Underwater object detection for vessels

Abstract

The present invention relates to an underwater detecting component for a vessel comprising: a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals; a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals; wherein the first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction; and wherein the underwater detecting component is configured to perform measurements; wherein for each measurement the underwater detecting component is configured to emit the measurement signals with the first transducers and receive the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region; wherein the underwater detecting component is configured, in use, to be operated under a water surface. The present invention also relates to a corresponding system and method.

Description

[0001] Underwater object detection for vessels

[0002] Field

[0003] The present invention relates to underwater object detection for vessels, in particular, for hydrofoil -equipped vessels.

[0004] Background

[0005] Hydrofoil-equipped vessels represent a significant advancement in marine technology, offering enhanced speed and efficiency. These vessels, which lift above the water surface on submerged wings (i.e., hydrofoil elements), can achieve high velocities, enabling them to traverse distances more rapidly than traditional boats. However, increasing the speed of hydrofoil-equipped vessels and the availability of small but powerful electric vessels that can navigate in shallow waters can complicate safe navigation, particularly in crowded waters, areas frequented by swimmers or in waters comprising floating objects, sea life etc.

[0006] Detecting underwater obstacles, such as floating objects or swimmers, presents a unique challenge for all types of vessels. On the surface, a swimmer's head is often the only visible part of their body, making it extremely difficult for operators to identify and respond to potential hazards. This challenge is worsened in the presence of waves, which can obscure visibility and create further safety concerns. Consequently, the need for reliable detection systems has become increasingly critical to ensure the safety of both swimmers and vessels.

[0007] Sonar technology is generally used for detecting underwater obstacles. Sonar, an acronym for Sound Navigation and Ranging, employs sound waves to detect objects beneath the water's surface. By emitting sound pulses and analyzing the echoes that bounce back from objects, sonar systems can create a detailed picture of the underwater environment. This capability allows sonar to not only identify the presence of objects but also to measure their distance from the vessel. Traditional sonar systems can effectively reveal the shape and size of underwater obstacles, providing vital information to operators.

[0008] As vessels continue to increase in speed, particularly with the advent of powerful electric boats and high-performance hydrofoil vehicles, the challenges of underwater obstacle detection become even more pronounced. The rapid movement of these vessels creates a narrow window of time for operators to respond to potential hazards, making the need for precise and effective sonar systems paramount. Furthermore, given the dynamic nature of marine environments, a sonar system capable of operating reliably across various conditions is essential.

[0009] In light of these considerations, there is a clear need for affordable, precise, and advanced sonar technology tailored specifically for hydrofoil -equipped vessels. Such systems would significantly enhance safety by detecting floating objects, swimmers and / or other underwater obstacles (e.g., ground, rocks, wooden poles, sea life) in real-time, thereby providing warnings to operators or enabling automatic responses to prevent collisions.

[0010] Summary

[0011] It can therefore be an aim of the present invention to contribute to safer navigation of vessels in increasingly crowded and dynamic environments, by detecting floating objects, swimmers and / or other underwater obstacles (e.g., ground, rocks, wooden poles, sea life) in real-time, thereby providing warnings to operators or enabling automatic responses to prevent collisions. It can also be an aim of the present invention to provide an underwater detecting component particularly tailored to hydrofoil-equipped vessels, such as, to allow easy installation to a hydrofoil equipped vessel.

[0012] The present invention relates to an underwater detecting component for a vessel comprising a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals and a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals. The first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction. The underwater detecting component is configured to perform measurements. For each measurement the underwater detecting component is configured to emit the measurement signals with the first transducers and receive the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region. The transducers, as used herein, can be devices configured to transform one form of energy into another. For example, the transducers can be configured to transform sound waves into electrical signals and vice versa.

[0013] During each measurement a plurality of measurement signals can be emitted, one by each first transducer. The measurement signals emitted during a single measurement can be used to measure a single measurement region. In other words, a region measured during a single measurement can herein be referred to as a measurement region. Measuring a measurement region can comprise emitting the measurement signals with the first transducers and receiving the reflections of the measurement signals with the second transducers.

[0014] The underwater detecting component may be configured, in use, to be operated under a water surface. That is the underwater detecting component can generally be operated while submerged in a water medium. The underwater detecting component may thus comprise a field of view from below the water surface and towards the water surface. This can be particularly advantageous for detecting floating objects, the majority of which can generally be underwater.

[0015] A field of view of the underwater detecting component can include the water surface. In such embodiments, the underwater detecting component can be particularly tailored to detecting floating objects, e.g., swimmers, tree logs, etc.

[0016] A field of view of the underwater detecting component can extend in the first direction at least 5 degrees and at most 120 degrees, preferably at least 20 degrees and at most 90 degrees, more preferably at least 30 degrees and at most 70 degrees, such as 60 degrees. That is, the field of view spans along the first direction a first angle, which can be at least 5 degrees and at most 120 degrees, preferably at least 20 degrees and at most 90 degrees, more preferably at least 30 degrees and at most 70 degrees, such as 60 degrees.

[0017] A field of view of the underwater detecting component can extend in the second direction at least 5 degrees and at most 120 degrees, preferably at least 20 degrees and at most 90 degrees, more preferably at least 30 degrees and at most 70 degrees, such as 60 degrees. That is, the field of view spans along the second direction a second angle, which can be at least 5 degrees and at most 120 degrees, preferably at least 20 degrees and at most 90 degrees, more preferably at least 30 degrees and at most 70 degrees, such as 60 degrees. The underwater detecting component may be configured to detect the at least one object from a distance of at least 1 meter and at most 1000 meters, preferably at least 5 meters and at most 700 meters, more preferably at least 10 meters and at most 500 meters. That is, the underwater detecting component can be configured such that if an object can be within said distances it can be detected.

[0018] The underwater detecting component may be configured to detect objects with a size smaller than a size threshold when the at least one object may be within a first distance range and to detect objects with a size larger than the size threshold when the at least one object may be within a second distance range, wherein distances in the second distance range may be larger than distances in the first distance range. That is, the underwater detecting component may be configured for detecting small objects positioned nearby and / or for detecting large objects positioned further. Typically, larger objects may require larger maneuvers to circumvent, thus, it can be advantageous to detect them while they are far from the vessel. On the other hand, it can be more challenging to detect smaller object from a large distance, however, a shorter maneuver may be needed to circumvent them.

[0019] The first transducers and the second transducers may be configured such that emission of the measurement signals and reception of the reflections of the measurement signals occur simultaneously.

[0020] The underwater detecting component may be configured to perform the measurements at a rate of at least 1 Hz and at most 500 Hz, preferably at least 1 Hz and at most 20 Hz, more preferably at least 1 Hz and at most 100 Hz. Generally, performing the measurements more frequently may facilitate a faster detection of objects, however, it may require more processing resources and energy.

[0021] The first transducers may be configured to emit the measurement signals according to a radiation pattern comprising a main lobe and wherein the first transducers may be configured to allow adjusting a direction of the main lobe along the first direction. The main lobe can refer to the primary direction in which energy can be emitted by the first transducers.

[0022] The first transducers may be configured to allow beam steering along the first direction via beam forming of the measurement signals for adjusting the direction of the main lobe along the first direction. This can facilitate targeting different regions along the first direction for measuring. Alternatively or additionally, this can facilitate scanning along the first direction a field of view of the underwater detecting component. Alternatively or additionally still, this can facilitate configuring the underwater detecting component for detecting objects in a water surface or for detecting objects towards the ground, i.e., for depth warning.

[0023] The second transducers may be configured to allow detecting an arrival direction along the second axis of the reflections of the measurement signals, preferably via spatial filtering, such as a delay-and-sum algorithm. This can facilitate detecting a position of the at least one object. That is, the underwater detecting component may be configured not only for detecting objects, but also for determining their position.

[0024] Each measurement region and a field of view of the underwater detecting component can comprise the same extension in the second direction.

[0025] Each measurement region may be smaller than a field of view of the underwater detecting component in the first direction. That is, the underwater detecting component may be focused on a particular region of the field of view, said particular region covering a portion of the entire span of the field of view along the first direction.

[0026] The underwater detecting component may be configured such that, for each measurement, the measurement region can comprise a water surface. This can be particularly advantageous for detecting floating objects.

[0027] The underwater detecting component may be configured such that a position of the measurement region may be fixed along the first and second direction.

[0028] The underwater detecting component may be configured such that a position of the measurement region may be fixed with respect to the vessel.

[0029] The underwater detecting component may be configured such that a position of the measurement region may be changeable along the first and / or second direction, preferably along the first direction. For example, the underwater detecting component may be configured to scan its field of view by adjusting the position of the measurement region for each measurement. In yet another example, the underwater detecting component may be used in different modes, e.g., in a first mode wherein the measurement region comprises the water surface and in a second mode wherein the measurement region is positioned towards the bed of the water body. The first mode can be for detecting floating objects, whereas the second mode can be for depth warning and / or for detecting the underwater topography.

[0030] The underwater detecting component may be configured to be transitioned from the first mode to the second mode and vice versa.

[0031] The underwater detecting component may be configured to perform a set of measurements to measure a set of measurement regions with different positions along the first and / or second direction, preferably along the first direction.

[0032] The underwater detecting component may be configured to perform the set of measurements according to a predetermined sequence. This can be particularly advantageous for scanning the field of view of the underwater detecting component or a predefined region thereof.

[0033] The predetermined sequence may be cyclical. This may allow periodically scanning the entire field of view of the underwater detecting component or a predefined region thereof.

[0034] The set of measurement regions may be defined such that they collectively cover an entire field of view of the underwater detecting component.

[0035] The position of the measurement region may be changed by adjusting the direction of the main lobe along the first direction. Simply put, beam steering of the measurement signals via beam forming techniques can be used to change the position of the measurement region.

[0036] The first transducer set and the second transducer set may be arranged to form a T-shape. This may provide a wider field of view of the underwater detecting component. Furthermore, it can allow vertical and horizontal scanning in two orthogonal directions.

[0037] The first transducer set may be a first transducer array and the second transducer set may be a second transducer array. The first axis and the second axis may be perpendicular and optionally with a tolerance of up to 10 degrees from perpendicularity. That is, the first transducers and the second transducers may preferably be arranged in perpendicular directions, respectively. Nevertheless, deviations of up to 10 degrees from perpendicularity may be tolerated.

[0038] The first axis and the second axis can intersect. In such embodiments, the first and the second transducers may be provided in a single plane. It will be understood however, that this is exemplary and that the first axis and the second axis may be distant from each other.

[0039] The first axis may be oriented vertically and the second axis may be oriented horizontally.

[0040] The first axis may be perpendicular to the water surface and the second axis may be parallel to the water surface. In other words, in use, the first axis may be parallel with a vertical axis of the vessel, whereas the second axis may be parallel with a lateral axis of the vessel. The longitudinal axis of the vessel may be perpendicular with both the first and the second axis.

[0041] The first transducers may be arranged on a single side of the second axis. This may facilitate mounting the underwater detecting component to a foiling system.

