Automatic Positioning System

Abstract

To provide an automatic positioning arrangement system and a method for automatically moving a vessel by the automatic positioning arrangement system.SOLUTION: A method automatically moving a vessel to a horizontal direction reference point stored on an outside object includes the steps of: receiving horizontal direction reference point information expressing the horizontal direction reference point stored on the outside object by a processor control unit; moving the vessel automatically to the horizontal direction position to the horizontal direction reference point stored on the outside object; stopping the vessel at default distance to the outside object; and maintaining the vessel at the default distance to the outside object.SELECTED DRAWING: Figure 10A

Description

Technical Field

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

Background Art

[0002] Steering a large ship to a desired position is a precise operation that, when relying on an operator's judgment, can cause damage to the ship and the surrounding area. Conventionally, maintaining the final position of a ship requires the assistance of multiple fixing devices. Hazardous weather conditions such as wind, water current, fog, and darkness significantly increase the risks associated with the movement operation.

[0003] Conventional docking systems generally require additional assistance in measuring the effects of these uncertainties in order to provide visual assistance to aid the operator's judgment in manually moving the ship to the desired position. However, steering a ship in a congested area generally requires a skilled operator and many assistants to assist with the steering. Conventional systems generally do not provide an interactive system for viewing the area surrounding the ship or for receiving commands to steer the ship through an interactive system without human assistance. Furthermore, as ships become larger, especially in congested areas, the risks present during conventional steering increase, thus increasing the need for skilled operators, local harbor pilots, multiple assistants, and tugboats.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The methods and systems described herein generally relate to an automatic positioning system between a powered vessel and a dock or external object, the automatic positioning system incorporating a touch screen interactive monitor that displays an overlay of the geometry of the surrounding situation on an optical feed from a vision system that enables an operator to select a target position on an interactive monitor. The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide an automatic positioning system and a method for automatically moving a vessel by the automatic positioning system.

Means for Solving the Problems

[0005] A method according to an aspect of the present invention made to achieve the above object is a method for automatically steering a vessel to a target position, the method comprising: generating a mapping of the environment of the vessel using data received from a GPS unit; identifying the target position based on the mapping; receiving, by a processor control unit, information representing the target position; and, in the processor control unit, operating a propulsion system of the vessel to automatically steer the vessel to the target position, the step of operating the propulsion system of the vessel including: identifying the position of the vessel by sensing the position of the vessel relative to at least one obstacle using at least one transducer; incorporating, in the processor control unit, the position of the vessel relative to the at least one obstacle and calculating a collision-free movement path of the vessel; and operating the propulsion system of the vessel to drive the vessel toward the target position along the collision-free movement path.

[0006] A system according to one aspect of the present invention made to achieve the above object is a system for automatically steering a ship to a target position, the system including a processor control unit adapted to execute the following method, the method comprising: generating a mapping of the environment of the ship using data received from a GPS unit; identifying the target position based on the mapping; receiving information representing the target position; and operating the propulsion system of the ship to automatically steer the ship to the target position, the step of operating the propulsion system of the ship including controlling at least one transducer to sense the position of the ship relative to at least one obstacle, identifying the position of the ship, incorporating the position of the ship relative to the at least one obstacle, calculating a collision-free movement path of the ship, and operating the propulsion system of the ship to drive the ship along the collision-free movement path towards the target position.

Advantages of the Invention

[0007] According to the present invention, it is possible to provide a programmable automatic docking system having a function of effectively navigating a ship in bad weather without the requirements imposed on a human operator performing a docking operation or without the human operator himself. In addition, the programmable automatic docking system of the present invention can remove the risk of damage to the ship and / or external object by enabling the ship to be automatically moved laterally towards an external object and maintaining a preselected position from the external object at the start of the programmable automatic docking system.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] In this specification, when describing both port (left side) operation and starboard (right side) operation of a ship, the description is made with reference to the ship and external objects. Further, between "port" operation or "starboard" operation, the operational difference is only the selection of the "port" button or "starboard" button on the control panel. This selection determines the activation of a set of "port" or "starboard" transducers and the "port" or "starboard" direction of the lateral movement of the ship. Finally, FIGS. 1 to 4 show the starboard side of the ship in detail for illustrative purposes, and those skilled in the art can easily understand the operation from the port side of the ship as well.

[0010] The present invention provides a programmable automatic docking system, which mainly includes a programmable processor control unit ("PCU") for automatically docking and navigating a ship to a final position with respect to an external object including a dock, but is not limited thereto. Further, the programmable automatic docking system operates independently at the start of the programmable automatic docking system without using or requiring any human operator.

[0011] The present invention provides a programmable automatic docking system including a plurality of transducers for detecting and transmitting a set of distance information between a ship and an external object.

[0012] The above set of distance information is fed back to the processor control unit, and a plurality of thrusters together with the main drive system of the ship can drive the ship in the lateral, bow, and stern directions towards the external object along a controlled lateral path and speed, providing a programmable automatic docking system.

[0013] The present invention provides a programmable automatic docking system that maintains the position of a ship when the ship reaches a preselected position with respect to an external object, and this system maintains its position indefinitely regardless of wind and water flow during operation.

[0014] The present invention provides a programmable automatic docking system that automatically positions a ship at a slip position regardless of wind and water flow.

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

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

[0017] The present invention provides a programmable automatic docking system that includes a programmable processor control unit that enables efficient operation regardless of the length of the ship.

[0018] That is, once activated, the programmable automatic docking system operates completely automatically without a human operator by controlling the precise movement and position of the ship relative to an external object until the ship reaches a preselected final position, and then maintains the final position of the ship regardless of wind and water flow while the programmable automatic docking system is in operation.

[0019] FIG. 1 is a schematic diagram showing a programmable automatic docking system according to an embodiment of the present invention. The programmable automatic docking system 10, once activated, in addition to performing the docking operation of the ship 60 and automatic control of other related functions, has integrated interactive proximity sensing feedback of the direction, lateral position, and speed of the ship 60.

[0020] In this embodiment, the programmable automatic docking 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 separated positions on the port side and the starboard side of the ship 60.

[0021] As 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 installed at the port-side bow of the ship 60 and a pair of distance-sensing transducers 44P and 45P installed at the port-side stern of the ship 60. Each port-side transducer (41P, 42P, 44P, 45P) detects and transmits a set of distance and speed information regarding the distance between the port side of the ship 60 and the external object 70. In this embodiment, the external object 70 includes, but is not limited to, a dock, another ship, or other similar structures. Further, the port-side lateral position transducer 43P establishes the lateral position from the port side of the ship 60 with respect to an accurate lateral reference point on the external object 70 of the port. In this embodiment, the accurate lateral reference point detected is a random reference point located 90 degrees with respect to the side of the ship 60 on the external object 70, which transmits any lateral movement of the ship 60 to the programmable processor control unit 30 (see the following discussion).

[0022] In another embodiment of the programmable automatic docking system 10, a set of starboard-side transducers 40S includes a pair of distance-sensing transducers 41S and 42S installed at the starboard bow of the ship 60, and a pair of distance-sensing transducers 44S and 45S installed at the starboard stern of the ship 60. Each starboard-side transducer (41S, 42S, 44S, 45S) detects and transmits a set of distance and velocity information regarding the distance between the starboard side of the ship 60 and the external object 70. In this embodiment, the external object 70 includes, but is not limited to, a dock or other similar structures. Further, the starboard-side lateral position transducer 43S establishes the lateral position from the starboard side of the ship 60 with respect to an accurate lateral reference point on the external object 70 on the starboard side.

