Automatic Positioning System

Abstract

An automatic positioning system and a method for automatically moving a vessel with the automatic positioning system are provided. [Solution] A method according to the present invention is a method for automatically moving a vessel relative to a stored lateral reference point on an external object, comprising the steps of receiving, by a processor control unit, lateral reference point information representing a stored lateral reference point on the external object, automatically moving the vessel to a lateral position relative to the stored lateral reference point on the external object, stopping the vessel at a default distance relative to the external object, and maintaining the vessel at a default distance relative to the external object.

Description

[Technical field]

[0001] The present invention relates to an automatic docking and vessel collision avoidance system for marine vessels, and more particularly to an automatic positioning system between a powered marine vessel and a dock or external object. [Background technology]

[0002] Steering a large vessel to a desired position is a precision maneuver that, if dependent on the operator's judgment, can result in damage to the vessel and surrounding area. Maintaining the vessel's final position traditionally requires the assistance of multiple fixed devices. Hazardous weather conditions, such as wind, currents, fog, and darkness, greatly increase the risks associated with mobile operations.

[0003] Conventional docking systems typically require additional assistance to assist in measuring the effects of these uncertainties, to provide visual assistance to aid the operator in making decisions to manually move the vessel to the desired location. However, steering a vessel in a congested area typically requires a skilled operator and multiple assistants to assist with steering. Conventional systems typically do not provide an interactive system to view the area surrounding the vessel, or to receive commands to steer the vessel through an interactive system without human assistance. Furthermore, the larger the vessel, the greater the risk present during conventional steering, especially in congested areas, thus increasing the need for a skilled operator, a local harbor pilot, multiple assistants, and tugboats. Summary of the Invention [Problem to be solved by the invention]

[0004] The methods and systems described herein generally relate to an automatic positioning system between a powered marine vessel and a dock or external object that incorporates a touch screen interactive monitor that displays an overlay of surrounding geometry on an optical feed from a vision system that allows an operator to select a target location on the interactive monitor. The present invention has been made in consideration of the above-mentioned problems in the conventional art, and an object of the present invention is to provide an automatic positioning system and a method for automatically moving a ship using the automatic positioning system. [Means for solving the problem]

[0005] A method according to one aspect of the present invention, which has been made to achieve the above-mentioned object, is a method for automatically steering a vessel to a target position adjacent to an external object, characterized in that it comprises the steps of sensing a lateral reference point on the external object by at least one transducer, transmitting information representing the sensed lateral reference point on the external object by the transducer to a processor control unit, receiving the information representing the sensed lateral reference point by the processor control unit, storing the information representing the sensed lateral reference point as stored lateral reference point information in the processor control unit, controlling the processor control unit to automatically steer the vessel to the target position adjacent to the external object, and controlling the processor control unit to maintain the vessel at the target position adjacent to the external object.

[0006] A system according to one aspect of the present invention, which has been made to achieve the above-mentioned object, is a system for automatically steering a vessel to a target position adjacent to an external object, comprising at least one transducer and a processor control unit, wherein the at least one transducer senses a lateral reference point on the external object and transmits information representing the sensed lateral reference point on the external object to the processor control unit, the processor control unit receives the information representing the sensed lateral reference point, stores the information representing the sensed lateral reference point as stored lateral reference point information, performs control for automatically steering the vessel to the target position adjacent to the external object, and performs control for maintaining the vessel at the target position adjacent to the external object. Effect of the Invention

[0007] In accordance with the present invention, a programmable automatic docking system is provided that has the capability to operate effectively in adverse weather conditions without the requirement of a human operator to perform the docking operation or even without the need for a human operator himself. The programmable automatic docking system of the present invention can also eliminate the risk of damage to the vessel and / or the external object by allowing the vessel to automatically move laterally towards the external object and to maintain a preselected position away from the external object upon initiation of the programmable automatic docking system. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram illustrating a programmable automatic docking system that includes a set of lateral position transducers on the vessel as well as multiple port and starboard transducers and a programmable control panel that initiates various automatic functions via a processor control unit designed to perform selected automatic functions. [Diagram 2]FIG. 1 is a schematic diagram illustrating one embodiment of a programmable automatic docking system for use during collision avoidance maneuvers. [Diagram 3] FIG. 1 is a schematic diagram illustrating an embodiment of a programmable automatic docking system used during docking operations into a slip. [Figure 4] FIG. 1 is a schematic diagram illustrating one embodiment of a programmable automatic docking system in use, showing automatic placement of floating buoys and / or moorings. [Figure 5A] 1 is a flow chart illustrating an embodiment of a method of operating a programmable automatic docking system during a docking operation between an external object and a vessel. [Figure 5B] 1 is a flow chart illustrating an embodiment of a method of operating a programmable automatic docking system during a docking operation between an external object and a vessel. [Figure 5C] 1 is a flow chart illustrating an embodiment of a method of operating a programmable automatic docking system during a docking operation between an external object and a vessel. [Figure 6] 1 is a flow chart illustrating an embodiment of a method of operating a programmable automatic docking system during a collision avoidance maneuver between an external object and a vessel. [Figure 7A] 1 is a flow chart illustrating an embodiment of a method of operating a programmable automatic docking system during a vessel docking operation upon entering a slip. [Figure 7B] 1 is a flow chart illustrating an embodiment of a method of operating a programmable automatic docking system during a vessel docking operation upon entering a slip. [Figure 7C] 1 is a flow chart illustrating an embodiment of a method of operating a programmable automatic docking system during a vessel docking operation upon entering a slip. [Figure 8] 1 is a flow chart illustrating an embodiment of a method of operation of a programmable automatic docking system during automatic location of a buoy and / or mooring relative to a vessel. [Figure 9A]1 is a flow chart illustrating an embodiment of a method of operation of a programmable automatic docking system during departure and unberthing of a vessel from an external object. [Figure 9B] 1 is a flow chart illustrating an embodiment of a method of operation of a programmable automatic docking system during departure and unberthing of a vessel from an external object. [Figure 9C] 1 is a flow chart illustrating an embodiment of a method of operation of a programmable automatic docking system during departure and unberthing of a vessel from an external object. [Figure 10A] FIG. 1 shows a schematic diagram illustrating an embodiment of an automatic positioning system. [Figure 10B] 1 illustrates an embodiment of an automatic positioning system for automatically positioning the stern of a vessel between two external objects. [Figure 11A] 1 is a flow diagram depicting one embodiment of a method for automatically moving a vessel by an automatic positioning system. [Figure 11B] 1 is a flow chart illustrating an embodiment of a method for determining a path. [Figure 12A] FIG. 2 is a block diagram of a computer used to implement one embodiment of the present invention. [Figure 12B] FIG. 2 is a block diagram of a computer used to implement one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Both port and starboard operation of a vessel are described herein with reference to the vessel and external objects. Furthermore, the only operational difference between "port" or "starboard" operation is the selection of a "port" or "starboard" button on a control panel. This selection determines the actuation of a set of "port" or "starboard" transducers and the "port" or "starboard" direction of the vessel's lateral movement. Finally, while Figures 1-4 show the starboard side of the vessel in detail for illustrative purposes, operation from the port side of the vessel will also be readily understood by those skilled in the art.

[0010] The present invention provides a programmable auto-berthing system, which primarily includes, but is not limited to, a programmable processor control unit ("PCU") for automatically docking and navigating a vessel to a final location relative to an external object, including a dock. Furthermore, the programmable auto-berthing system operates independently and without the use or need for any human operator upon initiation of the programmable auto-berthing system.

[0011] The present invention provides a programmable automatic docking system that includes a plurality of transducers that detect and transmit a set of distance information between a vessel and an external object.

[0012] The set of distance information is fed back to a processor control unit to provide a programmable automatic docking system in which the multiple thrusters in conjunction with the vessel's main drive train can drive the vessel laterally, fore and aft towards an external object at a controlled lateral path and speed.

[0013] The present invention provides a programmable automatic docking system that maintains the position of a vessel once it reaches a preselected position relative to an external object, which system maintains that position indefinitely during operation regardless of wind and water currents.

[0014] The present invention provides a programmable auto-berthing system that automatically positions a vessel at a slip location regardless of wind and current.

[0015] The present invention provides a programmable automatic docking system that maintains a preselected position of a vessel without the assistance of multiple ropes and fenders indefinitely while the programmable automatic docking system is in operation.

[0016] The present invention provides a programmable automatic docking system that includes a programmable processor control unit that enables a marine vessel to remain a preselected distance to the side of an external object.

[0017] The present invention provides a programmable automatic docking system that includes a programmable processor control unit that allows for efficient operation regardless of vessel length.

[0018] That is, once activated, the programmable automatic docking system operates fully automatically without a human operator by controlling the precise movement and position of the vessel relative to external objects until the vessel reaches a preselected final position, and then maintains the vessel's final position regardless of wind and water currents while the programmable automatic docking system is in operation.

[0019] 1 is a schematic diagram illustrating a programmable auto-docking system according to one embodiment of the present invention. Once operational, the programmable auto-docking system 10 provides automated control of vessel 60 docking operations and other related functions, as well as integrated interactive proximity sensing feedback of vessel 60 orientation, lateral position, and speed.