[0042] In use, the first transducers may be arranged between the water surface and the second axis.

[0043] The second transducers may be arranged on two sides of the first axis. This may facilitate mounting the underwater detecting component to a foiling system.

[0044] Each of the two sides of the first axis can comprise the same number of first transducers. It will be understood, however, that this is merely exemplary.

[0045] The first transducers may be aligned along the first axis and the second transducers may be aligned along the second axis.

[0046] The first transducers may be uniformly arranged along the first axis and the second transducers may be uniformly arranged along the second axis. This may facilitate controlling the transducers and processing the received signals from the second transducers. A distance between any two adjacent first transducers may be equal to a half of wavelength of the measurement signals. This may facilitate achieving constructive interference of the measurement signals emitted by the first transducers.

[0047] A distance between any two adjacent second transducers may be equal to a half of wavelength of the measurement signals. This may facilitate achieving constructive interference for optimal detection and resolution.

[0048] The first transducer set and the second transducer set may be configured to be mounted to a foil system of the vessel. That is, the underwater detecting component may be particularly tailored for use in hydrofoil equipped vessels.

[0049] The first transducer set may be mounted to a strut of the foil system and the second transducer set may be mounted to a hydrofoil element of the foil system.

[0050] The measurement signals may be sound waves, preferably ultrasonic sound waves. Sound waves can be particularly advantageous as they can traverse more efficiently in water, compared, e.g., with electromagnetic waves.

[0051] A frequency of the measurement signals may be at least 20 kHz and at most 100 kHz, preferably at least 30 kHz and at most 50 kHz, such as 40 kHz.

[0052] The first transducers and the second transducers may be ultrasonic transducers.

[0053] The first transducers may be configured to receive a pea k-to-peak voltage of at least 10 volts and at most 500 volts, preferably at least 50 volts and at most 300 volts, more preferably at least 100 volts and 200 volts, such as, 150 volts. Higher voltages can be advantageous for increasing the detection range.

[0054] The first transducers can be, in number, at least 2 and at most 100, preferably at least 4 and at most 50, more preferably at least 6 and at most 20, such as, 8.

[0055] The second transducers can be, in number, at least 2 and at most 100, preferably at least 4 and at most 50, more preferably at least 6 and at most 20, such as, 8. The first transducers and the second transducers may be the same in number.

[0056] The first transducer set may be configured such that each of the first transducers may be independently controllable. This may facilitate beam steering.

[0057] The first transducer set may be configured such that a phase of the measurement signals may be configurable independently for each of the first transducers.

[0058] The first transducers may be used purely as transmitters and wherein the second transducers may be used purely as receivers.

[0059] A field of view of the underwater detecting component can comprise a plurality of measurement sectors.

[0060] The measurement sectors may be arranged in a grid spanning along the first and the second direction.

[0061] The grid can comprise at 3 and at most 20 measurement sectors along the first direction.

[0062] The grid can comprise at least 5 and at most 100 measurement sectors along the second direction.

[0063] The underwater detecting component may be configured to determine for each measurement sector whether an object may be present therein.

[0064] The underwater detecting component may be configured to determine for each measurement sector at least one respective measured distance, preferably if an object may be detected.

[0065] The underwater detecting component can comprise a controller.

[0066] The controller may be configured to control the first transducers and the second transducers.

[0067] The controller may be configured to receive, from the second transducers, received signals indicative of the reflections of the measurement signals received by the second transducers and to generate object data based on the received signals. That is, the controller may be configured to process the received signals and based thereon to generate the object data.

[0068] The object data can comprise arrival directions along the second axis of the reflections of the measurement signals.

[0069] The object data can comprise object distances indicative of distances of the at least one object from the underwater detecting component.

[0070] The object data may be indicative of a presence of the at least one object.

[0071] The object data can comprise, for each object, a position of the at least one object.

[0072] For each object, the position of the at least one object may be indicative of: a position of the at least one object along the first direction, a position of the at least one object along the second direction and / or a distance of the at least one object from the underwater detecting component.

[0073] The object data can comprise, for each object, a likelihood of the presence of the object.

[0074] The controller may be configured to determine, based on the received signals, whether the same object may be detected from multiple measurements.

[0075] The controller may be configured to track the at least one object.

[0076] The controller may be configured to predict at least one trajectory for the at least one object.

[0077] The object data can comprise an object map, wherein the object map can comprise for multiple measurement sectors, preferably for each measurement sector, an indication of a presence of an object and further optionally at least one respective measured distance.

[0078] The object map may be dynamically updated based on each measurement. The object map may thus be time dependent. The controller may be configured to generate transmit signals indicative of the measurement signals and provide the transmit signals to the first transducers.

[0079] The controller may be configured to adjust a direction of the main lobe along the first direction.

[0080] The controller may be configured to adjust a direction of the main lobe along the first direction using beamforming techniques.

[0081] The controller may be configured to control each of the first transducers independently.

[0082] The controller may be configured to set a phase of the measurement signals for each of the first transducers, independently.

[0083] The underwater detecting component can comprise a data connector for connecting the underwater detecting component to a vessel processing system being external from the underwater detecting component, said data connector being configured for electronic data communication.

[0084] The underwater detecting component may be configured to provide the object data to the vessel processing system via the data connector.

[0085] The at least one object may be at least partially submerged in water.

[0086] The at least one object may be a floating object.

[0087] The at least one object may be an underwater object.

[0088] The at least one object may be a moving object.

[0089] The underwater detecting component may be configured for floating object detection and wherein the at least one object may be a floating object.

[0090] The floating object may for example be a swimmer. The underwater detecting component may be configured for depth warning and wherein the at least one object may be an underwater object, ground and / or ground feature.

[0091] The controller may be configured to receive positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system and to generate the object data further based on the positioning data.

[0092] The underwater detecting component can further comprise the positioning system.

[0093] The positioning system may be external to the underwater detecting component.

[0094] The positioning system can comprise at least one of: at least one inertial measurement unit, at least one inertial sensor, at least one gyroscope, at least one navigation sensor, at least one speed sensor and at least one velocity sensor.

[0095] The controller may be configured to generate the object data using a sensor fusion algorithm for combining the received signals and the positioning data.

[0096] The controller may be configured to receive positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system and to control a field of view of the underwater detecting component, based on the positioning data.

[0097] The controller may be configured to maintain the field of view the underwater detecting component at a constat position and / or distance with respect to the vessel, based on the positioning data.

[0098] The controller may be configured to position the field of view towards a side of the vessel when it may be detected that the vessel may be turning towards said side, based on the positioning data.

[0099] The present invention also relates to a system comprising an underwater detecting component for a vessel. The underwater detecting component comprises a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals and a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signal. The first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction. The underwater detecting component is configured to perform measurements. For each measurement the underwater detecting component is configured to emit the measurement signals with the first transducers and receive the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region.

[0100] The underwater detecting component may comprise any of the features discussed above and below in connection to the underwater detecting component.

[0101] The system can further comprise a foil system for the vessel, said foil system comprising a hydrofoil element and a strut for connecting the hydrofoil element to a hull of the vessel.

[0102] The first transducer set and the second transducer set may be configured to be mounted to the foil system.

[0103] The first transducer set may be mounted to the strut of the foil system and the second transducer set may be mounted to the hydrofoil element of the foil system.

[0104] The system can further comprise the vessel.

[0105] The vessel can comprise the underwater detecting component.

[0106] The vessel can comprise the foil system.

[0107] The vessel can comprise a hull and wherein the foil system may be fixedly attached to the hull of the vessel.

[0108] The system can further comprise a positioning system configured to generate positioning data indicative of a position, orientation and / or movement of the underwater detecting component.

[0109] The positioning system can comprise at least one of: at least one inertial measurement unit, at least one inertial sensor, at least one gyroscope, at least one navigation sensor, at least one speed sensor and at least one velocity sensor. The system can further comprise a vessel processing system.

[0110] The vessel processing system may be configured to generate navigation data for navigating the vessel.

[0111] The navigation data can comprise an obstacle map depicting obstacle positions with respect to the vessel.

[0112] The vessel processing system may be configured to receive the object data.

[0113] The vessel processing system may be configured to receive the object data via the data connector.

[0114] The vessel processing system may be configured to generate the navigation data based on the object data.

[0115] The vessel processing system may be configured to determine presence of an object based on the object data.

[0116] The vessel processing system may be configured to receive the positioning data.

[0117] The vessel processing system may be configured to generate the navigation data based on the object data and the positioning data.

[0118] The vessel processing system may be configured to generate the navigation data using a sensor fusion technique.

[0119] The vessel processing system may be configured to determine presence of an object based on the object data and the positioning data.

[0120] The vessel processing system may be configured to determine presence of an object using a sensor fusion technique. The vessel processing system may be configured to generate field of view instructions for controlling a field of view of the underwater detecting component, based on the positioning data.

[0121] The vessel processing system may be configured to provide the instructions to the controller of the underwater detecting component.

[0122] The field of view instructions may be indicative of maintaining the field of view the underwater detecting component at a constat position and / or distance with respect to the vessel.

[0123] The field of view instructions may be indicative of positioning the field of view towards a side of the vessel when it may be detected that the vessel may be turning towards said side.

[0124] The vessel processing system may be configured to determine a type of motion of the vessel, such as, whether the vessel may be turning.

[0125] The system can further comprise an output device.

[0126] The output device may be a display.

[0127] The output device may be configured to output the object data, preferably to a human operator.

[0128] The output device may be configured to output the navigation data, preferably to a human operator.

[0129] The output device may be configured to output an obstacle map depicting obstacle positions with respect to the vessel.

[0130] The vessel processing system may be configured to control the display, preferably to provide to the display data to be displayed.

[0131] The vessel processing system may be configured to plan a path for the vessel and / or maneuver the vessel, preferably automatically. The vessel processing system may be configured plan a path for the vessel and / or maneuver the vessel based on the object data.

[0132] The vessel processing system may be configured plan a path for the vessel and / or maneuver the vessel based on the positioning data.

[0133] The vessel processing system may be configured plan a path for the vessel and / or maneuver the vessel based on the object data and the positioning data.

[0134] The vessel processing system may be configured plan a path for the vessel and / or maneuver the vessel using a sensor fusion technique.

[0135] The vessel processing system may be configured plan a path for the vessel and / or maneuver the vessel based on the navigation data.

[0136] The present invention also relates to a method comprising providing an underwater detecting component for a vessel. The underwater detecting component comprises a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals and a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals. The first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction. The method comprises performing with the underwater detecting component measurements. Performing each measurement comprises emitting the measurement signals with the first transducers and receiving the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region.

[0137] The underwater detecting component may comprise any of the features discussed above and below in connection to the underwater detecting component embodiments.

[0138] Providing the underwater detecting component can comprise providing the system as discussed above and below. The system may comprise any of the features discussed above and below in connection to the system. Emission of the measurement signals and reception of the reflections of the measurement signals can occur simultaneously.

