WO2012068425A1

WO2012068425A1 - Automatic docking system

Info

Publication number: WO2012068425A1
Application number: PCT/US2011/061292
Authority: WO
Inventors: Maxwell Tyers
Original assignee: Maxwell Tyers
Priority date: 2010-11-19
Filing date: 2011-11-18
Publication date: 2012-05-24
Also published as: US20120129410A1

Abstract

A programmed control uses short distance radar sensor information to activate thrusters and main drive propeller to move a vessel sideways up to a set distance away from a dock or external structure and maintain that distance including lateral position to the dock or external structure automatically with no human intervention.

Description

AUTOMATIC DOCKING SYSTEM

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and takes the benefit of United States Patent Application No. 12/950,990 filed on November 19, 2010, the contents of which are hereby incorporated by reference.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention relates to ship collision avoidance systems and particularly to an automatic docking system which comprises a plurality of sensors which detect the distance between the dock and the vessel, the distance information provides feedback to data processors for the thrusters and main drive to drive the vessel sideways, fore and aft toward the dock at an appropriate speed and stop when the desired distance from the dock is reached and maintain the distance maintained. Description of the Related Prior Art

Docking operations of large vessels is a precision operation which may cause damage to the vessel or the dock if not strictly carried out. Maintaining the final position of the vessel requires the aid of multiple ropes and buffers. Dangerous weather conditions such as wind, currents and darkness, normally increase the risk associated with the docking operation.

Previous docking systems have required additional aids to assist in measuring the affects of these variables in order to provide visual aids to assist a skilled operator to manually dock the ship. The docking operation normally requires a skilled pilot and many deck hands to assist with docking. Furthermore, the larger a vessel, the greater the risk that exists, resulting in the greater the need for the application of skill and extra deck hands. As such, there is no prior art reference which adequately solves all the inherent and sometimes extraordinary problems associated with docking a vessel

U.S. Patent #6,677,889, issued January 13, 2004 to Van

Rees et al, provides an auto-docking system that can assist an operator in docking a ship. The auto-docking system provides visual aids with a close in radar system and a secondary propulsion system that is under control of a docking processor.

U.S. Patent #7,021,231, issued April 4, 2006 to Smart, is for a system configured to auto pilot and dock automatically a vessel, the system comprising: one or more laser or ultrasonic distance detectors: at least one extendable arm, the arm including attachment elements located at a far end thereof; and a control system configured to activate the arm and attachment elements to link with a dockside. The invention provides a method and system for auto piloting and docking automatically a vessel .

U.S. Patent #6,978,729, issued December 27, 2005 to Bertetti et al, claims a control system for boats. A boat has installed therein a primary propulsion system to produce a thrust at least in the longitudinal direction, manual controls for controlling the primary propulsion system, a transverse propulsion system for producing a transverse thrust, and a joystick control for controlling the primary and transverse propulsion systems for navigation at slow speed or in docking maneuvers. An electronic control unit controls the propulsion systems and receives information on the instantaneous speed of the boat and on the instantaneous distance between the boat and an obstacle such as the coast, the bottom or floating or half- submerged bodies. The electronic unit is so arranged that when the boat is located at a distance from an obstacle less than a predetermined distance it controls the propulsion systems to reduce the speed of the boat to below a predetermined limit, disables the manual controls of the primary propulsion system and enables the joystick control.

U.S. Patent #7,561,886, issued July 14, 2009 to

Gonring et al, indicates a method by which a position of a marine vessel can be determined relative to a stationary object, such as a dock. Two position sensors are attached to a marine vessel and a microprocessor, onboard the marine vessel, computes various distances and angular relationships between the position sensors on the marine vessel and stationary transponders attached to the fixed device, such as a dock. The various dimensions and angular relationships allow a complete determination regarding the location and attitude of a marine vessel relative to the dock. This information can then be used by a maneuvering program to cause the marine vessel to be berthed at a position proximate the dock. U.S. Patent Application #20080289558, published November 27, 2008 by Montgomery, describes a laser radar based profile scanner for locating a target zone on a profile of a vessel comprising an emitter adapted to progressively or instantaneously radiate towards the vessel; a receiver providing a signal indicative of radiation incident thereon; a controller or processor including stored instructions, for energizing the emitter and receiving the signal, and adapted to determine the vertical location of the target zone relative to scanner.

