leads to the sonar can't retrieve.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a self-cleaning type multi-beam forward-looking sonar and a using method thereof, and solves the problem that aquatic organisms and aquatic plants are adhered to the surface of the sonar to influence sonar recovery in the background technology.

The second technical proposal.

The invention specifically adopts the following technical scheme for realizing the purpose:

the utility model provides a self-cleaning formula multi-beam preceding-sight sonar, includes the protection frame, the inside arrangement of protection frame has the sonar body, be equipped with first clean mechanism and the clean mechanism of second on the side surface of sonar body in proper order, be equipped with the third clean mechanism that is used for clean sonar body front side in the clean mechanism of second, the protection frame includes parallel arrangement's bottom plate and roof, link to each other through the connecting rod between bottom plate and the roof, the inside of protection frame is equipped with pasture and water clearance mechanism, and its upper surface is fixed with the lug.

Further, first clean mechanism is including setting up the first installation cavity on sonar body inside wall, install first waterproof electric putter in the first installation cavity, it is provided with first annular scraper blade to slide on the lateral wall of sonar body, the inboard of first annular scraper blade is connected with first push pedal, seted up first push slot on the lateral wall of first installation cavity, the one end of first push pedal runs through first push slot and extends to first installation cavity and rather than sliding connection, and its one end that extends to in the first installation cavity links to each other with first waterproof electric putter's drive end.

Further, the upper and lower both ends of sonar body lateral wall all are equipped with first spout, be fixed with on the inside wall of first annular scraper blade with first spout sliding fit's a T type slide.

Further, clean mechanism of second is including setting up the second installation cavity on sonar body inside wall, install the waterproof electric putter of second in the second installation cavity, it is provided with second annular scraper blade to slide on the lateral wall of sonar body, the inboard of second annular scraper blade is connected with the second push pedal, it pushes away the groove to have seted up the second on the lateral wall of second installation cavity, the one end of second push pedal runs through the second and pushes away the groove and extend to in the second installation cavity and rather than sliding connection, and the one end that extends to in the second installation cavity links to each other with the waterproof electric putter's of second drive end.

Further, the upper and lower both ends of sonar body lateral wall all are equipped with the second spout, be fixed with on the inside wall of second annular scraper blade with second spout sliding fit's second T type slide.

Further, third cleaning mechanism is including fixing the flange at second annular scraper blade lateral wall both ends, two rotate through the pivot between the flange and be connected with the arc scraper blade of laminating with sonar body front end, one of them be fixed with on the flange and rotate the waterproof motor who is connected with the pivot.

Furthermore, be fixed with the connecting block that cup joints with the connecting rod slip on the both sides wall of sonar body, the upper and lower both ends of connecting block all are equipped with expanding spring, the upper and lower both ends expanding spring's the other end links to each other with roof and bottom plate respectively, and its endotheca is equipped with the connecting rod.

Further, bottom plate and roof all are equipped with the cassette towards one side of sonar body, the cassette is all seted up towards one side of sonar body rather than the recess that the surface radian is the same, and the recess internal fixation has the rubber pad.

Furthermore, pasture and water clearance mechanism is including fixing the U die cavity at the roof lower surface, be equipped with a plurality of bull sticks that are U type distribution in the U die cavity, be located the centre the bull stick links to each other with the drive end of fixing the step motor at the roof lower surface, and with step motor all is equipped with first gear on being located a plurality of bull sticks on the same straight line, connect through first cingulum meshing between the first gear, all be equipped with the second gear on two rows of bull sticks of parallel arrangement, be located same one side between the second gear through the same second cingulum meshing that is located same one side is connected, the both ends of bull stick rotate with bottom plate and roof respectively and are connected, and are fixed with cutting blade on it.