[0139] The method can comprise performing the measurements at a rate of at least 1 Hz and at most 500 Hz, preferably at least 1 Hz and at most 20 Hz, more preferably at least 1 Hz and at most 100 Hz.

[0140] The method can comprise emitting the measurement signals according to a radiation pattern comprising a main lobe and adjusting a direction of the main lobe along the first direction.

[0141] Adjusting a direction of the main lobe along the first direction can comprise beam steering along the first direction via beam forming of the measurement signals.

[0142] The method can comprise detecting an arrival direction along the second axis of the reflections of the measurement signals, preferably via spatial filtering, such as a delay-and-sum algorithm.

[0143] The method can comprise maintaining a position of the measurement region fixed along the first and second direction for each measurement.

[0144] The method can comprise changing a position of the measurement region along the first and / or second direction, preferably along the first direction.

[0145] Performing the measurements can comprise performing a set of measurements to measure a set of measurement regions with different positions along the first and / or second direction, preferably along the first direction.

[0146] The method can comprise performing the set of measurements according to a predetermined sequence, wherein the predetermined sequence may be preferably cyclical.

[0147] Changing a position of the measurement region can comprise adjusting the direction of the main lobe along the first direction.

[0148] The method can comprise mounting the first transducer set and the second transducer set to a foil system of the vessel. The method can comprise mounting the first transducer set to a strut of the foil system and the second transducer set to a hydrofoil element of the foil system.

[0149] The method can comprise determining for each measurement sector whether an object may be present therein.

[0150] The method can comprise determining for each measurement sector at least one respective measured distance.

[0151] The underwater detecting component can comprise a controller.

[0152] The method can comprise controlling the first transducers and the second transducers with the controller.

[0153] The method can comprise controlling, with the controller, each of the first transducers independently.

[0154] The method can comprise setting with the controller, a phase of the measurement signals for each of the first transducers, independently.

[0155] The method can comprise receiving, with the controller and from the second transducers, received signals indicative of the reflections of the measurement signals received by the second transducers and generating, with the controller, object data based on the received signals.

[0156] The method can comprise determining, with the controller and based on the received signals, whether the same object may be detected from multiple measurements.

[0157] The method can comprise tracking, with the controller, the at least one object.

[0158] The method can comprise predicting, with the controller, at least one trajectory for the at least one object.

[0159] The method can comprise dynamically updating the object map based on each measurement. The method can comprise generating, with the controller, transmit signals indicative of the measurement signals and providing, with the controller, the transmit signals to the first transducers.

[0160] The method can comprise providing the object data to a vessel processing system being external from the underwater detecting component.

[0161] The method can comprise receiving positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system.

[0162] The method can comprise generating the object data based on the positioning data.

[0163] The method can comprise generating navigation data for navigating the vessel.

[0164] The navigation data may be generated based on the object data.

[0165] The navigation data may be generated based on the positioning data.

[0166] The navigation data may be generated based on the object data and the positioning data, preferably using a sensor fusion technique.

[0167] The method can comprise determining presence of an object based on the measurements.

[0168] The method can comprise determining presence of an object based on the object data.

[0169] The method can comprise determining presence of an object based on the positioning data.

[0170] The method can comprise determining presence of an object based on the object data and the positioning data, preferably using a sensor fusion technique.

[0171] The method can comprise outputting the object data, preferably to a human operator.

[0172] The method can comprise outputting the navigation data, preferably to a human operator. The method can comprise outputting an obstacle map depicting obstacle positions with respect to the vessel.

[0173] The method can comprise planning a path for the vessel and / or maneuvering the vessel, preferably automatically, based on the object data.

[0174] The method can comprise planning a path for the vessel and / or maneuvering the vessel, preferably automatically, based on the object data and the positioning data.

[0175] The method can comprise planning a path for the vessel and / or maneuvering the vessel using a sensor fusion technique.

[0176] The method can comprise planning a path for the vessel and / or maneuvering the vessel, preferably automatically, based on the navigation data.

[0177] The method can comprise receiving positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system and controlling a field of view of the underwater detecting component, based on the positioning data.

[0178] Controlling the field of view of the underwater detecting component can comprise maintaining the field of view the underwater detecting component at a constat position and / or distance with respect to the vessel

[0179] Controlling the field of view of the underwater detecting component can comprise positioning the field of view towards a side of the vessel when it may be detected that the vessel may be turning towards said side.

[0180] The method can comprise controlling the field of view of the underwater detecting component with the controller.

[0181] The underwater detecting component may be configured to carry out the method as discussed above and below.

[0182] The system may be configured to carry out the method as discussed above and below. The present invention is also defined by the following numbered embodiments.

[0183] Below underwater detecting component embodiments will be discussed. These embodiments are abbreviated by the letter "C" followed by a number. When reference is herein made to underwater detecting component embodiments, these embodiments are meant.

[0184] Cl. An underwater detecting component for a vessel comprising:

[0185] a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals;

[0186] a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals;

[0187] wherein the first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction; and

[0188] wherein the underwater detecting component is configured to perform measurements; wherein for each measurement the underwater detecting component is configured to emit the measurement signals with the first transducers and receive the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region.

[0189] C2. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured, in use, to be operated under a water surface.

[0190] C3. The underwater detecting component according to any of the preceding embodiments, wherein a field of view of the underwater detecting component includes the water surface.

[0191] C4. The underwater detecting component according to any of the preceding embodiments, wherein a field of view of the underwater detecting component extends in the first direction at least 5 degrees and at most 120 degrees, preferably at least 20 degrees and at most 90 degrees, more preferably at least 30 degrees and at most 70 degrees, such as 60 degrees.

[0192] C5. The underwater detecting component according to any of the preceding embodiments, wherein a field of view of the underwater detecting component extends in the second direction at least 5 degrees and at most 120 degrees, preferably at least 20 degrees and at most 90 degrees, more preferably at least 30 degrees and at most 70 degrees, such as 60 degrees.

[0193] C6. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured to detect the at least one object from a distance of at least 1 meter and at most 1000 meters, preferably at least 5 meters and at most 700 meters, more preferably at least 10 meters and at most 500 meters.

[0194] C7. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured to detect objects with a size smaller than a size threshold when the at least one object is within a first distance range and to detect objects with a size larger than the size threshold when the at least one object is within a second distance range, wherein distances in the second distance range are larger than distances in the first distance range.

[0195] C8. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers and the second transducers are configured such that emission of the measurement signals and reception of the reflections of the measurement signals occur simultaneously.

[0196] C9. The underwater detecting component according to the preceding embodiment, wherein the underwater detecting component is configured to perform the measurements at a rate of at least 1 Hz and at most 500 Hz, preferably at least 1 Hz and at most 20 Hz, more preferably at least 1 Hz and at most 100 Hz.

[0197] CIO. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers are configured to emit the measurement signals according to a radiation pattern comprising a main lobe and wherein the first transducers are configured to allow adjusting a direction of the main lobe along the first direction.

[0198] Cll. The underwater detecting component according to the preceding embodiment, wherein the first transducers are configured to allow beam steering along the first direction via beam forming of the measurement signals for adjusting the direction of the main lobe along the first direction. C12. The underwater detecting component according to any of the preceding embodiments, wherein the second transducers are configured to allow detecting an arrival direction along the second axis of the reflections of the measurement signals, preferably via spatial filtering, such as a delay-and-sum algorithm.

[0199] C13. The underwater detecting component according to any of the preceding embodiments, wherein each measurement region and a field of view of the underwater detecting component comprise the same extension in the second direction.

[0200] C14. The underwater detecting component according to any of the preceding embodiments, wherein each measurement region is smaller than a field of view of the underwater detecting component in the first direction.

[0201] C15. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured such that, for each measurement, the measurement region comprises a water surface.

[0202] C16. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured such that a position of the measurement region is fixed along the first and second direction.

[0203] C17. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured such that a position of the measurement region is fixed with respect to the vessel.

[0204] C18. The underwater detecting component according to any of the preceding embodiments and without the features of embodiments C16 and C17, wherein the underwater detecting component is configured such that a position of the measurement region is changeable along the first and / or second direction, preferably along the first direction.

[0205] C19. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured to perform a set of measurements to measure a set of measurement regions with different positions along the first and / or second direction, preferably along the first direction. C20. The underwater detecting component according to the preceding embodiment, wherein the underwater detecting component is configured to perform the set of measurements according to a predetermined sequence.

[0206] C21. The underwater detecting component according to the preceding embodiment, wherein the predetermined sequence is cyclical.

[0207] C22. The underwater detecting component according to any of the 3 preceding embodiments, wherein the set of measurement regions is defined such that they collectively cover an entire field of view of the underwater detecting component.

[0208] C23. The underwater detecting component according to any of the 5 preceding embodiments and with the features of embodiment CIO and / or Cll, wherein the position of the measurement region is changed by adjusting the direction of the main lobe along the first direction.

[0209] C24. The underwater detecting component according to any of the preceding embodiments, wherein the first transducer set and the second transducer set are arranged to form a T-shape.

[0210] C25. The underwater detecting component according to any of the preceding embodiments, wherein the first transducer set is a first transducer array and the second transducer set is a second transducer array.

[0211] C26. The underwater detecting component according to any of the preceding embodiments, wherein the first axis and the second axis are perpendicular and optionally with a tolerance of up to 10 degrees from perpendicularity.

[0212] C27. The underwater detecting component according to any of the preceding embodiments, wherein the first axis and the second axis intersect.

[0213] C28. The underwater detecting component according to any of the preceding embodiments, wherein the first axis is oriented vertically and the second axis is oriented horizontally. C29. The underwater detecting component according to any of the preceding embodiments and with the features of embodiment C2, wherein the first axis is perpendicular to the water surface and the second axis is parallel to the water surface.

[0214] C30. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers are arranged on a single side of the second axis.

[0215] C31. The underwater detecting component according to any of the preceding embodiments and with the features of embodiment C2, wherein, in use, the first transducers are arranged between the water surface and the second axis.

[0216] C32. The underwater detecting component according to any of the preceding embodiments, wherein the second transducers are arranged on two sides of the first axis.

[0217] C33. The underwater detecting component according to the preceding embodiment, wherein each of the two sides of the first axis comprises the same number of first transducers.

[0218] C34. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers are aligned along the first axis and wherein the second transducers are aligned along the second axis.

[0219] C35. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers are uniformly arranged along the first axis and the second transducers are uniformly arranged along the second axis.

[0220] C36. The underwater detecting component according to any of the preceding embodiments, wherein a distance between any two adjacent first transducers is equal to a half of wavelength of the measurement signals.

[0221] C37. The underwater detecting component according to any of the preceding embodiments, wherein a distance between any two adjacent second transducers is equal to a half of wavelength of the measurement signals. C38. The underwater detecting component according to any of the preceding embodiments, wherein the first transducer set and the second transducer set are configured to be mounted to a foil system of the vessel.

