Automatic lighting for a marine vessel

Abstract

A computer system (100; 400) for automatic lighting control of a marine vessel (10), the computer system (100; 400) comprising processing circuitry (102; 402) configured to: obtain proximity data from a sensing device (20) mounted to the marine vessel (10), the proximity data comprising a distance between the marine vessel (10) and an object (70) detected by the sensing device (20), and a direction relative the marine vessel (100) from which the object (70) was detected; determine a lighting control action based on the proximity data; and automatically control a lighting device (30) mounted to the marine vessel (10) to carry out the lighting control action in the direction indicated by the proximity data.

Description

[0001] AUTOMATIC LIGHTING FOR A MARINE VESSEL

[0002] TECHNICAL FIELD

[0003] [1] The disclosure generally relates to control of a marine vessel. In particular aspects, the disclosure relates to automatic lighting for a marine vessel. The disclosure can be applied to marine vessels, such as leisure boats, ships, cruise ships, fishing vessels, yachts, ferries, among other vehicle types. Although the disclosure may be described with respect to a particular marine vessel, the disclosure is not restricted to any particular marine vessel.

[0004] BACKGROUND

[0005] [2] In the field of marine applications, lighting plays an important role in ensuring e.g. the safety of both vessels and people, both at sea and when docked. The present disclosure relates to improvements in lighting control in the marine industry.

[0006] SUMMARY

[0007] [3] Traditional marine lighting systems are often manually controlled, requiring constant human intervention to adjust lighting based on the surrounding environment and navigational requirements. This manual control can be labor-intensive and prone to human error, especially in dynamic and complex maritime settings. The prior art includes various systems that attempt to automate some aspects of lighting control on marine vessels. However, these systems generally lack the ability to dynamically adjust lighting based on real-time environmental and situational data. Most existing solutions are static, relying on preset conditions and manual adjustments, which may not be adequate for handling unexpected or rapidly changing circumstances such as the sudden appearance of nearby vessels or navigational hazards. Moreover, the integration of sensing technologies in marine lighting systems has been limited, often only used for detecting broad environmental conditions like daylight or visibility levels. There is a lack of systems capable of precisely detecting specific objects or obstacles in the immediate vicinity of the vessel and adjusting the lighting accordingly. This limitation can compromise safety, as lighting is desirable for both visibility and communication with other vessels, particularly in poor visibility conditions or congested waterways.

[0008] [4] Therefore, there is a need for an improved approach to marine vessel lighting control. Such a system should preferably be capable of automatically adjusting lighting based on comprehensive, real-time proximity data to enhance navigational safety and operational efficiency, addressing the deficiencies observed in current technologies.

[0009] [5] According to a first aspect of the disclosure, a computer system for automatic lighting control of a marine vessel is provided. The computer system comprises processing circuitry configured to obtain proximity data from a sensing device mounted to the marine vessel, the proximity data comprising a distance between the marine vessel and an object detected by the sensing device, and a direction relative the marine can vessel from which the object was detected; determine a lighting control action based on the proximity data; and automatically control a lighting device mounted to the marine vessel to carry out the lighting control action in the direction indicated by the proximity data.

[0010] [6] The first aspect of the disclosure may seek to enhance navigational safety by providing dynamic lighting adjustments based on real-time environmental and object proximity data. A technical benefit may include improved visibility and collision avoidance capabilities in varying maritime conditions.

[0011] [7] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to cause the lighting device to obtain updated proximity data in response to a detected relative movement between the marine vessel and the object; and automatically control the lighting device to carry out the lighting control action in the direction indicated by the updated proximity data. A technical benefit may include responsive lighting adjustments to continuously evolving spatial relationships with detected objects, enhancing real-time navigational safety.

[0012] [8] Optionally in some examples, including in at least one preferred example, the object is an obstacle, and wherein the automatic control action comprises a spotlight directed at the obstacle. A technical benefit may include focused illumination on potential hazards, reducing the risk of collisions. [9] Optionally in some examples, including in at least one preferred example, the obstacle is one or more of a land mass, seaborne obstacles such as vessels, logs, kayaks, marine wildlife, other objects, or the like, and visible shallow areas of the sea. A technical benefit may include versatile application of the lighting system to various types of obstacles, enhancing navigational safety across a broad range of scenarios.

[0013]

[0010] Optionally in some examples, including in at least one preferred example, the object is a navigational marker determined by a route planner, and wherein the automatic control action comprises a navigational light guidance directed at the navigational marker. A technical benefit may include enhanced route adherence, improved navigational efficiency, and experience improvements for the helmsman.

[0014]

[0011] Optionally in some examples, including in at least one preferred example, the navigational marker is part of a planned route via which the marine vessel is expected to be navigated. A technical benefit may include enhanced accuracy in navigation by providing targeted lighting guidance along predetermined navigational routes, thereby reducing navigational errors and increasing safety.

[0015]

[0012] Optionally in some examples, including in at least one preferred example, the object is a human equipped with a detectable device for providing the proximity data to the sensing device, and wherein the automatic control action comprises a spotlight directed at the human. A technical benefit may include enhanced personal safety by focusing lighting on individuals in critical situations, thereby aiding in rescue operations or preventing accidents on deck. Moreover, a technical benefit may be to provide the user with lighting for performing other tasks on deck, such as working with the vessel.

[0016]

[0013] Optionally in some examples, including in at least one preferred example, the object is a human equipped with a detectable device for providing the proximity data to the sensing device, and wherein the automatic control action comprises an assisted light guidance directed at a, by the human, travelable surface. A technical benefit may include improved visibility and safety for individuals moving on or near the vessel by illuminating paths and potentially hazardous areas.

[0017]

[0014] Optionally in some examples, including in at least one preferred example, the detectable device is a smart device or a body-equipped sensor. A technical benefit may include the ability to interface with modern wearable technology, enhancing the versatility and responsiveness in personal safety applications.

[0018]

[0015] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to obtain the proximity data from the sensing device in response to said sensing device detecting a breach by the object of one or more monitored outer boundaries of the marine vessel, the detected breach indicating an object overboard situation, and wherein the automatic control action comprises a spotlight directed at a location where said object overboard situation is indicated. A technical benefit may include rapid response capabilities in object overboard situations, potentially saving lives by quickly illuminating the area where the person or object has fallen into the water, or being able to quickly salvage items that are lost overboard.

[0019]

[0016] Optionally in some examples, including in at least one preferred example, the proximity data further comprises image data, wherein the processing circuitry is further configured to classify the object based on the image data, and wherein the processing circuitry is further configured to determine the lighting control action based on the classification of the object. A technical benefit may include enhanced object recognition capabilities that allow for more precise and appropriate lighting responses based on the nature of the detected object.

[0020]

[0017] Optionally in some examples, including in at least one preferred example, the sensing device comprises a camera and a lidar device, the processing circuitry being configured to obtain image data including color data from the camera, and distance metrics including velocity data from the lidar device. The distance metrics may include data relating to the distance between the vessel and the detected object, as well as a velocity (i.e., speed in a certain direction). A technical benefit may include the integration of comprehensive sensory data, enhancing ability to make informed decisions regarding lighting control in complex environments.

[0021]

[0018] Optionally in some examples, including in at least one preferred example, the lighting control action comprises light data including one or more of a predetermined intensity indicator, a predetermined emission frequency indicator, and a predetermined color indicator by which the lighting device is to be controlled. A technical benefit may include customizable lighting settings that can be adapted to various operational and environmental conditions, enhancing overall effectiveness and flexibility.

[0022]

[0019] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to obtain an ambient lighting condition, wherein the light data of the lighting control action is based on the ambient lighting condition. A technical benefit may include adaptive lighting adjustments that respond to changing environmental light conditions, such as fog, darkness, or other visibility conditions, ensuring illumination and visibility with high uptime.

[0023]

[0020] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to cause control of an alert device to issue an alert in response to said distance being lower than a predetermined distance limit. A technical benefit may include enhanced safety measures through proactive alerts that notify personnel of potential hazards or breaches, allowing for corrective action.

[0024]

[0021] Optionally in some examples, including in at least one preferred example, the alert is one or more of a visual alert, an audible alert, and a haptic alert. A technical benefit may include a multi-modal alert system that ensures effective communication of warnings to personnel, regardless of environmental conditions or individual sensory limitations.

[0025]

[0022] Optionally in some examples, including in at least one preferred example, the haptic alert is generated by control of a force feedback unit arranged in a maneuverable input source of the marine vessel. A technical benefit may include an enhanced user interface that provides intuitive and immediate feedback to the vessel operator, improving response times and operational control during certain situations, in particular situations of danger.