[0023] The programmable automatic docking system 10 further includes a propulsion system including a bow thruster 51 and a stern thruster 52. Each thruster (51, 52) drives the ship 60 laterally with respect to the orientation of the external object 70, aligning and then maintaining the side of the ship 60 at a preselected distance from the external object 70. Further, the propulsion system includes a forward / reverse drive selector 62 and a main drive propeller 63 that is interlocked with the bow thruster 51 and the stern thruster 52.

[0024] Furthermore, the programmable automatic docking system 10 includes a programmable processor control unit ("PCU") 30 that includes a real-time operating automatic processor for communicating and transmitting a set of distance and velocity 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 operates independently or together according to a decision made by the programmable processor control unit 30.

[0025] In this embodiment, a pair of port - side transducers 40P are used to transmit to the programmable processor control unit 30 the distance, position, and velocity information of the port - side of the ship 60 with respect to the external object 70 on the port - side. A pair of starboard - side transducers 40S are used to transmit to the programmable processor control unit 30 the distance, position, and velocity information of the starboard - side of the ship 60 with respect to the external object 70 on the starboard - side.

[0026] Furthermore, the programmable automatic docking system 10 includes a control panel 20, and the control panel 20 enables the execution of a series of predetermined functions by the programmable automatic docking system 10 through the selection of specific 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 stopping the programmable automatic docking system 10. Further, the control panel 20 includes a port - button 66 and a starboard - button 67. In this embodiment, when the port - button 66 is selected on the control panel 20, a pair of port - side transducers 40P wirelessly transmit a set of distance, position, and velocity information, including real - time distance, position, and velocity measurements of the port - side of the ship 60 with respect to the external object 70, to the programmable processor control unit 30. Upon receiving the set of distance and velocity information, the programmable processor control unit 30 engages the bow thruster 51 in response to the real - time distance and velocity information provided by a pair of port - side bow transducers 41P and 42P during the docking operation.

[0027] Also, by selecting the plus button 24 or the minus button 25 on the control panel 20, an input for a distance setting regarding the final pre-selected distance between the ship 60 and the external object 70 is made. Thereafter, the final pre-selected distance setting is transmitted to and used by the programmable processor control unit 30 when the programmable automatic landing system 10 is in operation. As described above, the present system operates by selecting the ON button 21 on the control panel 20 and is released by selecting the OFF button 22 on the control panel 20.

[0028] In the present embodiment, when the port button 66 is selected on the control panel, a 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 ship 60 with respect to the external object 70 to the programmable processor control unit 30. Upon receiving the set of position information, the programmable processor control unit 30 is involved in the bow thruster 51 and the stern thruster 52 in response to the real-time distance and speed information of the distance transducers provided by the set of port-side transducers (41P, 42P, 44P, 45P) during the landing operation.

[0029] The starboard side lateral position transducer 43S and the port side lateral position transducer 43P are respectively installed at approximately the center of the hull on the starboard side and the port side, and sense the exact lateral reference points of the external object 70. Each lateral position transducer (43P, 43S) can sense, detect, and wirelessly transmit real-time lateral reference point information to the programmable processor control unit 30. The lateral reference point information is stored and then utilized during the lateral movement of the ship 60 to determine the orientation of the ship 60. Further, the programmable processor control unit 30 controls a plurality of actuators 53 connected to the main drive 62 to maintain the ship 60 on a controlled lateral path towards the exact lateral reference point of the stored external object 70, thereby automatically compensating for the lateral movement of the bow or stern of the ship 60.

[0030] Furthermore, the programmable processor control unit 30 communicates electronically with the bow thruster 51 and the stern thruster 52 to automatically control them, position the side of the ship 60 adjacent to the external object 70 at a preselected distance from the external object 70, and automatically maintain the side of the ship 60 at the preselected distance, providing an integrated interactive proximity sensing feedback and automatically controllable fully programmable automatic docking system 10 for ship positioning that does not require an operator after the system is set during operation.

[0031] Figure 2 is a diagram showing the automatic collision avoidance function of the present invention in Marina and other similar landing areas. In the present embodiment, when the forward / reverse drive selector 62 is in operation, 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 the activation of the programmable automatic landing system 10 by the selection of the on button 21, the programmable processor control unit 30 transmits a signal 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 are detected, and the programmable processor control unit 30 wirelessly transmits the distance and speed information of the bow 69 of the ship 60 with respect to the external object 70 (i.e., an environment such as Marina, another ship, or a rock reef) to the programmable processor control unit 30. In the present embodiment, the programmable processor control unit 30 is in electronic communication with a plurality of actuators 53 that control the forward / reverse drive selector 62 to maintain the speed of the ship 60 at a maximum speed of 5 knots. On the other hand, when the external object 70 is detected by the bow distance transducer 46 at a distance of 100 feet or less immediately in front of the ship 60, the distance and speed information are transmitted to the processor control unit 30. Thereafter, the programmable processor control unit 30, which is in electronic communication with the plurality of actuators 53, automatically controls the plurality of actuators 53 and participates in the main drive 62 to reduce the travel speed by 0.06 knots per foot of travel and stop the ship 60 at a default distance of 20 feet away from the external object 70, thereby automatically avoiding a collision. The programmable automatic landing system 10 maintains this final position with respect to the external object 70 until the operator takes control of the manual control of the ship 60.

[0032] Figure 3 is a diagram showing the automatic slip operation of the programmable automatic docking system 10. In this embodiment, the slip position for the ship 60 is described as follows. The dock is a fixed flat structure that contacts the non-moving water above the waterline. The slip walkway is attached to the dock at approximately 90 degrees to the dock that extends above the water by the distance necessary to accommodate ships 60 of various lengths. Usually, there are two walkways 71 attached to the dock adjacent to one side of each side of the ship 60, and this structure usually provides a safe U-shaped location for the stored ship with the assistance of ropes.

[0033] The characteristic of the slip of the present invention is that in addition to the port side or starboard side, it is operable in both the forward (front) and reverse (rear) directions. When the slip operates in the reverse direction, the stern distance, speed, and position transducers 47 are involved. In this embodiment, the control panel 20 further includes a slip forward button 64 and a slip reverse button 65. When either the slip forward button 64 or the slip reverse button 65 is selected, the programmable processor control unit 30 maintains the speed of the ship 60 at about 2 knots and defaults a side clearance of 2 feet between the side of the ship 60 and the port side or starboard side slip walkway 71.

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

[0035] When the bow 69 of the ship enters the slip, the operator selects the slip forward button 64 on the control panel 20.

[0036] After that, the starboard button 67 on the control panel 20 is selected.

[0037] Following the selection of the slip order button 64 and the starboard button 67 by the operator, 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 (assuming, for example, that the starboard button 67 is selected on the control panel 20), when the bow 69 of the ship enters the slip, a set of starboard side transducers, namely, a pair of distance sensing transducers 41S and 42S installed at the bow on the starboard side of the ship 60, and a pair of distance sensing transducers 44S and 45S installed at the stern on the starboard side of the ship 60, transmit a set of distance and speed information to the programmable processor control unit 30. Here, the set of distance and speed information is related to the distance between the starboard side of the ship 60 and the slipway 71. In response to the distance and speed information detected and transmitted by the set of starboard side transducers (41S, 42S, 44S, 45S), the programmable processor control unit 30 participates in the bow thruster 51 and the stern thruster 52 via electronic communication to maintain the starboard side of the ship 60 at a default distance setting of approximately 2 feet between the ship 60 and the slipway 71.