[0020] In this embodiment, the programmable auto-berthing system 10 includes a set of port side transducers 40P and a set of starboard side transducers 40S. Specifically, the set of port side transducers 40P includes four distance sensing transducers (41P, 42P, 44P, 45P) and one port side lateral position transducer 43P, and the set of starboard side transducers 40S includes four distance sensing transducers (41S, 42S, 44S, 45S) and one starboard side lateral position transducer 43S. In this embodiment, the set of port side transducers 40P and the set of starboard side transducers 40S provide distance, speed, and position information between five spaced apart positions on the port side and starboard side of the vessel 60.

[0021] In another embodiment of the programmable automatic docking system 10, the set of port side transducers 40P includes a pair of distance sensing transducers 41P and 42P mounted on the port side bow of the vessel 60 and a pair of distance sensing transducers 44P and 45P mounted on the port side stern of the vessel 60, each port side transducer (41P, 42P, 44P, 45P) detecting and transmitting a set of distance and speed information regarding the distance between the port side of the vessel 60 and an external object 70. In this embodiment, the external object 70 includes, but is not limited to, a dock, another vessel, or other similar structure. Additionally, the port side lateral position transducer 43P establishes a lateral position from the port side of the vessel 60 relative to a precise lateral reference point on the port external object 70. In this embodiment, the precise lateral reference point detected is a random reference point located at 90 degrees to the side of the vessel 60 on the external object 70, which transmits any lateral movement of the vessel 60 to the programmable processor control unit 30 (see discussion below).

[0022] In another embodiment of the programmable automatic docking system 10, the set of starboard transducers 40S includes a pair of distance sensing transducers 41S and 42S mounted on the starboard bow of the vessel 60 and a pair of distance sensing transducers 44S and 45S mounted on the starboard stern of the vessel 60, each starboard transducer (41S, 42S, 44S, 45S) detecting and transmitting a set of distance and speed information regarding the distance between the starboard side of the vessel 60 and an external object 70. In this embodiment, the external object 70 includes, but is not limited to, a dock or other similar structure. Additionally, the starboard lateral position transducer 43S establishes the lateral position of the vessel 60 from the starboard side relative to a precise lateral reference point on the starboard external object 70.

[0023] The programmable automatic docking system 10 further comprises a propulsion system including a bow thruster 51 and a stern thruster 52, each of which drives the vessel 60 laterally relative to the orientation of the external object 70 to align and then maintain the side of the vessel 60 at a final preselected distance from the external object 70. The propulsion system further includes a forward / reverse drive selector 62 and a main drive propeller 63 in conjunction with the bow thruster 51 and the stern thruster 52.

[0024] Additionally, the programmable automatic docking system 10 includes a programmable processor control unit ("PCU") 30 including an automatic processor operating in real time to communicate and transmit a set of range and speed information provided by a set of port side transducers 40P and starboard side transducers 40S, as well as the propulsion system, each element of the propulsion system operating independently or together as determined by the programmable processor control unit 30.

[0025] In this embodiment, a set of port side transducers 40P are used to transmit distance, position, and speed information of the port side of the vessel 60 relative to the port side external object 70 to the programmable processor controlled unit 30. A set of starboard side transducers 40S are used to transmit distance, position, and speed information of the starboard side of the vessel 60 relative to the starboard side external object 70 to the programmable processor controlled unit 30.

[0026] The programmable automatic docking system 10 further includes a control panel 20 that enables the programmable automatic docking system 10 to perform a series of predetermined functions through the selection of certain inputs. In this embodiment, the control panel 20 includes an ON button 21 for activating the programmable automatic docking system 10 and an OFF button 22 for deactivating the programmable automatic docking system 10. In addition, the control panel 20 includes a port button 66 and a starboard button 67, and in this embodiment, when the port button 66 is selected on the control panel 20, the set of port side transducers 40P wirelessly transmits a set of distance, position, and speed information including real-time distance, position, and speed measurements of the port side of the vessel 60 relative to an external object 70 to the programmable processor control unit 30. Upon receiving the set of distance and speed information, the programmable processor control unit 30 engages the bow thruster 51 in response to the real-time distance and speed information provided by the set of port side bow transducers 41P and 42P during the docking operation.

[0027] A distance setting for a final preselected distance between the vessel 60 and the external object 70 is also entered by selecting the plus button 24 or minus button 25 on the control panel 20. The final preselected distance setting is then transmitted to the programmable processor control unit 30 for use once the programmable automatic docking system 10 is in operation. As mentioned above, the system is activated by selecting the ON button 21 on the control panel 20 and deactivated by selecting the OFF button 22 on the control panel 20.

[0028] In this embodiment, when the port button 66 is selected on the control panel, the set of port side transducers 40P wirelessly transmits a set of position information, including real-time distance and speed measurements of the port side hull of the vessel 60 relative to an external object 70, to the programmable processor control unit 30. Upon receiving the set of position information, the programmable processor control unit 30 engages the bow thruster 51 and the stern thruster 52 in response to the real-time distance transducer distance and speed information provided by the set of port side transducers (41P, 42P, 44P, 45P) during docking operations.

[0029] The starboard lateral position transducer 43S and the port lateral position transducer 43P are installed approximately amidships on the starboard and port sides, respectively, to sense the precise lateral reference point of the external object 70. Each lateral position transducer (43P, 43S) is capable of sensing, detecting and wirelessly transmitting real-time lateral reference point information to the programmable processor control unit 30. The lateral reference point information is stored and utilized during subsequent lateral movements of the vessel 60 to determine the orientation of the vessel 60. Furthermore, the programmable processor control unit 30 automatically compensates for bow or stern lateral movements of the vessel 60 by controlling a plurality of actuators 53 coupled to the main drive 62 to maintain the vessel 60 on a controlled lateral path toward the stored precise lateral reference point of the external object 70.

[0030] Additionally, the programmable processor control unit 30 is in electronic communication with and automatically controls the bow thruster 51 and the stern thruster 52 to position the side of the vessel 60 adjacent to the external object 70 at a preselected distance from the external object 70 and to automatically maintain the side of the vessel 60 at the preselected distance, thereby providing a fully programmable automatic docking system 10 with integrated interactive proximity sensing feedback of vessel positioning and automatic control without the need for an operator after setting the system in operation.

[0031] 2 illustrates the automatic collision avoidance feature of the present invention in a marina and other similar docking areas. In this embodiment, when the forward / reverse drive selector 62 is activated, the ON button 21 is selected on the control panel 20, and this selection is electronically communicated to the programmable processor control unit 30. Following activation of the programmable automatic docking system 10 by selecting the ON button 21, the programmable processor control unit 30 communicates to activate the bow distance, speed, and position transducer 46. When the bow distance, speed, and position transducer 46 is activated, real-time distance and speed information is detected and wirelessly transmits to the programmable processor control unit 30 distance and speed information of the bow 69 of the vessel 60 relative to an external object 70 (i.e., an environment such as a marina, another vessel, or a reef, etc.). In this embodiment, the programmable processor control unit 30 is in electronic communication with a number of actuators 53 that control the forward / reverse drive selector 62 to maintain the speed of the vessel 60 at a maximum speed of 5 knots. On the other hand, if an external object 70 is detected by bow distance transducer 46 immediately ahead of vessel 60 at a distance of 100 feet or less, the distance and speed information is transmitted to processor control unit 30. Programmable processor control unit 30, in electronic communication with actuators 53, then automatically controls actuators 53 to engage main drive 62 to reduce forward speed at 0.06 knots per foot of travel and automatically avoid a collision by stopping vessel 60 at a default distance of 20 feet from external object 70. Programmable auto-docking system 10 maintains this final position relative to external object 70 until an operator assumes manual control of vessel 60.

[0032] 3 is a diagram illustrating the automatic slip operation of the programmable automatic docking system 10. In this embodiment, the slip position for the vessel 60 is described as follows: The dock is a fixed, flat structure that is above the waterline and in contact with the motionless water. The slip walkway is attached to the dock at approximately 90 degrees to the dock that extends above the water a distance required to accommodate vessels 60 of various lengths. There are usually two walkways 71, one on each side of the vessel 60, attached to the adjacent dock, and this structure provides a safe U-shaped location for the vessel to be docked, usually with the assistance of ropes.

[0033] A feature of the slip of the present invention is that it can be operated in both a forward or reverse direction, in addition to port or starboard. When the slip is operated in reverse, the stern distance, speed, and position transducer 47 is engaged. In this embodiment, the control panel 20 further includes a slip forward button 64 and a slip reverse button 65, and upon selection of either the slip forward button 64 or the slip reverse button 65, the programmable processor control unit 30 maintains the speed of the vessel 60 at approximately 2 knots and defaults to a 2 foot side clearance between the side of the vessel 60 and the port or starboard slip walkway 71.

[0034] In this embodiment, the slip operation of the present invention occurs as follows (the example below illustrates a forward starboard selection as shown in FIG. 3).

