Float device and associated system

Abstract

Floating body device, characterized in that it comprises a floating body main body (1) and a detection sensor (2), wherein the detection sensor (2) is used for detecting obstacle information around the floating body main body (1), wherein the detection sensor (2) is arranged at the bottom of the floating body main body (1) or its side surface such that the detection sensor (2) is deeper than the water surface, wherein the vertical distance H of the detection sensor (2) relative to the water surface 0 <H≤13 cm beträgt, wobei, wenn auf der Wasseroberfläche vor dem Schwimmkörper-Hauptkörper (1) in dessen Bewegungsrichtung eine Rohrleitung vorhanden ist, der Schwimmkörper-Hauptkörper (1) eine Ausweichaktion ausführt, um der Rohrleitung auszuweichen.

Description

AREA OF REGISTRATION

[0001] The present application relates to the field of water management, in particular to a float device and an associated system. STATE OF THE ART

[0002] With the widespread application of water operation equipment and unmanned surface vehicles, floating devices have played an important role in water purification, environmental monitoring, water surveying and mapping, search and rescue, and other fields. This type of device generally relies on its buoyancy to float on the water surface, achieving navigation and functional execution by sensing the surrounding environment. However, in the complex aquatic environment, floating devices on the water surface face many challenges, especially in the obstacle avoidance of water surface pipelines.

[0003] Conventional surface buoyancy devices are usually equipped with ultrasonic, lidar, or visual detection sensors to detect obstacles on the water surface and the surrounding environment. However, most of these detection sensors can detect obstacles on and above the water surface, but it is difficult to effectively detect obstacles on and below the water surface. The blind spot in this type of detection easily causes the buoyancy device to get stuck in the pipeline during operation and become difficult to escape. This not only leads to the device's function failure, but may also cause damage to the device itself, seriously affecting its work efficiency and reliability. DISCLOSURE OF THE UTILITY MODEL

[0004] The object of the present utility model is to solve the above technical problem by providing a float device and an associated system, whereby the detection sensor of the float device efficiently detects obstacles such as pipelines, thus avoiding the problem of the float device becoming stuck. According to the present utility model, the object is achieved by the following configuration:

[0005] A float device comprises a float main body and a detection sensor, wherein the detection sensor is used to detect obstacle information around the float main body, wherein the detection sensor is arranged at the bottom of the float main body or its side surface such that the detection sensor is deeper than the water surface, wherein the vertical distance H of the detection sensor relative to the water surface is 0 <H≤13 cm beträgt, wobei, wenn auf der Wasseroberfläche vor dem Schwimmkörper-Hauptkörper in dessen Bewegungsrichtung eine Rohrleitung vorhanden ist, der Schwimmkörper-Hauptkörper eine Ausweichaktion ausführt, um der Rohrleitung auszuweichen.

[0006] Specifically, the detection sensor is intended to be one of the following sensors: ultrasonic detection sensors, underwater LiDAR detection sensors and infrared detection sensors or a combination of several of them.

[0007] Specifically, it is provided that if there is a pipeline on the water surface in front of the main body of the float in the direction of its movement, the execution of an evasive action by the main body of the float comprises the execution of at least one of the actions of backward movement, left or right turns or any combination thereof.

[0008] Specifically, it is intended that when at least part of the pipeline engages with the float main body, the float main body performs an escape action to detach itself from the pipeline.

[0009] Specifically, if at least a portion of the pipeline engages the right front corner of the float main body and the distance between the left side of the float main body and an obstacle is less than a first threshold, the float main body moves backward until no portion of the float main body touches the pipeline.

[0010] Specifically, if at least part of the pipeline engages the right front corner of the float main body and the distance between the left side of the float main body and the obstacle is not less than the first threshold, the float main body rotates to the left until no part of the float main body touches the pipeline.

[0011] Specifically, if at least a portion of the pipeline engages the left front corner of the float main body and the distance between the right side of the float main body and the obstacle is less than a second threshold, the float main body moves backward until no portion of the float main body touches the pipeline.

[0012] Specifically, if at least part of the pipeline engages the left front corner of the float main body and the distance between the right side of the float main body and the obstacle is not less than the second threshold, the float main body rotates to the right until no part of the float main body touches the pipeline.

[0013] Specifically, it is intended to further comprise a propulsion system comprising a left propeller and a right propeller, both installed in the rear area of ​​the float main body; wherein, when the floating body main body performs a backward movement as an escape action, the left propeller and the right propeller are controlled to rotate backward so that the floating body main body performs the backward movement action; wherein, when the floating body main body performs a left turn as an escape action, the rotational speed of the left propeller is controlled to be lower than the rotational speed of the right propeller, so that the floating body main body performs the left turn action; wherein, when the float main body performs a right turn as an escape action, the rotational speed of the left propeller is controlled to be higher than the rotational speed of the right propeller, so that the float main body performs the right turn action.

