Marine Vehicle Patents (Class 701/21)
  • Patent number: 11200989
    Abstract: A method comprises determining respective aperiodic intervals for each of a plurality of sensors to obtain performance measurements of one or more subsystems; predicting performance values of the one or more subsystems based on historical data; outputting the predicted performance values in real-time as the one or more subsystems operate; receiving the performance measurements obtained by the plurality of sensors; comparing the performance measurements obtained by the plurality of sensors at the respective aperiodic intervals to the predicted performance values; and, in response to determining a difference between the performance measurements obtained at the respective aperiodic intervals and the predicted performance values, outputting an indication of the determined difference for display together with the predicted performance values.
    Type: Grant
    Filed: January 19, 2021
    Date of Patent: December 14, 2021
    Assignee: International Business Machines Corporation
    Inventors: Mukundan Sundararajan, Kiran Nayak
  • Patent number: 11200677
    Abstract: A method of detecting an edge of a support surface in an imaging controller includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the plurality of depth measurements corresponding to an area containing the support surface; detecting preliminary edges in the image data; applying a Hough transform to the preliminary edges to determine Hough lines representing candidate edges of the support surface; segmenting the plurality of depth measurements to assign classes to each pixel, each class defined by one of a plurality of seed pixels, wherein the plurality of seed pixels are identified from the depth measurements based on the Hough lines; and detecting the edge of the support surface by selecting a class of pixels and applying a line-fitting model to the selected class to obtain an estimated edge of the support surface.
    Type: Grant
    Filed: June 3, 2019
    Date of Patent: December 14, 2021
    Assignee: Zebra Technologies Corporation
    Inventors: Tze Fung Christopher Chan, Feng Cao, Mehdi Mazaheri Tehrani, Mahyar Vajedi
  • Patent number: 11186344
    Abstract: A system and method for deterring theft of a marine vehicles is provided. The system is designed to collect barometric pressure data and analyze it to determine whether there has been a sudden change in elevation that may be indicative of a theft. The system is also designed to collect environmental data pertaining to a marine vehicle's normal environment and compare it to a normal environmental state of the marine vehicle in order to detect changes that may be indicative of a theft. Additionally, the system is designed to monitor equipment of the marine vehicle and alert a user if the equipment has been moved in a way that may be indicative of a theft. When the system determines an event has occurred that may be indicative of a theft, the system may alert the user by triggering an alarm via a computer readable signal.
    Type: Grant
    Filed: April 9, 2021
    Date of Patent: November 30, 2021
    Assignee: Fishing Chaos, Inc
    Inventor: John Calagaz
  • Patent number: 11188080
    Abstract: A positional sensor detects a current position of a boat body and outputs position information indicating the current position. A controller receives the position information. The controller determines a target position of the boat body. The controller calculates the distance between the current position and the target position. The controller determines a target speed of the boat body to reach the target position in accordance with the distance. The controller calculates the force of an outside disturbance. The controller determines a target propulsion force of a propulsion device based on the force of the outside disturbance and the target speed. The controller generates an instruction signal to control the propulsion device to produce the target propulsion force.
    Type: Grant
    Filed: December 2, 2016
    Date of Patent: November 30, 2021
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventors: Shu Akuzawa, Hirotaka Aoki, Yusuke Ashida
  • Patent number: 11181916
    Abstract: A watercraft control system is configured to track and follow a lead watercraft cruising ahead of a host watercraft. The watercraft control system basically includes a detector and a digital controller. The watercraft control system can be integrated with a main watercraft control system of the host watercraft, or can be an add-on watercraft control system that supplements the main watercraft control system of the host watercraft. The detector is configured to detect the lead watercraft in front of the host watercraft. The digital controller is configured to communicate with the detector's processor to receive a detection signal from the detector. The digital controller is configured to output at least one control command related to a propulsion direction of the host watercraft and a propulsion force of the host watercraft to at least a propulsion unit of the host watercraft to track and follow the lead watercraft.
    Type: Grant
    Filed: March 20, 2020
    Date of Patent: November 23, 2021
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventor: Juan Pablo Afman
  • Patent number: 11175663
    Abstract: Autonomously piloting a sea-faring vessel traveling on a pre-defined course at a nominal speed includes: measuring a slamming parameter of the vessel; determining that the slamming parameter is outside an acceptable range; and autonomously decreasing the speed of the vessel until the slamming parameter is within the acceptable range, thereby causing the vessel to enter a reduced-speed mode.
    Type: Grant
    Filed: March 15, 2021
    Date of Patent: November 16, 2021
    Assignee: Sea Machines Robotics, Inc.
    Inventors: Michael Gordon Johnson, Lauren Anne Lamm
  • Patent number: 11130422
    Abstract: Provided is a device configured to determine a power capacity of a battery of a vehicle, predict a first set of values indicative of amounts of power to be stored during a time interval by the battery, the power being generated by a renewable energy generator carried by the vehicle, and predict a second set of values indicative of amounts of energy to be consumed from the battery during the time interval based on previous energy consumption by the vehicle. The device is also configured to determine a score based on the power capacity, the first set of values, and the second set of values. The system is also configured to determine whether the score satisfies a threshold and, in response to a determination that the score satisfies the threshold, activate an internal combustion engine to charge to the battery.