[0035] Once the vessel's bow 69 is in a slip, the operator selects the slip order button 64 on the control panel 20 .

[0036] The starboard button 67 on the control panel 20 is then selected.

[0037] Following the operator's selection of the slip order button 64 and the starboard button 67, all subsequent operations are maintained and controlled by the programmable automatic docking system 10 such that further operator intervention is ignored.

[0038] In this embodiment (e.g., assuming the starboard button 67 is selected on the control panel 20), when the vessel's bow 69 enters the slip, a pair of starboard transducers, i.e., a pair of distance sensing transducers 41S and 42S mounted at the starboard bow of the vessel 60 and a pair of distance sensing transducers 44S and 45S mounted at the starboard stern of the vessel 60, transmit a set of distance and speed information to the programmable processor control unit 30, where the set of distance and speed information relates to the distance between the starboard side of the vessel 60 and the slip walkway 71. In response to the distance and speed information detected and transmitted by the pair of starboard transducers (41S, 42S, 44S, 45S), the programmable processor control unit 30 maintains the starboard side of the vessel 60 at a default distance setting of approximately 2 feet between the vessel 60 and the slip walkway 71 by engaging the bow thruster 51 and the stern thruster 52 via electronic communication.

[0039] Operating simultaneously and independently, the bow distance transducer 46 wirelessly transmits distance and speed information to the programmable processor control unit 30 with respect to the bow 69 and the dock 70 while distance and speed information is transmitted by a set of starboard transducers (41S, 42S, 44S, 45S). The programmable processor control unit 30 is further in electronic communication with a plurality of actuators 53 to control these actuators 53 which in turn control the forward / reverse drive selector 62. Thus, the vessel 60 automatically navigates to the dock 70 and maintains a maximum speed of 2 knots until the bow distance transducer 46 transmits to the programmable processor control unit 30 a minimum distance of 3 feet between the dock 70 and the bow 69 of the vessel 60. Once the vessel's bow 69 is 3 feet from the dock 70, the programmable processor control unit 30 controls the forward / reverse drive selector 62 to engage the multiple actuators 53 to stop the vessel 60 3 feet from the dock 70 and maintain this final position indefinitely while the programmable automatic docking system 10 is in operation.

[0040] 4 is a diagram illustrating floating buoy / mooring operation of the present invention, which includes the use of at least one bow distance, speed and position transducer 46 to sense the position, speed and distance of the floating buoy / mooring 73.

[0041] In this embodiment, floating buoy / mooring operations occur as follows.

[0042] The bow 69 of the vessel 60 is moved into approximate alignment with the floating buoy / mooring 73 up to 200 feet ahead of the bow 69 of the vessel 60. Once this approximate position is reached, the buoy button 68 is selected on the control panel 20. When the buoy button 68 is selected, the programmable processor control unit 30 wirelessly transmits to activate the bow distance, speed, and position transducer 46. When the bow distance transducer 46 is activated, the bow distance transducer 46 detects and transmits a set of distance, position, and speed information to the programmable processor control unit 30. The set of position information includes the distance and position of the bow 69 of the vessel 60 relative to the position of the floating buoy / mooring 73 along with the current speed of the vessel 60. Additionally, the programmable processor control unit 30 remains in electronic communication and automatically engages the plurality of actuators 53 which control the forward / reverse drive selector 62. The programmable processor control unit 30 maintains the vessel 60's maximum speed at approximately 2 knots and, in response to the real-time information of the bow distance, speed, and position transducer, controls the bow thruster 51 via electronic communication to maintain the heading of the vessel 60's bow 69 towards the floating buoy / mooring 73. When the bow distance, speed, and position transducer 46 transmits a distance of 3 feet between the vessel 60's bow 69 and the floating buoy / mooring 73, the programmable processor control unit 30 actuates the plurality of actuators 53, which in turn control the forward / reverse drive selector 62 to stop the vessel 60 and control the forward / reverse drive selector 62 and the bow thruster 51 to continue to maintain the vessel 60's bow 69 approximately 3 feet from the floating buoy / mooring 73 indefinitely until the off button 22 is selected on the control panel 20.

[0043] 5A-5C are flow charts illustrating one embodiment of a method of operation of the programmable automatic docking system 10 during a docking operation. In this embodiment, the vessel is considered to be docked at a starboard external object 70, as shown in FIG.

[0044] Initially, at step 100A, the operator moves the vessel 60 and stops it adjacent to the external object 70, approximately 60 feet or less away, where the vessel 60 is parallel to the external object 70. Once the vessel 60 is stopped, the operator then selects the ON button 21 located on the control panel 20 at step 102A. Selection of the ON button 21 activates the programmable processor control unit 30 at step 104A. Following activation of the programmable processor control unit 30, at step 106A, a final desired distance between the starboard side of the vessel 60 and the external object 70 is preselected for the programmable automatic docking system 10 to stop moving the vessel upon reaching the preselected position. In this embodiment, the preselected distance is entered into the control panel 20 by pressing the plus button 24 to increase the distance or the minus button 25 to decrease the distance, and the currently selected distance is displayed on the display 23. Once the final distance is selected, at step 108A, the port button 66 or the starboard button 67 is selected on the control panel 20 (in this embodiment, the starboard button 67 is selected). At step 110A, the programmable processor control unit 30 automatically sends a signal to activate a pair of starboard transducers 40S and starboard lateral position transducers 43S, including a pair of distance sensing transducers 41S and 42S mounted on the starboard bow of the vessel 60 and a pair of distance sensing transducers 44S and 45S mounted on the starboard stern of the vessel 60.

[0045] Following the activation of the pair of starboard transducers 40S, in step 112B, the programmable processor control unit 30 responds to a set of real-time distance and speed information transmitted from a pair of distance sensing transducers 41S and 42S installed at the starboard bow of the vessel 60 by operating the bow thruster 51 via electronic communication to move the vessel 60 in the starboard direction. At the same time, in step 114B, the programmable processor control unit 30 responds to a set of real-time distance and speed information transmitted from a pair of distance sensing transducers 44S and 45S installed at the starboard stern of the vessel 60 by operating the stern thruster 52 via electronic communication to move the vessel 60 in the starboard direction. In step 116B, the programmable processor control unit 30 automatically controls the bow thruster 51 and the stern thruster 52 to move the vessel 60 in the starboard direction toward the external object 70 at a speed of one foot every two seconds. When the vessel 60 is within about 10 feet of the preselected final distance to the external object 70, the programmable processor control unit 30 communicates with the bow thruster 51 and the stern thruster 52 to slow the vessel 60, for example, if the preselected final distance from the external object 70 is 5 feet, the vessel 60 begins to slow down at 0.03 knots per foot at 15 feet from the external object 70. Then, at step 120B, upon reaching the preselected final position, the programmable processor control unit 30 engages the bow thruster 51 and the stern thruster 52 to stop the vessel 60. Once the vessel 60 has reached the preselected final distance to the external object 70, at step 122B, the final preselected position is maintained indefinitely while the programmable automatic docking system 10 is in operation.

[0046] While the starboard transducers (41S, 42S, 44S, 45S) are operating and transmitting real-time distance and speed information to the programmable processor control unit 30 to move the vessel 60 in the starboard direction, the starboard lateral position transducer 43S operates independently of and simultaneously with the set of starboard transducers (41S, 42S, 44S, 45S) to detect and transmit the real-time lateral position of the vessel 60.

[0047] Thus, in step 112C, the starboard lateral position transducer 43S detects the lateral reference point of the external object 70 and wirelessly transmits this lateral reference point to the programmable processor control unit 30. In step 114C, the programmable processor control unit 30 stores the lateral reference point, after which any future lateral movements of the vessel 60 from the lateral reference point are processed. In step 116C, the programmable processor control unit 30 automatically compensates for any lateral movements of the vessel 60 by controlling the multiple actuators 53 in response to the real-time lateral position information transmitted from the starboard lateral position transducer 43S. In step 118C, the multiple actuators 53 engage the forward / reverse drive selector 62 to maintain the vessel 60 on a controlled lateral course toward the precise lateral reference point stored by the programmable processor control unit 30. In step 120C, once the vessel 60 reaches the final preselected position described in step 118C, the starboard lateral position transducer 43S continues to transmit real-time lateral position information of the vessel 60 relative to the precise lateral reference point stored in the programmable processor control unit 30, in step 122C, to maintain the lateral position of the vessel 60 while the programmable automatic docking system 10 is in operation.