U.S. Patent Application #20080033603, published February 7, 2008 by Gensler et al, claims a system for automatically bringing a motor vehicle into a target position, having a sensor system and an analyzing unit for determining the position of the motor vehicle relative to the target position as well as devices for planning a collision-free drive from the current position to the target position, and devices for implementing the planned drive, a first part of the sensor system is arranged at or in the motor vehicle, and a second part of the sensor system is arranged in a stationary manner in a defined position close to the target position. It is mentioned that the invention may be used for the automatic docking of a ship can be implemented a defined position and location with respect to a quay wall.

U.S. Patent #6,707,414, issued March 16, 2004 to Van Rees et al, concerns a docking information system disposed on a ship which provides navigational information to the operator of the ship. The system includes a short range radar system and a display to provide a range between the ship and a dock or an obstacle and, optionally, a relative velocity between the ship and the dock or the obstacle.

U.S. Patent #7,315,274, issued January 1, 2008 to

Fossum, puts forth a method for determining the relative position between two or more objects in a marine environment, including waterways, of which at least one object can be maneuvered relative to one or more other objects. At least one interrogator is arranged on one or more of the objects and sends a radio wave signal to at least one transponder arranged on one or more of the other objects. The novel method is the use of a FMCW radar in the interrogator, the use of the transponders for including identity tags into the signals to be reflected to the interrogator, and attitude determination. A system for this determination is also described. U.S. Patent #7, 389, 735, issued June 24, 2008 to Kaji et al, discloses an apparatus for supporting docking of a marine vessel which includes a distance measuring unit that measures a distance between the marine vessel and a candidate docking site, a distance measurement controlling unit which controls the distance measuring unit to measure distances between the marine vessel and at least three measurement points defined around the candidate docking site, a configuration evaluating unit which evaluates the configuration of the candidate docking site based on the distances between the marine vessel and the at least three measurement points, and a docking suitability judging unit which judges, based on the result of the evaluation, whether or not the candidate docking site is suitable for docking of the marine vessel.

U.S. Patent #6,995,662, issued February 7, 2006 to Wortsmith, describes a vehicle positioning apparatus which is adaptable for the guidance of a vehicle into a limited space, such as in the case of a boat approaching a dock, slip, or trailer. The vehicle includes two emitters, producing two images reflected to the operator of the vehicle. The emitters are spaced from each other in such a manner that the operator may determine direction, orientation, and other critical parameters of the vehicle during approach to the limited space by viewing of the reflected images. Targets may be employed to enhance the image seen by the operator.

U.S. Patent #5,274,378, issued December 28, 1993 to

O'Conner, is for a relative velocity indicator system for assistance in the docking of vessels uses a radar sensor providing a relative velocity signal indicative of the relative velocity between a ship and a reference, such as a dock. A wireless transmitter associated with the radar sensor receives said relative velocity signal and transmits a signal indicative of said relative velocity signal. A portable receiver and indicator unit carried by the captain of the vessel has a receiver for receiving the transmitted signal and an indicator arranged to receive, from said receiver, a receiver signal indicative of the transmitted signal and, thereby, of the relative velocity signal for indicating the relative velocity between ship and reference .

U.S. Patent #5,432,515, issued July 11, 1995 to

O'Conner, provides a docking information system for assistance in the docking of vessels which uses sensors providing information indicative of the relationship between a ship and a reference, such as a dock, a coast line, a river bank, docks, bends and docking areas. A computer coordinates the information. A wireless transmitter associated with the computer transmits signals indicative of the information. A portable receiver and indicator carried by the captain of the vessel has a receiver for receiving the transmitted signals and an indicator screen to display the information. The remote receivers also include fixed monitors on the ship and on shore, and telephones on the ship which communicate with the computer and into the telephone link with shore-based communications .