[0039] By operating simultaneously and independently, while distance and velocity information is being transmitted by a set of starboard - side transducers (41S, 42S, 44S, 45S), the bow distance transducer 46 wirelessly transmits distance and velocity information regarding the bow 69 and the dock 70 to the programmable processor - control unit 30. Further, the programmable processor - control unit 30 controls these actuators 53 that communicate electronically with a plurality of actuators 53 to sequentially control the forward / reverse drive selector 62. Thus, the ship 60 automatically proceeds towards 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 the minimum distance of 3 feet between the dock 70 and the bow 69 of the ship 60. When the bow 69 of the ship is 3 feet from the dock 70, the programmable processor - control unit 30 controls the forward / reverse drive selector 62 to engage the plurality of actuators 53 to stop the ship 60 3 feet from the dock 70 and maintain this final position indefinitely while the programmable automatic docking system 10 is in operation.

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

[0041] In this embodiment, the operation of the floating buoy / mooring facility occurs as follows.

[0042] The bow 69 of the vessel 60 is moved within an approximate alignment position with the floating buoy / mooring facility 73 up to 200 feet forward of the bow 69 of the vessel 60. Approximately, when this 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 transducers 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 facility 73, along with the current speed of the vessel 60. Further, the programmable processor control unit 30 automatically engages, while in electronic communication, a plurality of actuators 53 that control the forward / reverse drive selector 62. The programmable processor control unit 30 maintains the maximum speed of the vessel 60 at approximately 2 knots and, in response to the real-time information from the bow distance, speed, and position transducers, controls the bow thruster 51 via electronic communication to maintain the direction of the bow 69 of the vessel 60 towards the floating buoy / mooring facility 73. When the bow distance, speed, and position transducers 46 transmit a distance of 3 feet between the bow 69 of the vessel 60 and the floating buoy / mooring facility 73, the programmable processor control unit 30 activates the plurality of actuators 53. This, in turn, controls the forward / reverse drive selector 62 to stop the vessel 60 and controls the forward / reverse drive selector 62 and the bow thruster 51 to continuously maintain the bow 69 approximately 3 feet from the floating buoy / mooring facility 73 indefinitely until the off button 22 is selected on the control panel 20.

[0043] Figures 5A - 5C are flowcharts showing an embodiment of the operation method of the programmable automatic docking system 10 during docking operations. In this embodiment, it is assumed that the vessel is docking at the starboard external object 70 as shown in Figure 1.

[0044] First, in step 100A, the operator moves the ship 60 and stops it adjacent to the external object 70 at approximately 60 feet or less. Here, the ship 60 is in a parallel direction to the external object 70. When the ship 60 stops, next, in step 102A, the operator selects the on button 21 installed on the control panel 20. When the on button 21 is selected, in step 104A, the programmable processor control unit 30 is activated. Following the activation of the programmable processor control unit 30, when it reaches a preselected position in step 106A, the programmable automatic docking system 10 preselects the final desired distance between the starboard side of the ship 60 and the external object 70 to stop the movement of the ship. In this embodiment, the preselected distance is input to the control panel 20 by pressing the plus button 24 when increasing the distance or by pressing the minus button 25 when decreasing the distance, and the currently selected distance is displayed on the display 23. When the final distance is selected, in 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). In step 110A, the programmable processor control unit 30 automatically sends a signal to activate a set of starboard side transducers 40S including a pair of distance sensing transducers 41S and 42S installed at the starboard side bow of the ship 60 and a pair of distance sensing transducers 44S and 45S installed at the starboard side stern of the ship 60, and the starboard side lateral position transducer 43S.

[0045] Following the operation of one set of starboard side transducers 40S, at 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 side bow of the ship 60, activates the bow thruster 51 via electronic communication, and moves the ship 60 in the starboard direction. At the same time, at 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 side stern of the ship 60, activates the stern thruster 52 via electronic communication, and moves the ship 60 in the starboard direction. At step 116B, the programmable processor control unit 30 automatically controls the bow thruster 51 and the stern thruster 52, and moves the ship 60 in the starboard direction at a speed of 1 foot every 2 seconds towards the external object 70. When the ship 60 is within about 10 feet from the pre-selected final distance to the external object 70, at step 118B, the programmable processor control unit 30 communicates with the bow thruster 51 and the stern thruster 52 to reduce the speed of the ship 60. For example, if the pre-selected final distance from the external object 70 is 5 feet, the ship 60 starts to reduce its traveling speed at 0.03 knots per foot at 15 feet from the external object 70. Next, at step 120B, when reaching the pre-selected final position, the programmable processor control unit 30 engages the bow thruster 51 and the stern thruster 52 to stop the ship 60. When the ship 60 reaches the pre-selected final distance to the external object 70, at step 122B, the pre-selected final 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, they transmit real-time distance and speed information to the programmable processor control unit 30. While moving the ship 60 in the starboard direction, the starboard lateral position transducer 43S operates independently of and simultaneously with a set of starboard transducers (41S, 42S, 44S, 45S), and detects and transmits the real-time lateral position of the ship 60.

[0047] Therefore, 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, and thereafter processes any future lateral movement of the ship 60 from the lateral reference point. In step 116C, the programmable processor control unit 30 automatically compensates for any lateral movement of the ship 60 by controlling a plurality of actuators 53 in response to the real-time lateral position information transmitted from the starboard lateral position transducer 43S. In step 118C, the plurality of actuators 53 are involved in the forward / reverse drive selector 62 to maintain the ship 60 on a lateral course controlled in the direction of the accurate lateral reference point stored by the programmable processor control unit 30. In step 120C, when the ship 60 reaches the final pre-selected position described in step 118C, the starboard lateral position transducer 43S continues to transmit the real-time lateral position information of the ship 60 with respect to the accurate lateral reference point stored in the programmable processor control unit 30, and in step 122C, maintains the lateral position of the ship 60 while the programmable automatic docking system 10 is operating.

[0048] FIG. 6 is a flowchart showing an embodiment of an operation method of a programmable automatic landing system during a collision avoidance operation between an external object and a ship. First, at step 200, the operator of the ship 60 engages the forward / reverse drive selector 62. At step 202, the on button 21 of the control panel 20 is selected by the operator of the ship 60. Following the selection of the on button 21, at step 204, the programmable processor control unit 30 of the programmable automatic landing system 10 is activated. At step 206, the programmable processor control unit 30 transmits to activate the bow distance, speed, and position transducers 46. At step 208, when the bow distance, speed, and position transducers 46 are activated, the bow distance, speed, and position transducers 46 detect and transmit real-time distance and speed information between the bow 69 of the ship 60 and the external object 70. After the initial distance information is transmitted, at step 210, the forward / reverse drive selector 62 is controlled via a plurality of actuators 53 that communicate electronically with the programmable processor control unit 30. At step 212, the programmable processor control unit 30 controls the forward / reverse drive selector 62 to maintain the ship 60 at a default speed of 5 knots. At step 214, the bow distance, speed, and position transducers 46 continue to transmit real-time distance information, and when an external object 70 is detected within 100 feet of the bow 69 of the ship 60, the programmable processor control unit 30 communicates electronically with the plurality of actuators 53. At step 216, the plurality of actuators 53 control the forward / reverse drive selector 62 to reduce the travel speed at 0.06 knots per foot and stop the ship 60 at 20 feet from the external object 70. Finally, at step 218, when a distance of 20 feet is reached between the bow 69 of the ship 60 and the external object 70, the ship 60 is maintained at that position indefinitely.On the one hand, if the bow distance, speed, and position transducer 46 does not detect an external object 70 within 100 feet from the bow 69 of the ship 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] FIGS. 7A-7C are flowcharts showing an embodiment of an operation method of a programmable automatic landing system during the landing operation of a ship when the bow of the ship enters a slip, and this flowchart shows an example of forward movement and starboard selection shown previously in FIG. 3.