[0222] C39. The underwater detecting component according to the preceding embodiment, wherein the first transducer set is mounted to a strut of the foil system and the second transducer set is mounted to a hydrofoil element of the foil system.

[0223] C40. The underwater detecting component according to any of the preceding embodiments, wherein the measurement signals are sound waves, preferably ultrasonic sound waves.

[0224] C41. The underwater detecting component according to any of the preceding embodiments, wherein a frequency of the measurement signals is at least 20 kHz and at most 100 kHz, preferably at least 30 kHz and at most 50 kHz, such as 40 kHz.

[0225] C42. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers and the second transducers are ultrasonic transducers.

[0226] C43. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers are configured to receive a peak-to-peak voltage of at least 10 volts and at most 500 volts, preferably at least 50 volts and at most 300 volts, more preferably at least 100 volts and 200 volts, such as, 150 volts.

[0227] C44. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers are, in number, at least 2 and at most 100, preferably at least 4 and at most 50, more preferably at least 6 and at most 20, such as, 8.

[0228] C45. The underwater detecting component according to any of the preceding embodiments, wherein the second transducers are, in number, at least 2 and at most 100, preferably at least 4 and at most 50, more preferably at least 6 and at most 20, such as, 8.

[0229] C46. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers and the second transducers are the same in number. C47. The underwater detecting component according to any of the preceding embodiments, wherein the first transducer set is configured such that each of the first transducers is independently controllable.

[0230] C48. The underwater detecting component according to any of the preceding embodiments, wherein the first transducer set is configured such that a phase of the measurement signals is configurable independently for each of the first transducers.

[0231] C49. The underwater detecting component according to any of the preceding embodiments, wherein the first transducers are used purely as transmitters and wherein the second transducers are used purely as receivers.

[0232] C50. The underwater detecting component according to any of the preceding embodiments, wherein a field of view of the underwater detecting component comprises a plurality of measurement sectors.

[0233] C51. The underwater detecting component according to the preceding embodiment, wherein the measurement sectors are arranged in a grid spanning along the first and the second direction.

[0234] C52. The underwater detecting component according to the preceding embodiment, wherein the grid comprises at 3 and at most 20 measurement sectors along the first direction.

[0235] C53. The underwater detecting component according to any of the 2 preceding embodiments, wherein the grid comprises at least 5 and at most 100 measurement sectors along the second direction.

[0236] C54. The underwater detecting component according to any of the 4 preceding embodiments, wherein the underwater detecting component is configured to determine for each measurement sector whether an object is present therein.

[0237] C55. The underwater detecting component according to any of the 5 preceding embodiments, wherein the underwater detecting component is configured to determine for each measurement sector at least one respective measured distance, preferably if an object is detected. C56. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component comprises a controller.

[0238] C57. The system according to the preceding embodiment, wherein the controller is configured to control the first transducers and the second transducers.

[0239] C58. The underwater detecting component according to any of the 2 preceding embodiments, wherein the controller is configured to receive, from the second transducers, received signals indicative of the reflections of the measurement signals received by the second transducers and to generate object data based on the received signals.

[0240] C59. The underwater detecting component according to the preceding embodiment, wherein the object data comprise arrival directions along the second axis of the reflections of the measurement signals.

[0241] C60. The underwater detecting component according to any of the 2 preceding embodiments, wherein the object data comprise object distances indicative of distances of the at least one object from the underwater detecting component.

[0242] C61. The underwater detecting component according to any of the 3 preceding embodiments, wherein the object data are indicative of a presence of the at least one object.

[0243] C62. The underwater detecting component according to any of the 4 preceding embodiments, wherein the object data comprise, for each object, a position of the at least one object.

[0244] C63. The underwater detecting component according to the preceding embodiment, wherein for each object, the position of the at least one object is indicative of: a position of the at least one object along the first direction, a position of the at least one object along the second direction and / or a distance of the at least one object from the underwater detecting component. C64. The underwater detecting component according to any of the 6 preceding embodiments, wherein the object data comprise, for each object, a likelihood of the presence of the object.

[0245] C65. The underwater detecting component according to any of the 7 preceding embodiments, wherein the controller is configured to determine, based on the received signals, whether the same object is detected from multiple measurements.

[0246] C66. The underwater detecting component according to the preceding embodiment, wherein the controller is configured to track the at least one object.

[0247] C67. The underwater detecting component according to any of the 2 preceding embodiments, wherein the controller is configured to predict at least one trajectory for the at least one object.

[0248] C68. The underwater detecting component according to any of the 10 preceding embodiments and with the features of embodiment C50, wherein the object data comprise an object map, wherein the object map comprises for multiple measurement sectors, preferably for each measurement sector, an indication of a presence of an object and further optionally at least one respective measured distance.

[0249] C69. The underwater detecting component according to the preceding embodiment, wherein the object map is dynamically updated based on each measurement.

[0250] C70. The underwater detecting component according to any of the preceding embodiments and with the features of embodiment C56, wherein the controller is configured to generate transmit signals indicative of the measurement signals and provide the transmit signals to the first transducers.

[0251] C71. The underwater detecting component according to the preceding embodiment and with the features of embodiment CIO, wherein the controller is configured to adjust a direction of the main lobe along the first direction. C72. The underwater detecting component according to the preceding embodiment, wherein the controller is configured to adjust a direction of the main lobe along the first direction using beamforming techniques.

[0252] C73. The underwater detecting component according to any of the preceding embodiments and with the features of embodiment C56, wherein the controller is configured to control each of the first transducers independently.

[0253] C74. The underwater detecting component according to any of the preceding embodiments, wherein the controller is configured to set a phase of the measurement signals for each of the first transducers, independently.

[0254] C75. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component comprises a data connector for connecting the underwater detecting component to a vessel processing system being external from the underwater detecting component, said data connector being configured for electronic data communication.

[0255] C76. The underwater detecting component according to the preceding embodiment and with the features of embodiment C58, wherein the underwater detecting component is configured to provide the object data to the vessel processing system via the data connector.

[0256] C77. The underwater detecting component according to any of the preceding embodiments, wherein the at least one object is at least partially submerged in water.

[0257] C78. The underwater detecting component according to any of the preceding embodiments, wherein the at least one object is a floating object.

[0258] C79. The underwater detecting component according to any of the preceding embodiments, wherein the at least one object is an underwater object.

[0259] C80. The underwater detecting component according to any of the preceding embodiments, wherein the at least one object is a moving object. C81. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured for floating object detection and wherein the at least one object is a floating object, such as, a swimmer.

[0260] C82. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is configured for depth warning and wherein the at least one object is an underwater object, ground and / or ground feature.

[0261] C83. The underwater detecting component according to any of the preceding embodiments and with the features of embodiment C58, wherein the controller is configured to receive positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system and to generate the object data further based on the positioning data.

[0262] C84. The underwater detecting component according to the preceding embodiment, wherein the underwater detecting component further comprises the positioning system.

[0263] C85. The underwater detecting component according to the penultimate embodiment, wherein the positioning system is external to the underwater detecting component.

[0264] C86. The underwater detecting component according to any of the 3 preceding embodiments, wherein the positioning system comprises at least one of: at least one inertial measurement unit, at least one inertial sensor, at least one gyroscope, at least one navigation sensor, at least one speed sensor and at least one velocity sensor.

[0265] C87. The underwater detecting component according to any of the 4 preceding embodiments, wherein the controller is configured to generate the object data using a sensor fusion algorithm for combining the received signals and the positioning data.

[0266] C88. The underwater detecting component according to any of the preceding embodiments and with the features of embodiment C56, wherein the controller is configured to receive positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system and to control a field of view of the underwater detecting component, based on the positioning data. C89. The underwater detecting component according to the preceding embodiment, wherein controller is configured to maintain the field of view the underwater detecting component at a constat position and / or distance with respect to the vessel, based on the positioning data.

[0267] C90. The underwater detecting component according to any of the 2 preceding embodiments, wherein the controller is configured to position the field of view towards a side of the vessel when it is detected that the vessel is turning towards said side, based on the positioning data.

[0268] C91. The underwater detecting component according to any of the preceding embodiments, wherein the underwater detecting component is operable in a first mode wherein the measurement region comprises the water surface and in a second mode wherein the measurement region is positioned towards the bed of the water body wherein the underwater detecting component is submerged.

[0269] C92. The underwater detecting component according to the preceding embodiment, wherein in the first mode the underwater detecting component is used for detecting floating objects and wherein in the second mode the underwater detecting component is used for depth warning and / or for detecting the underwater topography.

[0270] C93. The underwater detecting component according to any of the 2 preceding embodiments, wherein the underwater detecting component is configured to be transitioned from the first mode to the second mode and / or vice versa.

[0271] Below, system embodiments will be discussed. These embodiments are abbreviated by the letter "S" followed by a number. When reference is herein made to system embodiments, these embodiments are meant.

[0272] SI. A system comprising an underwater detecting component for a vessel, said underwater detecting component comprising:

[0273] a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals;

[0274] a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals; wherein the first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction; and

[0275] wherein the underwater detecting component is configured to perform measurements; wherein for each measurement the underwater detecting component is configured to emit the measurement signals with the first transducers and receive the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region.

[0276] 52. The system according to the preceding embodiment, wherein the underwater detecting component is configured according to any of the preceding underwater detecting component embodiments.

[0277] 53. The system according to any of the preceding system embodiments, wherein the system further comprises a foil system for the vessel, said foil system comprising a hydrofoil element and a strut for connecting the hydrofoil element to a hull of the vessel.

[0278] 54. The system according to the preceding embodiment, wherein the first transducer set and the second transducer set are configured to be mounted to the foil system.

[0279] 55. The system according to the preceding embodiment, wherein the first transducer set is mounted to the strut of the foil system and the second transducer set is mounted to the hydrofoil element of the foil system.

[0280] 56. The system according to any of the preceding system embodiments, wherein the system further comprises the vessel.

[0281] 57. The system according to the preceding embodiment, wherein the vessel comprises the underwater detecting component.

[0282] 58. The system according to any of the 2 preceding embodiments and with the features of embodiment S3, wherein the vessel comprises the foil system.

[0283] 59. The system according to any of the 3 preceding embodiments and with the features of embodiment S3, wherein the vessel comprises a hull and wherein the foil system is fixedly attached to the hull of the vessel. 510. The system according to any of the preceding system embodiments, wherein the system further comprises a positioning system configured to generate positioning data indicative of a position, orientation and / or movement of the underwater detecting component.

[0284] 511. The system according to the preceding embodiment, wherein the positioning system comprises at least one of: at least one inertial measurement unit, at least one inertial sensor, at least one gyroscope, at least one navigation sensor, at least one speed sensor and at least one velocity sensor.

[0285] 512. The system according to any of the preceding system embodiments, wherein the system further comprises a vessel processing system.

[0286] 513. The system according to the preceding embodiment, wherein the vessel processing system is configured to generate navigation data for navigating the vessel.

[0287] 514. The system according to the preceding embodiment, wherein the navigation data comprise an obstacle map depicting obstacle positions with respect to the vessel.