    Type: Grant
    Filed: May 11, 2021
    Date of Patent: September 28, 2021
    Assignee: Rearden Power LLC
    Inventors: Scott Goldfarb, Jack Chaiken
  • Patent number: 11119250
    Abstract: Embodiments for implementing intelligent vessel trajectory planning and adapting by a processor. A trajectory of a vessel may be dynamically determined according to forecasted wave conditions using a surrogate wave model, a wave forecasting model, one or more user defined constraints, or a combination thereof.
    Type: Grant
    Filed: January 15, 2019
    Date of Patent: September 14, 2021
    Assignee: INTERNATIONAL BUSINESS MACHINES CORPORATION
    Inventors: Fearghal O'Donncha, Emanuele Ragnoli, Callum Sutherland
  • Patent number: 11117643
    Abstract: A vessel propulsion system includes a bow thruster located at a bow of a hull, an outboard motor located on the hull and provided separately from the bow thruster, and a navigation controller. The navigation controller controls at least one of the bow thruster and the outboard motor in accordance with a state of at least one other of the bow thruster and the outboard motor.
    Type: Grant
    Filed: April 1, 2020
    Date of Patent: September 14, 2021
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventors: Yohei Sakashita, Makoto Ito
  • Patent number: 11098539
    Abstract: A passive heave compensator, including an elastic cable, an electromagnetic damping device, a cylindrical sector, and a disc damping plate. The electromagnetic damping device includes a first cylinder including a helical coil, a permanent magnet mechanism disposed in the first cylinder, a first cover plate, a second cover plate, a first sliding shaft, a second sliding shaft, a first spring, a second spring, a first end cover, and a second end cover. The cylindrical sector includes a roof plate, a middle plate, a base plate, a first side plate, a second side plate, and a curved plate. The disc damping plate is disposed around the middle plate of cylindrical sector. The elastic cable is directly connected to the electromagnetic damping device. The electromagnetic damping device is disposed in the central part of the cylindrical sector. The middle plate is disposed between the roof plate and the base plate.
    Type: Grant
    Filed: May 25, 2020
    Date of Patent: August 24, 2021
    Assignee: DALIAN UNIVERSITY OF TECHNOLOGY
    Inventors: Guan Guan, Lei Wang, Yunlong Wang, Chaoguang Jin, Ming Chen, Xiaole Yang
  • Patent number: 11101664
    Abstract: A method set point determining device and computer program product for determining set points of machines, energy storage units, wind generators and/or solar panels in a power system.
    Type: Grant
    Filed: March 18, 2019
    Date of Patent: August 24, 2021
    Assignee: ABB Schweiz AG
    Inventors: David Anisi, Stein Trostheim, Einar Oftebro
  • Patent number: 11053648
    Abstract: A pneumatic fender monitoring system is provided. Image data captured by using at least one of a front view imaging device that successively images an external shape in a front view of a pneumatic fender used disposed between a vessel and a vessel or a side view imaging device that successively images the external shape in a side view of the pneumatic fender is successively input into a control unit and successively displayed on a monitor, and the control unit determines, on the basis of the image data, whether an amount of deformation of the external shape of the pneumatic fender is within a preset tolerance range or outside of a preset tolerance range.
    Type: Grant
    Filed: November 24, 2017
    Date of Patent: July 6, 2021
    Inventors: Gang Hou, Masahiko Miyamoto, Taro Takahashi, Masaharu Manishi, Koko Tsuchiya
  • Patent number: 11027804
    Abstract: An underwater sailing body includes: a positioning device configured to detect positional information of a hull of the underwater sailing body; a posture detecting sensor configured to detect posture information of the hull; an actuator configured to apply thrust to the hull in a front-rear direction of the hull, a left-right direction of the hull, an upper-lower direction of the hull in water to change the position and posture of the hull; and a controller configured to control the actuator. In order to hold a hull at a target position when the hull receives an external force by disturbances, the hull keeps balance by using thrusters with respect to the external force acting on the hull. Specifically, the hull is held at the target position by controlling a thruster configured to generate thrust in a front-rear direction and a thruster configured to generate thrust in a left-right direction.
    Type: Grant
    Filed: September 8, 2017
    Date of Patent: June 8, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Noriyuki Okaya, Takashi Okada, Takafumi Okamoto, Hiroaki Kagaya
  • Patent number: 11021220
    Abstract: There is provided a boat maneuvering support device for a boat including an outboard motor, a power device which outputs a thrust force in a port-starboard direction, and a steering mechanism which changes a steering angle. The device includes a rotational speed detection unit which detects a rotational speed of a propeller of the outboard motor, and a control unit which controls a magnitude of the thrust force output by the power device. The control unit controls the magnitude of the thrust force output by the power device so as to change a balance between a magnitude of a first turning force which makes the boat turn by a thrust force of the outboard motor and a magnitude of a second turning force which makes the boat turn by the thrust force of the power device.