U.S. Patent #3,690,767, issued September 12, 1972 to Missio et al, illustrates a docking system for large ocean- going vessels, which comprises a laser pulse range radar system having a laser transmitter and receiver, a retroreflector , and receiving and transmitting optics. Two such systems are disposed on a dock. The retroreflectors are disposed on the bow and stern of a vessel. The laser systems share a time interval meter, a computer, and a display panel. The lasers track the retroreflectors as the ship approaches the dock, and the time interval between the transmitted and received pulses is measured. Computations are made and the velocity of the approaching vessel, its distance from the dock, and the vessel position with reference to the dock are continually displayed. This information is then transmitted to the ship's captain.

Two U.S. Patents, #6, 064, 330 issued May 16, 2000 and

#5, 781, 147 issued July 14, 1998 to Elliott et al, show a fog piercing apparatus and method for accurately determining a target distance in adverse weather conditions utilizing both LASER and RADAR. The radar signals are used to determine an approximate range which is then used as a gating window for the determination of which laser reflection is from the actual target as opposed to a reflection from the atmospheric interference. The method basically comprises the steps of initiating a radar pulse in the direction of a target and receiving a reflection, transmitting a laser signal and receiving a plurality of reflections, determining an approximate range based on the radar signals, and using this approximate range to ascertain which of the laser reflections is from the target. This determination is preferably made by generating a gating signal and gate width from the radar signals and passing the set of laser range signals through the gate to eliminate the false signals and select the signal that survives the gate as the accurate target range.

U.S. Patent #4,510,496, issued April 9, 1985 to Ross, claims a docking system for positioning a vehicle relative to a selective location which employs a baseband communication link between the vehicle and the selected location. Transmitters located at specific points at the selective location are activated upon command from the docking vehicle and synchronized with reference signals radiated therefrom. Time delays between the arrival of each signal radiated by the transmitter and the initiation of a reference signal are determined to establish measures to the different points at the selected location. These measures are then processed to provide relative positioning information.

U.S. Patent #4,216,538, issued August 5, 1980 to Tomlinson et al, describes a navigation aid for determining berthing data which comprises distance detecting units embodying sonar transducers which are spaced apart along the length of a jetty a short distance behind the berthing line. The units are operative to provide signals indicative of the distance from the berthing line of correspondingly spaced sections of the ship, and a microcomputer selects two out of three of these signals and processes them to determine the distance from the berthing line of nominal bow and stern sections of the ship, the nominal measuring points being different from the actual measuring points at which the transducers are positioned. The microcomputer also processes the selected signals to determine the velocity of the bow and stern sections relative to the berthing line, and controls a jetty display of the determined distance and velocity data in addition to local and remote indications/recordal thereof.

U.S. Patent #3, 673, 553, issued June 27, 1972 to Miura et al, discloses a measuring instrument for piloting a ship for docking which is of the type that the parallel distance between the ship and a dock or pier and her approaching or leaving speed are measured on the side of the dock or pier and the measured results are reported to the ship to control her direction and speed so as to secure safety in the docking operation.

U.S. Patent #3,754,247, issued August 21, 1973 to Hansford, concerns a display apparatus which produces a display of a ship, a line representing an intended berth and indicators whose separation from the berth marker line represents the deviation of the closing rate of an associated part of the ship from a value determined by a function generator which generates an optimum function from signals representing the distance of the part of the ship from the berth. Radar is used to provide signals for operating the display

U.S. Patent #3,772,693, issued November 13, 1973 to Allard et al, illustrates a system for assisting the berthing of large ships measures their range and aspect relative to the berth and includes two master radars on the ship and two radar transponders at the berth and means for measuring the four ranges between each master radar and each transponder. Alternatively the master radars may be at the berth and the radar transponders on the ship.

U.S. Patent #3,707,717, issued December 26, 1972 to Frielinghaus , is for a system for generating correction command signals relative to the berthing velocity profile of a vehicle in approach of a docking position. A Doppler radar system including a radar transceiver projects signals between the docking position and the vehicle and responding generates Doppler shift frequency signals indicative of the velocity of the vehicle and the relative displacement thereof. A radar counter having preset initial counts stored therein indicative of anticipated initial berthing conditions, responds to the frequency shift signals by counting down from the initial counts in accordance with the Doppler shift. Means is included for updating the radar counter in accordance with actual conditions and includes a sonic detector which periodically projects sonic signals between the vehicle and the docking position and respondingly generates corrected count signals in accordance with the reflected sonic energy, indicative of actual distance of the vehicle to the docking position. Means is utilized which periodically transfers the corrected count signals to the radar counter, correcting for errors between actual and preset initial conditions. A velocity profile generator responds to the radar counter output and generates a programmed desired berthing velocity profile which a comparator responds to the velocity profile generator and the counter for generating command signals indicative of any discrepancy between the actual and desired vehicle berthing profile.