[0048] 6 is a flow chart illustrating an embodiment of a method of operation of the programmable automatic docking system during a collision avoidance maneuver between an external object and the vessel. Initially, in step 200, the operator of the vessel 60 engages the forward / reverse drive selector 62. In step 202, the ON button 21 on the control panel 20 is selected by the operator of the vessel 60. Following the selection of the ON button 21, in step 204, the programmable processor control unit 30 of the programmable automatic docking system 10 is activated. In step 206, the programmable processor control unit 30 transmits the bow distance, speed, and position transducer 46 to be activated. In step 208, activating the bow distance, speed, and position transducer 46 causes the bow distance, speed, and position transducer 46 to detect and transmit real-time distance and speed information between the bow 69 of the vessel 60 and the external object 70. After transmitting the initial distance information, in step 210, the forward / reverse drive selector 62 is controlled via the plurality of actuators 53 in electronic communication with the programmable processor control unit 30. In step 212, the programmable processor control unit 30 controls the forward / reverse drive selector 62 to maintain the vessel 60 at a default speed of 5 knots. In step 214, the bow distance, speed, and position transducer 46 continues to transmit real-time distance information, and when an external object 70 is detected within 100 feet of the bow 69 of the vessel 60, the programmable processor control unit 30 electronically communicates with the plurality of actuators 53. In step 216, the plurality of actuators 53 controls the forward / reverse drive selector 62 to reduce the travel speed at 0.06 knots per foot and stop the vessel 60 at 20 feet from the external object 70. Finally, in step 218, once a distance of 20 feet is reached between the bow 69 of the vessel 60 and the external object 70, the vessel 60 is maintained in that position indefinitely.On the other hand, if the bow distance, speed, and position transducer 46 does not detect an external object 70 within 100 feet of the vessel's bow 69 in step 218, the system returns to step 212 and continues to transmit real-time distance information from the bow distance, speed, and position transducer 46 to the programmable processor control unit 30.

[0049] 7A-7C are a flow chart illustrating one embodiment of a method of operation of the programmable automatic docking system during a vessel docking operation as the vessel's bow enters a slip, the flow chart illustrating the forward motion and starboard selection example shown above in FIG. 3.

[0050] Initially, at step 300A, the system operator selects the slip order button 64 on the control panel 20. At step 302A, the programmable processor control unit 30 is activated to operate in slip order mode. At step 304A, the operator selects either the port button 66 or the starboard button 67 on the control panel 20 (for purposes of illustration, the starboard button 67 is selected below). At step 306A, the programmable processor control unit 30 automatically transmits to the starboard transducers (41S, 42S, 44S, 45S) and the bow distance, speed, and position transducer 46, which are simultaneously active. At step 308B, the bow distance, speed, and position transducer 46 transmits real-time distance and speed information between the vessel's bow 69 and the dock 70 to the programmable processor control unit 30. In step 310B, in response to receiving real-time distance and speed information from the bow distance, speed, and position transducer 46, the programmable processor control unit 30 communicates with the actuator 53 controlling the forward / reverse drive selector 62. In step 312B, the programmable processor control unit 30 communicates with the actuator controlling the forward / reverse drive control 62 to maintain the speed of the vessel 60 at the programmable processor control unit 30's default setting of 2 knots. In step 314B, when the bow distance, speed, and position transducer 46 transmits a distance of 3 feet between the vessel's bow 69 and the dock 70, the programmable processor control unit 30 controls the actuator 53 and the forward / reverse drive selector 62 to stop the vessel 60 at the default setting of 3 feet from the dock 70. In step 308C, the starboard distance sensing transducers (41S, 42S, 44S, 45S) transmit real-time distance information between the vessel 60 and the slipway 71 to the programmable processor control unit 30.At step 310C, the programmable processor control unit 30 engages the bow thruster 51 in response to the distance information from the forward transducers 41S and 42S, and at step 312C, simultaneously engages the stern thruster 52 in response to the distance information from the aft transducers 44S and 45S, and at step 314C maintains a default distance of 2 feet between the vessel 60 and the slipway 71. At step 316C, the programmable processor control unit 30 maintains control of the bow thruster 51, stern thruster 52, actuator 53, and forward / reverse drive selector 62 to maintain the position of the vessel 60 indefinitely regardless of wind or water current.

[0051] 8 is a flow chart illustrating a method of operating the programmable automatic docking system 10 during automatic positioning of a floating buoy and / or mooring relative to the vessel. Initially, in step 400, the operator of the programmable automatic docking system 10 moves the bow 69 of the vessel 60 into approximate alignment with the floating buoy / mooring 73 immediately ahead of the vessel's bow 69 at a distance of approximately 200 feet or less. Once the vessel 60 is in approximate alignment, continuing in step 402, the operator selects the buoy button 68 on the control panel 20 to operate the programmable processor control unit 30 in buoy mode. In step 404, the programmable processor control unit 30 wirelessly transmits the distance, speed, and position of the bow to the next operating vessel's bow transducer 46. Following actuation, in step 406, the bow distance, speed and position transducer 46 detects and transmits real-time distance, position and speed information to the programmable processor control unit 30 at the bow 69 of the vessel relative to the floating buoy / mooring 73. In step 408, the programmable processor control unit 30 electronically communicates with the plurality of actuators 53 as it engages the forward / reverse drive selector 62 in step 410 to maintain a forward speed of the vessel 60 at a default speed of approximately 2 knots. Then, in step 412, the programmable processor control unit 30 communicates with the bow thruster 51 in response to the real-time distance and position information detected and transmitted by the bow distance, speed and position transducer 46 to engage the bow thruster 51 to maintain the vessel on a direct course towards the floating buoy / mooring 73. When the distance between the bow 69 of the vessel 60 and the floating buoy / mooring 73 is 3 feet in step 414, the vessel 60 is stopped in step 416 by the programmable processor control unit 30 which communicates with and engages a number of actuators 53 which control the forward / reverse drive selector 62 to maintain the vessel's position indefinitely.In step 418, so long as the programmable automatic docking system 10 is in operation, the multiple actuators 53 control the forward / reverse drive selector 62 and the programmable processor control unit 30 responsive to the bow distance, speed and position transducer 46 controls the bow thruster 51 to maintain the final position of the vessel 60.

[0052] 9A to 9C are flow charts showing a method of operating the departure of the ship 60 from an external object 70 that is automatically controlled (in this embodiment, the ship 60 departs from the external object 70 on the starboard side).

[0053] First, in step 500A, the operator selects the on button 21 located on the control panel 20 to activate the programmable processor control unit in step 502A. Next, in step 504A, the operator inputs the distance to move the vessel 60 away from the external object 70 by selecting the plus button 24 or minus button 25 on the control panel 20, and the selected distance is displayed on the display 23 on the control panel 20. Here, a distance of up to 60 feet can be selected. In step 506A, the operator selects the starboard button 67 on the control panel 20 to move the vessel 60 away from the starboard external object 70 (in another embodiment to move away from the port external object 70, the port button 66 is selected). In step 508A, the programmable processor control unit 30 activates the set of starboard transducers 40S, including the starboard lateral position transducer 43S.

[0054] Following activation of the pair of starboard transducers 40S, in step 510B, the programmable processor control unit 30, in response to a set of real-time distance and speed information transmitted from a pair of bow-side distance sensing transducers 41S and 42S mounted on the starboard bow of the vessel 60, activates the bow thruster 51 via electronic communication to move the vessel 60 a preselected distance away from the external object. Simultaneously, in step 512B, the programmable processor control unit 30, in response to a set of real-time distance and speed information transmitted from a pair of distance sensing transducers 44S and 45S mounted on the starboard stern of the vessel 60, activates the stern thruster 52 via electronic communication to move the vessel 60 a preselected distance away from the external object 70. A set of starboard transducers (41S, 42S, 44S, 45S) detects and records a set of distance and speed information between the starboard side of the vessel 60 and the external object 70. In step 514B, the programmable processor control unit 30 controls the bow thruster 51 and the stern thruster 52 to move the vessel 60 to a preselected distance away from the external object at a default speed of 1 foot every 2 seconds. In step 516B, if the vessel 60 is within about 10 feet of the preselected distance to the external object 70, the programmable processor control unit 30 communicates with the bow thruster 51 and the stern thruster 52 to slow the vessel 60's travel speed to 0.03 knots per foot, for example, if the preselected distance from the external object 70 is 50 feet, then the vessel 60 will slow down at 40 feet from the external object 70. Then, at step 518B, once the preselected final position is reached, the programmable processor control unit 30 engages the bow thruster 51 and stern thruster 52 to stop the vessel 60. Once the vessel 60 is within a preselected distance relative to the external object 70, at step 520B, the preselected position relative to the external object 70 is maintained while the programmable automatic docking system 10 is in operation.

[0055] While the set of starboard transducers (41S, 42S, 44S, 45S) is operational and transmits real-time distance and speed information to the programmable processor control unit 30 to move the vessel 60 a preselected distance away from the external object, the starboard lateral position transducer 43S operates independently of and simultaneously with the set of starboard transducers (41S, 42S, 44S, 45S) to detect and transmit the real-time lateral position of the vessel 60. Thus, upon activation of the starboard lateral position transducer 43S at step 510C, the starboard lateral position transducer 43S detects an accurate lateral reference point on the external object 70 and at step 512C the programmable processor control unit 30 stores this lateral reference point for processing any future lateral movements of the vessel 60 from that lateral reference point. In step 514C, the programmable processor control unit 30 automatically compensates for any lateral movement of the vessel 60 by controlling the plurality of actuators 53 in response to real-time lateral position information transmitted from the starboard lateral position transducer 43S. In step 516C, the plurality of actuators 53 engage the forward / reverse drive selector 62 to maintain the vessel 60 on a controlled lateral course relative to a precise lateral reference point stored by the programmable processor control unit 30.