[0014] A floating body system includes a detection unit, a drive system, a control unit, and a floating body main body of the floating body device, wherein the detection unit is used to detect obstacle information around the floating body main body, and wherein the control unit controls the drive system to perform an evasive or escape action according to the obstacle information.

[0015] Compared to the prior art, the float device and the associated system of the present utility model are characterized by the following advantageous effects: The vertical distance of the detection sensor relative to the water surface is determined so that the detection sensor has high detection efficiency and the float device can avoid obstacles such as pipelines in time to avoid the problem of getting stuck. Presentation of the registration

[0016] In it show Fig. 1 is a schematic structural diagram of the float device according to an embodiment of the present application; Fig. 2 is a schematic structural diagram of the float device according to an embodiment of the present application when avoiding a pipeline in a pond; Fig. 3 is a schematic structural diagram of the float device according to an embodiment of the present application when it moves backward while its right front corner is stuck to a pipeline; Fig. 4 is a schematic structural diagram of the float device according to an embodiment of the present application when it rotates leftward or moves backward when its right front corner is stuck to a pipeline; Fig. 5 is a schematic structural diagram of the float device according to an embodiment of the present application when it moves backward while its left front corner is stuck to a pipeline; Fig. 6 is a schematic structural diagram of the float device according to an embodiment of the present application when it rotates rightward or moves backward while pinning its left front corner to a pipeline.

[0017] Reference symbols: Float main body 1, detection sensor 2. CONCRETE EMBODIMENTS

[0018] To make the technical solutions and advantages in the embodiments of the present application clearer and easier to understand, a further detailed description of the exemplary embodiments of the present application is provided below in conjunction with the accompanying drawings. It is obvious that the described embodiments represent only a part of the embodiments of the present application and do not represent an exhaustive list of all embodiments. It should be noted that the features in the exemplary embodiments of the present application can be combined with one another, unless there is a conflict.

[0019] See Fig. 1 is a schematic diagram of a floating body device provided in the present application. The floating body device includes a floating body main body 1 on which a detection unit and a drive system are provided. The drive system is connected to a control unit that controls its movement, and the drive system realizes actions such as forward movement, backward movement, left turn, and right turn of the floating body main body 1.

[0020] In one embodiment, the detection unit includes a detection sensor 2 used to detect an obstacle. The detection sensor 2 may be one of ultrasonic detection sensors, underwater LiDAR detection sensors, and infrared detection sensors, or a combination of several sensors. The working environment of the floating body device may be water. When the floating body device is on the water surface, part of its body is below the water surface. Obstacles may be steps, slopes, or pipelines, etc. If a pipeline exists on the water surface in front of the floating body main body 1 in its moving direction, the part of the pipeline that submerges into the water surface can be effectively detected by the detection sensor 2, and the floating body main body 1 performs an evasive action to avoid the pipeline.

[0021] The detection sensor 2 is arranged at the bottom of the float main body 1 or on its side surface, so that the detection sensor 2 is deeper than the water surface after it enters the water; the vertical distance H of the detection sensor 2 relative to the water surface is 0 <H≤15cm, und konkret gilt 0<H≤13cm für H. Der Winkel β zwischen der mittleren Bezugsachse des Detektionssensors 2 und der vertikalen Ebene beträgt 0≤β≤90°, und der Erfassungssensor in dieser Ausführungsform ist ein Ultraschall-Detektionssensor. Der Winkel β zwischen der mittleren Bezugsachse des Strahls und der vertikalen Ebene beträgt 0≤β≤90°. Dabei ist der Winkel β des Detektionsbereichs des Detektionssensors 2 90° die optimale Wahl, damit der Detektionssensor 2 die Unterwasserumgebung effektiv erfassen kann.

[0022] In air, the attenuation of ultrasonic waves is large, the propagation distance is limited, and the propagation speed in air is about 343 m / s. In water, on the other hand, due to the higher water density and acoustic impedance, the propagation distance of the ultrasonic wave is longer, the signal is more stable, and the propagation speed of the ultrasonic wave in water is about 1500 m / s. If the detection sensor 2 is installed above the water surface, the ultrasonic wave will be reflected and refracted when passing the water surface, resulting in the signal strength decreasing or even being offset, which affects the detection accuracy and reliability. Therefore, the detection sensor 2 is placed in a position no higher than the water surface.Ultrasonic attenuation during propagation in water is lower, echo signal strength is higher, and the signal is clear, thus avoiding the energy loss of the ultrasonic wave at the water-air interface. This ensures effective signal propagation, which is conducive to accurate obstacle positioning.