[0050] First, at step 300A, the operator of the system selects the slip order button 64 on the control panel 20. At step 302A, the programmable processor control unit 30 is actuated to operate in the slip order mode. At step 304A, the operator selects the port button 66 or the starboard button 67 on the control panel 20 (for the sake of explanation, the starboard button 67 is selected as follows). At step 306A, the programmable processor control unit 30 automatically transmits to the simultaneously operating starboard side transducers (41S, 42S, 44S, 45S) and the bow distance, speed, and position transducer 46. At step 308B, the bow distance, speed, and position transducer 46 transmits the distance and speed information between the bow 69 of the ship and the dock 70 to the programmable processor control unit 30 in real time. At step 310B, in response to the real-time distance and speed information received from the bow distance, speed, and position transducer 46, the programmable processor control unit 30 communicates with the actuator 53 that controls the forward / reverse drive selector 62. At step 312B, the programmable processor control unit 30 communicates with the actuator that controls the forward / reverse drive control 62 to maintain the speed of the ship 60 at the 2-knot default setting of the programmable processor control unit 30. At step 314B, when the bow distance, speed, and position transducer 46 transmits a distance of 3 feet between the bow 69 of the ship and the dock 70, the programmable processor control unit 30 controls the actuator 53 and the forward / reverse drive selector 62 to stop the ship 60 at the 3-foot default setting from the dock 70. At step 308C, the starboard side distance sensing transducers (41S, 42S, 44S, 45S) transmit the real-time distance information between the ship 60 and the slipway 71 to the programmable processor control unit 30.In step 310C, the programmable processor control unit 30 participates in the bow thruster 51 in response to the distance information of the bow transducers 41S and 42S. In step 312C, it simultaneously participates in the stern thruster 52 in response to the distance information of the stern transducers 44S and 45S. In step 314C, it maintains a default distance of 2 feet between the ship 60 and the slipway 71. In step 316C, the programmable processor control unit 30 maintains the control of the bow thruster 51, the stern thruster 52, the actuator 53, and the forward / reverse drive selector 62, and maintains the position of the ship 60 indefinitely regardless of wind or water flow.

[0051] Figure 8 is a flowchart showing the operation method of the programmable automatic landing system 10 during the automatic position selection of the floating buoy and / or mooring equipment for a ship. First, at step 400, the operator of the programmable automatic landing system 10 moves the bow 69 of the ship 60 to approximately align with the floating buoy / mooring equipment 73 at a distance of about 200 feet or less directly in front of the bow 69 of the ship. When the ship 60 is approximately aligned, following step 402, the operator selects the buoy button 68 on the control panel 20 to activate the programmable processor control unit 30 in buoy mode. At step 404, the programmable processor control unit 30 then wirelessly transmits to the bow distance, speed, and position transducer 46 the distance, speed, and position information of the ship 60 that is about to move. In the subsequent 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 of the bow 69 of the ship with respect to the floating buoy / mooring equipment 73. At step 408, the programmable processor control unit 30 is involved in the forward / reverse drive selector 62 at step 410 and communicates electronically with a plurality of actuators 53 to maintain the forward speed of the ship 60 at a default speed of about 2 knots. Next, at 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, is involved with the bow thruster 51, and maintains the ship on a straight course towards the floating buoy / mooring equipment 73. When the distance between the bow 69 of the ship 60 and the floating buoy / mooring equipment 73 reaches 3 feet at step 414, the ship 60, at step 416, controls the forward / reverse drive selector 62 and communicates with a plurality of actuators 53 that maintain the position of the ship indefinitely, and is stopped by the programmable processor control unit 30 that is involved with these actuators.In step 418, as long as the programmable automatic docking system 10 is in operation, a plurality of actuators 53 control the forward / reverse drive selector 62, and a programmable processor control unit 30 responsive to the bow distance, speed, and position transducers 46 controls the bow thruster 51 to maintain the final position of the ship 60.

[0052] Figures 9A - 9C are flowcharts showing a method of operating a ship 60 departing from an automatically controlled external object 70 (in this embodiment, the ship 60 is departing from the starboard - side external object 70).

[0053] First, in step 500A, the operator selects the on - button 21 installed 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 ship 60 away from the external object 70 by selecting the plus - button 24 or the 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 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 ship 60 away from the starboard - side external object 70 (in other embodiments of moving away from the port - side external object 70, the port - button 66 is selected). In step 508A, the programmable processor control unit 30 activates a set of starboard - side transducers 40S including the starboard - side lateral position transducer 43S.

[0054] Following the operation of one set of starboard side transducers 40S, at step 510B, the programmable processor control unit 30 responds to a set of real-time distance and speed information transmitted from a pair of bow side distance sensing transducers 41S and 42S installed on the starboard side bow of the ship 60, and activates the bow thruster 51 via electronic communication to move the ship 60 to a preselected distance away from the external object. At the same time, at step 512B, 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 on the starboard side stern of the ship 60, and activates the stern thruster 52 via electronic communication to move the ship 60 to a preselected distance away from the external object 70. One set of starboard side transducers (41S, 42S, 44S, 45S) detects and records a set of distance and speed information between the starboard side of the ship 60 and the external object 70. At step 514B, the programmable processor control unit 30 controls the bow thruster 51 and the stern thruster 52 to move the ship 60 to a preselected distance away from the external object at a default speed of 1 foot every 2 seconds. At step 516B, when the ship 60 is within about 10 feet of the preselected distance from the external object 70, the programmable processor control unit 30 communicates with the bow thruster 51 and the stern thruster 52 to reduce the forward speed of the ship 60 by 0.03 knots per foot. For example, if the preselected distance from the external object 70 is 50 feet, then the ship 60 will then reduce its speed at 40 feet from the external object 70. Next, at step 518B, when the preselected final position is reached, the programmable processor control unit 30 participates in the bow thruster 51 and the stern thruster 52 to stop the ship 60. When the ship 60 reaches the preselected distance with respect to the external object 70, at step 520B, the preselected position with respect to the external object 70 is maintained while the programmable automatic docking system 10 is in operation.

[0055] While a set of starboard transducers (41S, 42S, 44S, 45S) is operating, real-time distance and speed information is transmitted to the programmable processor control unit 30, and while moving the ship 60 to a preselected distance away from an 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 ship 60. Thus, in step 510C, when the starboard lateral position transducer 43S is activated, the starboard lateral position transducer 43S detects an accurate lateral reference point on the external object 70, and in step 512C, the programmable processor control unit 30 stores this lateral reference point and processes any future lateral movement of the ship 60 from the lateral reference point. In step 514C, the programmable processor control unit 30 automatically compensates for any lateral movement of the ship 60 by controlling a plurality of actuators 53 in response to the real-time lateral position information transmitted from the starboard lateral position transducer 43S. In step 516C, the plurality of actuators 53 are involved in the forward / reverse drive selector 62 to maintain the ship 60 on a controlled lateral course with respect to the accurate lateral reference point stored by the programmable processor control unit 30.

[0056] When the ship 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 operating.

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

[0058] The technologies described in this specification include functions for automated vessel-based placement, collision-free path planning, and autonomous guidance operations. These technologies are integrated into a vessel to provide functions for selecting a target position, an automated vessel approach, and placement.

[0059] In this embodiment, the automatic positioning system includes mapping generated by a central processing unit (CPU) from data received via an optical feed from a vision ranging and infrared vision system, similar to that from a high-precision inertial measurement unit (IMU), a global positioning system (GPS), and a central processing unit (CPU) to automatically position a 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 a vessel between two external objects regardless of wind and water flow. Once activated, the automatic positioning system operates completely automatically without a human operator by controlling the precise movement and position of the vessel relative to the external object until the vessel reaches the final target position, and then the automatic positioning system maintains the final position of the vessel regardless of wind and water flow while the system is operating.

