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US 12,637,184 B1Granted
Floating body apparatus and system
AssigneeQuilo Technology (Jiaxing) Co., Ltd.
InventorPengfei Lin
Life of this patent
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Abstract
A floating body apparatus and a floating body system are provided. The apparatus includes a floating body and a detection sensor. The detection sensor for detects information of an obstacle around the floating body, the detection sensor is arranged at a bottom or a side surface of the floating body, so as to be lower than a water surface, a vertical distance H between the detection sensor and the water surface satisfies 0<H≤13 cm, and when a pipe line exists on the water surface at a front end of a movement direction of the floating body, the floating body performs an avoidance action to avoid the pipe line.
Claims20
A floating body apparatus, comprising:
- a floating body and a detection sensor, wherein the detection sensor is an ultrasonic detection sensor, and the detection sensor is used for detecting information of an obstacle around the floating body, the detection sensor is arranged at a bottom or a side surface of the floating body, lower than a water surface, a vertical distance H between the detection sensor and the water surface satisfies 0<H≤13 cm to reduce a disturbance of a ultrasonic reflection on the detection sensor, an angle β between a central reference axis of the detection sensor and a vertical plane satisfies 0≤β≤90°, and when a hose line exists on the water surface at a front end of a movement direction of the floating body, the floating body performs an avoidance action to avoid the hose line;
- the vertical distance H is determined by detecting a signal parameter and an environment parameter of the detection sensor, and the signal parameter and the environment parameter are based on:
- signal reflection disturbance, an effective signal strength, fluctuation disturbance, a fluctuation adaptability score, a level detection range, an effective coverage area, angle coverage, a coverage stability score, bubble disturbance, water splash disturbance, and an environment adaptability score.
A floating body apparatus, comprising:
- a floating body and a detection sensor, wherein the floating body is able to be configured to float and operate on a water surface, and when the floating body floats and operates on the water surface, the detection sensor is located lower than the water surface, a vertical distance H between the detection sensor and the water surface satisfies 0<H≤13 cm;
- and when the detection sensor detects a hose line existing on the water surface at a front end of a movement direction of the floating body, the floating body performs an avoidance action to avoid the hose line, wherein
- the vertical distance H is determined by detecting a signal parameter and an environment parameter of the detection sensor, and the signal parameter and the environment parameter are based on:
- signal reflection disturbance, an effective signal strength, fluctuation disturbance, a fluctuation adaptability score, a level detection range, an effective coverage area, angle coverage, a coverage stability score, bubble disturbance, water splash disturbance, and an environment adaptability score.
1 more element
A floating body apparatus, comprising:
- a floating body and a detection sensor, wherein the detection sensor is an ultrasonic detection sensor, and the floating body is able to be configured to float and operate on a water surface;
- when the floating body floats and operates on the water surface, the detection sensor is located lower than the water surface, and is used for detecting a host line on the water surface, a vertical distance H between the detection sensor and the water surface satisfies 0<H≤13 cm, and the vertical shortly H is configured to balance a water surface reflection disturbance and a water bottom reflection disturbance, and optimize a detection signal of the detection sensor for the host line;
- and when the detection sensor detects the hose line existing on the water surface, the floating body performs an avoidance action to avoid the hose line, wherein
- the vertical distance H is determined by detecting a signal parameter and an environment parameter of the detection sensor, and the signal parameter and the environment parameter are based on:
- signal reflection disturbance, an effective signal strength, fluctuation disturbance, a fluctuation adaptability score, a level detection range, an effective coverage area, angle coverage, a coverage stability score, bubble disturbance, water splash disturbance, and an environment adaptability score.
2 more elements
Dependencies are inferred from the claim text.