[0023] When the detection sensor 2 is located at a shallow depth in the water, the water surface may reflect the ultrasonic wave and cause interference, resulting in a reduction in the horizontal detection range and the effective coverage area. When the detection sensor 2 is located at a great depth in the water, the ultrasonic wave will be reflected at the bottom of the water, causing interference, and the ultrasonic attenuation will be large, which will affect the signal strength and further affect the detection accuracy of the detection sensor 2.

[0024] The vertical distance of the detection sensor 2 relative to the water surface is determined by detecting the signal parameters and environmental parameters of the detection sensor 2, and the signal parameters and environmental parameters include at least one of the dimensions of signal reflection interference, effective signal strength, fluctuation interference, fluctuation adaptability evaluation, horizontal detection range, effective coverage area, angular coverage, coverage stability evaluation, bubble interference, splash water interference and environmental adaptability evaluation or a combination of several thereof.

[0025] As shown in Table 1 below, the above dimensions are specifically described. Signal reflection interference: Fluctuations in the water surface and the intensity of the interference of reflections for the signal. Effective signal strength: Main signal strength received by the detection sensor 2. Signal attenuation: The strength of signal loss due to propagation distance and medium properties. Fluctuation interference: Impact of water surface fluctuations on the signal (high / medium / low). Fluctuation adaptability rating: The evaluation of the adaptability of the detection sensor 2 to fluctuation interference, which is 1-5 points. Horizontal detection range: Effective detection distance of the detection sensor 2 in the horizontal direction. Effective coverage range: The range of the effective detection range covered by the detection sensor 2.Angle coverage: The coverage angle of the beams within the horizontal plane. Coverage stability rating: The stability rating of the beam angle range and the signal coverage area, ranging from 1 to 5 points. Bubble interference: The extent to which underwater bubbles interfere with the signal. Splash interference: Splash interference caused by water flow or device movement. Environmental adaptability rating: The comprehensive assessment of adaptability to water surface bubbles, fluctuations, and other environmental disturbances, ranging from 1 to 5 points.

[0026] Compared with other parameters in Table 1, at a vertical distance of detection sensor 2 of 13 cm, the signal reflection interference is 10% lower and the effective signal strength is 85% lower, and the signal reflection interference and effective signal strength are optimally balanced. Second, the horizontal detection range is 3.2 m, and the effective coverage area is 10.2 m. 2 The horizontal detection range and effective coverage area reach their maximum. Finally, the fluctuation interference adaptability rating and environmental adaptability rating reach the maximum value of 5 points.

[0027] By determining the vertical distance of the detection sensor 2 relative to the water surface based on at least one of the dimensions of effective signal strength, fluctuation adaptability, horizontal detection range, angle coverage, and environmental adaptability, or a combination of several thereof, the detection sensor 2 can be adjusted with respect to several key dimensions and thus has high detection efficiency, so that the floating body device can avoid obstacles such as pipelines in time to avoid the problem of getting stuck.

[0028] As in Fig. 2, in one embodiment, it is provided that if a pipeline is present on the water surface in front of the floating body main body 1 in the direction of movement thereof, the execution of an evasive action by the floating body main body 1 comprises the execution of at least one of the actions of backward movement, left or right turns or any combination thereof.

[0029] When there is a pipeline on the water surface in front of the floating body main body 1 in the direction of movement, the distance between the floating body main body 1 and the pipeline can be detected by the detection sensor 2. When the preset distance between the floating body main body 1 and the pipeline is reached, the floating body main body 1 can perform the actions of backward movement, left turn, right turn, backward movement and left turn, backward movement and right movement, first left turn and then right turn, and first right turn and then left turn, so that if the floating body main body 1 does not get stuck in the pipeline, an evasive action is completed. The preset distance can be set according to the length of the floating body main body 1, and the preset distance can be 51 cm.

[0030] As in Fig. 3, in one embodiment, it is provided that when at least a part of the pipeline engages with the float main body 1, the float main body 1 performs an escape action to detach from the pipeline. Specifically, it is provided that when at least a part of the pipeline engages with the right front corner of the float main body 1 and the distance between the left side of the float main body 1 and the obstacle is less than a first threshold, the float main body 1 moves backward until no part of it touches the pipeline. At this time, the left side of the float main body 1 is close to the obstacle, and if the float main body 1 continues to approach the obstacle, it may become stranded.