The invention also provides a use method of the self-cleaning type multi-beam forward-looking sonar, which comprises the following steps;

s1: checking whether the sonar body is intact or not, and whether the first cleaning mechanism, the second cleaning mechanism, the third cleaning mechanism and the aquatic weed removing mechanism can work normally or not;

s2: the power supply of the sonar body is turned off, the protective frame is lifted through the lifting lugs and slowly placed into water, after the sonar body enters the water, the sonar body is started again, and the line is slowly released, so that the sonar body sinks to the undetermined depth;

s3: confirm the sonar body and whether can normally work, confirm the back of accomplishing, make the sonar body stabilize at undetermined degree of depth, open first clean mechanism, the clean mechanism of second, the control system of third clean mechanism and pasture and water clearance mechanism, make first clean mechanism, the clean mechanism of second, the clean mechanism of third and pasture and water clearance mechanism every interval one end time operation once, wherein, the clean mechanism of third only begins to operate when the clean mechanism of second moves foremost, the clean mechanism during operation of third, the clean mechanism of second keeps standby state, wait to continue work again after the clean mechanism of third once finishes.

(III) advantageous effects

Compared with the prior art, the invention provides a self-cleaning type multi-beam forward-looking sonar and a using method thereof, and the self-cleaning type multi-beam forward-looking sonar has the following beneficial effects:

1. according to the invention, the first cleaning mechanism, the second cleaning mechanism and the third cleaning mechanism are arranged, so that the surface of the sonar body can be cleaned at regular time, and the influence on the detection performance of the sonar caused by the attachment of marine organisms on the sonar body is avoided.

2. According to the invention, the waterweeds are difficult to wind and attach to the protective frame and the sonar body by arranging the waterweeds removing mechanism, so that the harmful influence of the waterweeds on the recovery of the sonar is avoided, and meanwhile, the sonar body is protected from being attacked by large and small marine organisms by arranging the protective frame.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the appearance structure of the sonar body according to the present invention;

FIG. 3 is a schematic view of the cross-section structure of the sonar body of the present invention;

FIG. 4 is a schematic view of another cross-sectional structure of the sonar body of the present invention;

FIG. 5 is a schematic view of a protective frame according to the present invention;

FIG. 6 is a schematic view of the internal structure of the U-shaped cavity of the invention.

In the figure: 1. a protective frame; 101. a base plate; 102. a top plate; 103. a connecting rod; 2. a sonar body; 3. a first cleaning mechanism; 301. a first mounting cavity; 302. a first waterproof electric push rod; 303. a first annular squeegee; 304. a first push plate; 305. a first push slot; 306. a first T-shaped slide plate; 4. a second cleaning mechanism; 401. a second mounting cavity; 402. a second waterproof electric push rod; 403. a second annular flight; 404. a second push plate; 405. a second push groove; 406. a second T-shaped slide plate; 5. a third cleaning mechanism; 501. a convex plate; 502. an arc-shaped scraper plate; 503. a waterproof motor; 6. a first chute; 7. a second chute; 8. connecting blocks; 9. a tension spring; 10. a card holder; 11. a float grass removal mechanism; 1101. a U-shaped cavity; 1102. a rotating rod; 1103. a stepping motor; 1104. a first gear; 1105. a first toothed belt; 1106. a second gear; 1107. a second toothed belt; 1108. cutting the blade; 12. and (7) lifting lugs.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

As shown in fig. 1, 2 and 5, a self-cleaning multi-beam front-view sonar according to an embodiment of the present invention includes a protective frame 1, a sonar body 2 is arranged inside the protective frame 1, a first cleaning mechanism 3 and a second cleaning mechanism 4 are sequentially arranged on a side surface of the sonar body 2, a third cleaning mechanism 5 for cleaning a front side of the sonar body 2 is arranged on the second cleaning mechanism 4, the protective frame 1 includes a bottom plate 101 and a top plate 102 which are arranged in parallel, the bottom plate 101 and the top plate 102 are connected by a connecting rod 103, a float grass removing mechanism 11 is arranged inside the protective frame 1, a lifting lug 12 is fixed on an upper surface of the protective frame, the surface of the sonar body 2 is periodically cleaned by arranging the first cleaning mechanism 3, the second cleaning mechanism 4 and the third cleaning mechanism 5, so that organisms in sea cannot attach to the sonar body 2, and the sonar body 2 sinks in sea water, near the fish in the sea can move sonar body 2, can avoid large-scale fish to destroy sonar body 2 through the setting of protection frame 1, through the setting of pasture and water clearance mechanism 11, can avoid the pasture and water to twine on protection frame 1 and sonar body 2.