[0288] 515. The system according to any of the 3 preceding embodiments and wherein the underwater detecting component comprises the features of embodiment C58, wherein the vessel processing system is configured to receive the object data.

[0289] 516. The system according to the preceding embodiment and wherein the underwater detecting component comprises the features of embodiment C75, wherein the vessel processing system is configured to receive the object data via the data connector.

[0290] 517. The system according to any of the 2 preceding embodiments and with the features of embodiment S13, wherein the vessel processing system is configured to generate the navigation data based on the object data.

[0291] S18. The system according to any of the 3 preceding embodiments, wherein the vessel processing system is configured to determine presence of an object based on the object data. S19. The system according to any of the preceding system embodiments and with the features of embodiments S10 and S12, wherein the vessel processing system is configured to receive the positioning data.

[0292] 520. The system according to the preceding embodiment and with the features of embodiments S13 and S15, wherein the vessel processing system is configured to generate the navigation data based on the object data and the positioning data.

[0293] 521. The system according to the preceding embodiment, wherein the vessel processing system is configured to generate the navigation data using a sensor fusion technique.

[0294] 522. The system according to any of the preceding system embodiments and with the features of embodiments S15 and S19, wherein the vessel processing system is configured to determine presence of an object based on the object data and the positioning data.

[0295] 523. The system according to the preceding embodiment, wherein the vessel processing system is configured to determine presence of an object using a sensor fusion technique.

[0296] 524. The system according to any of the preceding system embodiments and with the features of embodiment S12 and S19, wherein the vessel processing system is configured to generate field of view instructions for controlling a field of view of the underwater detecting component, based on the positioning data.

[0297] 525. The system according to the preceding embodiment, wherein the underwater detecting component comprises the features of embodiment C56, wherein the vessel processing system is configured to provide the instructions to the controller of the underwater detecting component.

[0298] 526. The system according to any of the 2 preceding embodiments, wherein the field of view instructions are indicative of maintaining the field of view the underwater detecting component at a constat position and / or distance with respect to the vessel.

[0299] 527. The system according to any of the 3 preceding embodiments, wherein the field of view instructions are indicative of positioning the field of view towards a side of the vessel, when it is detected that the vessel is turning towards said side. S28. The system according to the preceding embodiment, wherein the vessel processing system is configured to determine a type of motion of the vessel, such as, whether the vessel is turning.

[0300] 529. The system according to any of the preceding system embodiments, wherein the system further comprises an output device.

[0301] 530. The system according to the preceding embodiment, wherein the output device is a display.

[0302] 531. The system according to any of the 2 preceding embodiments and wherein the underwater detecting component comprises the features of embodiment C58, wherein the output device is configured to output the object data, preferably to a human operator.

[0303] 532. The system according to any of the 3 preceding embodiments and with the features of embodiment S13, wherein the output device is configured to output the navigation data, preferably to a human operator.

[0304] 533. The system according to any of the 4 preceding embodiments, wherein the output device is configured to output an obstacle map depicting obstacle positions with respect to the vessel.

[0305] 534. The system according to any of the 5 preceding embodiments and with the features of embodiment S12, wherein the vessel processing system is configured to control the display, preferably to provide to the display data to be displayed.

[0306] 535. The system according to any of the preceding system embodiments and with the features of embodiment S12, wherein the vessel processing system is configured to plan a path for the vessel and / or maneuver the vessel, preferably automatically.

[0307] 536. The system according to the preceding embodiment and with the features of embodiment S15, wherein the vessel processing system is configured plan a path for the vessel and / or maneuver the vessel based on the object data. S37. The system according to any of the 2 preceding embodiments and with the features of embodiment S19, wherein the vessel processing system is configured plan a path for the vessel and / or maneuver the vessel based on the positioning data.

[0308] 538. The system according to any of the 3 preceding embodiments and with the features of embodiment S15 and S19, wherein the vessel processing system is configured plan a path for the vessel and / or maneuver the vessel based on the object data and the positioning data.

[0309] 539. The system according to the preceding embodiment, wherein the vessel processing system is configured plan a path for the vessel and / or maneuver the vessel using a sensor fusion technique.

[0310] 540. The system according to any of the 5 preceding embodiments and with the features of embodiment S13, wherein the vessel processing system is configured plan a path for the vessel and / or maneuver the vessel based on the navigation data.

[0311] Below, method embodiments will be discussed. These embodiments are abbreviated by the letter "M" followed by a number. When reference is herein made to method embodiments, these embodiments are meant.

[0312] Ml. A method comprising:

[0313] providing an underwater detecting component for a vessel, the underwater detecting component comprising:

[0314] a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals;

[0315] a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals;

[0316] wherein the first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction;

[0317] performing with the underwater detecting component measurements, wherein performing each measurement comprises emitting the measurement signals with the first transducers and receiving the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region. M2. The method according to the preceding embodiment, wherein the underwater detecting component is configured according to any of the preceding underwater detecting component embodiments.

[0318] M3. The method according to any of the preceding method embodiments, wherein providing the underwater detecting component comprises providing the system according to any of the preceding system embodiments.

[0319] M4. The method according to any of the preceding method embodiments, wherein emission of the measurement signals and reception of the reflections of the measurement signals occur simultaneously.

[0320] M5. The method according to any of the preceding method embodiments, wherein the method comprises performing the measurements at a rate of at least 1 Hz and at most 500 Hz, preferably at least 1 Hz and at most 20 Hz, more preferably at least 1 Hz and at most 100 Hz.

[0321] M6. The method according to any of the preceding method embodiments, wherein the method comprises emitting the measurement signals according to a radiation pattern comprising a main lobe and adjusting a direction of the main lobe along the first direction.

[0322] M7. The method according to the preceding embodiment, wherein adjusting a direction of the main lobe along the first direction comprises beam steering along the first direction via beam forming of the measurement signals.

[0323] M8. The method according to any of the preceding method embodiments, wherein the method comprises detecting an arrival direction along the second axis of the reflections of the measurement signals, preferably via spatial filtering, such as a delay-and-sum algorithm.

[0324] M9. The method according to any of the preceding method embodiments, wherein the method comprises maintaining a position of the measurement region fixed along the first and second direction for each measurement. MIO. The method according to any of the preceding method embodiments and without the features of the preceding embodiment, wherein the method comprises changing a position of the measurement region along the first and / or second direction, preferably along the first direction.

[0325] Mil. The method according to any of the preceding method embodiments, wherein performing the measurements comprises performing a set of measurements to measure a set of measurement regions with different positions along the first and / or second direction, preferably along the first direction.

[0326] M12. The method according to the preceding embodiment, wherein the method comprises performing the set of measurements according to a predetermined sequence, wherein the predetermined sequence is preferably cyclical.

[0327] M13. The method according to any of the preceding method embodiments and with the features of embodiments M6 and MIO, wherein changing a position of the measurement region comprises adjusting the direction of the main lobe along the first direction.

[0328] M14. The method according to any of the preceding method embodiments, wherein the method comprises mounting the first transducer set and the second transducer set to a foil system of the vessel.

[0329] M15. The method according to the preceding embodiment, wherein the method comprises mounting the first transducer set to a strut of the foil system and the second transducer set to a hydrofoil element of the foil system.

[0330] M16. The method according to any of the preceding method embodiments and wherein the underwater detecting component comprises the features of embodiment C50, wherein the method comprises determining for each measurement sector whether an object is present therein.

[0331] M17. The method according to any of the preceding method embodiments and wherein the underwater detecting component comprises the features of embodiment C50, wherein the method comprises determining for each measurement sector at least one respective measured distance. M18. The method according to any of the preceding method embodiments, wherein the underwater detecting component comprises the features of embodiment C56.

[0332] M19. The method according to the preceding embodiment, wherein the method comprises controlling the first transducers and the second transducers with the controller.

[0333] M20. The method according to any of the 2 preceding embodiments, wherein the method comprises controlling, with the controller, each of the first transducers independently.

[0334] M21. The method according to any of the 3 preceding embodiments, wherein the method comprises setting with the controller, a phase of the measurement signals for each of the first transducers, independently.

[0335] M22. The method according to any of the 4 preceding embodiments, wherein the method comprises receiving, with the controller and from the second transducers, received signals indicative of the reflections of the measurement signals received by the second transducers and generating, with the controller, object data based on the received signals.

[0336] M23. The method according to the preceding embodiment, wherein the method comprises determining, with the controller and based on the received signals, whether the same object is detected from multiple measurements.

[0337] M24. The method according to the preceding embodiment, wherein the method comprises tracking, with the controller, the at least one object.

[0338] M25. The method according to any of the 2 preceding embodiments, wherein the method comprises predicting, with the controller, at least one trajectory for the at least one object.

[0339] M26. The method according to any of the preceding method embodiments, wherein the underwater detecting component comprises the features of embodiment C68, wherein the method comprises dynamically updating the object map based on each measurement.

[0340] M27. The method according to any of the preceding method embodiments and with the features of embodiment M18, wherein the method comprises generating, with the controller, transmit signals indicative of the measurement signals and providing, with the controller, the transmit signals to the first transducers.

[0341] M28. The method according to any of the preceding method embodiments and with the features of embodiment M22, wherein the method comprises providing the object data to a vessel processing system being external from the underwater detecting component.

[0342] M29. The method according to any of the preceding method embodiments, wherein the method comprises receiving positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system.

[0343] M30. The method according to the preceding embodiment and with the features of embodiment M22, wherein the method comprises generating the object data based on the positioning data.

[0344] M31. The method according to any of the preceding method embodiments, wherein the method comprises generating navigation data for navigating the vessel.

[0345] M32. The method according to the preceding embodiment and with the features of embodiment M22, wherein the navigation data are generated based on the object data.

[0346] M33. The method according to any of the 2 preceding embodiments and with the features of embodiment M29, wherein the navigation data are generated based on the positioning data.

[0347] M34. The method according to any of the 3 preceding embodiments and with the features of embodiment M22 and M29, wherein the navigation data are generated based on the object data and the positioning data, preferably using a sensor fusion technique.

[0348] M35. The method according to any of the preceding method embodiments, wherein the method comprises determining presence of an object based on the measurements.

[0349] M36. The method according to any of the preceding method embodiments and with the features of embodiment M22, wherein the method comprises determining presence of an object based on the object data. M37. The method according to any of the preceding method embodiments and with the features of embodiment M29, wherein the method comprises determining presence of an object based on the positioning data.

[0350] M38. The method according to any of the preceding method embodiments and with the features of embodiment M22 and M29, wherein the method comprises determining presence of an object based on the object data and the positioning data, preferably using a sensor fusion technique.

[0351] M39. The method according to any of the preceding method embodiments and with the features of embodiment M22, wherein the method comprises outputting the object data, preferably to a human operator.

[0352] M40. The method according to any of the preceding method embodiments and with the features of embodiment M31, wherein the method comprises outputting the navigation data, preferably to a human operator.