Therefore, the instant system and accompanying method of using it is a programmable system for fully automatically docking a vessel which requires no human intervention and operates effectively in adverse conditions with no need for highly skilled pilots and extra deck hands while eliminating the risk of damage to the vessel or dock.

SUMMARY OF THE INVENTION

The primary object of the present invention is to provide a programmable processor control unit ("PCU") for automatically docking a vessel which requires no human intervention and operates effectively in adverse conditions with no need for highly skilled pilots and extra deck hands while eliminating the risk of damage to the vessel or dock so that the vessel automatically moves sideways towards a dock and maintains a predetermined distance from a dock eliminating damage to the vessel and a dock.

Another object of the present invention is to maintain the final position of the water vessel without the aid of multiple ropes and buffers indefinitely while a marine vessel automatic docking ("MVAD") and processor control unit of the present invention is in operation.

A further object of the present invention is offering an enormous assistance in dangerous weather conditions such as wind, currents and darkness.

An additional object of the present invention is providing a self-operating control system for docking so that vessel handling skills or experience is not necessary. One more object of the present invention is elimination of extra deck hands normally required to assist with docking.

Yet another object of the present invention is to provide a continual real time monitoring and controlling program to enable the water vessel to remain at a pre^¬ selected distance alongside another stationary object, including a dock.

Still another object of the present invention is providing a universal monitoring and control system to enable efficient operation regardless of the length of the water vessel.

In brief, the Marine Vessel Automated Docking System (MVAD-PCU) of the present invention, once engaged is completely automatic, controlling precise location of marine vessel in relation to dock or object, thus completely overcoming all prevailing elements such as wind or currents with no human operator involvement required at all .

In one embodiment, the automatic docking system is controlled from a digital touch control panel which displays various functions. The operation of the automatic docking system is initiated by selecting the required function on the control panel. Furthermore, the automatic docking system allows for the final position of the marine vessel in relation to the position of the external structure by adjusting the distance through selecting the plus or minus switch on the control panel to achieve the desired number of feet, (i.e. three feet to forty feet).

Additionally, in one embodiment, the control panel is coupled to the MVAD PCU and relays the selected functions to a processor control unit, which subsequently initiates the functions to meet the various selections made on the control panel. In yet another embodiment, the processor control unit possesses a minimum default setting of three feet after each use. In one embodiment, the operation of the automatic docking system may occur as follows:

1) Approach the dock and select the "ON" switch on the control panel;

2) Select the desired clearance between the parked vessels hull side and the dock by selecting the plus or minus switch on the control panel; 3) Stop the marine vessel forty feet or less from the dock or external structure in a parallel orientation to the dock or external structure;

4) Select a port or starboard switch on the control panel and the processor control unit to commence operation and engage the drive systems as required;

5) The marine vessel will automatically move sideways to the dock or external structure at a programed closing rate speed of one foot every two seconds towards the dock regardless of normal wind or ocean currents; and

6) When the marine vessel is approximately ten feet from the pre-set distance from the dock, the control panels programmed setting closing rate of speed diminishes to zero, stopping and remaining at the location that was programmed by the control panel as long as the automatic docking system is operating.

In one embodiment, if either the front or rear distance sensing transducers and do not detect a dock or external structure within sixty feet adjacent to the marine vessel hull, the processor control unit is programmed not to initiate operation. If the marine vessel is secured to the dock the "OFF" switch may be selected on the control panel and the automatic docking system ceases to operate.

An advantage of the present invention is that no operator skill is required to carry out the docking operation .

Another advantage of the present invention is that is saves time in docking operations.

One more advantage of the present invention is that it saves labor during the docking process.

An additional advantage of the present invention is that is saves damage to the dock.

A further advantage of the present invention is that it saves damage to the water vessel.