[0060] In some embodiments, the automatic positioning system uses photographic and infrared area mapping of distance and velocity information that provides feedback to the central processing unit to enable multiple drive systems on the vessel to move the vessel to the final target position relative to the external object with a controlled path and velocity.

[0061] Another feature in embodiments of the automatic positioning system disclosed in this specification is the ability to operate effectively and accurately in the dark and adverse weather conditions without requiring or needing a human operator to manually steer to a target position relative to an external object.

[0062] Still other features of the automatic positioning system include the function of maintaining the target position of a ship when it reaches a targeted position on the touch screen monitor with respect to an external object, and the function of maintaining that position indefinitely regardless of wind and water flow while the position selection and placement system is in operation.

[0063] Referring to FIG. 10A, FIG. 10A is a schematic diagram showing an 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 relative position of the ship with respect to the neighboring environment, position, and speed in addition to the automatic control of the movement of the ship to a target position with respect to an external object, including speed and course. Next, referring to FIG. 10B, the figure shows an embodiment of an automatic positioning system that automatically positions the stern of a ship between two external objects.

[0064] The functions of the photographic and infrared system are to continuously map the area surrounding the ship and to transmit the distance, speed, and visual information between the ship and the surrounding area to the central processing unit 1003 in real time (or almost real time) for use when automatically steering the ship to place it at the final target position (such as alongside an external object like dock 1004) and when automatically maintaining its position.

[0065] The system 1000 includes a vision ranging photograph system that generates at least one optical feed. The vision ranging photograph system includes a vision system for navigation that also provides depth information. Such a system includes a plurality of cameras (for example, two cameras per direction) mounted at fixed or variable positions, as will be understood by those skilled in the art.

[0066] The optical data (e.g., video) generated by the vision ranging imaging system is updated periodically. As an example, the optical data is continuously updated, and the continuous update enables the system to provide a view of the area that is updated in real time or near real time via an optical feed. In such an embodiment, the system is referred to as including a live feed.

[0067] The vision ranging imaging system includes a photo optical / infrared day / night ranging sensor vision system 1002. 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 sub-components. For example, the photo optical / infrared day / night ranging sensor vision system 1002 includes one or more night vision sensors to provide an optical (including infrared) feed (e.g., but not limited to, video) during nighttime or other low light or low visibility conditions. This vision ranging imaging system includes one or more cameras mounted at one or more locations on a ship.

[0068] System 1000 includes at least one ranger laser scanner 1008. In this embodiment, at least one ranger laser scanner 1008 generates a point cloud representing depth information related to an object in the vicinity of (and by extension, in the vicinity of the ship) at least one ranger laser scanner. As will be understood 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, at least one ranger laser scanner 1008 has a function for hazard detection. As will be understood by those skilled in the art, one or more 270-degree laser scanners provide the functions of a vision ranging imaging system, such as, for example, a type of ranging sensor manufactured by Hokuyo Automatic Co., Ltd. in Osaka, Japan, or Velodyne LiDAR in Morgan Hill, California.

[0069] System 1000 includes at least one inertial measurement unit (IMU). 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. For example, the IMU provides the current angular velocity of the ship in the X, Y, and Z coordinates as information (e.g., measurements) on the X, Y, and Z axes. The central processing unit 103 applies a fusion algorithm to the measurements received from the IMU. As will be understood by those skilled in the art, the IMU is provided by any form or type of inertial sensor, including, for example, an inertial sensor manufactured by Robert Bosch GmbH in Germany.

[0071] GPS provides the global coordinates of a ship, including, for example, longitude and altitude. The central processing unit 1003 applies a sensor fusion algorithm and uses GPS data in conjunction with other received inputs when generating a base mapping or an overlay onto a mapping. In some embodiments, using GPS data results in improved accuracy of the position estimates used by the system to position the ship. GPS can be of any form or type, including, for example, GPS manufactured by SparkFun Electronics in Niwot, Colorado, or Garmin International, Inc. in Olathe, Kansas.

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

[0073] System 1000 comprises a propulsion system for a vessel 1001, including at least one thruster, at least one drive system, 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 system is a main drive thrust (1006A, 1006B). The vessel includes a steering system 1012, including a ladder or mechanism for adjusting the variable direction of the thrust that controls the course of the vessel.

[0074] 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 a function for receiving at least one optical feed from a vision ranging imaging system, and this feed includes data providing a mapping of the environment surrounding the vessel. The central processing unit 1003 receives the optical feed from the vision ranging imaging system, for example, via a wired or wireless connection. The central processing unit 1003 receives a plurality of inputs from one or more sensors (for example, sensors forming part of the vision ranging system), and these inputs include video data and LIDAR data. 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 areas and occupied areas of the map with the probability that an obstacle is detected in a particular area. For example, the central processing unit 1003 assigns a probability within a certain range (for example, 0 to 255), and the higher this probability, the higher the likelihood that the area contains an obstacle.

[0075] The central processing unit 1003 has a function of receiving target position data from a touch screen monitor. The target position data has an identification of a target position where the user wants to land a ship on the automatic positioning system. For example, the touch screen monitor 1007 determines that the user has touched the touch screen monitor 1007 at a specific point on the capacitive touch screen. The central processing unit 1003 uses information identifying the position touched by the user (e.g., a point identified by an X, Y coordinate system) to identify a physical position related to the mapping of the environment surrounding the ship.

[0076] The central processing unit 1003 has a function of directing at least one element of the ship's propulsion system and uses the mapping and the target position data to move the ship to the target position. This function provided by the central processing unit 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 ship and a dock or an external object. The automatic positioning system incorporates a touch screen interactive monitor that displays an overlay of the geometry of the environment surrounding the ship via a live feed from a vision system that enables the operator of the ship to select a target position on the touch screen control monitor 1007.

[0078] The present invention is not limited in its application to the size of the ship, the type of the ship, or details of the configuration, and the arrangement of the components described in the following description.

[0079] Next, referring to FIG. 11A in conjunction with FIGS. 10A-10B, a method 1100 for automatically moving a ship by an automatic positioning system includes a step (1102) of receiving, by a central processing unit, at least one optical feed including data providing a mapping of the environment surrounding the ship from a vision ranging imaging system. The method 1100 includes a step (1104) of displaying, by the central processing unit, the mapping of the environment on a touch screen monitor. The method 1100 includes a step (1106) of receiving, by the central processing unit, target position data from the touch screen monitor. The method 1100 includes a step (1108) of orienting at least one element of the ship's propulsion system by the central processing unit and moving the ship to the target position using the mapping.

[0080] The method 1100 includes a step (1102) of receiving, by a central processing unit, at least one optical feed including data providing a mapping of the environment surrounding the ship from a vision ranging imaging system. The central processing unit 1003 receives a plurality of images from the ranging imaging system, and then the central processing unit 1003 calculates the parallax level between each of the plurality of images resulting in a point cloud representing the distances to objects within the area surrounding the ship. In the present embodiment, the central processing unit 1003 generates a mapping using the received data. In other embodiments, the vision ranging imaging system has a function of generating a mapping from visual data and providing this 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 ship 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 continuously generate an updated mapping.

[0082] In some embodiments, the central processing unit 1003 receives data related to the environment surrounding the ship (e.g., sensor data and imaging data) from multiple sources. For example, since an infrared vision system operates in low light or low visibility or zero visibility situations, the central processing unit receives transmitted data including a second mapping of the environment surrounding the ship from the infrared vision system. Also, additional data is provided in a continuous (e.g., continuously updated) stream. Also, the additional data represents the relationship between the ship and the target positions adjacent to the external target objects.