[0056] Once the vessel 60 reaches a preselected distance away from the external object 70, in step 518C, the preselected position is maintained while the programmable automatic docking system 10 is in operation.

[0057] Although described above with respect to the use of programmable automatic docking systems, the methods and systems described herein may, in some embodiments, include other components to provide functionality that provides an automatic positioning system, instead of or in addition to these systems.

[0058] The techniques described herein include capabilities for automated vessel-based positioning, collision-free path planning, and automated guidance operations that are integrated into vessels to provide target position selection, automated vessel approach, and positioning capabilities.

[0059] In this embodiment, the automatic positioning system includes a mapping generated by a central processing unit (CPU) from data received via optical feed from a vision ranging and infrared vision system, as well as from a high precision inertial measurement unit (IMU), a global positioning system (GPS), and a central processing unit (CPU) to automatically position the vessel at a target position relative to an external object, including, for example, a dock or other external object. In some embodiments, the automatic positioning system automatically positions the vessel between two external objects, regardless of wind and water currents. Once activated, the automatic positioning system operates fully automatically without a human operator by controlling the precise movement and position of the vessel relative to the external objects until the vessel reaches a final target position, after which the automatic positioning system maintains the final position of the vessel while the system is in operation, regardless of wind and water currents.

[0060] In some embodiments, the automated positioning system uses photographic and infrared area mapping of distance and speed information to provide feedback to a central processing unit to enable multiple drive systems on the vessel to move the vessel on a controlled course and speed to a final target position relative to an external object.

[0061] Another feature of the embodiments of the automatic positioning system disclosed herein is the ability to operate effectively and accurately in darkness and inclement weather without requesting or requiring a human operator to manually steer to a target location relative to an external object.

[0062] Yet another feature of the automatic positioning system is the ability to maintain the vessel's targeted position once it reaches a targeted location on the touch screen monitor relative to an external object, and to maintain that position indefinitely regardless of wind and water currents while the positioning system is in operation.

[0063] Reference is now made to Figure 10A, which is a schematic diagram illustrating one embodiment of the automatic positioning system of the present invention. In this embodiment, the system 1000 includes an integrated interactive automatic positioning system that senses feedback of the vessel's relative position to the nearby environment, position, and speed, in addition to automatic control of the vessel's movement, including speed and course, to a target position relative to an external object. Reference is now made to Figure 10B, which illustrates an embodiment of the automatic positioning system that automatically positions the vessel's stern between two external objects.

[0064] The photographic and infrared system functions to continuously map the area surrounding the vessel and transmit real-time (or near real-time) distance, speed, and visual information between the vessel and the surrounding area to the central processing unit 1003 for use in automatically steering the vessel to a final target position (e.g., alongside an external object such as a dock 1004) and automatically maintaining that position.

[0065] The system 1000 includes a vision ranging photograph system that generates at least one optical feed. Vision ranging photograph systems include vision systems for navigation that also provide depth information. Such systems include multiple cameras (e.g., two cameras per direction) mounted at fixed or variable positions, as will be appreciated by those skilled in the art.

[0066] The optical data (e.g., video) generated by the vision ranging and photography system is updated periodically. In one example, the optical data is updated continuously, allowing the system to provide a view of the area via the optical feed that is updated in real-time or near real-time. In such an embodiment, the system is said to include a live feed.

[0067] The vision ranging and photography system includes a photo optical / infrared day / night ranging sensor vision system 1002. The system 1000 includes at least one infrared vision system provided by the photo optical / infrared day / night ranging sensor vision system 1002. The photo optical / infrared day / night ranging sensor vision system 1002 includes one or more subcomponents. For example, the photo optical / infrared day / night ranging sensor vision system 1002 includes one or more night vision sensors to provide a light (including infrared) feed (e.g., but not limited to, video) during nighttime or other low light or low visibility conditions. The vision ranging and photography system includes one or more cameras mounted at one or more locations on the vessel.

[0068] The system 1000 includes at least one ranger laser scanner 1008. In this embodiment, the at least one ranger laser scanner 1008 generates a point cloud representing depth information associated with objects in proximity to the at least one ranger laser scanner (and by extension, in proximity to the vessel). As will be appreciated by those skilled in the art, such a sensor is referred to as a scanning range finder. As will be described in more detail below, the at least one ranger laser scanner 1008 has functionality for hazard detection. As will be appreciated by those skilled in the art, the one or more 270 degree laser scanners provide the functionality of a vision ranging and photography system, such as, by way of example, a ranging sensor of the type manufactured by Hokuyo Automatic Co., Ltd., Osaka, Japan, or Velodyne LiDAR, Inc., Morgan Hill, California.

[0069] The system 1000 includes at least one inertial measurement unit (IMU). The system 1000 includes at least one global positioning system (GPS) unit. The inertial measurement unit and the global positioning system unit are provided as a single unit (IMU / GPS unit 1010). The inertial measurement unit and the global positioning system unit may be provided as separate components.

[0070] The IMU provides acceleration information, e.g., the IMU provides information (e.g., measurements) in the X, Y, and Z axes, such as the vessel's current angular velocity in X, Y, and Z coordinates. The central processing unit 103 applies a fusion algorithm to the measurements received from the IMU. As will be appreciated by those skilled in the art, the IMU may be provided by any form or type of inertial sensor, including, by way of example, inertial sensors manufactured by Robert Bosch GmbH of Germany.

[0071] The GPS provides the vessel's global coordinates, including, for example, longitude and altitude. The central processing unit 1003 uses the GPS data in conjunction with other received inputs when applying sensor fusion algorithms and generating the underlying mapping, or overlays to the mapping. In some embodiments, using the GPS data results in improved accuracy of the position estimates that the system uses to position the vessel. The GPS may be of any form or type, including, for example, GPS manufactured by SparkFun Electronics of Newot, Colorado, or Garmin International, Inc. of Olathe, Kansas.

[0072] The system 1000 includes a touchscreen control monitor 1007. The touchscreen control monitor 1007 communicates with a central processing unit 1003, which receives data from an optical feed for display to a user, for example. The touchscreen control monitor 1007 includes a capacitive touchscreen that allows a user to interact with a graphical user interface displayed by the touchscreen control monitor 1007 by touching the screen of the touchscreen control monitor 1007. The touchscreen monitor 1007 displays an overlay of the geometry of the environment surrounding the vessel, which is generated from data received via the optical feed from the vision system using optical ranging photography by a day and night all-weather infrared vision system, as well as a high precision inertial measurement unit (IMU) and global positioning system (GPS) unit, over various distances and by initiating various automatic functions via a central processing unit (CPU) 1003 designed to execute selected automatic functions in response to the acquired data. The touchscreen monitor 1007 provides functionality that allows the user to interact with the system, and as a result, the touchscreen monitor is referred to as an interactive touchscreen monitor.

[0073] The system 1000 comprises a propulsion system for the vessel 1001, including at least one thruster, at least one drive train, and at least one actuator. The at least one thruster is a bow thruster 1005A. The at least one thruster is a stern thruster 1005B. The at least one drive train is a main drive thruster (1006A, 1006B). The vessel includes a steering system 1012, including a rudder or mechanism for adjusting the variable direction of the thrust to control the vessel's course.

[0074] The system 1000 includes a central processing unit installed on the vessel and operably connected to at least one element of the propulsion system. The central processing unit 1003 has functionality for receiving at least one optical feed from a vision ranging and imaging system, the feed including data providing a mapping of the environment surrounding the vessel. The central processing unit 1003 receives the optical feed from the vision ranging and imaging system, for example, via a wired or wireless connection. The central processing unit 1003 receives a number of inputs from one or more sensors (e.g., from sensors forming part of the vision ranging system), the inputs including video data and LIDAR data, and the central processing unit 1003 uses these inputs to derive a map of the area surrounding the vessel. The central processing unit 1003 encodes the free and occupied areas of the map with a probability that an obstacle has been detected in a particular area. For example, the central processing unit 1003 assigns a probability within a range (e.g., 0 to 255), the higher the probability, the more likely the area contains an obstacle.

[0075] The central processing unit 1003 is operable to receive target location data from the touch screen monitor. The target location data includes an identification of a target location where a user wants the automatic positioning system to dock the vessel. For example, the touch screen monitor 1007 determines that a user has touched the touch screen monitor 1007 at a particular point on a capacitive touch screen. The central processing unit 1003 uses information identifying the location touched by the user (e.g., a point identified by an X, Y coordinate system) to identify a physical location associated with a mapping of the environment surrounding the vessel.

[0076] The central processor 1003 has the functionality to direct at least one element of the vessel's propulsion system and navigate the vessel to the target location using the mapping and target location data. This functionality provided by the central processor 1003 is referred to as an automatic positioning system.

[0077] In some embodiments, the methods and systems described herein generally relate to an automatic positioning system between a powered marine vessel and a dock or external object. The automatic positioning system incorporates a touch screen interactive monitor that displays an overlay of the geometry of the environment surrounding the vessel via a live feed from a vision system that allows the vessel operator to select a target location on a touch screen control monitor 1007.