BRIEF DESCRIPTION OF THE

SEVERAL VIEWS OF THE DRAWINGS

These and other details of my invention will be described in connection with the accompanying drawings, which are furnished only by way of illustration and not in limitation of the invention, and in which drawings:

FIG. 1 is a diagrammatic view of the completely automatic docking system of the present invention showing a plurality of transducers for both port and starboard and both a bow thruster and a stern thruster and a main drive.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In FIG. 1, a completely automatic docking system (10) of integrated interactive proximity sensing feedback and automatic control of water vessel positioning for a marine vessel requires no human operator after setting the system in operation.

In FIG. 1, the system comprises at least one means (40P) (port) and (40S) (starboard) transducers for sensing distance between at least two spaced fore locations on each side of a hull (60) of a marine vessel and an external structure (70), such as a dock or another vessel that the marine vessel is approaching for the purpose of docking the marine vessel adjacent to the external structure, another vessel or dock.

The means for determining distance preferably comprises three distance sensing transducers, comprising a fore transducer (40) for sensing a distance between the fore position on the side of the hull (60) and the external object (70), and an aft transducer (44) for sensing a distance between an aft position on the side of the hull (60) and the external object (70), and a midship transducer (43) for establishing a lateral position on the side of the hull (60)and the external object (70). While any means for sensing distance may be used, examples of usable means for sensing distance comprise short distance radar to one hundred feet. The means for propelling the vessel preferably comprises a bow thruster (51) and a stern thruster (52) for moving the side of the hull of the marine vessel (60) into alignment with the external structure (70) and maintain the side of the hull (60) of the marine vessel a set distance from the external structure (70). Furthermore, a bow thruster (51), a stern thruster (52) and drive propeller may all be used in the docking process.

A programmed automatic electronic control unit (30) comprises an automatic processor operating in real time to communicate between each of the transducers and each of the propulsion elements independently. The port bank of transducers means (40P) is used to bring the port side of the vessel (60) up to the external structure (70) and the starboard bank of transducers means (40S) is used to bring the starboard side of the vessel up to the external structure (70). The bow transducer (42) sends a wireless transmission with real time bow to external structure (70) distance measurements via transducer transmitting antenna (41A) to the bow information receiving antenna (31A) and the processor PCU control unit (30) controls the bow thruster (51) in response to the bow to external structure (70) distance information.

The stern distance transducer (44) sends a wireless transmission with real time stern to external structure (70) distance measurements via transducer transmitting antenna (41C) to the stern information transducer antenna (31C) and the processor PCU control unit (30) controls the stern thruster (52) in response to the stern to external structure 70 distance information.

The lateral distance transducer (43) in midship records wireless transmissions with real time vessel to external structure (70) lateral distance information via transducer transmitting antenna (41B) to processor receiving antenna (31B) and the processor PCU control unit (30) controls actuators which engage the forward/reverse drive (62) to operate the main drive (63) maintaining the recorded lateral position of vessel hull (60) relative to the dock (70) . The processor PCU control unit (30) automatically controls the propulsion elements to position the side of the hull (60) of the marine vessel adjacent to the external structure (70) at a preset distance from the external structure and to maintain the side of the hull of the marine vessel at the set distance automatically with no human intervention required, thereby providing a completely automatic docking system of integrated interactive proximity obtaining feedback and automatic control of water vessel positioning for a marine vessel which requires no human operator after setting the system in operation.

By activating the plus or minus switch on the digital control panel (20) comprises the means for inputting distance settings (23), and by selecting + or - such as 4 feet between the hull (60) and the external object (70), into the programmed automatic electronic processor PCU control (30). The system can be engaged by selecting "On" (21) on the digital control (20) and disengaged by selecting "Off" (22) on the digital control panel (20).

FIG. 1 reference points on the external structure or dock (70) are recorded by transducer (43) and information is transmitted from the transmission antennas (41B) to the data processor PCU (30) which is memorized. If the vessel (60) moves forward or aft more than 12 inches the information is transmitted from the lateral transducer (43) to the data processor control PCU (30) which processes the information and engages actuators which gently engage forward or reverse drive (62) with actuators engaging the main drive as required to maintain the vessel's lateral location relative to the external structure or dock (70).