[0353] M41. The method according to any of the preceding method embodiments, wherein the method comprises outputting an obstacle map depicting obstacle positions with respect to the vessel.

[0354] M42. The method according to any of the preceding method embodiments and with the features of embodiment M22, wherein the method comprises planning a path for the vessel and / or maneuvering the vessel, preferably automatically, based on the object data.

[0355] M43. The method according to any of the preceding method embodiments and with the features of embodiment M22 and M29, wherein the method comprises planning a path for the vessel and / or maneuvering the vessel, preferably automatically, based on the object data and the positioning data.

[0356] M44. The method according to the preceding embodiment, wherein the method comprises planning a path for the vessel and / or maneuvering the vessel using a sensor fusion technique. M45. The method according to any of the preceding method embodiments and with the features of embodiment M31, wherein the method comprises planning a path for the vessel and / or maneuvering the vessel, preferably automatically, based on the navigation data.

[0357] M46. The method according to any of the preceding method embodiments, wherein the method comprises receiving positioning data indicative of a position, orientation and / or movement of the underwater detecting component from a positioning system and controlling a field of view of the underwater detecting component, based on the positioning data.

[0358] M47. The method according to the preceding embodiment, wherein controlling the field of view of the underwater detecting component comprises maintaining the field of view the underwater detecting component at a constat position and / or distance with respect to the vessel.

[0359] M48. The method according to any of the 2 preceding embodiments, wherein controlling the field of view of the underwater detecting component comprises positioning the field of view towards a side of the vessel when it is detected that the vessel is turning towards said side.

[0360] M49. The method according to any of the preceding method embodiments, wherein the underwater detecting component comprises the features of embodiment C56, wherein the method comprises controlling the field of view of the underwater detecting component with the controller.

[0361] M50. The method according to any of the preceding method embodiments, wherein the method comprises operating the underwater detecting component in a first mode wherein the measurement region comprises the water surface and in a second mode wherein the measurement region is positioned towards the bed of the water body wherein the underwater detecting component is submerged.

[0362] M51. The method according to the preceding embodiment, wherein the method comprises using the underwater detecting component in the first mode for detecting floating objects and using the underwater detecting component in the second mode for depth warning and / or for detecting the underwater topography. M52. The method according to any of the 2 preceding embodiments, wherein the method comprises transitioning the underwater detecting component from the first mode to the second mode and / or vice versa.

[0363] Below further underwater detecting components embodiments will be discussed.

[0364] C94. The underwater detecting component according to any of the preceding underwater detecting component embodiments, wherein the underwater detecting component is configured to carry out the method according to any of the preceding method embodiments.

[0365] Below further system embodiments will be discussed.

[0366] S41. The system according to any of the preceding system embodiments, wherein the system is configured to carry out the method according to any of the preceding method embodiments.

[0367] Brief description of the drawings

[0368] Fig. 1 is a schematic of an underwater detecting component;

[0369] Fig. 2 illustrates the underwater detecting component mounted to a foil system;

[0370] Fig. 3 illustrates a vessel comprising a foil system and the underwater detecting component; Fig, 4 is a schematic of a field of view of the underwater detecting component;

[0371] Fig. 5 is a block diagram of a controller of the underwater detecting component;

[0372] Fig. 6 is a block diagram of a receiver module of the controller;

[0373] Fig. 7 is a block diagram depicting the controller, a positioning system and a processing system.

[0374] Detailed description of the drawings

[0375] In the following, exemplary embodiments of the invention will be described, referring to the figures. These examples are provided to give further understanding of the invention, without limiting its scope.

[0376] In the following description, a series of features and / or steps are described. The skilled person will appreciate that unless explicitly required and / or unless required by context, the order of features and steps is not critical for the resulting configuration and its effect. Further, it will be apparent to the skilled person that irrespective of the order of features and steps, the presence or absence of time delay between steps can be present between some or all of the described steps.

[0377] The description of the figures first provides a general overview of embodiments of the present invention, before providing further details of more specific embodiments, features and steps of the exemplary embodiments of the present invention.

[0378] The present invention relates to an underwater detecting component 6, which may use a phased array sonar system. The underwater detecting component 6 may comprise, two one dimensional transducer arrays 7, 9, that may allow simultaneous sending and receiving of ultrasonic pulses. The arrays can be aligned in the form of a "T". The vertical array 7 of N transmitters 70 can allow vertical beam steering via beam forming. The horizontal array 9 can comprise N receivers 90. It will be understood that the vertical array 7 and the horizontal array 9 may comprise different numbers of transmitters and receivers, respectively. This way the field of view can have different dimensions along the first and second directions. Moreover, a higher transducer count can increase resolution in the respective direction and can decrease errors, but can at the same time also increase complexity and size of the underwater detecting component 6. Spatial filtering can be used to detect the horizontal angle of received echoes.

[0379] In the horizontal direction, the entire field of view (FOV) can be scanned at once. Without the need of consecutive scanning, objects can be detected faster and more reliably. This can be particularly advantageous given the relatively low speed of sound (e.g., as compared to electromagnetic detectors).

[0380] The vertical beam forming can be used either to align the beam horizontal to the water surface 11 or to scan vertically to retrieve a 3-dimensional (3D) map in front of the vessel 1. For accurate beam alignment, other vessel sensors, e.g., an inertial measurement unit (IMU), in the vessel ecosystem can be used. The vessel ecosystem may, for example, comprise the positioning system 8.

[0381] The 'T' shaped underwater detecting component 6 can be inserted into the foil system 14. Sensor fusion between the underwater detecting component 6 and other vessel sensors in the vessel ecosystem, such as, a positioning system 8, e.g., an IMU or GPS sensor, can be used to filter noise, such as water waves, and to correct errors in the direction of the detection due to the vessel's movement in roll, pitch and yaw directions.

[0382] The present invention can thus provide low-cost object detection for a vessel and / or for an autonomous control of the vessel.

[0383] Low level signal processing can be done via Field Programmable Gate Arrays (FPGAs). Beam forming on the transmit side and filtering (noise and spatial filtering) on the receive side can be done in programmable logic. For spatial filtering a delay-and-sum algorithm can be used. High level processing can be done on an embedded central processing unit (CPU).

[0384] The underwater detecting component 6 can be connected via CAN, R.S485, and / or Ethernet to the vessel system.

[0385] The underwater detecting component 6 can also be used for depth warning. In such embodiments, having a wide beam angle (i.e., FOV), particularly in the vertical direction, can be advantageous.

[0386] The underwater detecting component 6 can be mounted on the mast or foil and can be submerged while foiling. It can scan an area of approx. 10-100 m in front of the vessel 1. The underwater detecting component 6 can perform measurements with a rate of 1-100 Hz.

[0387] The field of view of the underwater detecting component 6 can be directed towards the front of the vessel 1 and towards the water surface from below. The field of view can comprise an opening angle 30° to each side.

[0388] The underwater detecting component 6 can have several sectors for detecting objects. E.g. it can comprise 5-100 sectors horizontally and 3-20 sectors vertically. In addition, it can output at least one distance per each sector. It will be understood, that multiple distances may be detected for each sector if the difference(s) therebetween are larger than a differentiating threshold. The differentiating threshold can be predefined such that two distances with a difference larger than the differentiating threshold can be differentiated from each other by the underwater detecting component. The differentiating threshold, may for example, depend on the pulse length of the measuring signal.

[0389] Vessel sensors, comprising but not limited to, an IMU, inertial sensors, gyroscopes, (RTK) GPS sensors, radar, ultrasonic sensors and / or pressure sensors can output altitude (i.e., heigh of the vessel), attitude (orientation in roll, pitch and yaw direction) and speed of the vessel. A very simple IMU can also be sufficient. Data indicative of the attitude of the vessel can be utilized for correcting the output of the underwater detecting component 6 to compensate for the movement of the vessel. Data indicative of the altitude of the vessel can be utilized for determining a depth of the underwater detecting component under water. Sensor fusion can be used to combine the output of the underwater detecting component 6 and said other sensor(s) of the vessel 1.

[0390] Moreover, data indicative of the altitude and / or attitude of the vessel can be utilized to automatically control the field of view of the underwater detecting component 6. Controlling the field of view of the underwater detecting component 6 may comprise maintain the field of view at a constant position and / or constant distance with respect to the vessel. Controlling the field of view of the underwater detecting component 6 may, alternatively or additionally, comprise positioning the field of view towards a side of the vessel when it is detected that the vessel is turning towards said side.

[0391] The underwater detecting component 6 may detect an object. For example, it may output coordinates in a relative frame of the vessel 1.

[0392] Each time when an object is detected, it can be output to a dynamic map. Relative position of the object can be transformed to world coordinates based on the vessel's attitude and position provided by IMU, GPS and optionally additional sensors.

[0393] With the movement of the vessel, objects can be seen from different positions / angles. This can be used to increase the likelihood of real object detection and robustness of the detection and to decrease the number of false positives. Optionally, movement of the object can be computed. Herein, statistical maps, a particle filter or similar techniques can be used.

[0394] It can be advantageous to detect objects fast in a dynamic environment limited to an area of interest around the vessel 1. Results can be displayed to human operators, or can be used for automated path planning or emergency maneuvers.

[0395] Referring now to Fig. 1, an embodiment of an underwater detecting component 6 is illustrated.

[0396] The underwater detecting component 6 comprises a first transducer set 7 and a second transducer set 9. They can jointly be referred to as transducer sets 7, 9. The first transducer set 7 comprises first transducers 70 and the second transducer set 9 comprises second transducers 90. The first transducers 70 can be configured to emit measurement signals and the second transducer 90 can be configured to receive reflections of the measurement signals. Thus, the first transducers 70 may be operated as transmitters, whereas the second transducers 90 may be operated as receivers. It will be understood that the first transducers 70 may be transmitters and the second transducers 90 may be receivers, or alternatively, the first transducers and the second transducers 70, 90 may be transceivers and operated as transmitters or receivers respectively.

[0397] The first transducers 70 are arranged along a first axis 75 and the second transducers 90 are arranged along a second axis 95. The first transducers 70 can comprise a first inter-transducer distance 72 and the second transducers 90 can comprise a second inter-transducer distance 92. The first and the second inter-transducer distances 72, 92 can preferably be constant. That is, the first transducers 70 can be uniformly distributed along the first axis 75 and the second transducers 90 can be uniformly distributed along the second axis 95. The first and the second inter-transducer distances 72, 92 can preferably be equal to each other and can further preferably be equal to half the wavelength of the measurement signals.

[0398] In a preferred embodiment, the underwater detecting component 6 can comprise eight first transducers 70 and eight second transducers 90. The frequency of the measurement signals may be 40 kilo Herz. The transmitter voltage can be 150 volts, peak-to-peak. It will be understood that these values are exemplary.

[0399] Fig. 2 depicts the underwater detecting component 6 mounted to a foil system 14. As depicted, the foil system 14 can comprise a strut 16 and a hydrofoil element 18. The strut 16 is typically configured for connecting the hydrofoil element 18 to a hull 12 of a vessel 1 (see Fig. 3). The hydrofoil element 18 is generally configured to generate a lifting force for lifting the vessel 1.