[0078] The present invention is not limited in its application to the vessel size, vessel type, or construction details and component arrangements set forth in the following description.

[0079] 11A in conjunction with FIGs. 10A-10B, a method 1100 of automatically moving a vessel by an automatic positioning system includes receiving (1102), by a central processing unit, at least one optical feed from a vision ranging and photography system, the optical feed including data providing a mapping of an environment surrounding the vessel. The method 1100 includes displaying (1104), by the central processing unit, the mapping of the environment on a touch screen monitor. The method 1100 includes receiving (1106), by the central processing unit, target position data from the touch screen monitor. The method 1100 includes directing (1108), by the central processing unit, at least one element of a propulsion system of the vessel to move the vessel to the target position using the mapping.

[0080] The method 1100 includes receiving (1102), by a central processing unit, at least one optical feed from the vision ranging and photography system, the optical feed including data providing a mapping of the environment surrounding the vessel. The central processing unit 1003 receives a plurality of images from the ranging and photography system, after which the central processing unit 1003 calculates a disparity level between each of the plurality of images resulting in a point cloud representing distances to objects in the area surrounding the vessel. In this embodiment, the central processing unit 1003 uses the received data to generate the mapping. In other embodiments, the vision ranging and photography system is capable of generating a mapping from the visual data and providing the mapping to the central processing unit 1003.

[0081] The central processing unit 1003 receives at least one update of data providing a mapping of the environment surrounding the vessel via the optical feed, for example, the central processing unit 1003 receives a continuous stream of updates that the central processing unit 1003 uses to generate a continually updated mapping.

[0082] In some embodiments, the central processing unit 1003 receives data relating to the environment surrounding the vessel (e.g., sensor data and imaging data) from multiple sources. For example, since the infrared vision system operates in low light or low or zero visibility conditions, the central processing unit receives transmitted data from the infrared vision system that includes a second mapping of the environment surrounding the vessel. The additional data is also provided in a continuous (e.g., continuously updated) stream. The additional data is also representative of a relationship between the vessel and target positions adjacent to external targets.

[0083] As another example of an embodiment in which the central processing unit 1003 receives optical data from multiple sources, the central processing unit 1003 receives information from one or more optical laser scanners 1008. An automatic positioning system executed by the central processing unit 1003 uses the optical laser scanners 1008 to determine the proximity of the vessel 1001 to adjacent vessels, docks, and / or other obstacles 1004. For example, the optical laser scanner determines the distance between the vessel 1001 and the external object 1004 by sending out a laser beam and measuring the time-of-flight (TOF) of the reflected beam returning to the sensing unit. The scanner rotates 360° horizontally and several degrees vertically to provide many of these measurements, and based on the TOF, the distance is precisely calculated.

[0084] In some embodiments, the day and night vision system and optical photo scanner 1002 are visually recording the same environment while the automated location system is receiving data from the optical laser scanner 1008. The central processing unit 1003 uses the information it receives from the optical laser scanner 1008 and the day and night vision system and optical photo scanner 1002 to generate a visual representation of the data (e.g., displaying a "live" or substantially real-time video feed) on the touch screen monitor 1007 for display to an operator.

[0085] In some embodiments, the central processing unit 1003 applies a sensor fusion algorithm to integrate inputs received from multiple sensors (e.g., sensors that are part of the optical laser scanner 1008, the day and night vision system, the optical photo scanner 1002, and any other data sources related to the environment surrounding the vessel). The result of such integration is a multi-dimensional array of measurements (referred to as a "point cloud"). In one of these embodiments, the sensor fusion algorithm uses different filters to combine the data received from the sensors (including the IMU and GPS) into one map and to filter out erroneous reflections (e.g., waves, water surfaces, etc.). For the creation of the occupancy grid map, in other embodiments, the method 1100 includes the application of probabilistic techniques and multi-resolution scan matching to complete a map useful for route planning.

[0086] Referring to FIG. 11A, the method 1100 includes displaying (1104) by the central processing unit on the touchscreen monitor a mapping of the environment. The central processing unit 1003 forwards the mapping, or the optical feed data, or both, to the touchscreen monitor 1007. The touchscreen monitor 1007 displays the mapping of the environment (e.g., to an operator of the vessel 1001). The central processing unit 1003 uses the data received via the optical feed of the vision system to generate an overlay of the geometry of the environment surrounding the vessel 1001 for display by the touchscreen monitor 1007. The touchscreen monitor 1007 displays the surrounding environment relative to the vessel and target locations adjacent to external objects. In an embodiment in which the central processing unit 1003 receives optical data from multiple sources (e.g., from an infrared vision system and other sources), the touchscreen monitor 1007 similarly displays the output received from each of the other multiple sources (e.g., as an overlay on the initial mapping). In embodiments in which the central processing unit 1003 receives the second mapping, the touch screen monitor 1007 similarly displays the second mapping.

[0087] The method 1100 includes receiving (1106), by the central processing unit, target position data from the touch screen monitor. The touch screen monitor 1007 generates a graphical user interface and allows the operator to interactively specify a target position for the vessel 1001 by touching user interface elements displayed in the graphical user interface, where the user interface elements are placed in a position corresponding to the target position or otherwise indicate the target position. Touch screen technology allows for intuitive, versatile, and simpler inputs for specifying a target position for the vessel 1001. For example, the touch screen monitor 1007 displays a video (continuously updated) of an area surrounding the vessel 1001 (e.g., including any docks or other external objects 1004), and the operator touches the screen at a location within the video display where the operator wants to position the vessel 1001. This location may be relative to a single external object (e.g., a dock), or multiple external objects (e.g., a slip between two portions of a dock, or between two other vessels). The method 1100 derives target position data from the location of the operator touch.

[0088] The target position data specifies a location adjacent to the external object. The target position data includes an identification of a target position of the vessel, the target position being between two aft external objects.

[0089] When the above location is targeted on the touch screen monitor 1007, the optical feeds of the vision ranging and infrared vision systems send data to the central processor 1003 to map the surrounding environment aft of the vessel and render a mapping on the touch screen monitor 1007 showing the surrounding environment aft of the vessel and the target location between one or more external objects. In this embodiment, when the target location is entered on the touch screen monitor 1007, the central processor 1003 engages two 270 degree ranging laser scanners which transmit surrounding environment information back to the central processor 1003. The central processor 1003 updates the previously generated point cloud as it receives additional sensor input from the cameras.

[0090] In this embodiment, the central processor 1003 validates the validity of the target locations identified in the target location data to ensure that the target location is large enough to accommodate the vessel. For example, the automated positioning system calculates one or more dimensions of the target location that verify that the target location area is large enough to accommodate the vessel dimensions. The central processor 1003 validates the operator's input and matches the input to the mapping generated by the optical ranging sensor 1002.

[0091] The method 1100 includes directing (1108), by the central processing unit, at least one element of the vessel's propulsion system using the mapping to move the vessel to the target location. Upon receiving the target location data from the touch screen monitor 1007, the central processing unit 1003 automatically provides at least one element of the vessel's propulsion system, i.e., a course to the selected target location. Upon receiving the target location data from the touch screen monitor 1007, the central processing unit 1003 automatically controls at least one steering system of the vessel to move the vessel to the target location. Upon receiving the target position data from the touchscreen monitor 1007, the central processing unit 1003 automatically controls at least one drive system of the vessel 1001 to steer the vessel 1001 into the target position and activate thrusters 1005A and 1005B, and main drive thrusters 1006A and 1006B, while controlling the vessel's steering system, as required to move the vessel 1001 on the fastest possible controlled path to the target position, as described in more detail below.

[0092] 11B is a flow chart illustrating one embodiment of a method 1150 for determining a heading. The central processing unit 1003 updates the mapping and any overlays before determining the heading. The central processing unit 1003 determines the position of the vessel (e.g., relative to a target location). Position information of the vessel 1001 is constantly transferred (e.g., from a GPS) to the central processing unit 1003, which responds by controlling the vessel's steering system if required to keep the vessel on course to a selected target location on the interactive monitor, and the central processing unit 1003 receives periodic updates of the position information. The central processing unit 1003 performs one or more updates to incorporate any obstacle-related data and then calculates one or more routes. In this embodiment, to detect the position of the vessel 1001, the central processing unit 1003 receives a GPS position and scans of the area surrounding the vessel 1001 (e.g., from the photo vision systems 1002 and 1008), and the central processing unit 1003 calculates the heading distance and angle to an obstacle (e.g., the nearest obstacle) and generates a mapping of the desired stopping position in relation to the position of the vessel 1001 (x position, y position, associated angle).