    Type: Grant
    Filed: October 3, 2017
    Date of Patent: June 1, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hiroshi Yamamoto, Akifumi Fujima, Yoshihiro Harada
  • Patent number: 10943459
    Abstract: There is provided a fall-into-water accident determination system including: a weight detector configured to be attached to an occupant of a vessel and configured to detect a weight applied to a foot of the occupant; a water detector configured to be attached to the occupant and configured to detect water; and a fall-into-water accident determinator configured to determine whether a fall-into-water accident in which the occupant falls into water from the vessel occurs. The fall-into-water accident determinator determines whether the weight changes based on a detection result of the weight detector. The fall-into-water accident determinator determines whether the occupant is immersed in water based on a detection result of the water detector. And the fall-into-water accident determinator determines that the fall-into-water accident occurs when the weight changes and the occupant is immersed in water.
    Type: Grant
    Filed: June 2, 2020
    Date of Patent: March 9, 2021
    Assignee: SUZUKI MOTOR CORPORATION
    Inventor: Koji Kurata
  • Patent number: 10926855
    Abstract: A method for controlling low-speed propulsion of a marine vessel powered by a marine propulsion system having a plurality of propulsion devices includes receiving a signal indicating a position of a manually operable input device movable to indicate desired vessel movement within three degrees of freedom, and associating the position of the manually operable input device with a desired inertial velocity of the marine vessel. A steering position command and an engine command are then determined for each of the plurality of propulsion devices based on the desired inertial velocity and the propulsion system is controlled accordingly. An actual velocity of the marine vessel is measured and a difference between the desired inertial velocity and the actual velocity is determined, where the difference is used as feedback in subsequent steering position command and engine command determinations.
    Type: Grant
    Filed: November 1, 2018
    Date of Patent: February 23, 2021
    Assignee: Brunswick Corporation
    Inventors: Matthew Eric Derginer, Aaron J. Ward, Travis C. Malouf
  • Patent number: 10883830
    Abstract: A system can include an inertial measurement unit, a magnetometer configured to measure a magnetic field, and a processing system having an ORSE filter. The processing system can be configured to determine an estimated position based on a change in velocity or angular rate based on data received from the inertial measurement unit, determine a difference between the measured magnetic field from the magnetometer and the expected magnetic field measurement, and determine a state estimate using the ORSE filter by updating a time propagation of state and covariance with a measurement update of the state and covariance. The processing system can be configured to transform a change in velocity, a change in angulate rate, and the measured magnetic field to an Earth-centered inertial reference frame for the ORSE filter.
    Type: Grant
    Filed: January 15, 2019
    Date of Patent: January 5, 2021
    Assignee: LOCKHEED MARTIN CORPORATION
    Inventor: Jeffrey B. Boka
  • Patent number: 10875613
    Abstract: A motorized, floating device is associated with another aquatic device that carries a passenger or passengers (“associated aquatic device”). The invention comprises components such as one or more magnetic field emitters that deter aquatic animals from approaching the associated aquatic device without interfering with the operation of the associated aquatic device. The associated aquatic device may be a surfboard, a raft, a personal watercraft, or other similar small craft that floats in water. The invention may be used with larger boats and other watercraft. The motorized aquatic animal deterrent is tethered to the associated aquatic device to follow movement of the associated aquatic device but is spaced apart from the associated aquatic device.
    Type: Grant
    Filed: November 5, 2018
    Date of Patent: December 29, 2020
    Inventors: Tyler Vining, Robert Rife
  • Patent number: 10829190
    Abstract: A trim control system for controlling a relative position of a trimmable marine device with respect to a marine vessel hull includes a trim actuator coupled to the trimmable marine device about a horizontal trim axis. The trim control system further includes a trim control module executable on a processor and configured to identify a target trim position for the trimmable marine device, determine a desired trim rate of change to rotate the trimmable marine device about the horizontal axis from a current trim position toward a target trim position, and operate the trim actuator to rotate the trimmable marine device at the desired trim rate of change toward the target trim position.
    Type: Grant
    Filed: May 29, 2018
    Date of Patent: November 10, 2020
    Assignee: Brunswick Corporation
    Inventors: Jason F. Pugh, Christopher R. Jenks, Daniel P. Klawitter, Aaron J. Ward
  • Patent number: 10794708
    Abstract: A server system includes a communicator, a storage, and a controller. The controller is configured or programmed to receive positional information of a watercraft that a user of a wireless communication terminal is aboard and propulsion device information from the wireless communication terminal through the communicator. The propulsion device information indicates a type of a propulsion device on the watercraft. The controller creates cruise trajectory information and stores the created cruise trajectory information in the storage based on the positional information of the watercraft in association with the type of the propulsion device on the watercraft. The controller determines a frequency at which cruise trajectories of the watercraft match the cruise trajectories based on the cruise trajectory information in the storage. The controller creates cruise route information in association with the type of the propulsion device on the watercraft.