[0400] As illustrated, the underwater detecting component 6 can be easily mounted to the foil system 14 given the similarity in shape between the underwater detecting component 6 and the foil system 14. In particular, both the underwater detecting component 6 and the foil system 14 can comprise a T-shape. The first transducer set 7 can be mounted to the strut 16 and the second transducer set 9 can be mounted to the hydrofoil element 18. Thus, in use, the first axis 95 can be oriented in a vertical direction, whereas the second axis 95 can be oriented in a horizontal direction. In other words, the first axis 75 may be aligned with a longitudinal axis of the strut 16 and the second axis 95 may be aligned with a longitudinal axis of the hydrofoil element 18.

[0401] A data connector 65 can be provided for connecting, for electronic data communication, the underwater detecting component 6 with external devices, such as, with a processing system of the vessel 1.

[0402] Fig. 3 depicts a vessel 1 comprising a hull 12 and the foil system 14 (see also Fig. 2). The foil system 14, as discussed, can comprise a strut 16 and a hydrofoil element 18. Moreover, the underwater detecting component 6 can be mounted to the foil system 14, e.g., as illustrated in Fig. 2.

[0403] As depicted, the underwater detecting component 6 can typically be operated under a water surface 11.

[0404] The underwater detecting component 6 can be operated to detect objects 2, such as, obstacles 2. The underwater detecting component 6 can comprise a field of view 62, as illustrated by the interrupted lines. Moreover, the underwater detecting component 6 can be configured to emit the measurement signals with the first transducers 70 and receive the reflections of the measurement signals with the second transducers 90, for detecting at least one object 2 in a measurement region 64. The measurement region 64 is illustrated in the Figures using hatching.

[0405] The measurement region 64 can be a portion of the field of view 62 or the entire field of view 62. That is, the underwater detecting component 6 can be configured such that during each measurement it can measure its entire field of view 62 or a portion thereof. Typically, the measurement region 64 can be smaller than the field of view 62 in a first direction parallel to the first axis 75 and can comprise the same extension as the field of view 62 in a second direction parallel to the second axis 95. Simply put, the measurement region 64 can typically be smaller than the field of view 62 in the vertical direction and can comprise the same extension as the field of view 62 in the horizontal direction. However, that this is merely exemplary.

[0406] It will be understood that in Fig. 3, the first axis is perpendicular to the water surface 11 and the second axis traverses through the plane of the Figure. Generally, the first axis 75 can be perpendicular to the water surface 11.

[0407] Fig. 4 depicts a more detailed schematic of the field of view 62 of the underwater detecting component 6. For reference, the first axis 75 and the second axis 95 are depicted. That is, the field of view 62 extends along a first direction parallel to the first axis 75 and along a second direction parallel to the second axis 95.

[0408] The measurement region 64 is again illustrated via hatching. In this example, the measurement region 64 comprises the same extension along the second direction as the field of view 62. That is, the underwater detecting component 6 can be configured to measure its entire horizontal field of view in a single measurement. Moreover, in this example, the measurement region 64 can be smaller the field of view 62 along the first direction. It can be advantageous, to increase measurement speed and efficiency, to only focus on an area of interest for detecting objects 2. This can for example be the water surface 11 (e.g., for detecting floating objects or swimmers) or the ground (for depth warning). Thus, the measurement region 64 can comprise an upper or lower portion in the vertical direction of the field of view 62. Alternatively, however, the measurement region 64 may cover the entire field of view 62.

[0409] The field of view 62 may comprise measurement sectors 66. The measurement sectors 66 may be the smallest portion of the field of view 62, for which the underwater detecting component 6 can provide independent information. That is, the size of the measurement sectors 66 can depend on a resolution of the underwater detecting component 6. For each measurement sector 66, the underwater detecting component 6 may provide an indication whether an object 2 is present therein. Alternatively or additionally, for each measurement sector 66, the underwater detecting component 6 may provide at least one measured distance.

[0410] Fig. 5 depicts a block diagram of a controller 200 of the underwater detecting component 6. The controller 200 may be configured to control the first transducer set 7 and the second transducer set 9.

[0411] In particular, the controller 200 can be configured to receive, from the second transducers 90, received signals 214 indicative of the reflections of the measurement signals received by the second transducers 90 and to generate object data 215 based on the received signals 214. The controller 200 may be configured to output the object data 215 to an external device, e.g., using the data connector 65 of the underwater detecting component 6 (see Fig. 2). The data connector 65 may be configured to allow electronic data exchange using a serial communication, massage-based communication, master-slave communication and / or package-based communication. Examples of the data connector 65 include an R.S485 connector, a CAN bus and / or an ethernet connector.

[0412] The controller 200 can be configured to generate transmit signals 212 indicative of the measurement signals and provide the transmit signals 212 to the first transducers 70. This way, the controller 200 can control a phase, frequency and / or amplitude of the measurement signals.

[0413] As depicted, the controller 200 may comprise multiple modules 201-209, which can also be referred to as functional blocks 201-209. Each of the modules 201-209 may be implemented as a hardware component, software component or a combination thereof. Preferably, the controller 200 may comprise different types of hardware components, each configured to implement one or more of the modules 201-209. For example, the controller 200 may comprise field programmable gate arrays (FPGAs), configured to implement one or more of the modules 201-209, preferably modules 201 and 203, which will be discussed further below. The controller 200 may comprise one or more analog and / or mixed-signal circuits, configured to implement one or more of the modules 201-209, preferably modules 202, 204 and 206 discussed further below. The controller 200 may also comprise one or more microprocessors configured to implement one or more of the modules 201-209, preferably module 205. Said one or more microprocessors may be soft processors and / or may be based on a Reduced Instruction Set Computer (RISC) architecture.

[0414] The controller 200 may comprise a processing module 209. The processing module 209 may comprise modules 201 and 203 and further optionally modules 205 and / or 207. The processing module 209 may preferably comprise field programmable gate arrays. Furthermore, each of the modules 201, 203, 205 and 207 may be implemented via the field programmable gate arrays. This can be advantageous as it can provide a fast operation of modules 201, 203, 205 and 207, compared, e.g., to implementing said modules using general-purpose microprocessors.

[0415] Fig. 5 depicts an exemplary arrangement of the modules 201-209. It will be understood that some of the modules 201-209 may be optional and / or may depend on the type of transducers 70, 90 and / or external connectors used. Moreover, it will be understood that some of the modules 201-209 may be implemented via a single module and / or some of the modules 201-209 may be implemented via one or more sub-modules.

[0416] The controller 200 may comprise analog and / or mixed signal circuits 204, 206 for amplifying and / or converting the received signals 214, from the second transducer set 9, to digital signals that can be processed by the controller 200. In particular, the controller 200 may comprise an amplifier 204, such as, a variable gain amplifier 204, for amplifying the received signals 214 received from the second transducer set 9. The amplifier 204 may also be referred to as a receiver amplifier 204. The controller 200 may further comprise an analog-to-digital converter 206 for converting the received signals 214 from an analog to a digital signal 214. In other words, the received signals 214 may be fed from the second transducer set 9 to an amplifier 204 and from the amplifier 204 to an analog-to-digital converter 206. It will be understood that the analog and / or mixed signal circuits 204, 206 for amplifying and / or converting the received signals 214 may be optional and / or may also be part of the second transducer set 9.

[0417] The controller 200 may also comprise an amplifier 202 for amplifying the transmit signals 212 before providing them to the first transducer set 7. The amplifier 202 may also be referred to as a transmitter amplifier 202. Preferably, the amplifier 202 may be a high-voltage amplifier 202. For example, the amplifier 202 may provide a pea k-to- peak voltage of 150 volts. This can increase the maximum measurement distance of the underwater detecting component. It will be understood that the amplifier 202 may be optional and / or may also be part of the first transducer set 7.

[0418] The controller 200 may comprise a receiver module 201, which can be configured to receive the received signals 214 and based thereon to generate the object data 215. Generally, the controller 200 performs processing of the received signals 214 using the receiver module 201. For example, the receiver module 201 can be configured to: determine arrival directions along the second direction of the reflections of the measurement signals; determine one or more distances travelled by the reflections of the measurement signals and / or determine one or more distances to one or more objects.

[0419] The controller 200 may comprise a transmitter module 203, which can be configured to generate the transmit signals 212. The transmitter module 203 may control a phase, amplitude and / or frequency of each measurement signal emitted by each first transducer 70 via the transmit signals 212. The transmitter module 203 may thus perform beam steering of the measurement signals along the first direction using beamforming techniques.

[0420] The controller 200 may comprise a control and data interface module 205. The control and data interface module 205 may be configured to trigger, e.g., via a trigger unit 207, the receiver module 201 and the transmitter module 203. Generally, the control and data interface module 205 may be configured to control the receiver module 201 and the transmitter module 203. For example, the control and data interface module 205 may be configured to execute computer instructions, i.e., a program, and to control the receiver module 201 and the transmitter module 203 according to the computer instructions. The control and data interface module 205 may be configured to receive instructions from an external device (not shown), e.g., from a user device (not shown) and based thereon control the receiver module 201 and the transmitter module 203. For example, the control and data interface module 205 may receive custom computer instructions for adjusting a position of the measurement region 64 (see Figs. 3 and 4).

[0421] The controller 200 may further comprise an application module 208. The application module 208 may comprise one or more hard processors, such as, one or more central processing units. That is, the application module 208 may be configured to receive a computer program and to execute the computer program. The application module 208 and the processing module 209 can be based on different architectures. Preferably, the application module 208 can be configured for general-purpose computing, whereas the processing module 209 can be configured for specific computing. The application module 208 can comprise a fixed hardware architecture, whereas the processing module 209 can comprise a customizable hardware architecture. The application module 208 may be a system-on-chip comprising hard processors, whereas the processing module 209 may be an FPGA with configurable logic.

[0422] The application module 208 can be configured for interfacing the controller 200, in particular, the processing module 209, and more particularly, the control and data interface module 205 with external devices.

[0423] The application module 208 can be configured to process the object data 215 received from the processing module 209 and further supplement the object data 215 based thereon. In particular, the application module 208 may be configured to perform high-level processing of the object data 215. For example, the application module 208 may be configured to detect an object, calculate a likelihood of the presence of an object, detect a position of an object and / or predict a trajectory of an object. Said information determined by the application module 208 may be added to the object data 215. That is, the object data 215 may be supplemented with further information before being output by the application module 208.

[0424] That is, simple processing of the received signals 214 can be performed by the processing module 209, which can be preferably implemented using FPGAs. This can provide a particularly fast processing focused on specific tasks. More complex processing, i.e., high-level processing, can be performed by the application module 208, which can be implemented using microprocessors executing a computer program. The application module 208 may provide flexibility in programming. Thus, using a hybrid solution (i.e., a mix between general purpose computing and programmable logic) to generate the object data 215 can provide a good tradeoff between processing customization and speed.