[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. The automatic positioning system executed by the central processing unit 1003 uses the optical laser scanner 1008 to determine the approach of the ship 1001 to adjacent ships, docks, and / or other obstacles 1004. For example, the optical laser scanner determines the distance between the ship 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 same scanner rotates 360° in the horizontal direction and several degrees in the vertical direction to provide many of these measurements, and based on the TOF, the distance is accurately calculated.

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

[0085] In some embodiments, the central processing unit 1003 applies a sensor fusion algorithm to integrate inputs received from multiple sensors (e.g., the optical laser scanner 1008, the day-night vision system, the optical photoscanner 1002, and sensors that form part of any other data source 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 data received from sensors (including IMU and GPS) into one map and filter out spurious reflections (e.g., waves, water surfaces, etc.). For the creation of occupancy grid maps, in other embodiments, method 1100 includes a probabilistic approach for completing a map useful for path planning and an application of multi-resolution scan matching.

[0086] Referring to FIG. 11A, method 1100 includes a step (1104) of the central processing unit displaying a mapping of the environment on a touch screen monitor. The central processing unit 1003 transfers the mapping, or the optical feed data, or both, to the touch screen monitor 1007. The touch screen monitor 1007 displays the mapping of the environment (e.g., to the 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 touch screen monitor 1007. The touch screen monitor 1007 displays the surrounding environment with respect to the vessel and the target positions adjacent to external objects. In embodiments where the central processing unit 1003 receives optical data from multiple sources (e.g., an infrared vision system and other sources), the touch screen 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 where the central processing unit 1003 receives a second mapping, the touch screen monitor 1007 similarly displays the second mapping.

[0087] Method 1100 includes a step (1106) in which a central processing unit receives target position data from a touch screen monitor. The touch screen monitor 1007 generates a graphical user interface and enables an operator to interactively specify a target position of the ship 1001 by touching a user interface element displayed on the graphical user interface, where the user interface element is installed at a position corresponding to the target position or indicates the target position in some other way. Touch screen technology enables an intuitive, general-purpose, and simpler input for specifying the target position of the ship 1001. For example, the touch screen monitor 1007 displays a video (continuously updated) of an area surrounding the ship 1001 (including, for example, any dock or other external object 1004), and the operator touches the screen at a position within the video display where they want to position the ship 1001. This position is a position relative to a single external object (such as a dock) or multiple external objects (such as the space between two parts of a dock or the slip between two other ships). Method 1100 derives the target position data from the position touched by the operator.

[0088] The target position data specifies a position adjacent to an external object. The target position data includes an identification of the target position of the ship, and the target position is between two stern external objects.

[0089] When the above position is targeted on the touch screen monitor 1007, the vision ranging and the optical feed of the infrared vision system map the environment around the stern of the ship and send data to the central processing unit 1003 to render a mapping on the touch screen monitor 1007 that shows the environment around the stern of the ship and the target position between one or more external objects. In the present embodiment, when the target position is input on the touch screen monitor 1007, the central processing unit 1003 is involved in two 270-degree ranging laser scanners that return ambient environment information to the central processing unit 1003. When the central processing unit 1003 receives additional sensor input from the camera, it updates the previously generated point cloud.

[0090] In the present embodiment, the central processing unit 1003 verifies the validity of the target position identified in the target position data to confirm that the target position is large enough to accommodate the ship. For example, the automatic positioning system calculates one or more dimensions of the target position that confirm that the target position area is sufficient to accommodate the dimensions of the ship. The central processing unit 1003 verifies the operator's input and matches this input to the mapping generated by the optical ranging sensor 1002.

[0091] Method 1100 includes a step (1108) of orienting at least one element of a marine vessel's propulsion system to move the marine vessel to a target position using mapping, by a central processing unit. When the central processing unit 1003 receives target position data from the touch screen monitor 1007, it automatically provides at least one element of the marine vessel's propulsion system, i.e., a course to the selected target position. When the central processing unit 1003 receives target position data from the touch screen monitor 1007, it automatically controls at least one steering system of the marine vessel to move the marine vessel to the target position. When receiving target position data from the touch screen monitor 1007, the central processing unit 1003 steers the marine vessel 1001 into the target position while controlling the steering system of the marine vessel, and automatically controls at least one drive system of the marine vessel 1001 to activate the thrusters 1005A and 1005B, and the main drive thrusters 1006A and 1006B, as required to move the marine vessel 1001 onto the fastest possible controlled course to the target position, as described in more detail below.

[0092] Figure 11B is a flowchart showing an embodiment of method 1150 for determining a route. The central processing unit 1003 updates the mapping and any overlays before determining the route. The central processing unit 1003 determines the position of the ship (e.g., relative to the target position). The position information of the ship 1001 is always transferred to the central processing unit 1003, which responds by controlling the ship's steering system if it is necessary to maintain the ship's route to the selected target position on the interactive monitor (e.g., from GPS), 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 ship 1001, the central processing unit 1003 receives the GPS position and a scan of the area surrounding the ship 1001 (e.g., from the photo vision systems 1002 and 1008), the central processing unit 1003 calculates the travel distance and angle to the obstacle (e.g., the nearest obstacle), and generates a mapping of the desired stopping position with respect to the position of the ship 1001 (x position, y position, related angle).

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

[0094] Returning to FIG. 11A, the central processing unit 1003 calculates the path of the movement of the ship by incorporating information on one or more obstacles detected by the LIDAR hazard detection and avoidance system. The central processing unit 1003 is involved with at least one stern rangefinder laser scanner and receives data including at least one of distance, speed, and dimensional area information from at least one stern rangefinder laser scanner 1008. The automatic position selection and arrangement system includes a light detection and ranging (LIDAR) hazard detection and avoidance system that uses the input from at least one stern rangefinder 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 corrects an image for motion compensation using IMU data obtained from continuous LIDAR images using the navigation motion state, and reconstructs a point cloud obtained from a scanning LIDAR unit (e.g., as part of a vision ranging imaging system) to achieve a high-precision and high-resolution map 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 in a single grid direction and interval) on decision-level data.

[0095] After determining the position of the ship 1001 and calculating at least one path, the central processing unit 1003 calculates the required directional torque value for each individual thruster mounted on the ship 1001. The force and torque required at time t are controlled by a PID algorithm and calculated based on the following equations. TIFF0007691460000001.tif17130η = position, v = speed

[0096] The position of the ship 1001 required for the control algorithm is calculated from sensor data obtained based on the GPS1010 information provided by the GPS1010 device. The PID parameters are collected during the initial teach-in of the system, which is part of the initial installation procedure of this system.

[0097] And the total amount of force in the required direction is assigned to the individual thrusters 1005A and 1005B due to the fact that each thruster has a different timing behavior, similar to the limit of the maximum possible force. The goal of this part of the algorithm is to keep all thrusters 1005A and 1005B within the optimal operating range. The next optimization is calculated as follows. TIFF0007691460000002.tif38130

[0098] Propellers 1006A and 1006B are the main drive thrusters (mounted at the stern position of the ship 1001 to provide thrust in the bow and stern directions, and they are referred to as (-ly1, -ly2) in the above optimization equation). Bow thruster 1005A and stern thruster 1005B are lateral movement thrusters mounted at the (bow) position and (stern) position of the ship 1001, and they are referred to as (-lx3 and -lx4) in the optimization equation. They play the role of generating thrust in the lateral direction. The values calculated in this step are restricted to ensure that the values are within the specifications of the thrusters used, guaranteeing stable control operation.