As shown in fig. 3 and 4, in some embodiments, the first cleaning mechanism 3 includes a first mounting cavity 301 disposed on the inner side wall of the sonar body 2, a first waterproof electric push rod 302 is mounted in the first mounting cavity 301, a first annular scraper 303 is slidably disposed on the outer side wall of the sonar body 2, a first push plate 304 is connected to the inner side of the first annular scraper 303, a first push slot 305 is disposed on the outer side wall of the first mounting cavity 301, one end of the first push plate 304 extends into the first mounting cavity 301 through the first push slot 305 and is slidably connected thereto, and one end of the first push plate extending into the first mounting cavity 301 is connected to the driving end of the first waterproof electric push rod 302, and the first annular scraper 303 can be pushed to slide back and forth along the moving direction of the piston rod of the first waterproof electric push rod 302 by the first mounting cavity 301 and the first waterproof electric push rod 302 mounted in the first mounting cavity 301, through the tooth of scraping that first annular scraper blade 303 set up towards sonar body 2 outer wall one end, when first annular scraper blade 303 makes a round trip to slide, can strike off the aquatic life who adheres on sonar body 2 outer wall, because the range of motion of first waterproof electric putter 302's piston rod is at the rear side of sonar body 2, consequently can clean the rear side of sonar body 2 outer wall.

As shown in fig. 2, in some embodiments, the upper and lower both ends of the outer side wall of the sonar body 2 are provided with first chutes 6, the inner side wall of the first annular scraper 303 is fixed with a first T-shaped sliding plate 306 in sliding fit with the first chutes 6, and the distance between the first annular scraper 303 and the surface of the sonar body 2 is kept consistent through the arrangement of the first chutes 6 and the first T-shaped sliding plate 306, so that the removing effect of marine organisms attached to the sonar body 2 is improved.

As shown in fig. 3 and 4, in some embodiments, the second cleaning mechanism 4 includes a second mounting cavity 401 disposed on the inner side wall of the sonar body 2, a second waterproof electric push rod 402 is mounted in the second mounting cavity 401, a second annular scraper 403 is slidably disposed on the outer side wall of the sonar body 2, a second push plate 404 is connected to the inner side of the second annular scraper 403, a second push groove 405 is disposed on the outer side wall of the second mounting cavity 401, one end of the second push plate 404 extends into the second mounting cavity 401 through the second push groove 405 and is slidably connected thereto, and one end extending into the second mounting cavity 401 is connected to the driving end of the second waterproof electric push rod 402, the second annular scraper 403 can be pushed to slide back and forth along the moving direction of the piston rod of the second waterproof electric push rod 402 through the second mounting cavity 401 and the second waterproof electric push rod 402 mounted in the second mounting cavity 401, and the scraping teeth disposed toward one end of the outer wall 403 of the sonar body 2 through the second annular scraper, the aquatic organisms adhered to the outer wall of the sonar main body 2 can be scraped while the second ring-shaped scraper 403 slides back and forth, and the front side of the outer wall of the sonar main body 2 can be cleaned because the moving range of the piston rod of the second waterproof electric push rod 402 is in the front side of the sonar main body 2.

As shown in fig. 2 and 4, in some embodiments, the upper end and the lower end of the outer side wall of the sonar main body 2 are both provided with a second chute 7, the inner side wall of the second annular scraper 403 is fixed with a second T-shaped sliding plate 406 in sliding fit with the second chute 7, and the distance between the second annular scraper 403 and the surface of the sonar main body 2 is kept consistent through the arrangement of the second chute 7 and the second T-shaped sliding plate 406, so that the removing effect of marine organisms attached to the sonar main body 2 is improved.

As shown in fig. 3 and 4, in some embodiments, the third cleaning mechanism 5 includes convex plates 501 fixed at two ends of the outer side wall of the second annular scraper 403, an arc-shaped scraper 502 attached to the front end of the sonar body 2 is rotatably connected between the two convex plates 501 through a rotating shaft, one convex plate 501 is fixed with a waterproof motor 503 which is rotationally connected with the rotating shaft, the third cleaning mechanism 5 is arranged on a second annular scraper 403 which is arranged on the second cleaning mechanism 4, the front end of the sonar body 2 is a hemispherical cambered surface, when the second annular blade 403 moves close to the front end of the sonar main body 2, the arc-shaped blade 502 in the third cleaning mechanism 5 has a condition of rotating work, drive arc scraper 502 through waterproof motor 503 and rotate for the tooth of scraping that arc scraper 502 inboard set up is laminated mutually with the cambered surface of sonar body 2 front end, can strike off the aquatic organisms who adheres to in the cambered surface of sonar body 2 front end.