It is understood that the preceding description is given merely by way of illustration and not in limitation of the invention and that various modifications may be made thereto without departing from the spirit of the invention as claimed.

Claims

1. An automated docking system for a marine vessel comprising :

a plurality of port distance sensing transducers, wherein each port distance sensing transducer is disposed to determine the distance between a port side of a hull of a marine vessel and an external structure;

a plurality of starboard distance sensing transducers wherein each starboard distance sensing transducer is disposed to determine the distance between a starboard side of a hull of a marine vessel and an external structure;

a programmed control unit, wherein the processor control unit further comprises an automated processor in electronic communication with the port and starboard distance sensing transducers;

a plurality of antennas, wherein at least one antenna is connected to each distance sensing transducer and each antenna is in electronic communication with the processor control unit;

a plurality of propulsion elements, wherein the propulsion elements are in electronic communication with the processor control unit; and a control panel, wherein the control panel is coupled with the processor control unit to initiate the programmable functions of the system.

2. The automatic docking system of claim 1, wherein the plurality of port distance sensing transducers comprise: a bow transducer, wherein the bow transducer is disposed to sense the distance between a bow position of a hull and the external structure;

a stern transducer, wherein the stern transducer is disposed to sense the distance between a stern position of a hull and the external structure; and

a midship transducer, wherein the midship transducer is disposed to sense the distance between a midship position of a hull and the external structure.

3. The automatic docking system of claim lwherein the plurality of starboard distance sensing transducers comprise :

a bow transducer, wherein the bow transducer is disposed to sense the distance between a bow position of a hull and the external structure; a stern transducer, wherein the stern transducer is disposed to sense the distance between a stern position of a hull and the external structure; and

4. The automatic docking system of claim 1 wherein the processor control unit comprises an automatic processor operating in real time to receive feedback from the plurality of port and starboard distance sensing transducers to allow for the activation of the plurality of propulsion elements in order to position and maintain the marine vessel at a predetermined distance from the external structure.

5. The automatic docking system of claim 1, wherein the processor control unit possesses a plurality of programmed defaults selected from the group consisting of: a minimum distance between the marine vessel and the external structure, a variable speed rates of operation, and detecting the presence of the external structure.

6. The automatic docking system of claim 5, wherein the processor control unit is coupled to a plurality of thruster controls providing the ability for the processor control unit to automatically operate the thrusters to achieve the programmed functions selected on the control panel.

7. The automatic docking system of claim 6, wherein the plurality of thrusters is coupled to a main drive of the marine vessel in combination with a plurality of actuators and is controlled by the processor control to execute the programmed functions selected on the control panel.

8. The automatic docking system of claim 1 wherein the plurality of propulsion elements comprise: a bow thruster disposed to move the bow of the marine vessel relative to the external structure upon receiving a plurality of control information from the processor control unit based on the bow distance transducer information;

a stern thruster moving the stern of the marine vessel relative to the external structure upon receiving control information from the processor control unit based on the stern distance transducer information; and wherein the bow and stern thrusters are disposed to maintain the proximal side of the hull of the marine vessel adjacent to the external structure at a distance selected from the external structure initiated on the control panel.

9. The automatic docking system of claim 1 wherein the plurality of propulsion elements further comprises:

a main drive propeller, wherein the main drive propeller is disposed to move the marine vessel in a lateral direction in relation to the external structure via the processor control unit with a plurality of actuators controlling a forward/reverse drive for the main drive propeller based on the port and starboard distance sensing transducers .

10. The automatic docking system of claim 1, wherein the processor control unit is disposed to receive a plurality of operations from the control panel selected from the group consisting of: supplying power to the processor control unit by selecting an on switch, disconnecting power to the processor control unit by selecting an off switch, selecting a distance between the marine vessel and the external structure to reduce the plurality of propulsion elements, and selecting a direction in relation to the external structure for the marine vessel to engage in docking.

11. The automatic docking system of claim 1, wherein the processor control unit possesses a minimum default distance setting of three feet between the marine vessel and the external structure.

12. The automatic docking system of claim 1, wherein the processor control unit is disposed to maintain a permanent controlled approach to the external structure regardless of wind and current conditions.