[0031] If at least a part of the pipeline engages the right front corner of the float main body 1 and the distance between the left side of the float main body 1 and the obstacle is not less than the first threshold, the float main body 1 rotates to the left until no part of the float main body 1 touches the pipeline, as shown in Fig. 4 shown.

[0032] If at least a part of the pipeline engages the left front corner of the float main body 1 and the distance between the right side of the float main body 1 and the obstacle is less than a second threshold value, the float main body 1 moves backward until no part of the float main body 1 touches the pipeline, as shown in Fig. 5. At this time, the right side of the floating body main body 1 is close to the obstacle, and if the floating body main body 1 continues to approach the obstacle, it may be stranded.

[0033] If at least a part of the pipeline engages the left front corner of the float main body 1 and the distance between the right side of the float main body 1 and the obstacle is not less than the second threshold, the float main body 1 rotates to the right until no part of the float main body 1 touches the pipeline, as shown in Fig. 6 shown.

[0034] The first threshold value may be equal to the second threshold value and may be set according to the length of the float main body 1.The distance between the floating body main body 1 and the obstacle is not less than the length of the floating body main body 1, so that the floating body main body 1 can rotate freely; the first threshold and the second threshold can be 51 cm, and a value not less than the first threshold or not less than the second threshold is the safe distance of the floating body main body 1 from the obstacle; under the condition of maintaining a safe distance from the obstacle, the floating body main body 1 can move within a safe distance by controlling the left or right rotation of the floating body main body 1 to detach from the pipeline; when the floating body main body 1 is close to the obstacle, it is no longer able to rotate and move, and this easily causes the problem of stranding.Detachment from the pipeline can be achieved by moving the float main body 1 backward. The float main body 1 can choose a flexible path to effectively and quickly detach itself from the pipeline.

[0035] In one embodiment, the propulsion system comprises a left propeller and a right propeller, both installed in the rear region of the float main body 1.

[0036] When the float main body 1 performs a backward movement as an escape action, the left propeller and the right propeller are controlled to rotate backward, so that the float main body 1 performs the backward movement action; this can be understood that when both the left and right propellers rotate forward, the float main body 1 performs the forward movement. That is, the float main body 1 moves forward with respect to its own orientation, and the backward movement means that the float main body 1 moves backward with respect to its own orientation. By controlling the float main body 1 to move backward, it can effectively get out of the pipeline that snaps into the left front corner and / or the right front corner of the float main body 1 and move away from it.

[0037] When the buoyancy body main body 1 performs a left turn as an escape action, the rotation speed of the left propeller is controlled to be lower than the rotation speed of the right propeller, so that the buoyancy body main body 1 performs the left turn action; By controlling different rotation speeds of the left propeller and the right propeller and keeping the left side of the buoyancy body 1 at a safe distance from the obstacle, the rotation and movement of the buoyancy body main body 1 is realized, thus effectively breaking free from and moving away from the pipeline snapped into the right front corner of the buoyancy body main body 1.

[0038] When the buoyancy body main body 1 performs a right turn as an escape action, the rotation speed of the left propeller is controlled to be higher than the rotation speed of the right propeller, so that the buoyancy body main body 1 performs the right turn action; By controlling different rotation speeds of the left propeller and the right propeller and keeping the right side of the buoyancy body 1 at a safe distance from the obstacle, the rotation and movement of the buoyancy body main body 1 is realized, thus effectively breaking free from and moving away from the pipeline snapped into the left front corner of the buoyancy body main body 1.

[0039] By controlling the float main body 1 to perform the evasive action or the escape action, the float main body 1 can move backward, turn left, turn right and perform other actions, so that the float main body 1 moves away from the pipeline of the water surface, so as to realize the efficient and rapid evasive action and escape action and improve the overall work efficiency and operation reliability of the float device.

[0040] In one embodiment, a floating body system is provided. It includes a detection unit, a drive system, a control unit, and a floating body main body 1 according to the above embodiment. The detection unit is used to detect obstacle information around the floating body main body 1, and the control unit controls the drive system to perform an evasive or escape action according to the obstacle information. The floating body system has the advantages of the above-mentioned floating body device, which are not repeated here.

[0041] Individual units or systems in the buoyancy system may be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned units may be embedded in the computing device in the form of hardware, implemented independently, or stored in the memory of the computing device in the form of software, allowing the processor to retrieve and execute the corresponding operations of the above-mentioned units.

[0042] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "front," "rear," "left," "right," "left front corner," "right front corner," "bottom," "side," etc., are based on the orientation or positional relationship in which the float main body is located. The above definitions are for illustrative and explanatory purposes only and should not be construed as limiting the present application.