[0026]

[0023] Optionally in some examples, including in at least one preferred example, the lighting device is a controllable motorized lighting device. A technical benefit may include dynamic positioning and orientation of the lighting device, allowing for precise directional control and coverage, which can be useful in marine environments, especially large and / or complex ones.

[0027]

[0024] Optionally in some examples, including in at least one preferred example, the marine vessel further comprises a localization device, wherein the processing circuitry is further configured to obtain localization data from the localization device; and determine the lighting control action further based on the localization data. A technical benefit may include the integration of precise location-based data into the lighting control system, enhancing the accuracy and relevance of the lighting responses.

[0028]

[0025] Optionally in some examples, including in at least one preferred example, the localization device is one or more of an orientation sensor and a satellite navigation device, such as GNSS, GPS, GLONASS, Galileo, or BeiDou. A technical benefit may include the utilization of advanced global navigation satellite systems for enhanced positional accuracy and reliability in determining appropriate lighting control actions.

[0029]

[0026] According to a second aspect of the disclosure, a marine vessel is provided. The marine vessel comprises the computer system according to the first aspect.

[0030]

[0027] The second aspect may seek to integrate the described lighting control capabilities directly into the vessel’s operational systems, enhancing overall maritime safety and navigational efficiency. A technical benefit may include a seamless integration of lighting control into the vessel's existing hardware and navigational systems.

[0031]

[0028] According to a third aspect of the disclosure, a computer-implemented method for automatic lighting control of a marine vessel is provided. The method comprises obtaining proximity data from a sensing device mounted to the marine vessel, determining a lighting control action based on the proximity data, and automatically controlling a lighting device mounted to the marine vessel to carry out the lighting control action.

[0032]

[0029] The third aspect of the disclosure may seek to provide a methodological approach to implementing the disclosed automatic lighting control capabilities in various types of marine vessels. A technical benefit may include standardized procedures for enhancing navigational safety and operational efficiency through improved lighting controls.

[0033]

[0030] According to a fourth aspect of the disclosure, a computer program product is provided for performing, when executed by processing circuitry, the method of the third aspect.

[0034]

[0031] According to a fifth aspect of the disclosure, a non-transitory computer-readable storage medium is provided comprising instructions, which when executed by processing circuitry, cause the processing circuitry to perform the method of the third aspect.

[0032] The fourth and fifth aspects may seek to facilitate implementation of the disclosed methods in a form that is readily distributable and implementable on existing marine systems. A technical benefit may include ease of deployment and compatibility with a wide range of marine vessel systems, promoting widespread adoption and utilization in maritime industries, for purposes of enhancing navigational safety by providing dynamic lighting adjustments based on real-time environmental and object proximity data. A technical benefit may include improved visibility and collision avoidance capabilities in varying maritime conditions.

[0035]

[0033] The disclosed aspects, examples (including any preferred examples), and / or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[0036]

[0034] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.

[0037] BRIEF DESCRIPTION OF THE DRAWINGS

[0038]

[0035] Examples are described in more detail below with reference to the appended drawings.

[0039]

[0036] FIG. 1 is an exemplary system diagram of a marine vessel according to an example.

[0040]

[0037] FIG. 2A is an exemplary operational scenario where lighting is directed at an identified obstacle, in this example being a marine vessel.

[0041]

[0038] FIG. 2B is an exemplary operational scenario where lighting is directed at a navigational marker, in this example being waypoints determined by a route planner.

[0042]

[0039] FIG. 2C is an exemplary operational scenario where lighting is directed at an identified obstacle, in this example being a human, for example, working on a deck of a marine vessel.

[0043]

[0040] FIG. 2D is an exemplary operational scenario where lighting is directed at a travelable surface, in this example being a wharf in the vicinity of a marine vessel.

[0041] FIG. 3 is a schematic diagram of an exemplary computer-implemented method according to an example.

[0044]

[0042] FIG. 4 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein.

[0045] DETAILED DESCRIPTION

[0046]

[0043] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0047]

[0044] According to teachings of the present disclosure, approaches for automatic lighting control are provided. The approaches herein seeks to address the challenges referred to above by implementing an automatic lighting control system that dynamically adjusts based on real-time environmental and situational data. This system uses proximity data to intelligently control the lighting, ensuring that light is directed where it is most needed, which aims to avoid collisions, improve visibility during navigation, and provide other advantageous effects.

[0048]

[0045] Firstly, proximity data is obtained from (one or more) sensing device(s) mounted to the marine vessel. This device could be a radar, LiDAR, camera, sonar, or a combination of sensors capable of detecting objects and their distances from the vessel, as well as the direction from which the objects are detected relative to the vessel. The obtained proximity data is then analyzed to determine the nature of the surrounding environment and identify any potential hazards or objects of interest. Based on this data, the system determines the appropriate lighting control action, which may involve activating, adjusting, or deactivating certain lights. Finally, automatic control of (one or more) lighting device(s) mounted on the vessel is performed in order to carry out the determined lighting control action. This could involve directing beams towards an approaching vessel to ensure visibility, illuminating nearby obstacles to avoid collisions, or adjusting the intensity of the lights based on the distance and type of the detected objects.

[0049]

[0046] Unlike static lighting systems, this invention dynamically applies its lighting based on real-time data, ensuring desirable lighting for current conditions. This adaptability enhances safety by improving visibility and awareness of the vessel’s surroundings. By automatically adjusting the lighting based on necessity rather than keeping lights at a constant intensity or on a fixed schedule, the system can reduce power consumption. This is particularly beneficial for marine vessels, where energy efficiency is important due to limited power resources. Moreover, the ability to direct light towards detected objects or vessels can enhance navigational safety, especially during night operations or in poor visibility conditions. This targeted lighting can help in early detection of obstacles, reducing the risk of collisions. Further, the automation of the lighting system can reduce the workload on the vessel’s crew, allowing them to focus on other critical navigational tasks. Automation may also reduce human error in managing the vessel’s lighting, further enhancing operational safety. In addition, the teachings herein may be integrated with other onboard systems, such as navigation and collision avoidance systems, to provide a comprehensive safety and management solution for marine vessels.

[0050]

[0047] Overall, the teachings involve a superior alternative to traditional marine lighting systems by leveraging sensors and processing capabilities. Its dynamic, automated, and energy-efficient approach may not only enhances the safety and operational efficiency of marine vessels but may also represent an improvement over the prior art in adaptive lighting technology.

[0051]

[0048] FIG. 1 is schematic illustration of a marine vessel 10 in which some of the inventive concepts of the present disclosure may be applied. In non-limiting examples, the marine vessel 10 is a leisure boat, ship, cruise ship, fishing vessel, yacht, ferry, or the like. The marine vessel 10 is adapted to operate at bodies of water, e.g., a sea, ocean, lake, river, bay, gulf, strait, channel, reservoir, f ord, marsh, swamp, etc. The marine vessel 10 is propelled by a propulsion system 110, which may be one configured for an electric marine vessel, gasoline-powered marine vessel, diesel-powered marine vessel, a hybrid thereof, or the like. Although not explicitly shown, the propulsion system 110 can be controlled based on computer control via input signals from an input device having a joystick or other type of maneuverable member such as a handle.

[0052]

[0049] The marine vessel 10 comprises a computer system 100, which is a marine control system being adapted to control operations of the marine vessel 10. The computer system 100 comprises processing circuitry 102 configured to manage features relating to detection of an obstacle, decision-making based on said detection, and control of a lighting device, as will be explained herein. To enable said features, the processing circuitry 102 is configured to at least be in operational communication with a sensing device 20 and a lighting device 30.

[0053]

[0050] In some examples, the processing circuitry 102 is in further operational communication with a localization device 40. The localization device 40 can provide localization data to the processing circuitry 102, which in turn can determine the lighting control action as will be discussed herein based on the localization data. This means that spatial awareness of the marine vessel 10 is provided, which can improve the accuracy of the lighting control. The localization device 40 can be one or more of an orientation sensor and a satellite navigation device (satnav), such as GNSS, GPS, GLONASS, Galileo, or BeiDou.

[0054]

[0051] In some examples, the processing circuitry 102 is in further operational communication with a route planner 50. The route planner 50 will be discussed in more detail according to the example of FIG. 2B.

[0055]

[0052] Control signals of the computer system 100 are routed through a helm station 60, and the processing circuitry 102 may thus form part of and / or be provided in either one of the computer system 100 or the helm station 60.