[0093] As shown in FIG. 11B, the method 1150 includes merging (1152) scans (e.g., data from one or more scanning systems, GPS, and / or IMU). This merging results in the generation or update of a 3D point cloud (e.g., including a 3D point cloud coordinate transformation) by the central processing unit 1003. The method 1150 includes a step of 3D point cloud refinement (1154) including outlier rejection and extraction of regions of interest, which includes another 3D point cloud coordinate transformation. The method 1150 includes a step of generating (1156) a 2D scan projection including a 2D scan coordinate transformation. The method 1150 includes a step of performing a SLAM (e.g., simultaneous localization and mapping) update (1158) including the generation of a 3D pose occupancy grid and the incorporation of GPS pose data (including, without limitation, latitude, longitude, and altitude). Fusing data from GPS with data from other sensors improves accuracy. The method 1150 includes calculating (1160) a safe area to navigate incorporating data related to a model of the vessel's hull, which includes generating a 3D pose cost map. The method 1150 includes calculating (1162) a global path and a local path, which includes generating or updating the 3D pose cost map. The method 1150 includes executing the path and updating the local path (1164).

[0094] Returning to FIG. 11A, the central processing unit 1003 calculates a path of vessel movement that incorporates information of one or more obstacles detected by the LIDAR hazard detection and avoidance system. The central processing unit 1003 engages at least one stern Ranger laser scanner and receives data including at least one of distance, speed, and size area information from at least one stern Ranger laser scanner 1008. The automatic positioning and location system includes a Light Detection and Ranging (LIDAR) hazard detection and avoidance system that uses input from at least one stern Ranger laser scanner 1008. In this embodiment, the LIDAR hazard detection and avoidance system performs data fusion on sensor level data. For example, the LIDAR hazard detection and avoidance system uses navigation motion states to reconstruct a point cloud obtained from a scanning LIDAR unit (e.g., as part of a vision ranging and photography system) that corrects images for motion compensation using IMU data obtained from successive LIDAR images to achieve high accuracy and resolution maps while enabling relative positioning. In another embodiment, the LIDAR hazard detection and avoidance system performs data fusion (e.g., fusing hazard maps from multiple sensors into a single image space at a single grid orientation and spacing) on ​​decision level data.

[0095] After determining the position of the vessel 1001 and calculating at least one path, the central processing unit 1003 calculates the required directional torque values ​​for each individual thruster installed on the vessel 1001. The required forces and torques at time t are calculated, controlled by a PID algorithm, based on the following equations: TIFF0007596412000001.tif17130η=position, v=velocity

[0096] The vessel 1001 position required for the control algorithm is calculated from acquired sensor data based on GPS 1010 information provided by a GPS 1010 device. The PID parameters are collected during the initial teach-in of the system, which is part of the initial installation procedure for this system.

[0097] The total amount of force in the required direction is then allocated to the individual thrusters 1005A and 1005B due to the fact that each thruster has different timing behavior as well as maximum possible force limits. The goal of this part of the algorithm is to keep all thrusters 1005A and 1005B within their optimal operating ranges. The next optimization is calculated as follows: TIFF0007596412000002.tif38130

[0098] Propeller 1006A and propeller 1006B are the main drive thrusters (providing thrust in the bow and stern directions mounted at the stern position of vessel 1001, they are referred to as (-ly1, -ly2) in the optimization equations above). Bow thruster 1005A and stern thruster 1005B are the lateral moving thrusters mounted at the (bow) and (stern) positions of vessel 1001, they are referred to as (-lx3 and -lx4) in the optimization equations above. They are responsible for generating thrust in the lateral direction. The values ​​calculated in this step are limited to ensure that the values ​​are within the specifications of the thrusters used, ensuring stable control operation.

[0099] In some embodiments, based on the location of the vessel 1001, the central processing unit 1003 determines at least one directional torque and a required torque per actuation of the vessel 1001. Based on the location of the vessel 1001, the central processing unit 1003 generates actuator 1011 signals for at least one individual actuation. The central processing unit 1003 evaluates the movement of the vessel 1001.

[0100] The central processing unit is responsible for the thrusters of the vessel 1001. The central processing unit can be responsible for the drive train of the vessel 1001. The central processing unit 1003 determines to engage multiple elements of the vessel's propulsion system substantially simultaneously. For example, the central processing unit 1003 may engage the drive train and thrusters to automatically move the vessel to a target position preselected on the touch screen monitor for a final position between two external objects.

[0101] The central processing unit determines instructions to provide to at least one element in response to the received mapping, for example, the central processing unit (CPU) 1003 may send signals representing a desired rudder angle or thrust angle to a responsive steering control system to effect movement of the vessel along a desired course to a target location selected on the interactive monitor.

[0102] In some embodiments, the central processing unit 1003 continuously evaluates sensor data received from the optical sensor 1002, as well as the high precision inertial measurement unit (IMU) and global positioning system (GPS) unit 1010 during the movement of the vessel 1001 and when the vessel 1001 is positioned at the final position. In this embodiment, the central processing unit 1003 directs at least one element of the vessel's propulsion system to maintain the position of the vessel at the target position. For example, upon reaching the final position, the central processing unit 1003 operates one or more actuators 1011 required to control all of the propulsion system to maintain the position of the vessel 1001.

[0103] Manual intervention during automatic operation results in immediate disengagement of the automatic system. When the central processor 1003 detects that a human operator has manually interfered with the operation of the vessel, the central processor 1003 disengages the automatic positioning system based on the detection of the manual intervention.

[0104] The automatic location system operates independently, without the use or need for any human operator at the initiation of the automatic location system.

[0105] 12A and 12B show block diagrams of a computing device 1200 useful for implementing embodiments of a CPU. As shown in FIGS. 12A and 12B, the computing device 1200 includes a central processing unit 1221 and a main memory unit 1222. As shown in FIG. 12A, the computing device 1200 includes a storage device 1228, an installation device 1216, a network interface 1218, an I / O controller 1223, a display device (1224a-1224n), a keyboard 1226, a pointing device 1227 such as a mouse, and one or more other I / O devices (1230a-1230n). The storage device 1228 includes, but is not limited to, an operating system and software. As shown in FIG. 12B, each computing device 1200 includes additional optional elements, such as a memory port 1203, a bridge 1270, one or more I / O devices (1230a-1230n) (generally referred to using reference numeral 1230), and a cache memory 1240 in communication with the central processing unit 1221.

[0106] Central processing unit 1221 is any logic circuitry that processes instructions in response to instructions fetched from main memory unit 1222. In many embodiments, central processing unit 1221 is provided by a microprocessor unit, such as a microprocessor unit manufactured by Intel Corporation of Mountain View, Calif., a microprocessor unit manufactured by Motorola Corporation of Schaumburg, Ill., a microprocessor unit manufactured by International Business Machines of White Plains, New York, or a microprocessor unit manufactured by Advanced Micro Devices of Sunnyvale, Calif. Computing device 1200 may be based on any of these processors, or any other processor capable of operating as described herein.

[0107] The main memory unit 1222 is comprised of one or more memory chips that store data and any storage location is directly accessible by the microprocessor 1221. The main memory 1222 is comprised of any available memory chips that are operable as described herein. In the embodiment shown in FIG. 12A, the processor 1221 communicates with the main memory 1222 via a system bus 1250. FIG. 12B illustrates an embodiment of a computing device 1200 in which the processor communicates directly with the main memory 1222 via a memory port 1203. FIG. 12B illustrates an embodiment in which the cache memory 1240 and the main processor 1221 communicate directly via a secondary bus, referred to as a backside bus. In another embodiment, the main processor 1221 communicates with the cache memory 1240 using the system bus 1250.

[0108] In the embodiment shown in FIG. 12A, the processor 1221 communicates with various I / O devices 1230 via a local system bus 1250. The central processing unit 1221 is connected to any of the I / O devices 1230 using a variety of buses, including an ISA bus, an EISA bus, a PCI bus, a PCI-X bus, or a PCI-Express bus. In an embodiment where the I / O device is a video display 1224, the processor 1221 communicates with the display 1224 using an Advanced Graphics Port (AGP). FIG. 12B illustrates an embodiment of a computer 1200 in which the main processor 1221 communicates directly with an I / O device 1230b, for example, via HYPERTRANSPORT, RAPIDIO, or INFINIBAND communications technology.

[0109] A wide variety of I / O devices (1230a-1230n) are present on computing device 1200. Input devices include keyboards, mice, trackpads, trackballs, microphones, scanners, cameras, and drawing tablets. Output devices include video displays, speakers, inkjet printers, laser printers, and dye-sublimation printers. The I / O devices are controlled by an I / O controller 1223, as shown in FIG. 12A. Additionally, the I / O devices provide storage and / or installation media 1216 for computing device 1200. In some embodiments, computing device 1200 provides a USB connection (not shown) to receive a handheld USB storage device, such as the USB flash drive line of devices manufactured by Twintech Industry, Inc. of Los Alamitos, Calif.

[0110] 12A, computing device 1200 supports any suitable installation device 1216, such as a CD-ROM drive, a CD-R / RW drive, a DVD-ROM drive, tape drives of various formats, a USB device, a hard drive, or any other device suitable for installing software and programs. Computing device 1200 further includes a storage device, such as one or more hard disk drives or a redundant array of independent disks, for storing an operating system and other software.