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

[0100] The central processing unit is involved in the thrusters of the ship 1001. The central processing unit can be involved in the drive system of the ship 1001. The central processing unit 1003 determines to be involved in a plurality of elements of the propulsion system of the ship substantially simultaneously. For example, the central processing unit 1003 is involved in the drive system and the thrusters and automatically moves the ship to a target position preselected on the touch screen monitor with respect to the 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 transmits a signal representing the desired rudder angle or thruster angle to the responsive steering control system to achieve the movement of the ship along the desired path to the target position selected on the interactive monitor to the target position.

[0102] In some embodiments, during the movement of the ship 1001 and when the ship 1001 is positioned at the final position, the central processing unit 1003 continuously evaluates the sensor data received from the optical sensor 1002, similar to the high-precision inertial measurement unit (IMU) and the global positioning system (GPS) unit 1010. In this embodiment, the central processing unit 1003 orients at least one element of the propulsion system of the ship so as to maintain the position of the ship 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 propulsion systems to maintain the position of the ship 1001.

[0103] Manual interference during automatic operation results in the immediate release of the automatic system. When the central processing unit 1003 detects that a human operator has manually interfered with the operation of the ship, the central processing unit 1003 releases the automatic positioning system based on the detection of the manual interference.

[0104] The automatic positioning system operates independently without the use or requirement of any human operator at the start of the automatic positioning system.

[0105] Figures 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 a memory port 1203, a bridge 1270, one or more I / O devices (1230a - 1230n) (generally referred to using reference numeral 1230), and any additional optional elements such as a cache memory 1240 that communicates with the central processing unit 1221.

[0106] The central processing unit 1221 is any logic circuit that processes instructions fetched from the main memory unit 1222 in response to those instructions. In many embodiments, the central processing unit 1221 is provided by a microprocessor unit such as a microprocessor unit manufactured by Intel Corporation of Mountain View, California, a microprocessor unit manufactured by Motorola Corporation of Schaumburg, Illinois, a microprocessor unit manufactured by International Business Machines of White Plains, New York, or a microprocessor unit manufactured by Advanced Micro Devices of Sunnyvale, California. The computing device 1200 is based on any of these processors or any other processor operable as described herein.

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

[0108] In the embodiment shown in FIG. 12A, the processor 1221 communicates with various I / O devices 1230 via the local system bus 1250. The central processing unit 1221 is connected to any of the I / O devices 1230 using various 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 the video display 1224, the processor 1221 communicates with the display 1224 using an advanced graphics port (AGP). FIG. 12B shows an embodiment of the computer 1200 in which the main processor 1221 communicates directly with the I / O device 1230b, for example, via HYPERTRANSPORT, RAPIDIO, or INFINIBAND communication technology.

[0109] A wide variety of I / O devices (1230a~1230n) exist in 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 sublimation printers. As shown in FIG. 12A, the I / O devices are controlled by I / O controller 1223. Further, 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) for receiving a handheld USB storage device such as a USB flash drive line of devices manufactured by Twintech Industry, Inc. of Los Alamitos, California.

[0110] Further, referring to FIG. 12A, computing device 1200 supports any suitable installation device 1216, such as a CD-ROM device, CD-R / RW drive, DVD-ROM drive, tape drives of various formats, USB devices, hard drives, or any other device suitable for installing software and programs. Computing device 1200 further includes one or more storage devices, such as hard disk drives or redundant arrays of independent disks, for storing the 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 various connections including, but not limited to, a standard telephone line, a LAN or WAN link (e.g., 802.11, T1, T3, 56 kb, 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. The connections are established using various communication protocols (e.g., TCP / IP, IPX, SPX, NetBIOS, Ethernet®, ARCNET, SONET, SDH, Fiber Distributed Data Interface (FDDI), RS232, IEEE802.11, IEEE802.11a, IEEE802.11b, IEEE802.11g, IEEE802.11n, IEEE802.15.4, Bluetooth®, ZIGBEE®, CDMA, GSM®, WiMax®, and direct asynchronous connection). 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 includes a built-in network adapter, network interface card, PCMCIA network card, cardbus network adapter, wireless network adapter, USB network adapter, 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 one of the I / O devices (1230a to 1230n) and / or the I / O controller 1223 includes appropriate hardware, software, or a combination of hardware and software of any type and / or form, and supports, enables, or provides for the connection and use of a plurality of display devices (1224a to 1224n) by the computing device 1200. Those skilled in the art will recognize and understand various ways and embodiments in which the computing device 1200 is configured to include a plurality of display devices (1224a to 1224n).

[0113] In a further embodiment, the I / O device 1230 is a bridge between the system bus 1250 and an external communication bus, such as a USB bus, Apple® Desktop Bus, RS-232 serial connection, SCSI bus, FireWire bus, FireWire800 bus, Ethernet bus, AppleTalk® bus, Gigabit Ethernet® bus, Asynchronous Transfer Mode bus, HIPPI bus, Super HIPPI bus, SerialPlus bus, SCI / LAMP bus, Fibre Channel bus, or Serial Attached Small Computer System Interface bus.

[0114] A computing device 1200 of the type shown in FIGS. 12A and 12B generally operates under the control of an operating system that schedules tasks and controls access to system resources. The computing device 1200 is capable of executing any of, for example, a version of the Microsoft Windows® operating system, different releases of the Unix® and Linux® operating systems, any version of the 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, that is 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® NT3.51, WINDOWS® NT4.0, WINDOWS® CE, WINDOWS® XP, WINDOWS® 7, WINDOWS® 8, WINDOWS® 10, and WINDOWS® VISTA, manufactured by Microsoft® Corporation of Redmond, Washington; MAC OS®, manufactured by Apple® Inc. of Cupertino, California; Red Hat Enterprise LINUX®, distributed by Red Hat, Inc. of Raleigh, North Carolina; Linus-variant operating systems; or Ubuntu®, a freely available operating system, or any type and / or form of UNIX® operating system distributed by Canonical Ltd. of London, United Kingdom.

[0115] Computing device 1200 is modified to address challenges that occur in a marine environment, including addressing conditions that include an increased risk of shock or vibration, or a need to provide additional cooling or power systems isolated from the ship's main power system.

[0116] Computing device 1200 is any workstation, desktop computer, laptop or notebook computer, server, portable computer, cellular phone or other cellular telecommunications device, media player, gaming system, mobile computing device, or any other type and / or form of computing, telecommunications, or media device having sufficient processor capability and memory capacity to perform the operations described herein.

[0117] In this regard, before describing in detail at least one embodiment of the present invention, the present invention is not limited to the arrangement of the components described in the following description or shown in the drawings in its application. The present invention can be implemented in various ways, including other embodiments and applications including other forms of mobile vehicles, and is executable. Also, the conventional expressions and technical terms used in this specification are for the purpose of explanation and do not limit the present invention.

[0118] The above description is merely illustrative and does not limit the present invention, and various modifications can be made without departing from the technical scope of the present invention.