[0056]

[0053] The processing circuitry 102 is further configured to manage and coordinate various operations and functions necessary for safe and efficient navigation and handling of the marine vessel 10. The processing circuitry 102 may include one or more subsystems and technologies to control propulsion, steering, and other functions of the marine vessel 10, including but not limited to navigation, propulsion control, steering, dynamic positioning, safety systems, communication, data logging, user interfaces, air conditioning, lighting systems, and the like.

[0057]

[0054] The helm station 60 is operatively connected to the processing circuitry 102, and serves as a control point for navigation and operation. The control may relate to the propulsion system 110, or any of the one or more subsystems and technologies referred to herein.

[0058]

[0055] The sensing device 20 may be mounted to any suitable position of the marine vessel 10 such that it can sense objects to acquire proximity data. The sensing device 20 can be a passive sensing device, meaning a device that passively receives proximity data of a nearby object, such as a detectable device, for example a smart device (e.g. mobile phone, laptop, smartphone, body-equipped sensor, etc.) when the nearby object is within a detectable distance. In that case the smart device transmits proximity signals to the processing circuitry 102 for processing thereof. In other examples, the sensing device 20 can be an active sensing device, meaning a device that actively collects proximity data of a nearby object, such as a detectable object including but not limited to either one of the object types discussed herein (e.g. other marine vessels, living beings (e.g. humans, wildlife), buoys, lighthouses, rock massives, underwater objects, airborne objects, land masses, quays, berths, docking facilities, or the like). The sensing device 20 may yet alternatively be a combination of the above, i.e., having an active detection part and a passive detection part.

[0059]

[0056] The sensing device 20 may comprise one or more distance sensors. The distance sensors may be distributed at arbitrary positions of the marine vessel 10. One exemplary configuration involves a first pair of distance sensors being arranged at a respective back side of the marine vessel 10, a second pair of distance sensors being arranged at a respective center side of the marine vessel 10, and a third pair of distance sensors being arranged at a respective front side of the marine vessel 10. The distance sensors may be arranged at any suitable height of the marine vessel 10, both over the surface or as underwater sensors. In other examples the distance sensors can be arranged anywhere at the marine vessel 10 provided that they are able to sense portions of the surroundings of the marine vessel 10. For underwater placement of the distance sensors, the sensed portions refer to underwater areas, i.e., below the surface.

[0060]

[0057] The distance sensors are configured to sense at least portions of an environment surrounding the marine vessel 10 to acquire proximity data. The environment is typically a body of water (above the surface and / or below the surface), although the environment may also be land when the marine vessel 10 is located within the sensor’s proximity reach of the land. “At least portions” of the environment thus refer to spatial locations in the vicinity of the marine vessel 10, where the reachability to the vicinity depend on what type of sensing technique(s) is / are being employed. The environment includes various targets that can be sensed, including but not limited to other marine vessels, living beings (e.g. humans, wildlife), buoys, lighthouses, rock massives, underwater objects, airborne objects, land masses, quays, berths, docking facilities, and many more targets readily envisaged by the skilled person. Similarly, objects relating to the marine vessel 10 may include fishing equipment such as lines, nets, buoys or anchors, crab pots or lobster traps, anchors, or other activity -based objects.

[0061]

[0058] The distance sensors may be lidar devices, radar devices, sonar devices, ultrasonic devices, cameras, inductive proximity sensors, capacitive proximity sensors, infrared proximity sensors, and / or other suitable devices configured to be able to sense an environment. In response to sensing a target in the environment, the distance sensors are individually and / or collectively configured to transmit proximity data to the processing circuitry 102.

[0062]

[0059] In one advantageous example, the sensing device 20 comprises a combination of (one or more) lidar device(s) and (one or more) camera(s). The integration of these two types of sensors can enhance the capabilities of the sensing device 20, particularly in applications necessitating precise environmental perception and object detection. The camera typically captures wide-angle images providing rich color data and textural information about the environment. This data can be used for tasks such as object identification, scene recognition, and navigation aid in visually rich environments. The lidar device, on the other hand, sends out laser beams and measures the time it takes for the reflection to return to calculate the distance of objects from the sensor. It creates a 3D map of the surroundings, which helps in understanding the structure and layout of the environment. The employment of the lidar device can be effective in environmental conditions with poor visibility, where cameras might struggle.

[0063]

[0060] In terms of physical arrangement, the camera and lidar device can be co-located but oriented to ensure complementary fields of view. For instance, the lidar device might have a narrower, more focused field of view targeted at distant objects, while the camera can capture a wider area. This physical setup can ensure that the system benefits from the strengths of both sensors. The cameras can offer high-resolution imagery, which can be beneficial for detailed analysis of features and textures. The lidar device, while not matching the resolution of cameras, can provide accurate distance and velocity data even for far-off objects.

[0064]

[0061] The processing circuitry 102 can be configured to synchronize that the incoming proximity data from both the camera and the lidar device are correctly aligned in time. This can involve timestamping the data streams and using hardware triggers, etc.

[0065]

[0062] Moreover, the processing circuitry 102 can be configured to perform spatial calibration to align the data from the camera and the lidar device in a common coordinate system. This process can adjust for any physical misalignments and ensure that the data sets are spatially coherent.

[0066]

[0063] The processing circuitry 102 may be further configured to preprocess each of the proximity data obtained from the respective sources, involving e.g. cleaning and normalization. For example, image data from cameras may need adjustments in contrast or brightness, and distance / velocity data from the lidar device might be filtered to remove outliers.

[0067]

[0064] The processing circuitry 102 may be further configured to extracts relevant features from each set of proximity data. From the proximity data of the camera, color and texture features can be extracted, while from the proximity data of the lidar device, geometric and motion features such as shape, size, distance, and velocity can be derived.

[0068]

[0065] The processing circuitry 102 may be further configured perform data fusion, which can involve one or more of early fusion, intermediate fusion and late fusion. The early fusion combines raw data from both of the sources before any processing. This approach can be computationally intensive and complex but might provide a richer feature set for subsequent analysis. The intermediate fusion may involve extracting features separately from each of the sources, process these, and them combine them. This method can balance complexity and performance, making it suitable for real-time applications. The late fusion include decision-level fusion where the outcomes from separate processing streams are combined. This can be used when distinct decisions or detections from each source are reliable on their own.

[0069]

[0066] By combining the detailed textural information from the camera with the precise distance and velocity data from the lidar device, the processing circuitry 102 and the sensing device 20 can achieve high accuracy and reliability at a lower cost than using multiple high- end sensors of the same type. The described setup claims to deliver competitive performance at approximately half the component cost compared to similar solutions, providing a scalable and economically feasible option.

[0070]

[0067] Based on the proximity data, the processing circuitry 102 is further configured to determine a lighting control action. This generally involves processing the proximity data to understand the spatial relationship between the marine vessel 10 and nearby objects. Once the proximity data is obtained, the processing circuitry can employ algorithms to determine appropriate lighting control actions. These lighting control actions are tailored based on the proximity and nature of the detected objects. For example, if an object is detected directly ahead at a close distance, the processing circuitry 102 might activate forward-facing lights to enhance visibility for navigation and alert any onlookers of presence and trajectory of the marine vessel 10. Alternatively, if the object is detected on the side or at a greater distance, the system might adjust the intensity or angle of the lighting to ensure the object is illuminated without disrupting the vessel’s primary navigation lights.

[0071]

[0068] Algorithms employed to determine the lighting control action may be one or more of threshold-based algorithms, fuzzy logic algorithms, neural networks, decision trees, genetic algorithms, rule-based expert systems, etc.

[0072]

[0069] The choice of lighting control action can vary based on several considerations. One such consideration is safety, which involves ensuring the vessel and nearby entities are visible to each other to prevent collisions. Another consideration is navigation, which enhances the operator’s visibility in the direction of the object to aid in safe maneuvering. A further consideration is communication. Using lighting signals to communicate the position and movements of the marine vessel 10 to nearby vessels, especially in low-visibility conditions, can be important.

[0073]

[0070] The lighting control actions involve instructions for the lighting device 30. The lighting device 30 may comprise high-intensity LEDs, known for their durability, energy efficiency, and strong luminance. Additionally or alternatively, the lighting device 30 may incorporate a spotlight feature, capable of projecting a focused beam of light over long distances, making it suitable for pinpointing specific objects or areas in the marine environment. To enhance its utility, the lighting device 30 may be integrated with a dimming capability, which allows adjustment of light intensity according to the ambient lighting conditions or specific operational needs. This feature helps in reducing glare and conserving energy when full brightness is not necessary.