    Type: Grant
    Filed: March 29, 2018
    Date of Patent: October 6, 2020
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventors: Shu Akuzawa, Yoshimasa Kinoshita, Masaru Tamaki
  • Patent number: 10795366
    Abstract: A method includes accepting inputs to a marine vessel's control module, the inputs defining first and second waypoints and a desired heading, and defining a desired track between the first and second waypoints. Ideal steering and thrust commands required to orient the vessel at the desired heading and to maneuver the vessel from the first to the second waypoint are generated and carried out. The method includes measuring a current position and heading of the vessel; calculating a cross-track error based on the current position as compared to the desired track; and calculating a heading error based on the current heading as compared to the desired heading. The method includes generating corrective steering and thrust commands that are required to minimize the cross-track error and the heading error. The propulsion system propels the marine vessel according to the corrective steering and thrust commands, as appropriate.
    Type: Grant
    Filed: February 20, 2017
    Date of Patent: October 6, 2020
    Assignee: Brunswick Corporation
    Inventors: Jason S. Arbuckle, Thomas S. Kirchhoff, Michael J. Lemancik, Walter B. Ross, Robert M. Hackbarth, Mark W. Henker, Steven L. Van Camp
  • Patent number: 10787238
    Abstract: A ship handling device enabling easy turning calibration. With a ship handling device (7), during turning calibration with the ship handling device (7), the joystick lever (10) is turned to rotate the forward-backward propellers (4) on the port and starboard sides of the ship, and the joystick lever (10) is tilted to change a forward-thrust/backward-thrust ratio of the forward-backward propeller (4) on the port or starboard side or to change the rotation speeds. When a calibration execution switch (10a) is operated, thrusts generated with the changed forward-thrust backward-thrust ratio are set as correction coefficients, or, among thrusts generated at the changed rotation speeds (Npn, Nsn) of the forward-backward propellers (4) on the port and starboard sides, thrusts generated by the forward-backward propellers (4) on the port and starboard sides according to the tilting of the joystick lever (10) are set as correction coefficients (Cp, Cs).
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: September 29, 2020
    Assignee: YANMAR POWER TECHNOLOGY CO., LTD.
    Inventors: Jun Watanabe, Gakuji Tamura, Koichi Kanda
  • Patent number: 10791445
    Abstract: A system for providing environmental wave data from floating buoys and equipment is based on the GRID tag system, which includes Geo-Referencing Identification (GRID) tag, GRID satellite (GRIDSAT) tag and associated cloud infrastructure and user interface meet the objectives of a robust global tagging and tracking system. The wave characterization module (WCM) system adds wave detection and computation to the GRID tag system. The WCM tag can be used to identify and track floating equipment while also providing local wave characteristics while communicating with other tags via mesh radio. The WCM-sat tag includes a satellite modem, global positioning system (GPS) receiver, and mesh radio to send wave and location data to a remote user. A WCM buoy includes the WCM-sat equipment in a free-floating buoy to report remote oceanic conditions.
    Type: Grant
    Filed: September 7, 2018
    Date of Patent: September 29, 2020
    Assignee: AECOM
    Inventors: Benjamin Schreib, Michael House, Samuel McClintock, David Rein, Navid Yazdi
  • Patent number: 10782692
    Abstract: A ship handling device capable of executing dynamic positioning control. While the dynamic positioning control is being active, if a distance deviation from a target position exceeds a predetermined value and a first condition that a state where a moving amount of the ship per unit time is not more than a predetermined amount has continued for a predetermined period is satisfied, or if an orientation deviation from a target orientation exceeds a predetermined value and a second condition that a state where a turning amount of the ship per unit time is not more than a predetermined amount has continued for a predetermined period is satisfied, a thrust setting value resulting from the dynamic positioning control at a determination on the first or second condition is stored as a reference value, and the reference value is added to a thrust setting value subsequently resulting from the dynamic positioning control.
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: September 22, 2020
    Assignee: YANMAR CO., LTD.
    Inventors: Gakuji Tamura, Daisuke Irahara, Akiyoshi Hayashi
  • Patent number: 10766589
    Abstract: A controller receives a bow turning signal to turn a bow of a watercraft and a propulsion signal to move the watercraft forward or rearward. The controller controls left and right outboard motors under a first control when receiving the propulsion signal after receiving the bow turning signal in a composite in which the controller receives both the bow turning signal and the propulsion signal. The controller controls the left and right outboard motors and a steering actuator under a second control different from the first control when receiving the bow turning signal after receiving the propulsion signal in the composite operation.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: September 8, 2020
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventor: Makoto Ito
  • Patent number: 10752382
    Abstract: Systems and methods for assessing and quantifying the environmental impact on a mechanical component are provided. In one embodiment, a method can include receiving one or more first set(s) of data from one or more first data acquisition system(s) configured to communicate with an onboard system of an aircraft. The method can further include receiving one or more second sets of data from one or more second data acquisition systems that are remote from the aircraft. The method can include determining an aggregate amount of the environmental condition experienced by a mechanical component of the aircraft based at least in part on the first sets of data and the second sets of data. The method can include predicting a level of distress associated with the mechanical component based at least in part on the aggregate amount of the environmental condition experienced by the mechanical component.