Explanation of Reference Numerals

[0119] 10 Programmable Automatic Docking 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 Side Transducer 41P, 42P, 44P, 45P, 41S, 42S, 44S, 45S (Distance Sensing) Transducers 43P Port Side Lateral Position Transducer 43S Starboard Side 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 Ship 62 Forward / Reverse Drive Selector (Main Drive) 63 Main drive propeller 64 Slip forward button 65 Slip reverse button 66 Port button 67 Starboard button 68 Buoy button 69 Bow 70, 1004 External object (dock, obstacle) 71 Slipway 72 Stern 73 Floating buoy / mooring equipment 1000 System 1002 Photo light / infrared day / night ranging sensor vision system (night vision system and optical photo scanner) 1003, 1221 Central processing unit (CPU) 1006A, 1006B Main drive thruster 1007 Touch screen (control) monitor 1008 (Ranger laser scanner) optical laser scanner 1010 IMU / GPS unit 1011 Actuator 1012 Steering system 1200 Computing device 1203 Memory port 1216 Installation 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 device 1240 Cache memory 1250 (Local) system bus 1270 Bridge

Claims

1. A method for automatically steering a ship to a target position, comprising: generating a mapping of the environment of the ship using data received from a GPS unit; identifying the target position based on the mapping; receiving, by a processor control unit, information of an external object representing the target position; operating, in the processor control unit, a propulsion system of the ship to automatically steer the ship to the target position, wherein the step of operating the propulsion system of the ship includes identifying the position of the ship with respect to at least one obstacle using at least one rangefinder laser scanner and a vision ranging imaging system; calculating, in the processor control unit, a collision-free movement path of the ship by incorporating the position of the ship with respect to the at least one obstacle; operating the propulsion system of the ship to drive the ship towards the target position along the collision-free movement path.

2. The method according to claim 1, further comprising automatically stopping the ship at a position adjacent to the external object.

3. The step of operating the propulsion system of the ship to drive the ship towards the target position along the collision-free movement path includes detecting at least one obstacle serving as the external object; and reducing the speed of the ship in response to the detection of the at least one obstacle serving as the external object.

4. The method according to claim 2, further comprising maintaining the ship at the position adjacent to the external object.

5. The position adjacent to the external object includes a position at a preselected distance from the external object, and the step of maintaining the ship at the position adjacent to the external object includes maintaining the ship at the preselected distance from the external object.

6. The step of identifying the position of the ship The step of obtaining additional data continuously updated from the GPS unit; The method according to claim 1, further comprising: identifying the position of the ship based on the position of the ship relative to the at least one obstacle sensed using the at least one rangefinder laser scanner and the vision ranging imaging system, and the additional data obtained from the GPS unit.

7. The step of operating the propulsion system of the ship to automatically steer the ship towards the target position, The method according to claim 1, further comprising: in the processor control unit, automatically compensating for the lateral movement of the ship by controlling a plurality of actuators in the propulsion system of the ship connected to the main drive to maintain the ship on the path of movement towards the target position.

8. Sensing the position of the ship relative to the at least one obstacle includes using the at least one rangefinder laser scanner and the vision ranging imaging system to detect and transmit a set of distance information between the ship and the at least one obstacle, the method according to claim 1.

9. The set of distance information is fed back to the processor control unit, and a plurality of thrusters, together with the main drive system of the ship, are enabled to drive the ship in the lateral, bow, and stern directions towards the target position in a controlled movement path, the method according to claim 8.

10. Sensing the position of the ship relative to the at least one obstacle includes: sensing the at least one obstacle using the at least one rangefinder laser scanner and the vision ranging imaging system to generate obstacle-related data; transmitting information representing the obstacle-related data to the processor control unit; and storing the obstacle-related data using the processor control unit, the method according to claim 1.

11. The method according to claim 10, further comprising utilizing the obstacle-related data during the movement of the ship.

12. The target position includes a target position adjacent to the external object. The step of operating the propulsion system of the ship includes operating the propulsion system of the ship to drive the ship towards the target position adjacent to the external object, according to the method of claim 1.

13. The step of operating the propulsion system of the ship includes operating the propulsion system of the ship to drive the ship towards the target position adjacent to the external object, according to the method of claim 12.

14. The method of automatically steering the ship to the target position is as follows: In the processor control unit, receiving an update of the position of the ship relative to the external object from the at least one rangefinder laser scanner and the vision ranging imaging system; Based on the update of the position of the ship relative to the external object, automatically steering the ship towards the target position, according to the method of claim 2.

15. The step of operating the propulsion system includes determining, by the processor control unit, the directional force required to be assigned to the propulsion system of the ship based on the current position of the ship relative to the target position, according to the method of claim 1.

16. The step of generating the mapping includes generating the mapping using the data received from the GPS unit and data received from at least one unit other than the GPS unit; Applying a sensor fusion algorithm to the data received from the GPS unit and the data received from at least one unit other than the GPS unit to generate the mapping, according to the method of claim 1.

17. The at least one unit other than the GPS unit includes a vision ranging imaging system, and the data received from the at least one unit other than the GPS unit includes data received via an optical feed from the vision ranging imaging system, according to the method of claim 16.

18. The at least one unit other than the GPS unit includes an infrared vision system, and the data received from the at least one unit other than the GPS unit includes data received via an optical feed from the infrared vision system. The method according to claim 16, characterized in that.

19. The at least one unit other than the GPS unit includes a high-precision inertial measurement unit (IMU), and the data received from the at least one unit other than the GPS unit includes data received via an optical feed from the high-precision inertial measurement unit (IMU). The method according to claim 16, characterized in that.

20. The method of automatically steering the ship to the target position is Receiving an update of the position of the ship; Responding to the update of the position of the ship by controlling the propulsion system of the ship so as to maintain a collision-free movement path of the ship to the target position. The method according to claim 1, characterized in that it comprises.

21. The step of receiving the update of the position of the ship includes receiving the update of the position of the ship from the GPS unit. The method according to claim 20, characterized in that.

22. The step of receiving the update of the position of the ship includes receiving the update of the position of the ship from a photo vision system. The method according to claim 20, characterized in that.

23. The step of receiving the update of the position of the ship includes receiving the update of the position of the ship from a high-precision inertial measurement unit (IMU). The method according to claim 20, characterized in that.

24. A system for automatically steering a ship to a target position, the system including a processor control unit adapted to perform the following method, the method including Generating a map of the environment of the ship using data received from a GPS unit; Identifying the target position based on the mapping; Receiving information about an external object representing the target position; Actuating the propulsion system of the ship to automatically steer the ship to the target position, and having The step of actuating the propulsion system of the ship is Identifying the position of the ship, including controlling at least one rangefinder laser scanner and a vision ranging and imaging system for sensing the position of the ship relative to at least one obstacle; Incorporating the position of the ship relative to the at least one obstacle to calculate a collision-free movement path of the ship; Actuating the propulsion system of the ship to drive the ship towards the target position of the collision-free movement path, characterized in that the system comprises the steps of.

25. The system according to claim 24, characterized in that the method further comprises the step of automatically stopping the ship at a position adjacent to the external object.

26. The system according to claim 25, characterized in that the method further comprises the step of maintaining the ship at the position adjacent to the external object.

27. The step of identifying the position of the ship comprises: Obtaining continuously updated additional data from the GPS unit; Identifying the position of the ship based on the position of the ship relative to the at least one obstacle sensed using the at least one rangefinder laser scanner and the vision ranging and imaging system, and the additional data obtained from the GPS unit, characterized in that the system according to claim 24 further comprises the steps of.

28. Sensing the position of the ship relative to the at least one obstacle comprises: Sensing at least one obstacle to generate obstacle-related data using the at least one rangefinder laser scanner and the vision ranging and imaging system; Transmitting information representing the obstacle-related data to the processor control unit; Storing the obstacle-related data using the processor control unit; Utilizing the obstacle-related data during the movement of the ship, characterized in that the system according to claim 24 comprises the steps of.

29. The target position includes a target position adjacent to the external object, The step of actuating the propulsion system of the ship comprises actuating the propulsion system of the ship to drive the ship towards the target position adjacent to the external object, characterized in that the system according to claim 28 comprises the steps of.

30. The step of generating the mapping includes: generating the mapping using the data received from the GPS unit and data received from at least one unit other than the GPS unit; applying a sensor fusion algorithm to the data received from the GPS unit and the data received from at least one unit other than the GPS unit so as to generate the mapping. The system according to claim 24, characterized in that it comprises the above steps.

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