[0074]

[0071] Generally, the lighting device 30 may provide assisted light in a wide angle to increase visibility, as well as intense light as a line to guide the user of how to drive, based on navigation data from the computer system 100.

[0075]

[0072] Following the determination of a lighting control action, various lighting schemes can be employed to suit specific scenarios. One example is blinking light with a predetermined or dynamic frequency, such as pulses, which can be used to identify objects. The frequency of the blinking can be adjusted dynamically based on the proximity and speed of the identified objects, providing a more responsive signaling method. Uniform lighting might be employed when consistent illumination is required, ensuring that a selected area is evenly lit for enhanced visibility. Additionally, the lighting device 30 can be configured to change colors, using different hues to convey specific information, such as switching to red to indicate danger or caution. Other lighting types might include strobe lights for attracting attention in emergencies or soft ambient lighting for non-intrusive illumination when docked. These varied lighting control actions not only improve safety and navigation but also facilitate effective communication with other vessels and enhance operational efficiency.

[0076]

[0073] The lighting device 30 may be equipped with a rotating mechanism, allowing the light beam to be directed in various directions without moving the vessel 10 itself. This is particularly useful for tracking moving objects or scanning a wide area around the vessel 10. The lighting device 30 may also include RGB LEDs, enabling the emission of colored lights, which can be used for signaling, decorative purposes, or to enhance visibility under different weather conditions. In some examples the lighting device 30 can be equipped with a translational mechanism, for example a track, along which the lighting device 30 can be guided on the vessel 10.

[0077]

[0074] The lighting device 30 may be a controllable motorized lighting device. This means that the lighting device 30 can include a motorized mechanism, such as one of the rotating or translational mechanisms referred to above.

[0075] The lighting device 30 may be housed in a corrosion-resistant casing, ensuring longevity and reliability in the harsh marine environment. This casing protects the internal components from saltwater exposure, moisture, and physical impacts, which are common challenges in maritime settings.

[0078]

[0076] The instructions referred to above may be indicative of rotational and / or translational movements of the lighting device 30, i.e., to mechanically adjust its direction. These instructions may additionally or alternatively comprise image data, i.e., to adjust its light emission. The image data may include one or more of a predetermined intensity indicator, a predetermined emission frequency indicator, and a predetermined color indicator. These instructions may vary according to the needs identified by the proximity data. For example, the instructions may be for swiveling a spotlight, intensifying a beam, flashing lights in a warning pattern, or other adjustments tailored to the specific maritime scenario. This process, whereby the processing circuitry 102 dynamically adjusts lighting based on real-time environmental inputs, adds a layer of automation that can adapt to changing conditions around the marine vessel 10 without necessitating direct human intervention at every step. This can make the marine vessel 10 smarter, safer, and more responsive to its immediate surroundings, optimizing visibility and communication in a fluid marine environment.

[0079]

[0077] In some examples, the processing circuitry 102 is configured to obtain an ambient lighting condition, and further base the light data of the lighting control action upon the lighting control action. In some cases the mechanical adjustments referred to above may also be based on the ambient lighting condition. The ambient lighting condition can be obtained from light sensors that can measure the intensity and quality of the existing natural or artificial light in the environment. These sensors can continuously feed data back to the processing circuitry 102, providing real-time insights into how brightly the area around the vessel is lit. With the ambient lighting condition data available, the processing circuitry 102 dynamically adjusts the lighting control actions accordingly. For example, if the ambient light is low, such as during nighttime or in foggy conditions, the intensity of the vessel’s 10 lights can be increased to ensure adequate visibility. Conversely, during bright daylight, the intensity of the lights can be reduced or even be turned off (such as certain non-essential lights), conserving energy without compromising safety or operational needs.

[0080]

[0078] The light data used in controlling the lighting device 30 — such as the intensity, color temperature, and beam direction — can be tailored based on the ambient lighting condition. This customization ensures that the lighting is neither too harsh nor insufficient, maintaining desirable visibility and comfort for both the crew and other nearby entities. For instance, in a brightly lit harbor, the system might use softer lighting to avoid creating glare that could impair visibility for others, while still ensuring the vessel 10 and its operations are adequately illuminated.

[0081]

[0079] By adjusting the lighting based on ambient conditions, the system may not only enhance visual comfort and safety but may also contribute to energy efficiency and environmental stewardship. It can prevent the overuse of artificial lighting, which can be disruptive to marine ecosystems and contribute to light pollution. Additionally, this adaptive approach can help in maintaining the vessel’s 10 visibility to other nearby vessels and navigational aids, ensuring compliance with maritime safety regulations.

[0082]

[0080] In response to having determined the lighting control action, the processing circuitry 102 is further configured to automatically control the lighting device 30 to carry out the lighting control action. This is done in the direction indicated by the proximity data, and can be done by transmitting the instructions of the lighting control action(s) to the lighting device 30. The term “automatically” in this context refers to the ability to execute lighting adjustments without manual intervention, leveraging algorithms that direct the operational behavior of the lighting device 30 based on sensed environmental inputs.

[0083]

[0081] The automatic control of the lighting device 30 involves the processing circuitry 102 sending commands to the lighting hardware to adjust its state — this could include turning lights on or off, changing beam intensity, redirecting focus, or altering flashing patterns. The processing circuitry 102 can control various types of lights, such as spotlights, navigation lights, or warning lights, depending on the configuration of the marine vessel 10 and the specific requirements of the situation.

[0084]

[0082] The adjustments to the lighting are preferably made in real-time, responding dynamically as the proximity data changes. As such, the processing circuitry 102 can be configured to obtain updated proximity data in response to a detected relative movement between the marine vessel 10 and an object, and automatically control the lighting device 30 to carry out the lighting control action in the direction indicated by the updated proximity data. This implies that the processing circuitry 102 continuously monitors the environment and updates the lighting configuration as new objects are detected or as the vessel’s 10 relation to known objects changes. The timing of these adjustments is important; they are often made in milliseconds to ensure that the lighting response is immediate, providing timely visibility enhancements or warnings.

[0085]

[0083] The direction indicated by the proximity data ensures that the lighting adjustments are contextually relevant. For example, if an object is detected off the starboard side of the vessel, the processing circuitry 102 will direct the lighting to illuminate that specific area. This directional control ensures that the lighting serves its navigational and safety functions effectively, focusing attention and visibility where it is most needed.

[0086]

[0084] In some examples, the proximity data comprises image data, and the processing circuitry 102 is configured to determine the lighting control action based on the classification of the object. This addition allows the system not only to detect the presence and location of objects but also to visually identify and classify them. The integration of image data can refine the system’s response to the detected objects by tailoring the lighting control actions to the nature of the object identified. The sensing device 20, equipped with capabilities such as a camera or an advanced imaging sensor, captures visual data of the environment and any objects within it. This image data is then transmitted to the processing circuitry 102, which utilizes image recognition technologies to analyze and identify the objects captured in the images.

[0087]

[0085] The classification may be done by employing machine learning algorithms or computer vision techniques to classify the objects based on the image data. This classification may involve identifying whether the object is a human, an animal, or an inanimate object like a drifting vessel or a navigational marker. The classification process considers various attributes visible in the image, such as shape, size, color, and movement patterns, to accurately determine the nature of the object. Once the object is classified, the processing circuitry 102 then determines the most appropriate lighting control action based on the type of object identified. In one example, if the object is identified as a person overboard, the lighting control action might involve immediately directing a high-intensity spotlight to illuminate the area around the person to facilitate a quick rescue. In another example, if the object is a navigational marker, softer, more ambient lighting might be used to enhance visibility without causing glare. In yet another example, if the object is identified as a potentially hazardous inanimate object, such as debris or another vessel, the lighting might be adjusted to alert the crew and other nearby vessels, possibly using flashing or colored lights to indicate caution.

[0088]

[0086] By classifying the object and tailoring the lighting control action accordingly, the system can respond more effectively to different situations. This targeted approach ensures that the lighting serves its intended purpose, whether it’s safety, navigation, or warning, based on the specific needs dictated by the object’s nature.

[0089]

[0087] In some examples, the processing circuitry 102 is further configured with a proactive safety feature that involves the control of an alert device. The alert device may be mounted to the marine vessel 100. This feature is designed to issue an alert when the distance between the marine vessel 10 and a detected object falls below a predetermined threshold, which signifies a potential collision or hazard proximity. When this distance measurement of the proximity data indicates that an object has come within a certain critical range — defined by a predetermined distance limit — the processing circuitry 102 triggers an immediate response.