As shown in fig. 5, in some embodiments, be fixed with the connecting block 8 that cup joints with connecting rod 103 slip on the both sides wall of sonar body 2, the upper and lower both ends of connecting block 8 all are equipped with expanding spring 9, the other end of the expanding spring 9 at upper and lower both ends links to each other with roof 102 and bottom plate 101 respectively, and its endotheca is equipped with connecting rod 103, through connecting block 8, connecting rod 103 and expanding spring 9's setting, play the cushioning effect, reduce the protective frame 1 and receive the impaired probability of sonar body 2 when large-scale organism attacks in the ocean.

As shown in fig. 5, in some embodiments, the clamping seats 10 are disposed on the sides of the bottom plate 101 and the top plate 102 facing the sonar body 2, the clamping seats 10 are disposed on the sides facing the sonar body 2, and have grooves with the same radian as the outer surface of the clamping seats, and rubber pads are fixed in the grooves, so that the maximum displacement distance of the sonar body 2 is limited by the arrangement of the clamping seats 10 and the rubber pads, and the probability of damage to the extension springs 9 is reduced.

As shown in fig. 5 and 6, in some embodiments, the aquatic weed removing mechanism 11 includes a U-shaped cavity 1101 fixed on the lower surface of the top plate 102, a plurality of rotating rods 1102 distributed in a U-shape are disposed in the U-shaped cavity 1101, the rotating rod 1102 located in the middle is connected to the driving end of the stepping motor 1103 fixed on the lower surface of the top plate 102, and a plurality of rotating rods 1102 located on the same line with the stepping motor 1103 are all provided with a first gear 1104, the first gears 1104 are connected with each other by a first toothed belt 1105 in a meshing manner, two rows of rotating rods 1102 arranged in parallel are all provided with a second gear 1106, the second gears 1106 located on the same side are connected with each other by a second toothed belt located on the same side in a meshing manner, two ends of the rotating rods 1107 are respectively connected with the bottom plate 101 and the top plate 102 in a rotating manner, and are fixed with cutting blades 1108, the rotating rods 1102 drive the cutting blades 1108 to work, cut aquatic weeds near the shelter 1, and drive aquatic animals, one of the rotating rods 1102 is driven to rotate by the stepping motor 1103, and all the rotating rods 1102 rotate along with the work of the stepping motor 1103 through the matching of the first gear 1104, the first toothed belt 1105, the second gear 1106 and the second toothed belt 1107, so that the stepping motor 1103, the first gear 1104, the first toothed belt 1105, the second gear 1106 and the second toothed belt 1107 are protected from being soaked by water by the U-shaped cavity 1101, and the aquatic weed removing mechanism 11 is prevented from being corroded and damaged by seawater.

As shown in fig. 1-6, the invention also provides a use method of the self-cleaning multi-beam forward sonar, which comprises the following steps;

s1: checking whether the sonar body 2 is intact, and whether the first cleaning mechanism 3, the second cleaning mechanism 4, the third cleaning mechanism 5 and the aquatic weed removing mechanism 11 can work normally;

s2: the power supply of the sonar body 2 is turned off, the protective frame 1 is lifted up through the lifting lugs 12 and slowly placed into water, after the sonar body 2 enters the water, the sonar body 2 is started again, and the line is slowly released, so that the sonar body 2 is sunk to an undetermined depth;

s3: confirm that sonar body 2 can normally work, confirm the back of accomplishing, make sonar body 2 stabilize at undetermined degree of depth, open first clean mechanism 3, the clean mechanism 4 of second, the control system of third clean mechanism 5 and pasture and water clearance mechanism 11, make first clean mechanism 3, the clean mechanism 4 of second, the clean mechanism 5 of third and pasture and water clearance mechanism 11 every interval one end time operation once, wherein, the clean mechanism 5 of third only begins to operate when the clean mechanism 4 of second moves foremost, the clean mechanism 5 during operation of third, the clean mechanism 4 of second keeps standby state, wait to continue work again after the clean work of 5 times of third clean mechanism finishes.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.