Proximity sensing system and method for a marine vessel
A proximity sensor system on a marine vessel includes one or more proximity sensors configured to measure proximity of objects in a predefined area around the marine vessel and generate proximity measurements, and a memory storing a zone map, wherein the zone map divides the predefined area around the marine vessel into two or more zones. A control system is configured to receive the proximity measurements, divide the proximity measurements into zone sets based the zone map, identify a closest proximity measurement in each zone set, and generate a zone-filtered dataset containing only the closest proximity measurement in each zone set.
1 . A proximity sensor system on a marine vessel configured to move in a body of water, the system comprising:
one or more proximity sensors on the marine vessel configured to measure proximity of objects in a predefined area around the marine vessel and generate proximity measurements;
a memory storing a zone map, wherein the zone map divides the predefined area around the marine vessel into two or more zones and wherein the zone map is defined with respect to a reference point on the marine vessel;
a control system configured to:
receive the proximity measurements;
translate the proximity measurements to a common reference frame defined directly with respect to the reference point on the marine vessel;
divide the translated proximity measurements into zone sets based the zone map;
identify a closest proximity measurement in each zone set;
generate a zone-filtered dataset containing only the closest proximity measurement in each zone set; and
control at least one propulsion device on the marine vessel based on the zone-filtered dataset as the marine vessel moves in the body of water.
2 . The system of claim 1 , wherein the memory stores a set of zone maps, wherein each zone map in the set of zone maps is defined with respect to the reference point on the marine vessel, and wherein the control system is further configured to select the zone map from the set of zone maps prior to dividing the proximity measurements into zone sets.
3 . The system of claim 1 , wherein the memory stores at least two zone maps, and wherein the control system is further configured to select the zone map from the at least two zone maps based on vessel operation information and/or the proximity measurements.
4 . The system of claim 3 , wherein the vessel operation information includes one or more of a vessel speed of the marine vessel, a direction of travel of the marine vessel, a steering instruction, a navigation mode, or a gear position of a propulsion device.
5 . The system of claim 4 , wherein the control system is configured to select the zone map to define a greater number of smaller zones in front of the marine vessel than on either side of the marine vessel when the marine vessel is traveling in a forward direction.
6 . The system of claim 3 , wherein the control system is configured to select the zone map to change a number of zones, a zone size, and/or a zone shape based on a change in vessel operation information of the marine vessel and/or a change in the proximity measurements.
7 . The system of claim 3 , wherein the control system is configured to select the zone map based on a steering instruction inputted by a user at one of a steering wheel or a joystick on the marine vessel, wherein the zone map includes an increased number of zones in a direction of travel of the marine vessel.
8 . The system of claim 3 , wherein the control system is further configured to detect a change in navigation mode, and then select the zone map to increase or decrease a number of zones in the predefined area based on the change in navigation mode.
9 . A method of proximity sensing on a marine vessel as the marine vessel moves in a body of water, the method comprising:
storing at least one zone map, wherein the zone map divides a predefined shaped area around the marine vessel into two or more zones and wherein the zone map is defined with respect to a reference point on the marine vessel;
receiving proximity measurements measured by one or more proximity sensors on the marine vessel;
translating the proximity measurements to a common reference frame defined directly with respect to the reference point on the marine vessel;
dividing the proximity measurements into zone sets based on the zone map;
identifying a closest proximity measurement in each zone set;
generating a zone-filtered dataset containing only the closest proximity measurement in each zone set; and
controlling at least one propulsion device on the marine vessel based on the zone-filtered dataset as the marine vessel moves in the body of water.
10 . The method of claim 9 , further comprising selecting the zone map from a set of zone maps, wherein each zone map in the set of zone maps is defined with respect to the reference point on the marine vessel.
11 . The method of claim 9 , wherein at least two zone maps are stored and further comprising selecting one of the at least two zone maps prior to dividing the proximity measurements into zone sets.
12 . The method of claim 11 , wherein the zone map is selected based on current vessel operation information and/or the proximity measurements.
13 . The method of claim 12 , wherein vessel operation information includes one or more of a vessel speed of the marine vessel, a direction of travel of the marine vessel, a steering instruction, a navigation mode, or a gear position of a propulsion device.
14 . The method of claim 11 , wherein each of the at least two zone maps defines zones within a different shaped area around the marine vessel.
15 . The method of claim 11 , wherein each of the at least two zone maps defines a different number of zones, a different zone size, and/or a different zone shape.
16 . The method of claim 11 , wherein the one of the at least two zone maps is selected based on a direction of travel of the marine vessel to provide a greater number of zones in the direction of travel of the marine vessel.
17 . The method of claim 11 , further comprising selecting the one of the at least two zone maps based on a steering instruction.
18 . The method of claim 11 , further comprising detecting a change in navigation mode, and selecting the one of the at least two zone maps to increase or decrease a number of zones defined in the predefined shaped area based on the change in navigation mode.
19 . The method of claim 9 , wherein the zone map divides the predefined shaped area into equally-sized zones around a navigation reference point.
20 . The method of claim 9 , wherein the zone map defines a greater number of smaller zones in front of the marine vessel than on either side of the marine vessel.