[0090]

[0088] The control of the alert device may involve one or more of a visual alarm, such as flashing lights, an auditory alarm like a horn or siren, or a haptic alert for example generated by control of a force feedback unit arranged in a maneuverable input source of the marine vessel 10. The nature of the alert can be tailored to the severity of the situation and the standard operating procedures of the vessel 10. The primary purpose of issuing this alert is to promptly inform the crew and passengers of the imminent proximity to a potential hazard, allowing them to take preventive actions. This could involve manual intervention to alter the vessel’s 10 course, slowdown, or prepare for impact if collision is unavoidable. Additionally, the alert can serve to wake or alert any crew members not currently on watch, ensuring that all hands are aware and can respond to the situation. By automating the response to close- proximity hazards, this may enhance overall safety on board. It can act as an early warning system, providing information that can prevent accidents or reduce their severity. The use of both alerts can ensure that the warning is noticed immediately by anyone on board, regardless of their location on the vessel 10 or outside conditions such as fog or rain which might impair visibility.

[0091]

[0089] In other examples, the alert device need not necessarily be controlled in response to a distance below lower than a certain limit. The alert device may be controlled in other examples such as when a breach of monitored outer boundaries of the marine vessel 10 is detected. The alert device may be controlled to promptly inform the crew and passengers of the imminent proximity to a potential hazard, allowing them to take preventive actions. The alert device may be controlled to wake or alert any crew members not currently on watch, ensuring that all hands are aware and can respond to the situation. The alert device may be controlled to act as an early warning system, providing information that can prevent accidents or reduce their severity. The alert device may be controlled in scenarios such as detecting the approach of another vessel at high speed, identifying submerged objects like reefs or sandbanks, or when navigating through narrow passages where precision is critical. The alert device may be controlled if an unauthorized person enters the vessel 10, such as a potential thief or other person not allowed access on the vessel 10.

[0092]

[0090] Although not explicitly shown, it shall be assumed that the various lines in FIG. 1 refers to various interfaces or peripherals in which the components communicate with one another. For these purposes, any wired or wireless communication standards known in the art may be employed. Wireless communication standards may include IEEE 802.11, IEEE 802.15, ZigBee, WirelessHART, WiFi, Bluetooth®, BLE, RFID, WLAN, MQTT loT, CoAP, DDS, NFC, AMQP, LoRaWAN, Z-Wave, Sigfox, Thread, EnOcean, mesh communication, or any other form of proximity -based device-to-device radio communication signal such as LTE Direct. Wired communication standards may include Controller Area Network (CAN), Ethernet, Hybrid Communication Unit (HCU), Gigabit Multimedia Serial Link (GMSL), Local Interconnect Network (LIN), FlexRay, Media Oriented Systems Transport (MOST), Universal Serial Bus (USB). The choice of communication standard may depend on data transfer requirements, real-time capabilities, and specific needs of the various components. It shall be appreciated that the scope of the present disclosure is by no means limited to a particular communication standard.

[0093]

[0091] Although not explicitly shown in FIG. 1, the skilled person will appreciate that the marine vessel 10 may include additional (sub)systems typically found in marine vessels, such as electrical systems, navigational systems, ballast systems, steering systems, HVAC systems, infotainment systems, hydraulic systems, safety systems, communication systems, auxiliary sensory systems, and so forth.

[0094]

[0092] FIGs. 2A-D show various operational scenarios of the marine vessel 10 according to examples discussed herein. The marine vessel 10 is not explicitly shown for illustrative purposes, but it shall be understood that the marine vessel 10 of FIG. 1 is employed, to which the sensing device 20 and lighting device 30 are mounted. Any of the examples in FIGs. 2A- D may be combined, or considered singly.

[0095]

[0093] FIG. 2A illustrates a scenario where a sensing device 20 is utilized on the marine vessel 10 to obtain proximity data about an object 70 within an environment 72. This environment 72 represents the marine setting in which both the vessel 10 and the object 70 operate. The sensing device 20 is capable of detecting the distance between the marine vessel 10 and the object 70 as well as the direction from which the object 70 is located relative to the vessel 10.

[0096]

[0094] In this depiction, the object 70 is another marine vessel, acting as an obstacle in the vessel’s 10 navigational path (or optionally that it will enter the path in the future due to its current velocity). The proximity data obtained by the sensing device 20 includes information such as how far the object 70 is from the marine vessel 10 and the direction to the object 70 from the vessel 10. The processing circuitry 102 onboard the marine vessel 10, uses this information to make informed decisions about lighting control actions.

[0097]

[0095] The processing circuitry 102, upon analyzing the proximity data, determines the appropriate lighting control action needed to address the navigational situation. In this specific example, the determined action is to automatically control a lighting device 30 on the marine vessel 10 to illuminate the detected obstacle, which is the other marine vessel. The lighting device 30, possibly a spotlight, is directed towards the obstacle to enhance visibility for the vessel's crew, thereby aiding in safe navigation by clearly highlighting the presence of the other vessel in the vessel’s 10 path.

[0098]

[0096] In broader applications, the sensing device 20 and processing circuitry 102 can adapt this functionality to various types of obstacles such as land masses, logs floating in the water, marine wildlife, or other visible shallow areas of the sea. The versatility of the system allows for the automatic adjustment of the lighting device to illuminate these different types of obstacles based on their detected proximity and direction relative to the marine vessel.

[0099]

[0097] This capability may not only enhances the safety of navigation by providing better visibility of potential hazards but may also contribute to more informed decision-making by the vessel's 10 crew under varying navigational conditions. The automatic nature of the lighting control action ensures that the response is swift and precise, corresponding directly to the real-time data provided by the sensing device, thus optimizing the vessel's 10 response to environmental changes and potential navigational hazards.

[0100]

[0098] FIG. 2B illustrates another scenario where the sensing device 20 and lighting device 30 now interacts with a different type of object 70 — specifically, a navigational marker. This setup differs from FIG. 2A primarily in the nature of the object being detected and the resulting lighting control actions executed by the vessel 10.

[0101]

[0099] In this depiction, the navigational marker is identified and determined by a route planner 50. This route planner 50 may be implemented using any known route planner systems known in the art. The route planner 50 assists in defining a safe and efficient path for the vessel 10 by integrating various navigational data, including the locations of navigational markers that guide the vessel 10 along preferred waterways or through specific maritime channels. The navigational marker may be plural, i.e., forming part of a planned route via which the marine vessel 100 is expected to be navigated, according to decisions by the route planner 50.

[0102]

[0100] The proximity data obtained by the sensing device 20 includes the location and distance of the navigational marker relative to the marine vessel 10. The processing circuitry 102, upon receiving this data, assesses the optimal course of action to aid navigation towards or around the navigational marker. Unlike FIG. 2A, where the lighting device 30 targets an obstacle to avoid collisions, in FIG. 2B, the action involves using the vessel’s 10 lighting system 30 to enhance the visibility of the navigational marker itself.

[0103]

[0101] The determined automatic control action in this scenario involves directing navigational light guidance towards the navigational marker. This lighting guidance serves to illuminate the marker, making it more visible to the vessel’s 10 crew, especially in conditions of poor natural visibility. The lighting not only highlights the marker but also helps to visually delineate the path that the vessel 10 should follow, according to the route planned by the router planner 50. This path is indicated by the way the navigational lights are directed, illuminating the route ahead while simultaneously ensuring that the vessel avoids other potential hazards or obstacles in its immediate environment.

[0104]

[0102] This approach can enhance navigational safety by providing a clear, illuminated path for the vessel 10, guided by strategically placed navigational markers. The integration of lighting guidance with route planning makes it easier for the vessel’s 10 crew to navigate through complex routes or in challenging conditions, ensuring that the vessel 10 adheres to the safest and most efficient course set out by the route planner. Overall, FIG. 2B showcases a use of lighting and navigation systems in marine vessels, emphasizing precision in route adherence and the enhancement of safety through improved visibility and route clarity.

[0105]

[0103] FIG. 2C introduces a scenario where the object 70 of interest is a human 80, who is equipped with a detectable device 82. This device 82 is designed to provide proximity data to the sensing device 20 mounted on the marine vessel 10. The setup is particularly focused on scenarios where enhanced visibility of the human is important, such as during maintenance tasks or other duties that may require navigation around the vessel 10, especially in low-light conditions or complex environments.