    Type: Grant
    Filed: September 14, 2018
    Date of Patent: August 25, 2020
    Assignee: General Electric Company
    Inventors: Andrew Scott Kessie, Rebecca Evelyn Hefner
  • Patent number: 10737749
    Abstract: A system for use by a diver during an underwater dive. An autonomous underwater vehicle (one component of the system, AUV) comprises a component for detecting that the AUV has entered water, an AUV acoustic transceiver, a plurality of AUV sensors, a propulsion unit, a processor for determining dive information and diver information responsive to data from one or both of the AUV acoustic transceiver and the plurality of AUV sensors, and one or more cameras. Diver equipment carried by the diver comprises a plurality of diver sensors and a diver acoustic transceiver for receiving sensed information from the plurality of diver sensors and communicating the sensed information to the AUV, and for receiving information from the AUV acoustic transceiver.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: August 11, 2020
    Assignee: SCUBOTICS, LLC
    Inventor: Jacob Easterling
  • Patent number: 10739141
    Abstract: Techniques for providing instructions to an operator of a sea vessel via a computing device are described. The computing device can request, from another computing device instructions regarding one or more of an intended course and action plan for the sea vessel, which can include at least one navigational instruction and/or deployment instruction. The computing device can send data to a display device to cause a prompt to be displayed. The prompt can include options regarding the at least one instruction. The computing device can send state information of the sea vessel to the other computing device. The state information can include the received input and location information of the sea vessel. Additionally, data can be received by the computing device from a shore based operator and data can be sent to one or more clients on shore.
    Type: Grant
    Filed: August 21, 2017
    Date of Patent: August 11, 2020
    Assignee: FUGRO CHANCE, INC.
    Inventors: John Darius Robideaux, Dickie Andrew Martin, Stephen John Wesley Underwood, Jacob Nicholas Stanley
  • Patent number: 10723423
    Abstract: Aspects of the invention may be related to a computer system and a computerized method of controlling a marine vessel. Embodiments may include: receiving, by a controller, a position of the marine vessel from a positioning system; receiving, by the controller, geographical data, from at least one database, the geographical data may include at least a map of seabed depths; receiving, by the controller, a heading direction and speed of the marine vessel; calculating, by the controller, a safety zone ahead of the marine vessel based on the position, the heading direction and the speed of the marine vessel; identifying a location of a critical seabed depth inside the safety zone based on the received, the geographical data; and changing, by the controller, a state of a propelling unit of the marine vessel when a critical seabed depth was identified inside the safety zone.
    Type: Grant
    Filed: July 11, 2019
    Date of Patent: July 28, 2020
    Assignee: AQUA MARINA YACHTS (1995) LTD.
    Inventors: Amir Eyal, Ofer Sela, Yaron Shlomo Carmon, Lawrence Natan, Yehonatan Ofir
  • Patent number: 10670249
    Abstract: A search and landing light system for a vehicle includes a hemispherical housing adapted to couple to the vehicle and a plurality of light emitting elements coupled to the hemispherical housing and arranged about a surface of the hemispherical housing. Each of the plurality of light emitting elements is configured to output a light beam. The search and landing light system includes a controller, having a processor in communication with each of the plurality of light emitting elements and configured to output one or more control signals to selectively activate at least one of the plurality of light emitting elements to output the light beam at a selected position relative to the vehicle.
    Type: Grant
    Filed: February 20, 2019
    Date of Patent: June 2, 2020
    Assignee: HONEYWELL INTERNATIONAL INC.
    Inventors: Kartik Brahmbhatt, Gokul Murugesan, Abhijit Kulkarni
  • Patent number: 10640190
    Abstract: A method for controlling a course of a marine vessel powered by a marine engine as it moves in a body of water includes determining a current global position and a current heading of the vessel and initiating an auto-waypoint mode of a vessel course control system. In response to initiation of the auto-waypoint mode, the method includes setting a course for the vessel based on a current position of a steering wheel of the system and the vessel's current global position. The method thereafter includes automatically rotating a steerable component coupled to the vessel and rotatable to affect a direction of movement of the vessel so as to counteract external forces on the vessel and thereby to maintain the vessel's set course.
