A sonar system is provided including a sonar assembly configured to attach to a motor assembly of a watercraft or a watercraft. The sonar assembly includes sonar transducer element(s) that transmit sonar beam(s). The sonar system includes a display, processor(s), and a steering assembly configured to cause rotation of the sonar assembly or the motor assembly. The sonar system includes a memory including computer program code that causes the processor(s) to cause the sonar transducer element(s) to emit sonar beam(s), receive sonar return data from a coverage volume of the sonar transducer element(s), generate a sonar image of the coverage volume based on the sonar return data, receive an input from a user, determine a target in the underwater environment based on the input, and cause the steering assembly to adjust the coverage volume to maintain the target within the coverage volume as the watercraft moves relative to the target.

A sonar system is provided including a sonar assembly configured to attach to a motor assembly of a watercraft or a watercraft. The sonar assembly includes sonar transducer element(s) that transmit sonar beam(s). The sonar system includes a display, processor(s), and a steering assembly configured to cause rotation of the sonar assembly or the motor assembly. The sonar system includes a memory including computer program code that causes the processor(s) to cause the sonar transducer element(s) to emit sonar beam(s), receive sonar return data from a coverage volume of the sonar transducer element(s), generate a sonar image of the coverage volume based on the sonar return data, receive an input from a user, determine a target in the underwater environment based on the input, and cause the steering assembly to adjust the coverage volume to maintain the target within the coverage volume as the watercraft moves relative to the target.

An object sensing device is configured to sense an object therearound using an ultrasonic sensor. The object sensing device comprises: a distance judgment portion that performs a judgement of a distance to the object therearound in accordance with received ultrasonic waves that are based on transmitted ultrasonic waves by the ultrasonic sensor; and a notification control portion that performs a predetermined notification operation in accordance with the received ultrasonic waves that are based on the transmitted ultrasonic waves. The notification control portion performs the predetermined notification operation when the distance judgement portion has continuously judged that the object is within a predetermined close range. The notification control portion fails to perform the predetermined notification operation when a judgement history of the distance to the object by the distance judgement portion indicates an abnormal appearance of the object within the predetermined close range.

Methods, systems, and apparatuses are described that are configured for determining a path of an apparatus, engaging a motor to cause the apparatus to proceed along the path, receiving one or more of LIDAR data, ultrasonic data, or optical flow data, determining, based on one or more of the LIDAR data, the ultrasonic data, or the optical flow data, one or more objects in the path of the apparatus, and engaging the motor to cause the apparatus to avoid the one or more objects.

Methods, systems, and apparatuses are described that are configured for determining a path of an apparatus, engaging a motor to cause the apparatus to proceed along the path, receiving one or more of LIDAR data, ultrasonic data, or optical flow data, determining, based on one or more of the LIDAR data, the ultrasonic data, or the optical flow data, one or more objects in the path of the apparatus, and engaging the motor to cause the apparatus to avoid the one or more objects.

Embodiments of the present invention relates to a self-moving apparatus and a method for controlling same, the self-moving apparatus including: a housing; a movement module for driving the housing to move; an ultrasonic module configured to transmit an ultrasonic signal and receive an echo signal formed through reflection of an obstacle; and a control module installed on the housing and connected to the ultrasonic module, to implement an ultrasonic detection function by processing the echo signal, thereby controlling a movement mode of the movement module. The control module can control disabling of the ultrasonic detection function according to a received preset signal.

A ground collision avoidance method in an ownship vehicle is disclosed. The method includes: retrieving position measurements for the ownship vehicle and for a dynamic obstacle; retrieving mapping data from an airport map database that includes coordinate data for airport travel pathways; adjusting a position measurement for the ownship vehicle and a position measurement for the dynamic obstacle based on coordinate data retrieved from the airport map database and historical aircraft movement data; predicting a series of future positions for the ownship vehicle that are constrained by airport surface operation rules; predicting a series of future positions for the dynamic obstacle that are constrained by airport surface operation rules; calculating whether a potential collision is imminent; and causing a collision alert to be displayed when the processor has determined that a potential collision between the ownship vehicle and the dynamic obstacle is imminent.

A ground collision avoidance method in an ownship vehicle is disclosed. The method includes: retrieving position measurements for the ownship vehicle and for a dynamic obstacle; retrieving mapping data from an airport map database that includes coordinate data for airport travel pathways; adjusting a position measurement for the ownship vehicle and a position measurement for the dynamic obstacle based on coordinate data retrieved from the airport map database and historical aircraft movement data; predicting a series of future positions for the ownship vehicle that are constrained by airport surface operation rules; predicting a series of future positions for the dynamic obstacle that are constrained by airport surface operation rules; calculating whether a potential collision is imminent; and causing a collision alert to be displayed when the processor has determined that a potential collision between the ownship vehicle and the dynamic obstacle is imminent.

Aerial vehicles including one-dimensional arrays of transmitters and receivers aligned perpendicular to one another are configured for safe operation. The transmitters may be configured to transmit signals at designated times in order to generate synthetic waves having common fronts from selected angles. The receivers are configured to capture data regarding reflections of the synthetic waves from objects, and to interpret the data to determine bearings or angles to such objects. Locations of the objects may be determined based on angles at which the synthetic waves are transmitted and bearings or angles to the objects that reflected the synthetic waves, as well as times at which reflections of the synthetic waves are received. Maps or other representations of objects on a scene may be generated based on such locations.

Aerial vehicles including one-dimensional arrays of transmitters and receivers aligned perpendicular to one another are configured for safe operation. The transmitters may be configured to transmit signals at designated times in order to generate synthetic waves having common fronts from selected angles. The receivers are configured to capture data regarding reflections of the synthetic waves from objects, and to interpret the data to determine bearings or angles to such objects. Locations of the objects may be determined based on angles at which the synthetic waves are transmitted and bearings or angles to the objects that reflected the synthetic waves, as well as times at which reflections of the synthetic waves are received. Maps or other representations of objects on a scene may be generated based on such locations.