[0111] Computing device 1200 further includes a network interface 1218 for interfacing to a network connection to one or more other computing devices (not shown) via a variety of connections, including, but not limited to, a standard telephone line, a LAN or WAN link (e.g., 802.11, T1, T3, 56kb, X.25, SNA, DECNET), a broadband connection (e.g., ISDN, Frame Relay, ATM, Gigabit Ethernet, Ethernet over SONET), a wireless connection, or some combination of any or all of the above. Connections may be established using a variety of communication protocols (e.g., TCP / IP, IPX, SPX, NetBIOS, Ethernet, ARCNET, SONET, SDH, Fiber Distributed Data Interface (FDDI), RS232, IEEE 802.11, IEEE 802.11a, IEEE 802.11b, IEEE 802.11g, IEEE 802.11n, IEEE 802.15.4, Bluetooth, ZIGBEE, CDMA, GSM, WiMax, and direct asynchronous connections). In this embodiment, computing device 1200 communicates with other computing devices via any type and / or form of gateway or tunneling protocol, such as Secure Sockets Layer (SSL) or Transport Layer Security (TLS). Network interface 1218 may include a built-in network adapter, a network interface card, a PCMCIA network card, a card bus network adapter, a wireless network adapter, a USB network adapter, a modem, or any other device suitable for interfacing computing device 1200 to any type of network capable of communication and for performing the operations described herein.

[0112] Any of the I / O devices (1230a-1230n) and / or I / O controller 1223 may include any type and / or format of suitable hardware, software, or combination of hardware and software to support, enable, or provide for the connection and use of multiple displays (1224a-1224n) by computing device 1200. Those skilled in the art will recognize and understand the various ways and embodiments in which computing device 1200 may be configured to include multiple displays (1224a-1224n).

[0113] In a further embodiment, I / O device 1230 is a bridge between system bus 1250 and an external communications bus, such as a USB bus, an Apple® Desktop Bus, an RS-232 serial connection, a SCSI bus, a FireWire bus, a FireWire 800 bus, an Ethernet bus, an AppleTalk® bus, a Gigabit Ethernet® bus, an Asynchronous Transfer Mode bus, a HIPPI bus, a Super HIPPI bus, a SerialPlus bus, an SCI / LAMP bus, a Fibre Channel bus, or a Serial Attached Small Computer System Interface bus.

[0114] A computing device 1200 of the type shown in Figures 12A and 12B typically operates under the control of an operating system, which controls the scheduling of tasks and access to system resources. Computing device 1200 may run any operating system, such as any version of the Microsoft Windows operating system, different releases of Unix and Linux operating systems, any version of MAC OS for Macintosh computers, any embedded operating system, any real-time operating system, any open source operating system, any proprietary operating system, any operating system for mobile computing devices, or any other operating system, capable of running on the computing device and performing the operations described herein.Exemplary operating systems include, but are not limited to, WINDOWS 3.x, WINDOWS 95, WINDOWS 98, WINDOWS 2000, WINDOWS NT 3.51, WINDOWS NT 4.0, WINDOWS CE, WINDOWS XP, WINDOWS 7, WINDOWS 8, WINDOWS 10, and WINDOWS VISTA, among others, manufactured by Microsoft Corporation of Redmond, Washington; MAC OS, manufactured by Apple Inc. of Cupertino, California; Red Hat Enterprise LINUX, a Linux-variant operating system distributed by Red Hat, Inc. of Raleigh, North Carolina; or Ubuntu, a freely available operating system distributed by Canonical Ltd. of London, England; or a UNIX operating system of any type and / or form.

[0115] The computing device 1200 has been modified to address challenges arising in a marine environment, including addressing conditions including increased risk of shock or vibration, or the need to provide additional cooling or power systems isolated from the vessel's main power system.

[0116] Computing device 1200 may be any workstation, desktop computer, laptop or notebook computer, server, portable computer, mobile phone or other portable telecommunications device, media playback device, gaming system, mobile computing device, or any other type and / or form of communications-capable, computing, telecommunications, or media device having sufficient processing power and memory capacity to perform the operations described herein.

[0117] In this regard, before describing at least one embodiment of the invention in detail, it is to be understood that the invention is not limited in its application to the arrangement of components set forth in the following description or illustrated in the drawings. The invention is capable of other embodiments and of being practiced and carried out in various ways, including applications involving other forms of mobile vehicles. Additionally, the phraseology and terminology used herein is for purposes of explanation and not of limitation.

[0118] The above description is illustrative only and is not intended to limit the invention, which may be modified in various ways without departing from the scope of the invention. [Explanation of symbols]

[0119] 10 Programmable Automatic Berthing System 20 Control Panel 21 On button 22 Off button 23 Display 24 Plus button 25 Minus button 30 Programmable Processor Control Unit 40P Port Side Transducer 40S Starboard Transducer 41P, 42P, 44P, 45P, 41S, 42S, 44S, 45S (distance sensing) transducers 43P Port Side Lateral Position Transducer 43S Starboard Lateral Position Transducer 46 Bow (distance, speed, and position) transducer (bow distance transducer) 47 Stern (distance, speed, and position) transducer 51, 1005A Bow Thruster 52, 1005B Stern Thruster 53 Actuator 60, 1001 ships 62 Forward / reverse drive selector (main drive) 63 Main drive propeller 64 Slip order button 65 Slip Reverse Button 66 Port Button 67 Starboard button 68 V Button 69 Bow 70, 1004 External objects (docks, obstacles) 71 Slip Sidewalk 72 Stern 73 Floating Buoys / Moorings 1000 Systems 1002 Photographic / Infrared Day / Night Distance Sensor Vision System (Day / Night Vision System and Optical Photo Scanner) 1003, 1221 Central Processing Unit (CPU) 1006A, 1006B Main drive thrust 1007 Touch screen (control) monitor 1008 (Ranger Laser Scanner) Optical Laser Scanner 1010 IMU / GPS unit 1011 Actuator 1012 Steering system 1200 Computing Devices 1203 Memory Port 1216 Install Device 1218 Network Interface 1221 Processor (Central Processing Unit) 1222 Main Memory Unit 1223 I / O Controller 1224 Video Display 1224a~1224n Display device 1226 Keyboard 1227 Pointing Device 1228 Storage Device 1230, 1230a~1230n I / O devices 1240 Cache Memory 1250 (local) system bus 1270 Bridge

Claims

1. 1. A method for automatically steering a marine vessel to a target position adjacent an external object, comprising: sensing, with at least one transducer, a lateral reference point on the external object; transmitting information representative of a sensed lateral reference point on the external object by the transducer to a processor control unit; receiving, by the processor control unit, the information representative of the sensed lateral reference point; storing, in the processor controlled unit, the information representative of the sensed lateral reference points as stored lateral reference point information; performing control by the processor control unit to automatically steer the vessel to the target position adjacent the external object; controlling, by the processor control unit, to maintain the vessel at the target position adjacent to the external object; receiving, by the processor control unit, data on the target location from a user; The method of claim 1, further comprising the step of validating the target position in the processor control unit to ensure that the target position is large enough to accommodate the vessel.

2. The method of claim 1 , wherein the target location includes a location relative to only the external object.

3. The method of claim 1 , wherein the target locations include locations for multiple external objects, including the external object.

4. 2. The method of claim 1, wherein the step of performing control for automatically steering the vessel includes the step of calculating a global path and a local path.

5. 2. The method of claim 1, wherein the step of providing control to automatically steer the vessel includes the step of maintaining the vessel on a controlled lateral course relative to the sensed lateral reference point.

6. The method of claim 1, further comprising receiving, at the processor control unit, sensor and imaging data relating to an environment surrounding the vessel from a plurality of sources.

7. 7. The method of claim 6, further comprising receiving a continuously updated stream of sensor and imaging data from the multiple sources representative of a relationship between the vessel and the target location adjacent the external object.

8. 1. A system for automatically steering a marine vessel to a target position adjacent an external object, comprising: At least one transducer; a processor control unit; The at least one transducer comprises: Sensing a lateral reference point on the external object; transmitting information representative of the sensed lateral reference point on the external object to the processor control unit; The processor control unit includes: receiving the information representative of the sensed lateral reference point; storing the information representative of the sensed lateral reference points as stored lateral reference point information; providing a control for automatically steering the vessel to the target position adjacent to the external object; performing control to maintain the vessel at the target position adjacent to the external object; receiving data of the target location from a user; 20. A system for validating the target location to ensure that the target location is large enough to accommodate the vessel.

9. The system of claim 8 , wherein the target locations include locations relative to only the external object.

10. The system of claim 8 , wherein the target locations include locations for multiple external objects including the external object.

11. 10. The system of claim 8, wherein performing control to automatically steer the vessel includes calculating a global path and a local path.

12. 9. The system of claim 8, wherein performing controls to automatically steer the vessel includes performing controls to maintain the vessel on a controlled lateral course relative to the sensed lateral reference point.

13. The system of claim 8, wherein the processor control unit further receives sensor data and imaging data relating to an environment surrounding the vessel from a plurality of sources.

14. The system of claim 13, wherein the processor control unit further receives a continuously updated stream of sensor and imaging data from the multiple sources representative of a relationship between the vessel and the target location adjacent the external object.

Images