[0425] Fig. 6 depicts a block diagram of the receiver module 201. As explained, the receiver module 201 is configured to receive received signals 214 from the second transducer array 9 and to generate based thereon object data 215. The receiver module 201 can be configured for spatial filtering and / or direction of arrival (DOA) estimation using received signals 214 from the second transducer set 9. Each second transducer 90 of the second transducer set 9 can receive reflections of the measurement signals and generate received signals 214 that may contain noise and information about the reflection surface that reflected the measurement signals. The receiver module 201 may receive the received signals 214, either directly from the second transducer set 9 or via modules 204 and 206 (see Fig. 5).

[0426] The receiver module 201 may comprise a shift array 222 configured to delay the received signals 214. In particular, the received signal 214 from each second transducer 90 can be delayed based on targeted directions to generate, for each targeted direction, a respective set of delayed received signals 2141. In the figure, characters "a" to "c" are appended to the numeral 2141 to differentiate between the different sets of delayed received signals 2141. The shift array 222 can thus align the received signals 214 from different second transducers 90 in time to enhance the signal from a targeted direction. The shift array 222 can be configured to delay the received signals 214 accordingly for a plurality of targeted directions. The shift array 222 can thus output, for each targeted direction form a plurality of targeted directions, a respective set of delayed received signals 2141, one for each of the targeted directions.

[0427] Each set of delayed received signals 2141 can be provided to a respective spatial filter 224. In the figure, characters "a" to "c" are appended to the numeral 224 to differentiate between the different spatial filters 224. The receiver module 201 can comprise a respective spatial filter 224 for each of the targeted directions. Each of the spatial filters 224 can be configured to apply weights and summing to the respective set of delayed received signals 2141 to enhance the desired signal while suppressing other, such as, suppressing noise or signals from directions other than the targeted direction corresponding to that spatial filter 224. Each spatial filter 224 can output a respective summed signal 2142. In the figure, characters "a" to "c" are appended to the numeral 2142 to differentiate between the different summed signals 2142. Each summed signals 2142 comprises information about a respective targeted direction.

[0428] In other words, the receiver module 201 is configured to apply multiple spatial filters in parallel to the received signals 214. Each of the summed signals 2142 can be provided to a peak detector 226. The peak detector 226 can be configured to identify peaks in each of the summed signals 2142, said peaks being indicative of reflections of the measurement signal being received from the targeted direction that the respective summed signal 2142 corresponds to. That is, each summed signal 2142 corresponds to a respective targeted direction. If a peak is detected in a summed signal 2142, then this can indicate that a reflection of the measurement signal is received from the targeted direction corresponding to that summed signal 2142.

[0429] Based thereon, the object data 215 can be generated. The object data 215 can comprise an object map (e.g., an acoustic map) indicating for each targeted direction an indication on the presence of an object and / or at least one respective measured distance.

[0430] Each targeted direction can correspond to a respective measurement sector 66 (see Fig. 4).

[0431] Fig. 7 is a block diagram depicting the controller 200, a positioning system 8 and a vessel processing system 300.

[0432] As explained, the controller 200 may generate object data 215. The object data 215 may be provided to the vessel processing system 300.

[0433] The positioning system 8 is configured to generate positioning data 85 indicative of a position, orientation and / or movement of the underwater detecting component 6. The positioning system may, for example, be configured to generate positioning data 85 indicative of a position, orientation and / or movement of the vessel 8. However, it will be understood that based on a position, orientation and / or movement of the vessel 8, the position, orientation and / or movement of the underwater detecting component 6 can be determined based on the relative position of the underwater detecting component 6 and the vessel 8. The latter is generally known given that the underwater detecting component 6 can, in use, be fixed to the vessel 8.

[0434] The positioning system 8 can be configured to provide the positioning data 85 to the controller 200. The controller 200 may utilize the positioning data 85 to generate and / or supplement the object data 215. The vessel processing system 300 may be configured to generate navigation data 305 for the vessel. The vessel positioning system may receive the object data 215 and the positioning data 85. The vessel processing system 300 may be configured to utilize sensor fusion techniques to combine the object data 215 and the positioning data 85, to thereby generate navigation data 305. This can be particularly advantageous for increasing accuracy of object detection.

[0435] While the present invention has been described with reference to particular embodiments, it is to be understood that these embodiments do not limit the scope of the invention, but merely serve to illustrate the invention.

[0436] Whenever a relative term, such as "about", "substantially" or "approximately" is used in this specification, such a term should also be construed to also include the exact term. That is, e.g., "substantially straight" should be construed to also include "(exactly) straight".

[0437] Whenever steps were recited in the above or also in the appended claims, it should be noted that the order in which the steps are recited in this text may be accidental. That is, unless otherwise specified or unless clear to the skilled person, the order in which steps are recited may be accidental. That is, when the present document states, e.g., that a method comprises steps (A) and (B), this does not necessarily mean that step (A) precedes step (B), but it is also possible that step (A) is performed (at least partly) simultaneously with step (B) or that step (B) precedes step (A). Furthermore, when a step (X) is said to precede another step (Z), this does not imply that there is no step between steps (X) and (Z). That is, step (X) preceding step (Z) encompasses the situation that step (X) is performed directly before step (Z), but also the situation that (X) is performed before one or more steps (Yl), ..., followed by step (Z). Corresponding considerations apply when terms like "after" or "before" are used.

[0438] While in the above, preferred embodiments have been described with reference to the accompanying drawings, the skilled person will understand that these embodiments were provided for illustrative purpose only and should by no means be construed to limit the scope of the present invention, which is defined by the claims. List of elements

[0439] 1 - vessel 200 - controller

[0440] 11 - water surface 201 - receiver module

[0441] 12 - hull 202 - transmitter amplifier

[0442] 14 - foil system 203 - transmitter module

[0443] 16 - strut 204 - receiver amplifier

[0444] 18 - hydrofoil element 205 - control and data interface module 2 - object 206 - analog-to-digital converter 6 - underwater detecting component 207 - trigger module

[0445] 62 - field of view 208 - application module

[0446] 64 - measurement region 209 - processing module

[0447] 66 - measurement sector 212 - transmit signals

[0448] 65 - data connector 214 - received signals

[0449] 7 - first transducer set 222 - shift array

[0450] 70 - first transducers 224 - spatial filters

[0451] 72 - first inter-transducer distance 226 - peak detector

[0452] 75 - first axis 2141 - set of delayed received signals 9 - second transducer set 2142 - summed signals

[0453] 90 - second transducers 8 - positioning system

[0454] 92 - second inter-transducer distance 85 - positioning data

[0455] 95 - second axis 300 - vessel processing system 305 - navigation data

Claims

59Claims1. An underwater detecting component for a vessel comprising:a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals;a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals;wherein the first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction; andwherein the underwater detecting component is configured to perform measurements; wherein for each measurement the underwater detecting component is configured to emit the measurement signals with the first transducers and receive the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region;wherein the underwater detecting component is configured, in use, to be operated under a water surface.

2. The underwater detecting component according to the preceding claim, wherein a field of view of the underwater detecting component includes the water surface.

3. The underwater detecting component according to any of the preceding claims, wherein the first transducers are configured to emit the measurement signals according to a radiation pattern comprising a main lobe and wherein the first transducers are configured to allow adjusting a direction of the main lobe along the first direction; and wherein the underwater detecting component is configured such that a position of the measurement region is changeable along the first direction.

4. The underwater detecting component according to any of the preceding claims, wherein each measurement region and a field of view of the underwater detecting component comprise the same extension in the second direction; andwherein each measurement region is smaller than a field of view of the underwater detecting component in the first direction.

605. The underwater detecting component according to any of the preceding claims, wherein the underwater detecting component is configured to perform a set of measurements to measure a set of measurement regions with different positions along the first direction; andwherein the underwater detecting component is configured to perform the set of measurements according to a predetermined sequence.

6. The underwater detecting component according to any of the preceding claims, wherein the first axis and the second axis are perpendicular and optionally with a tolerance of up to 10 degrees from perpendicularity;wherein the first axis is perpendicular to the water surface and the second axis is parallel to the water surface.

7. The underwater detecting component according to any of the preceding claims, wherein, in use, the first transducers are arranged between the water surface and the second axis andwherein the second transducers are arranged on two sides of the first axis.

8. The underwater detecting component according to any of the preceding claims, wherein the first transducer set and the second transducer set are configured to be mounted to a foil system of the vessel; andwherein the first transducer set is mounted to a strut of the foil system and the second transducer set is mounted to a hydrofoil element of the foil system.

9. The underwater detecting component according to any of the preceding claims, wherein the measurement signals are ultrasonic sound waves.

10. The underwater detecting component according to any of the preceding claims, wherein the underwater detecting component comprises a controller;wherein the controller is configured to receive, from the second transducers, received signals indicative of the reflections of the measurement signals received by the second transducers and to generate object data based on the received signals; andwherein the controller is configured to generate transmit signals indicative of the measurement signals and provide the transmit signals to the first transducers.6111. A system comprisingan underwater detecting component for a vessel, said underwater detecting component comprising:a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals;a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals;wherein the first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction; andwherein the underwater detecting component is configured to perform measurements;wherein for each measurement the underwater detecting component is configured to emit the measurement signals with the first transducers and receive the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region;wherein the system further comprises a foil system for the vessel, said foil system comprising a hydrofoil element and a strut for connecting the hydrofoil element to a hull of the vessel;wherein the first transducer set and the second transducer set are configured to be mounted to the foil system.

12. The system according to the preceding claim, wherein the system further comprises the vessel.

13. The system according to any of the 2 preceding claims,wherein the system further comprises a positioning system configured to generate positioning data indicative of a position, orientation and / or movement of the underwater detecting component;wherein the system further comprises a vessel processing system;wherein the vessel processing system is configured to generate navigation data for navigating the vessel;wherein the underwater detecting component comprises a controller, wherein the controller is configured to receive, from the second transducers, received signals indicative of62the reflections of the measurement signals received by the second transducers and to generate object data based on the received signals;wherein the vessel processing system is configured to receive the object data; wherein the vessel processing system is configured to receive the positioning data; andwherein the vessel processing system is configured to generate the navigation data based on the object data and the positioning data.

14. The system according to the preceding claim, wherein the vessel processing system is configured to plan a path for the vessel and / or maneuver the vessel.

15. A method comprising:providing an underwater detecting component for a vessel, the underwater detecting component comprising:a first transducer set comprising a plurality of first transducers arranged along a first axis, wherein the first transducers are configured to emit measurement signals;a second transducer set comprising a plurality of second transducers arranged along a second axis, wherein the second transducers are configured to receive reflections of the measurement signals;wherein the first axis is oriented in a first direction and the second axis is oriented in a second direction different from the first direction;performing with the underwater detecting component measurements, wherein performing each measurement comprises emitting the measurement signals with the first transducers and receiving the reflections of the measurement signals with the second transducers, for detecting at least one object in a measurement region.

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