    Type: Grant
    Filed: January 25, 2017
    Date of Patent: May 5, 2020
    Assignee: Brunswick Corporation
    Inventor: Steven J. Gonring
  • Patent number: 10613535
    Abstract: Disclosed is a system and method for facilitating decision making on a watercraft (100). The system comprises one or more processors (102) configured to: acquire environmental data comprising measurements of one or more parameters of an environment in a locality of the watercraft (100); provide a plurality of digital models, each digital model modelling an effect of the environment on a respective capability of the watercraft (100), each capability of the watercraft (100) being assigned to one or more actions, each action being performable by the watercraft (100) or an entity on the watercraft (100); using the environmental data and the digital models, model an effect of the environment on the capabilities of the watercraft (100); receive a selection of an action; and, using outputs of each digital model that models a capability that is assigned to the selected action, determine a risk assessment for the selected action.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: April 7, 2020
    Assignee: BAE SYSTEMS plc
    Inventor: Matthew James Reeve
  • Patent number: 10597131
    Abstract: A method for operating a ship propulsion system. A setpoint rotational speed is determined for a propeller shaft and a setpoint pitch angle for an adjustable propeller on a control side based on an adjustable propeller characteristic diagram and an operator. An engine is determined based on a ship's engine characteristic diagram and the setpoint rotational speed for the propeller shaft. An actual engine operating point is determined as a function of a measured actual rotational speed and a measured actual torque, so that when the drive power is constant, the set-point rotational speed for the propeller shaft and the pitch angle for the adjustable propeller can be varied while reducing fuel consumption of the ship's engine and, when this is possible, the setpoint rotational speed for the propeller shaft, the setpoint pitch angle for the adjustable propeller and the setpoint operating point of the ship's engine are adapted.
    Type: Grant
    Filed: June 30, 2016
    Date of Patent: March 24, 2020
    Assignee: MAN Energy Solutions SE
    Inventors: Stefan Peters, Christoph Pientschik, Thomas Kremser, Kim Noergaard
  • Patent number: 10551275
    Abstract: The present teaching aims to provide: a cam angle sensor fault diagnosis apparatus for straddled vehicle, capable of detecting a fault of a cam angle sensor installed in a straddled vehicle and guessing a fault place; an engine system; and a straddled vehicle.
    Type: Grant
    Filed: April 13, 2018
    Date of Patent: February 4, 2020
    Assignees: DENSO CORPORATION, YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventors: Minoru Hotta, Yoshihiko Nonogaki, Naoki Nagata, Daisuke Nonaka, Yoko Fujime
  • Patent number: 10527730
    Abstract: In a method involving the recognition of ambiguous objects from samples of 3D points, an initial constant is set for properties of prospective points of an object, and a sample of 3D points is received from a 3D sensor. When the sensed locations in space of points of objects represented by the 3D points are the same as those for the prospective points of an object, they are redefined as an actual points of objects, and the initial constants are replaced with corresponding properties represented by the 3D points. An ambiguous object is then recognized from a sparsely populated cluster of actual points of an object identified based on the replacement of the initial constants. The ambiguous object is confirmed based on signals representing its surface properties received from a polarization image sensor.
    Type: Grant
    Filed: October 21, 2016
    Date of Patent: January 7, 2020
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventor: Yasuo Uehara
  • Patent number: 10488203
    Abstract: A method and system for facilitating navigation of an autonomous underwater vehicle (AUV) about an egress path that mirrors an ingress path. Complex return data during an ingress cycle are obtained and a corresponding complex image of the seabed along the ingress cycle is generated. Complex return data during an egress cycle are also obtained and a plurality of corresponding complex local images of the seabed along the egress cycle can be generated. The complex local images are compared to the complex ingress image to identify a normalized cross-correlation coefficient (NCCC). A maximum NCCC indicates that a position of the AUV in the along-track direction has been found. Successive local complex images from the egress cycle can be compared against the complex image from the ingress cycle as the AUV moves along the egress path to identify successive NCCCs, and monitored overtime to determine if the successive NCCCs are increasing or decreasing as the AUV moves along the egress path.
    Type: Grant
    Filed: October 17, 2016
    Date of Patent: November 26, 2019
    Assignee: Raytheon Company
    Inventors: Andrew Wilby, Steven Borchardt
  • Patent number: 10479461
    Abstract: A wakeboat has a hull, the hull forming a wake when moving forward in the water, with a left quiet region and a right quiet region in the wake. The hull may exhibit rotation around its yaw axis which affects the quiet regions in the wake. Yaw rotation may be measured via one or more sensors. Yaw measurement may be used to control the hull and quiet regions. A trim tab is supported by the hull at the stern of the hull. The trim tab comprises a primary subtab and a secondary subtab. One or more actuators may be optionally included to reposition the trim tab more into, or more out of, the water to create a surf left and/or surf right configuration. Other systems and methods are also provided.
    Type: Grant
    Filed: June 24, 2019
    Date of Patent: November 19, 2019
    Assignee: Skier's Choice, Inc.
    Inventors: Richard Lawrence Hartman, Matthew Douglas Brown, Travis Lane Turley
  • Patent number: 10457371
    Abstract: For a vessel steering apparatus for performing a movement control to move a vessel to a target position on the basis of a signal of a GPS apparatus, a movement control stop area, a buffer area adjacent to the movement control stop area, and a movement-controlling area adjacent to the buffer area are set on the basis of the distance from the target position, wherein in the movement control stop area, thrust generation by a propulsion apparatus is stopped; in the movement-controlling area, thrust is generated by the propulsion apparatus; and in the buffer area, thrust is generated by the propulsion apparatus of the vessel for movement control only in the case where the vessel moves from the movement-controlling area to the buffer area, then stays in the buffer area, and moves in a direction away from the target position.
