Floating body apparatus and system
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.
1 . 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.
2 . The floating body apparatus according to claim 1 , wherein when the hose line exists on the water surface at the front end of the movement direction of the floating body, the avoidance action performed by the floating body comprises at least one of or any combination of moving backwards, turning left, or turning right.
3 . A floating body system, comprising: a detection unit, a power system, a control unit, and the floating body apparatus according to claim 1 , wherein the detection unit comprises the detection sensor, and the control unit controls, according to the information of an obstacle, the power system to perform avoidance action or extrication action.
4 . The floating body apparatus according to claim 1 , wherein when at least part of the hose line gets entangled with the floating body, the floating body performs extrication action to get separated from the hose line.
5 . The floating body apparatus according to claim 4 , wherein when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a first threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line.
6 . The floating body apparatus according to claim 4 , wherein when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a first threshold, the floating body turns left until no part of the floating body makes contact with the hose line.
7 . The floating body apparatus according to claim 4 , wherein when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a second threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line.
8 . The floating body apparatus according to claim 4 , wherein when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a second threshold, the floating body turns right until no part of the floating body makes contact with the hose line.
9 . The floating body apparatus according to claim 4 , further comprising a power system, wherein the power system comprises a left propeller and a right propeller, and both the left propeller and the right propeller are mounted at a rear of the floating body;
when the extrication action performed by the floating body is moving backwards, both the left propeller and the right propeller are controlled to rotate reversely, such that the floating body performs action of moving backwards;
when the extrication action performed by the floating body is turning left, a rotational speed of the left propeller is controlled to be less than that of the right propeller, such that the floating body performs action of turning left; and
when the extrication action performed by the floating body is turning right, the rotational speed of the left propeller is controlled to be greater than that of the right propeller, such that the floating body performs action of turning right.
10 . A floating body system, comprising: a detection unit, a power system, a control unit, and the floating body apparatus according to claim 4 , wherein the detection unit comprises the detection sensor, and the control unit controls, according to the information of an obstacle, the power system to perform avoidance action or extrication action.
11 . The floating body system according to claim 3 , wherein
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a first threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a first threshold, the floating body turns left until no part of the floating body makes contact with the hose line.
12 . The floating body system according to claim 3 , wherein
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a second threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a second threshold, the floating body turns right until no part of the floating body makes contact with the hose line.
13 . The floating body system according to claim 10 , wherein
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a first threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a first threshold, the floating body turns left until no part of the floating body makes contact with the hose line.
14 . The floating body system according to claim 10 , wherein
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a second threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a second threshold, the floating body turns right until no part of the floating body makes contact with the hose line.
15 . 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.
16 . The floating body apparatus according to claim 15 , wherein
when the hose line exists on the water surface at the front end of the movement direction of the floating body, the avoidance action performed by the floating body comprises at least one of or any combination of moving backwards, turning left, or turning right; and/or
when at least part of the hose line gets entangled with the floating body, the floating body performs extrication action to get separated from the hose line.
17 . The floating body apparatus according to claim 16 , wherein
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a first threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a first threshold, the floating body turns left until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a second threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a second threshold, the floating body turns right until no part of the floating body makes contact with the hose line.
18 . 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.
19 . The floating body apparatus according to claim 18 , wherein
when the hose line exists on the water surface at the front end of the movement direction of the floating body, the avoidance action performed by the floating body comprises at least one of or any combination of moving backwards, turning left, or turning right; and/or
when at least part of the hose line gets entangled with the floating body, the floating body performs extrication action to get separated from the hose line.
20 . The floating body apparatus according to claim 19 , wherein
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a first threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a right front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a first threshold, the floating body turns left until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is less than a second threshold, the floating body moves backwards until no part of the floating body makes contact with the hose line; and/or
when at least part of the hose line gets entangled with a left front corner of the floating body, and a distance between a left side of the floating body and an obstacle is not less than a second threshold, the floating body turns right until no part of the floating body makes contact with the hose line.