[0106]

[0104] In this configuration, the detectable device 82 held by the human transmits realtime data concerning the individual’s location relative to the vessel 10. This data includes precise information on how far the human 80 is from various parts of the vessel 10 and their movement patterns. The sensing device 20 receives this proximity data and processes it to determine the lighting control action to safely illuminate the human’s 80 path or current location.

[0105] The processing circuitry 102, upon receiving the analyzed data, activates a spotlight that is part of the vessel’s 10 lighting system. The spotlight is automatically directed towards the human, ensuring that the area around them is well-lit. This directed lighting is may enhance the safety and efficiency of the human 80 as they move about the vessel 10, performing tasks that may involve potential hazards or require precision, such as technical maintenance or emergency procedures.

[0107]

[0106] The automatic control action of directing a spotlight towards the human 80 serves multiple purposes. By illuminating the area around the human 80, the risk of accidents or injuries related to poor visibility can be reduced. This may be particularly important in operational environments where the deck or other parts of the vessel may have obstacles, tools, or equipment that could pose risks. Furthermore, well-lit conditions can enable the human 80 to perform their duties more efficiently and effectively, reducing the time needed to complete tasks and minimizing the likelihood of errors or rework caused by inadequate lighting. In addition, in scenarios where multiple crew members might be working in different parts of the vessel 10, the spotlight can help guide other crew members or supervisors to the location of the individual, facilitating better coordination and support during complex operations.

[0108]

[0107] Overall, FIG. 2C illustrates a use of integrated lighting control within a marine vessel 10 to support crew activities directly. By leveraging proximity data from wearable devices, the lighting resources can be strategically used to enhance operational safety and efficiency, directly benefiting the crew members onboard.

[0109]

[0108] FIG. 2D presents a scenario where the object of interest 70 again is a human 80 equipped with a detectable device 82, similar to the setup in FIG. 2C. However, the focus shifts from illuminating the individual to lighting up a travelable surface that the human 80 intends to navigate. This adaptation can be useful for ensuring safe passage from the marine vessel 10 to another destination, such as a wharf leading to land, especially under low-light conditions or during nighttime.

[0110]

[0109] In this configuration, the detectable device 82 worn by the human 80 continues to provide proximity data to the sensing device 20 on the marine vessel 10. This data not only locates the human 80 relative to the vessel 10 but also helps in identifying and dynamically lighting the path the human 80 will traverse. The processing circuitry 102 processes this data to map out the immediate environment around the human 80, focusing on identifying and highlighting any travelable surfaces that lead toward the human's intended destination.

[0111] [HO] The automatic control action executed by the processing circuitry 102 involves activating and directing the lighting device 30 onboard the vessel 10 to illuminate the identified travelable surface. In the example provided, this surface is a wharf that extends from the vessel 10 to the shore. The lighting device 30 adjusts to create a well-lit pathway on the wharf in this example, guiding the human 80 safely from the boat to land. This guided lighting can prevent accidents, such as tripping or falling into the water, by providing clear visibility of the path and any potential obstacles or hazards.

[0112] [Hl] This lighting strategy is akin to the navigational light guidance used at sea (as described in FIG. 2B) but adapted for on-foot navigation by individuals in port or dock areas. The ability to dynamically adjust the lighting based on the human’s 80 movement and intended path exemplifies a sophisticated use of lighting technology to enhance safety and navigational aids beyond traditional vessel operations. Such assisted light guidance systems can be applied to various travelable surfaces including gangways, docks, or even on deck areas of the vessel 10 itself, wherever there is a need to ensure safe pedestrian movement in dark or potentially hazardous environments. This approach significantly enhances safety for individuals disembarking from vessels 10, providing a clear, illuminated path that directly responds to the individual’s location and movement, ensuring their safe arrival at the destination.

[0113]

[0112] In some examples, the object is a human, animal or another object (such as an electronic device or marine vessel component). The sensing device 20 can monitor one or more outer boundaries of the marine vessel 10, and detect a breach of these boundaries. When a breach is detected, this indicates an object overboard situation. The lighting device 30 can thus be controlled to lit up the area where the breach was detected. In this example, the focus is on enhancing safety protocols by addressing overboard incidents involving humans, animals, or valuable objects equipped with detectable devices. This configuration involves the ability to react swiftly to such incidents, ensuring immediate localization and illumination of the overboard object to facilitate a rapid and effective rescue operation.

[0113] The “outer boundaries” refer to the predefined edges or perimeters of the marine vessel 10 that are monitored to detect unauthorized or accidental departures. These boundaries are typically the physical limits of the deck or other accessible areas on the vessel from which an object, person, or animal could fall or be thrown off due to movement, environmental conditions, or accidents. The sensing device 20 can monitor these outer boundaries. It can be equipped with various types of sensors that continuously scan the edges of the vessel 10. These sensors are capable of detecting movement or the presence of life forms near the boundaries. The setup may also involve the deployment of pressure sensors, infrared beams, or the like, along the perimeter of the deck, which can trigger an alert when interrupted by any object crossing them.

[0114]

[0114] Upon detecting a breach of these monitored outer boundaries — an event indicating that a person, animal, or object has gone overboard — the sensing device 20 sends alerts to the processing circuitry 102. The proximity data provided includes the last known location of the overboard object relative to the vessel 10, and possibly the trajectory or speed at which the object departed, which can be used for determining where the object might be in the water.

[0115]

[0115] Upon receiving the alert and proximity data, the processing circuitry 102 activates an automatic control action. This action primarily involves the rapid deployment of a spotlight system directed towards the location where the overboard incident occurred. The spotlight not only illuminates the area to assist in visual detection by the crew but also serves as a signal to other vessels 10 in the vicinity or to rescue teams that an overboard incident has occurred at that specific location.

[0116]

[0116] The ability to immediately react to overboard incidents by providing targeted illumination can reduce the time it takes to commence rescue operations. Quick response is critical in overboard situations due to the immediate danger posed to the individual or the risk of losing valuable equipment in open waters. By highlighting the area where the incident occurred, this setup not only aids in prompt rescue efforts but also helps in preventing similar incidents by alerting crew members to the breach location, allowing for quicker sealing off of the area or implementation of additional safety measures.

[0117]

[0117] Some different exemplary types of sensing devices 20 can be envisaged, for example variants herein referred to as a first or second variant. The difference between the first and second variants is the number of cameras and type of LiDAR used, resulting in different performance in terms of field of view (FoV), but also cost.

[0118]

[0118] The first variant features a total camera field of view (FOV) of 156 degrees, utilizing two cameras. It incorporates solid state LiDAR technology, with no mechanical LiDAR components. The LiDAR provides a range of 100 meters, supported by two LiDAR units, offering a total LiDAR FOV of 218 degrees. The LiDAR sensors scan the environment in front of and behind the vessel. The cameras offer a longer range of about 1000 meters for detecting larger vessels and can identify distances to land. This setup is designed to detect and calculate the velocity and distance of surrounding objects, such as sailing boats. This configuration is designed for effective detection and mapping within its specified range and coverage area.

[0119]

[0119] The second variant offers an extensive total camera FOV of 390 degrees, achieved through the use of five cameras. It employs mechanical LiDAR technology, without solid state LiDAR. The LiDAR also has a range of 100 meters, but is provided by a single LiDAR unit, delivering a comprehensive 360-degree LiDAR FOV. The second variant allows the system to identify objects like sea marks and provide navigational guidance, such as advising to keep a sea mark to the right (port) side of the vessel. Both the first and second variants share similar functions and ranges, but they differ in their FoV capabilities, with the second variant providing broader coverage. The second variant is thus suitable for complex navigation scenarios.

[0120]

[0120] Exemplary hardware that could be employed for the sensing device 20 may be any of the five modules discussed hereinbelow. These modules should not be construed as limiting, but rather serve as possible devices for implementing the examples herein. To summarize, camera-based sensor technology may provide longer analysis ranges, accurate object identification, multi-purpose use (e.g. recording of an event or use as a parking camera), and LiDAR-based sensor technology can be less expensive, have a wider FoV, be more accurate in distance detection, be less computationally heavy to handle, and can work well in darkness or fog or other poor visibility conditions compared to camera-based sensor technology.

[0121] The first module of the sensing device 20 is equipped with a single optical camera that captures 4K (3840x2160) resolution imagery. It offers a horizontal field of view of 90° and a vertical field of view of 49°, with an effective range of 500 meters. The sensing device 20 is designed to record events, detect and classify targets, and provide collision avoidance capabilities. It interfaces via multiple Gigabit Ethernet ports, ensuring robust connectivity for data transmission.