    Type: Grant
    Filed: August 24, 2015
    Date of Patent: October 29, 2019
    Assignee: YANMAR CO., LTD.
    Inventors: Naohiro Hara, Hiroaki Wakahara, Jun Watanabe, Gakuji Tamura
  • Patent number: 10442509
    Abstract: The present disclosure provides apparatus and methods that improves the speed, functionality, and safety of wakeboat ballasting operations. A ballasting apparatus for wakeboats is provided, comprising a wakeboat with a hull and an engine; a hydraulic pump, mechanically driven by the engine; a hydraulic motor, powered by the hydraulic pump; a ballast compartment; and a ballast pump, powered by the hydraulic motor. A ballasting apparatus for wakeboats is provided, comprising a wakeboat with a hull and an engine; a ballast compartment; and a hydraulic ballast pump, the ballast pump configured to be powered by the engine, the ballast outlet and/or inlet of the ballast pump connected to the ballast compartment, the ballast pump configured to pump ballast in and/or out of the ballast compartment.
    Type: Grant
    Filed: January 23, 2019
    Date of Patent: October 15, 2019
    Inventor: Richard L. Hartman
  • Patent number: 10370063
    Abstract: A system (102) is configured to monitor energy usage of a surface maritime vessel (100). The system comprises a device (102A) configured to receive characteristic data representing at least one operating characteristic of the vessel, and a device (102A) configured to receive model data representing at least one energy usage model for the vessel. The system further includes a device (102A) configured to process the characteristic data and the model data to generate an output representing a comparison between the characteristic data and the model data.
    Type: Grant
    Filed: January 6, 2016
    Date of Patent: August 6, 2019
    Assignee: BAE SYSTEMS PLC
    Inventor: Adrian Gary Skidmore
  • Patent number: 10329004
    Abstract: Wakeboat ballast compartment fluid level sensing assemblies are provided that can include: a wakeboat having a hull; a ballast compartment associated with the hull; a nonconductive sensor chamber in fluidic communication with the ballast compartment; and at least one conductive electrode associated with the sensor chamber. Methods for sensing a fluid level within a ballast compartment aboard a wakeboat are also provided. The methods can include maintaining fluid communication between the ballast compartment and a sensor chamber; and determining the electrical communication of electrodes operatively associated with the sensor chamber.
    Type: Grant
    Filed: January 23, 2019
    Date of Patent: June 25, 2019
    Inventor: Richard L. Hartman
  • Patent number: 10296014
    Abstract: A boat maneuvering control method for a boat provided with a propulsion device includes acquiring a target orientation, acquiring an actual orientation of the boat, setting a target yaw rate value based on orientation information of at least one of the target orientation and the actual orientation, detecting an actual yaw rate value of the boat, and controlling a direction of a thrust force of the propulsion device based on the target yaw rate value and the actual yaw rate value.
    Type: Grant
    Filed: November 9, 2016
    Date of Patent: May 21, 2019
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventors: Makoto Ito, Sebastian Nilsson, Mathias Lindeborg
  • Patent number: 10281918
    Abstract: A control system for controlling a vessel, a method for controlling dynamic positioning of the vessel or ship, and a computer program for carrying out the method are disclosed. The vessel includes an electrical power grid, at least one combustion engine driven power generator, and an energy storage medium. The power grid is arranged to provide power to an electric motor driving one or more thrusters or propellers of the vessel. The control system further includes a control unit arranged with computer programs and hardware configured to: calculate a Remaining Operation Window time for carrying out dynamic positioning powered by the energy storage medium, generate and display information including a time period for the Remaining Operation Window of dynamic positioning, and carry out an automatic control action in relation to at least one of a power generator or power consuming device connected to the power grid.
    Type: Grant
    Filed: December 18, 2015
    Date of Patent: May 7, 2019
    Assignee: ABB Schweiz AG
    Inventors: Borre Gundersen, Kristoffer Dønnestad, Matko Barisic
  • Patent number: 10228703
    Abstract: According to an aspect of the invention, a method of trajectory-based sensor planning for a vehicle includes receiving an indication of a planned change in a trajectory of the vehicle. A processing subsystem determines a current field of view of a directional sensor and a planned adjustment in the current field of view of the directional sensor relative to the vehicle to align with the planned change in the trajectory of the vehicle. The planned adjustment in the current field of view of the directional sensor is initiated prior to changing the trajectory of the vehicle.
    Type: Grant
    Filed: November 11, 2015
    Date of Patent: March 12, 2019
    Assignee: SIKORSKY AIRCRAFT CORPORATION
    Inventors: Christopher Stathis, Igor Cherepinsky
  • Patent number: 10227125
    Abstract: A steering system for a marine vessel comprises a helm, a control head, and a joystick. The helm and control head may respectively provide user inputted steering commands and user inputted shift and throttle commands on a first CAN network. The joystick and the control head may respectively provide user inputted steering commands and user inputted shift and throttle commands on a second CAN network. The helm may provide user inputted steering commands on the first CAN network. The control head may provide user inputted shift and throttle commands on the second CAN network. The joystick may provide user inputted steering commands and user inputted shift and throttle commands on either the first CAN network or the second CAN network.
