Granted Patent B2

US 11,029,686 · App. 16/398,721 · Granted Jun 8, 2021

Inventor: Bradley Tyers (Currambine, AU)

G05D1/0206B63H25/04G01C21/203G01S19/13B63B21/00B63H2025/045

Abstract

Claims (40)

1. A method for automatically navigating a marine vessel in relation to a memorized lateral reference point on an external object, the method comprising:

sensing, using at least one transducer, a sensed lateral reference point on the external object;

transmitting information representing the sensed lateral reference point on the external object to a processor control unit;

receiving, by the processor control unit, the information representing the sensed lateral reference point on the external object;

at the processor control unit, memorizing the information representing the sensed lateral reference point on the external object as the memorized lateral reference point information, whereby the memorized lateral reference point is the same point as the sensed lateral reference point;

automatically navigating the marine vessel to a lateral position in relation to the memorized lateral reference point on the external object;

stopping the marine vessel at a default distance relative to the external object; and

maintaining the default distance between the marine vessel and the external object.

2. The method of claim 1 , wherein automatically navigating the marine vessel comprises automatically moving the marine vessel at a controlled velocity toward the external object, comprising:

sensing the marine vessel's position relative to the external object;

receiving, by the processor control unit, a set of distance, position and velocity information relating to distance, position and velocity between the marine vessel and the external object in real-time; and

automatically controlling, by the processor control unit, at least one element of a propulsion system of the marine vessel, to navigate the marine vessel at the controlled velocity toward the external object.

3. The method of claim 2 , wherein automatically controlling the at least one element of the propulsion system comprises automatically controlling, by the processor control unit, the propulsion system of the marine vessel to navigate the marine vessel at the controlled velocity towards the external object in real-time.

4. The method of claim 2 , wherein stopping the marine vessel at the default distance relative to the external object comprises, at the processor control unit, automatically engaging the propulsion system to reduce the controlled velocity and to stop the marine vessel at the default distance relative to the external object.

5. The method of claim 4 , further comprising, at the processor control unit, automatically engaging the propulsion system to maintain the marine vessel at the default distance relative to the external object.

6. The method of claim 2 , wherein automatically controlling, by the processor control unit, the at least one element of the propulsion system of the marine vessel to navigate the marine vessel at the controlled velocity toward the external object comprises:

calculating, at the processor control unit, a path of movement of the marine vessel, incorporating information about at least one obstacle detected by a hazard detection and avoidance system;

determining, by the processor control unit, a required directional force to allocate to the at least one element of the propulsion system on the marine vessel, based upon a current location of the marine vessel relative to the external object; and

engaging, at the processor control unit, the propulsion system to perform collision-free path planning and automated guided manipulation of the marine vessel to the external object.

7. A system for automatically navigating a marine vessel in relation to a memorized lateral reference point on an external object, the system comprising:

a propulsion system;

at least one transducer adapted to:

sense a sensed lateral reference point on the external object; and

transmit information representing the sensed lateral reference point to a processor control unit; and

the processor control unit, operatively connected to the propulsion system to:

receive the information representing the sensed lateral reference point on the external object;

memorize the information representing the sensed lateral reference point on the external object as the memorized lateral reference point information, whereby the memorized lateral reference point is the same point as the lateral reference point;

automatically control at least one element of the propulsion system to navigate the marine vessel in relation to the memorized lateral reference point on the external object;

automatically engage the propulsion system to stop the marine vessel at a default distance relative to the external object; and

automatically engage the propulsion system to maintain the default distance between the marine vessel and the external object.

8. The system of claim 7 , wherein the processor control unit is further operatively connected to the propulsion system to automatically move the marine vessel at a controlled velocity, towards the external object, wherein automatically moving comprises:

sensing the marine vessel's position relative to the external object;

receiving, by the processor control unit, a set of distance, position and velocity information relating to distance, position and velocity between the marine vessel and the external object in real-time; and

automatically controlling, by the processor control unit, at least one element of a propulsion system of the marine vessel, to navigate the marine vessel at the controlled velocity toward the external object.

9. The system of claim 8 , automatically controlling the at least one element of the propulsion system of the marine vessel comprises automatically controlling the propulsion system of the marine vessel to navigate the marine vessel at the controlled velocity, per foot of travel per second, towards the external object in real-time.

10. The system of claim 8 , wherein the processor control unit is further operatively connected to the propulsion system to automatically control the at least one element of the propulsion system to engage the propulsion system to reduce the controlled velocity and to stop the marine vessel at the default distance relative to the external object.

11. The system of claim 7 , wherein the processor control unit is further operatively connected to the propulsion system to:

calculate a path of movement of the marine vessel, incorporating information about at least one obstacle detected by a hazard detection and avoidance system;

determine a required directional force to allocate to the at least one element of the propulsion system on the marine vessel, based upon a current location of the marine vessel relative to the external object; and

engage the propulsion system to perform collision-free path planning and automated guided manipulation of the marine vessel to the external object.

Assignments (2)

Continuity (9)

Cited By (1)

US 12,595,031