[0121]

[0122] The second module of the sensing device 20 includes two thermal cameras and a low light camera, providing a comprehensive 360° horizontal and 20° vertical field of view. It is capable of detecting smaller objects at a range of 700 meters and larger boats up to 7500 meters. The second module offers features such as collision avoidance, object tracking, and perimeter surveillance. Connectivity is achieved through an Ethernet interface, facilitating integration with onboard systems.

[0122]

[0123] The third module of the sensing device 20 features two thermal cameras and a low light camera, with a horizontal field of view of 50°. It can detect smaller objects within 100 meters and larger boats up to 1000 meters. This system identifies objects, tracks courses, and issues collision warnings. It connects via Ethernet, supplemented by an external alarm buzzer for additional alert capabilities.

[0123]

[0124] The fourth module of the sensing device 20 includes two thermal cameras and one RGB camera. It has a horizontal field of view of 110° during daytime operations, with a range that allows detection of smaller objects at 100 meters and larger boats at 1300 meters. The system is designed for object identification and provides distance information. It interfaces with Ethernet and NMEA 2000 for versatile connectivity options.

[0124]

[0125] The fifth module employs LiDAR technology to achieve a comprehensive 360° horizontal and 45° vertical field of view. It offers a maximum range of 200 meters, specializing in mapping capabilities and distance detection. The LiDAR system outputs data over Gigabit Ethernet and utilizes EEE1588 Precision for synchronized data collection, making it suitable for advanced marine mapping applications.

[0125]

[0126] Exemplary hardware that could be employed for the lighting device 30 may be any of the three modules discussed hereinbelow.

[0127] The first module of the lighting device 30 offers a tilt of 135 degrees and a full 360-degree rotation, enabling comprehensive coverage. It boasts a range of 1475 meters and is electrically steered, providing precise control. The searchlight produces 544,000 candela using 10 High Flux LEDs, delivering powerful illumination with a narrow 8-degree light spread. It operates at a voltage of 2 x 12V with a power consumption of 40 watts. This module has an IP56 rating, ensuring protection against dust and strong waterjets, and utilizes a radio frequency of 433 MHz for remote control functionality. It weighs 2370 grams, making it a robust option for marine applications.

[0126]

[0128] The second module of the lighting device 30 features a tilt of 180 degrees and 360-degree rotation, allowing for extensive maneuverability. It has a range of 750 meters and is controlled electrically. The searchlight emits 54,302 candela (equivalent to 4320 lumens) with an LED light source. It is rated IP65, ensuring resistance to dust and low-pressure water jets. The searchlight operates on a voltage range of 10-30V with a power consumption of 48 watts. It provides versatile lighting options with a spot of 10 degrees and a flood of 90 degrees. The unit weighs 3840 grams, offering a balance between performance and durability.

[0127]

[0129] The third module of the lighting device 30 includes a tilt of 70 degrees and a 360- degree rotation capability, controlled via an electric cable. It has a range of 418 meters at 1 lux and produces 230,000 candela. The searchlight is compatible with both 12V and 24V power sources. Although specific power consumption is not stated, it offers a light spreading of 7 inches (17.78 cm). The searchlight's IP rating and weight are not specified, but it is designed for robust marine use with reliable cable control.

[0128]

[0130] In an exemplary usage scenario, Person 1 and Person 2 approach their vessel 10 on a dark evening to retrieve lobster cages. Person 1 unlocks the boat remotely from 100 meters away, activating the lighting device 30 to illuminate the path thanks to the sensing device 20 identifying their presence. They board the vessel 10, and Person 1 sets a route to the lobster cage location using a screen interface. The lighting device 30 projects a guiding light 40 meters ahead. The sensing device 20 detects a nearby floating log, displaying it on the helm screen and highlighting it with the lighting device 30 while issuing an audio warning. Upon reaching the lobster cages, Person 2 moves to the stem to retrieve a buoy. A strong wave causes Person 2 to fall into the sea. The sensing device 20 detects Person 2 in the water, and the lighting device 30 directs the spotlight to illuminate Person 2, allowing Person 1 to assist in pulling them back aboard. While retrieving the cages, the lighting device 30 illuminates the deck for visibility. During their return, the sensing device 20 provides distance data to nearby rock walls, assisting navigation through narrow passages. In low visibility areas with navigation hazards, the lighting device 30 automatically lights a navigation mark, enabling safe passage. Upon docking, the devices 20, 30 operates in conjunction to enhance visibility, facilitating safe docking in darkness.

[0129]

[0131] FIG. 3 visualizes an exemplary method 200 for automatic lighting control of a marine vessel 10. The method 200 can be implemented by the processing circuitry 102 discussed herein. The method 200 comprises obtaining 210 proximity data from a sensing device 20 mounted to the marine vessel 10, the proximity data comprising a distance between the marine vessel 10 and an object 70 detected by the sensing device 20, and a direction relative the marine vessel 100 from which the object 70 was detected. The method 200 further comprises determining 220 a lighting control action based on the proximity data. The method 200 further comprises automatically controlling 230 a lighting device 30 mounted to the marine vessel 10 to carry out the lighting control action in the direction indicated by the proximity data.

[0130]

[0132] FIG. 4 is a schematic diagram of a computer system 400 for implementing examples disclosed herein. The computer system 400 is adapted to execute instructions from a computer-readable medium to perform these and / or any of the functions or processing described herein. The computer system 400 may be connected (e.g., networked) to other machines in a LAN (Local Area Network), LIN (Local Interconnect Network), automotive network communication protocol (e.g., FlexRay), an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 400 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and / or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0131]

[0133] The computer system 400 may comprise at least one computing device or electronic device capable of including firmware, hardware, and / or executing software instructions to implement the functionality described herein. The computer system 400 may include processing circuitry 402 (e.g., processing circuitry including one or more processor devices or control units), a memory 404, and a system bus 406. The computer system 400 may include at least one computing device having the processing circuitry 402. The system bus 406 provides an interface for system components including, but not limited to, the memory 404 and the processing circuitry 402. The processing circuitry 402 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 404. The processing circuitry 402 may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 402 may further include computer executable code that controls operation of the programmable device.

[0132]

[0134] The system bus 406 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 404 may be one or more devices for storing data and / or computer code for completing or facilitating methods described herein. The memory 404 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 404 may be communicably connected to the processing circuitry 402 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 404 may include non-volatile memory 408 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 410 (e.g., randomaccess memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 402. A basic input / output system (BIOS) 412 may be stored in the non-volatile memory 408 and can include the basic routines that help to transfer information between elements within the computer system 400.

[0133]

[0135] The computer system 400 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 414, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 414 and other drives associated with computer-readable media and computer-usable media may provide nonvolatile storage of data, data structures, computer-executable instructions, and the like.

[0134]

[0136] Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and / or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 414 and / or in the volatile memory 410, which may include an operating system 416 and / or one or more program modules 418. All or a portion of the examples disclosed herein may be implemented as a computer program 420 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 414, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 402 to carry out actions described herein. Thus, the computer-readable program code of the computer program 420 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 402. In some examples, the storage device 414 may be a computer program product (e.g., readable storage medium) storing the computer program 420 thereon, where at least a portion of a computer program 420 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 402. The processing circuitry 402 may serve as a controller or control system for the computer system 400 that is to implement the functionality described herein.

[0135]

[0137] The computer system 400 may include an input device interface 422 configured to receive input and selections to be communicated to the computer system 400 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 402 through the input device interface 422 coupled to the system bus 406 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 400 may include an output device interface 424 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 400 may include a communications interface 426 suitable for communicating with a network as appropriate or desired.

[0136]

[0138] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of the actions may differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

[0137]

[0139] Example 1 : A computer system for automatic lighting control of a marine vessel, the computer system comprising processing circuitry configured to: obtain proximity data from a sensing device mounted to the marine vessel, the proximity data comprising a distance between the marine vessel and an object detected by the sensing device, and a direction relative the marine vessel from which the object was detected; determine a lighting control action based on the proximity data; and automatically control a lighting device mounted to the marine vessel to carry out the lighting control action in the direction indicated by the proximity data.

[0138]

[0140] Example 2: The computer system of Example 1, wherein the processing circuitry is further configured to cause the lighting device to: obtain updated proximity data in response to a detected relative movement between the marine vessel and the object; and automatically control the lighting device to carry out the lighting control action in the direction indicated by the updated proximity data.

[0139]

[0141] Example 3: The computer system of any preceding example, wherein the object is an obstacle, and wherein the automatic control action comprises a spotlight directed at the obstacle.