[0043] The technical features of the above embodiments can be combined arbitrarily, and for the sake of brevity, a description of all possible combinations of the various technical features in the above embodiments is omitted here. As long as the combination of these technical features is not contradictory, it should be considered part of the scope of the present description.

[0044] The above exemplary embodiments describe in detail only some embodiments of the application and should therefore not be construed as limiting the scope of the utility model. It should be noted that various variants and developments are possible for those of ordinary skill in the art without departing from the basic idea of ​​the present application, which are intended to be within the scope of protection of the application. With regard to the scope of protection of the present application, the appended claims are decisive. Summary

[0045] The present utility model discloses a floating body device and an associated system. The device comprises a floating body main body and a detection sensor, wherein the detection sensor is used to detect obstacle information around the floating body main body, wherein the detection sensor is arranged at the bottom of the floating body main body or its side surface such that the detection sensor is deeper than the water surface, wherein the vertical distance H of the detection sensor relative to the water surface is 0

Claims

[1] Floating device, characterized by that it comprises a float main body (1) and a detection sensor (2), wherein the detection sensor (2) is used to detect obstacle information around the float main body (1), wherein the detection sensor (2) is arranged at the bottom of the float main body (1) or its side surface such that the detection sensor (2) is deeper than the water surface, wherein the vertical distance H of the detection sensor (2) relative to the water surface 0 <H≤13 cm beträgt, wobei, wenn auf der Wasseroberfläche vor dem Schwimmkörper-Hauptkörper (1) in dessen Bewegungsrichtung eine Rohrleitung vorhanden ist, der Schwimmkörper-Hauptkörper (1) eine Ausweichaktion ausführt, um der Rohrleitung auszuweichen. [2] Floating body device according to claim 1, characterized bythat the detection sensor (2) is one of the sensors ultrasonic detection sensors, underwater LiDAR detection sensors and infrared detection sensors or a combination of several thereof. [3] Floating body device according to claim 1, characterized by that, if a pipeline is present on the water surface in front of the floating body main body (1) in the direction of its movement, the execution of an evasive action by the floating body main body (1) comprises the execution of at least one of the actions of backward movement, left or right turns or any combination thereof. [4] Floating body device according to claim 1, characterized by that when at least a part of the pipeline engages the float main body (1), the float main body (1) performs an escape action to detach itself from the pipeline. [5] Floating body device according to claim 4, characterized bythat when at least a part of the pipeline engages the right front corner of the float main body (1) and the distance between the left side of the float main body (1) and an obstacle is less than a first threshold value, the float main body (1) moves backward until no part of the float main body (1) touches the pipeline anymore. [6] Floating body device according to claim 4, characterized by that when at least a part of the pipeline engages the right front corner of the float main body (1) and the distance between the left side of the float main body (1) and the obstacle is not less than the first threshold value, the float main body (1) rotates to the left until no part of the float main body (1) touches the pipeline anymore. [7] Floating body device according to claim 4, characterized bythat when at least a part of the pipeline engages the left front corner of the float main body (1) and the distance between the right side of the float main body (1) and the obstacle is less than a second threshold value, the float main body (1) moves backwards until no part of the float main body (1) touches the pipeline anymore. [8] Floating body device according to claim 4, characterized by that when at least a part of the pipeline engages the left front corner of the float main body (1) and the distance between the right side of the float main body (1) and the obstacle is not less than the second threshold value, the float main body (1) rotates to the right until no part of the float main body (1) touches the pipeline anymore. [9] Floating body device according to claim 4, characterized bythat it further comprises a propulsion system comprising a left propeller and a right propeller, both installed in the rear region of the floating body main body (1); wherein, when the floating body main body (1) performs a backward movement as an escape action, the left propeller and the right propeller are controlled to rotate backward so that the floating body main body (1) performs the backward movement action; wherein, when the floating body main body (1) performs a left turn as an escape action, the rotational speed of the left propeller is controlled to be lower than the rotational speed of the right propeller, so that the floating body main body (1) performs the left turn action; wherein, when the floating body main body (1) performs a right turn as an escape action, the rotational speed of the left propeller is controlled to be higher than the rotational speed of the right propeller, so that the floating body main body (1) performs the right turn action. [10] Float system, characterized by that it comprises a detection unit, a drive system, a control unit and a float main body (1) of the float device according to one of claims 1 to 9, wherein the detection unit is used to detect obstacle information around the float main body (1), and wherein the control unit controls the drive system to perform an evasive or escape action according to the obstacle information.

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