    Type: Grant
    Filed: October 25, 2016
    Date of Patent: March 12, 2019
    Assignee: Marine Canada Acquisition Inc.
    Inventors: Douglas Clarke, Pierre Garon, Ray Wong, Anson Chan, Kristofer Sven Smeds, David Higgs, Richard Redfern
  • Patent number: 10214273
    Abstract: A method of controlling reverse thrust by a propulsion device on a marine vessel includes determining that the propulsion device is situated to effectuate a reverse thrust and determining an initial trim position of the propulsion device. An engine RPM or an engine torque of the propulsion device is then controlled to effectuate a reverse thrust, and a trim position of the propulsion device is monitored. If a threshold increase in trim position from the initial trim position is detected at an increased engine RPM or an increased engine torque, then a reverse thrust limit is calculated based on the increased engine RPM or increased engine torque. The engine RPM of the propulsion device is then controlled so as not to exceed the reverse thrust limit while the propulsion device is effectuating the reverse thrust.
    Type: Grant
    Filed: February 1, 2018
    Date of Patent: February 26, 2019
    Assignee: Brunswick Corporation
    Inventors: Joshua S. Smith, Theodore J. Hanes
  • Patent number: 10196122
    Abstract: A method of operating a steer-by-wire steering system on a marine vessel includes receiving an initial component position of a steerable component and receiving an initial wheel position of a manually rotatable steering wheel with respect to a zero position. An initial normalized steering value is then calculated based on the initial component position, and the initial normalized steering value is correlated to the initial wheel position. The correlation between a subsequently received wheel position and a subsequently calculated normalized steering value is then adjusted by a recovery gain until the steering wheel reaches an aligned position with the steerable component.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: February 5, 2019
    Assignee: Brunswick Corporation
    Inventors: Steven J. Andrasko, Jason S. Arbuckle, Kenneth G. Gable
  • Patent number: 10185321
    Abstract: Some embodiments are directed to an unmanned vehicle. The unmanned vehicle can include a memory unit that is configured to store a planned path of the unmanned vehicle. The unmanned vehicle can also include a position unit that is configured to determine a current position of the unmanned vehicle, the position unit further configured to determine a planned position of the unmanned vehicle based on the planned path data stored in the memory unit. The unmanned vehicle can further include a control unit disposed in communication with the position unit, the control unit configured to determine a deviation based on the planned position and the current position of the unmanned vehicle, and control a movement of the unmanned vehicle such that the unmanned vehicle moves along the planned path if the deviation is less than a predetermined threshold.
    Type: Grant
    Filed: July 9, 2016
    Date of Patent: January 22, 2019
    Assignee: PROXY TECHNOLOGIES, INC.
    Inventors: John Klinger, Patrick C. Cesarano
  • Patent number: 10170912
    Abstract: The present invention relates to a system and method for controlling a power plant in a marine vessel. The system comprises at least one switchboard further comprising, a plurality of power plant members including, power suppliers such as power generators and energy storage elements, at least one consumer, and a Dynamic Hybrid Control unit comprising a measurement means for monitoring predetermined power plant and vessel related parameters, and a computational means for computing and predicting power and energy requirements in the power plant for varying time spans into the future. The system utilizes said power and energy requirements for pre-planning and allocating of power and energy between said power plant members for minimizing transients, including voltage, frequency variations in the power plant and load variations on the power generators.
    Type: Grant
    Filed: March 17, 2016
    Date of Patent: January 1, 2019
    Assignee: Kongsberg Maritime AS
    Inventors: Eirik Mathiesen, Bjørnar Realfsen, Petter Faugstad Johannessen, Nils Albert Jenssen, Ole Henrick Jørgensen
  • Patent number: 10137973
    Abstract: The present disclosure relates to a propulsion control system (30) for controlling a marine vessel (10) comprising at least four propulsion units (20, 22, 24, 26). The marine vessel (10) comprises a longitudinal centre line (L) and a transversal line (T). The transversal line (T) extends in a direction perpendicular to the longitudinal centre line (L) and also extends through the steering axis of the aftmost of the propulsion units. The marine vessel (10) comprises four quadrants (I, II, III, IV) defined by the longitudinal centre line (L) and the transversal line (T) wherein a first (I) and a second (II) quadrant are located on the same side of said longitudinal centre line (L). When a combined sway and yaw motion is desired, the thrust of one propulsion unit is directed towards the second (I) quadrant, and the thrust of the other propulsion units is directed towards the first (II) quadrant.
    Type: Grant
    Filed: February 12, 2014
    Date of Patent: November 27, 2018
    Assignee: CPAC Systems AB
    Inventors: Mathias Lindeborg, Yoshikazu Nakayasu