[0140]

[0142] Example 4: The computer system of Example 3, wherein the obstacle is one or more of a land mass, seaborne obstacles such as vessels, logs, marine wildlife, other objects, or the like, and visible shallow areas of the sea.

[0141]

[0143] Example 5: The computer system of any preceding example, wherein the object is a navigational marker determined by a route planner, and wherein the automatic control action comprises a navigational light guidance directed at the navigational marker.

[0142]

[0144] Example 6: The computer system of Example 5, wherein the navigational marker is part of a planned route via which the marine vessel is expected to be navigated.

[0143]

[0145] Example 7: The computer system of any preceding example, wherein the object is a human equipped with a detectable device for providing the proximity data to the sensing device, and wherein the automatic control action comprises a spotlight directed at the human.

[0144]

[0146] Example 8: The computer system of any preceding example, wherein the object is a human equipped with a detectable device for providing the proximity data to the sensing device, and wherein the automatic control action comprises an assisted light guidance directed at a, by the human, travelable surface.

[0145]

[0147] Example 9: The computer system of any of Examples 7-8, wherein the detectable device is a smart device or a body-equipped sensor.

[0148] Example 10: The computer system of any preceding example, wherein the object is a human, animal or another object such as an electronic device or a component of the marine vessel, wherein the processing circuitry is further configured to obtain the proximity data from the sensing device in response to said sensing device detecting a breach by the object of one or more monitored outer boundaries of the marine vessel, the detected breach indicating an object overboard situation, and wherein the automatic control action comprises a spotlight directed at a location where said object overboard situation is indicated.

[0146]

[0149] Example 11 : The computer system of any preceding example, wherein the proximity data further comprises image data, wherein the processing circuitry is further configured to classify the object based on the image data, and wherein the processing circuitry is further configured to determine the lighting control action based on the classification of the object.

[0147]

[0150] Example 12: The computer system of any preceding example, wherein the sensing device comprises a camera and a lidar device, the processing circuitry being configured to obtain image data including color data from the camera, and distance metrics including velocity data from the lidar device.

[0148]

[0151] Example 13: The computer system of any preceding example, wherein the lighting control action comprises light data including one or more of a predetermined intensity indicator, a predetermined emission frequency indicator, and a predetermined color indicator by which the lighting device is to be controlled.

[0149]

[0152] Example 14: The computer system of Example 13, wherein the processing circuitry is further configured to obtain an ambient lighting condition, wherein the light data of the lighting control action is based on the ambient lighting condition.

[0150]

[0153] Example 15: The computer system of any preceding example, wherein the processing circuitry is further configured to cause control of an alert device to issue an alert in response to said distance being lower than a predetermined distance limit.

[0151]

[0154] Example 16: The computer system of Example 15, wherein the alert is one or more of a visual alert, an audible alert and a haptic alert.

[0155] Example 17: The computer system of Example 16, wherein the haptic alert is generated by control of a force feedback unit arranged in a maneuverable input source of the marine vessel.

[0152]

[0156] Example 18: The computer system of any preceding example, wherein the lighting device is a controllable motorized lighting device.

[0153]

[0157] Example 19: The computer system of any preceding example, wherein the marine vessel further comprises a localization device, wherein the processing circuitry is further configured to: obtain localization data from the localization device; and determine the lighting control action further based on the localization data.

[0154]

[0158] Example 20: The computer system of Example 19, wherein the localization device is one or more of an orientation sensor and a satellite navigation device, such as GNSS, GPS, GLONASS, Galileo, or BeiDou.

[0155]

[0159] Example 21 : A marine vessel comprising the computer system according to any of Examples 1-20.

[0156]

[0160] Example 22: A computer-implemented method for automatic lighting control of a marine vessel, comprising: obtaining, by processing circuitry of a computer system, proximity data from a sensing device mounted to the marine vessel, the proximity data comprising a distance between the marine vessel and an object detected by the sensing device, and a direction relative the marine vessel from which the object was detected; determining, by the processing circuitry, a lighting control action based on the proximity data; and automatically controlling, by the processing circuitry, a lighting device mounted to the marine vessel to carry out the lighting control action in the direction indicated by the proximity data.

[0157]

[0161] Example 23 : A computer program product comprising program code for performing, when executed by processing circuitry, the method of Example 22.

[0158]

[0162] Example 24: A non-transitory computer-readable storage medium comprising instructions, which when executed by processing circuitry, cause the processing circuitry to perform the method of Example 22.

[0159]

[0163] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and / or groups thereof.

[0160]

[0164] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0161]

[0165] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0162]

[0166] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0163]

[0167] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

ClaimsWhat is claimed is:

1. A computer system (100; 400) for automatic lighting control of a marine vessel (10), the computer system (100; 400) comprising processing circuitry (102; 402) configured to: obtain proximity data from a sensing device (20) mounted to the marine vessel (10), the proximity data comprising a distance between the marine vessel (10) and an object (70) detected by the sensing device (20), and a direction relative the marine vessel (100) from which the object (70) was detected; determine a lighting control action based on the proximity data; and automatically control a lighting device (30) mounted to the marine vessel (10) to carry out the lighting control action in the direction indicated by the proximity data.

2. The computer system (100; 400) of claim 1, wherein the processing circuitry (102; 402) is further configured to cause the lighting device (30) to: obtain updated proximity data in response to a detected relative movement between the marine vessel (10) and the object (70); and automatically control the lighting device (30) to carry out the lighting control action in the direction indicated by the updated proximity data.

3. The computer system (100; 400) of any preceding claim, wherein the object (70) is an obstacle, and wherein the automatic control action comprises a spotlight directed at the obstacle.

4. The computer system (100; 400) of any preceding claim, wherein the object (70) is a navigational marker determined by a route planner (50), and wherein the automatic control action comprises a navigational light guidance directed at the navigational marker.

5. The computer system (100; 400) of any preceding claim, wherein the object (70) is a human (80) equipped with a detectable device (82) for providing the proximity data to thesensing device (20), and wherein the automatic control action comprises a spotlight directed at the human (80).

6. The computer system (100; 400) of any preceding claim, wherein the object (70) is a human (80) equipped with a detectable device (82) for providing the proximity data to the sensing device (20), and wherein the automatic control action comprises an assisted light guidance directed at a, by the human (80), travelable surface.

7. The computer system (100; 400) of any preceding claim, wherein the processing circuitry (102; 402) is further configured to obtain the proximity data from the sensing device (20) in response to said sensing device (20) detecting a breach by the object (70) of one or more monitored outer boundaries of the marine vessel (10), the detected breach indicating an object overboard situation, and wherein the automatic control action comprises a spotlight directed at a location where said object overboard situation is indicated.

8. The computer system (100; 400) of any preceding claim, wherein the proximity data further comprises image data, wherein the processing circuitry (102; 402) is further configured to classify the object (70) based on the image data, and wherein the processing circuitry (102; 402) is further configured to determine the lighting control action based on the classification of the object (70).

9. The computer system (100; 400) of any preceding claim, wherein the sensing device (20) comprises a camera and a lidar device, the processing circuitry (102; 402) being configured to obtain image data including color data from the camera, and distance metrics including velocity data from the lidar device.

10. The computer system (100; 400) of any preceding claim, wherein the processing circuitry (102; 402) is further configured to cause control of an alert device to issue an alert in response to said distance being lower than a predetermined distance limit.

11. The computer system (100; 400) of any preceding claim, wherein the lighting device (30) is a controllable motorized lighting device.

12. A marine vessel (10) comprising the computer system (100; 400) according to any of claims 1-11.

13. A computer-implemented method (200) for automatic lighting control of a marine vessel (10), comprising: obtaining (210), by processing circuitry (102; 402) of a computer system (100; 400), proximity data from a sensing device (20) mounted to the marine vessel (10), the proximity data comprising a distance between the marine vessel (10) and an object (70) detected by the sensing device (20), and a direction relative the marine vessel (100) from which the object (70) was detected; determining (220), by the processing circuitry (102; 402), a lighting control action based on the proximity data; and automatically controlling (230), by the processing circuitry (102; 402), a lighting device (30) mounted to the marine vessel (10) to carry out the lighting control action in the direction indicated by the proximity data.

14. A computer program product comprising program code for performing, when executed by processing circuitry (102; 402), the method (200) of claim 13.

15. A non-transitory computer-readable storage medium comprising instructions, which when executed by processing circuitry (102; 402), cause the processing circuitry (102; 402) to perform the method (200) of claim 13.

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