Marine Vehicle Patents (Class 701/21)
  • 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: 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: 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: 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: 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: 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: 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
  • Patent number: 10118642
    Abstract: A method of assisting a driver of a vehicle in driving a road, the method includes determining a location of a road boundary along a segment of a road relative to the vehicle using a sensor, selecting, via a controller, a parameter for the segment of the road, the parameter including a plurality of values corresponding to a plurality of boundary locations along the segment of the road, determining, via the controller, whether the vehicle is approaching the road boundary based on a vehicle trajectory and the location of the plurality of boundary locations, and providing a feedback operation to assist the driver in avoiding the road boundary, the feedback operation based on the selected parameter.
    Type: Grant
    Filed: September 26, 2014
    Date of Patent: November 6, 2018
    Assignees: Nissan North America, Inc., Nissan Motor Co., Ltd.
    Inventors: Yoshiro Takamatsu, Yuji Takada, Yoshinori Kusayanagi, Norimasa Kishi
  • Patent number: 10106238
    Abstract: A system of modular components can be used with existing sensor suites to fuse data and determine the operating environment (surface contacts/tracks) for an autonomous marine vehicle and feed an autonomy decision engine to improve the vessel arbitration process in deciding which way to turn, how fast to go, obstacle avoidance, and mission monitoring. The system includes the ability to obey the set of navigation rules published by the International Maritime Organization, generally referred to as COLREGS (collision regulations).
    Type: Grant
    Filed: March 9, 2018
    Date of Patent: October 23, 2018
    Assignee: Leidos, Inc.
    Inventors: Nahid Sidki, Weicheng Shen, Suk Lee, Andrew Genduso
  • Patent number: 10081960
    Abstract: A three part foundation system for supporting a building is described. Three part foundation systems can include a containment vessel, which constrains a buffer medium to an area above the containment vessel, and a construction platform. A building can be built on the construction platform. In a particular embodiment, during operation, the construction platform and structures built on the construction platform can float on the buffer medium. In an earthquake, a construction platform floating on a buffer medium may experience greatly reduced shear forces. In a flood, a construction platform floating on a buffer medium can be configured to rise as water levels rise to limit flood damage.
    Type: Grant
    Filed: July 24, 2017
    Date of Patent: September 25, 2018
    Assignee: Arx Pax Labs, Inc.
    Inventor: D. Gregory Henderson
  • Patent number: 10077098
    Abstract: A method for controlling a stabilizing fin for anti-roll stabilization of watercraft standing at anchor, comprising the steps of: detecting at least one value identifying roll of the watercraft; estimating the expected oscillation of roll of the watercraft as a function of the value detected; determining a path for the movement of the stabilizing fin as a function of the expected roll; and controlling the movement of the stabilizing fin as a function of the path.
    Type: Grant
    Filed: May 22, 2013
    Date of Patent: September 18, 2018
    Assignee: CMC MARINE S.R.L.
    Inventors: Alessandro Cappiello, Carlo Terruzzi, Francesco Pagano
  • Patent number: 10073453
    Abstract: Techniques are disclosed for systems and methods to provide accurate, low lag, and reliable autopilot autorelease in a hydraulic steering system for mobile structures. A hydraulic steering system includes a logic device configured to communicate with an autopilot pump controller, a control surface reference sensor, an orientation sensor, and/or a gyroscope. Control and sensor signals provided by the pump controller and/or the various sensors are used to selectively enable and/or disable an autopilot release signal. The autopilot release signal enables or disables the autopilot pump controller and/or an autopilot pump, or controls the autopilot pump controller to enable or disable the autopilot pump.
    Type: Grant
    Filed: December 27, 2016
    Date of Patent: September 11, 2018
    Assignee: FLIR Systems, Inc.
    Inventors: Mark Johnson, Christopher Yeomans
  • Patent number: 10000262
    Abstract: A terminal device stores ship characteristic data that indicates a relationship between rotation speed and ship speed, and rotation speed and fuel consumption when a ship is navigated under various navigation conditions. If a user inputs data that indicates draft state and wind and wave state on a performance display screen displayed on the terminal device, the terminal device generates relationship data that indicates a relationship between rotation speed and ship speed, and rotation speed and fuel consumption when a ship is navigated under wind and wave states corresponding to the input data and each of a plurality of Beaufort states that are set in the terminal device in advance on the basis of the ship characteristic data. The terminal device displays a graph that displays the relationship between rotation speed, ship speed and fuel consumption for each of a plurality of navigation conditions using the relationship data.
    Type: Grant
    Filed: September 27, 2013
    Date of Patent: June 19, 2018
    Assignee: Nippon Yusen Kabushiki Kaisha
    Inventors: Hideyuki Ando, Shusaku Ueno
  • Patent number: 9983010
    Abstract: In connection with a voyage in which a ship visits several ports on a sailing route, when a user inputs a berthing period at each port on the sailing route on a screen in a computer for managing voyage information displayed by a terminal device, the terminal device specifies, with regard to each sectional sailing route between two neighboring ports on the sailing route, fuel consumption rate when the ship sails on the sectional sailing route based on a sailing speed determined by the input berthing periods and parameters of maritime weather conditions under which the ship sails on the sectional sailing route. The terminal device calculates fuel consumption required for sailing on each sectional sailing route and total fuel consumption required for sailing the entire sailing route using the specified fuel consumption rates.
    Type: Grant
    Filed: September 6, 2013
    Date of Patent: May 29, 2018
    Assignee: Nippon Yusen Kabushiki Kaisha
    Inventors: Takafumi Nanri, Atsushi Yamaguchi, Masaharu Urabe, Ryo Kakuta
  • Patent number: 9963214
    Abstract: The purpose is providing a ship handling device easily determining a predetermined correction coefficient regardless of positions of a side thruster and a forward/backward propeller and the center of gravity of a ship and the shape of the ship. The device is provided with a joystick lever for indicating a propulsion direction and the magnitude of thrust by tilting direction and angle, wherein: a lateral movement thrust is generated by the side thruster in accordance with the joystick lever; a first correction thrust is generated by the forward/backward propeller in accordance with the joystick lever so as to cancel out a rotation moment; and a first correction coefficient for calculating a first correction thrust with respect to the lateral movement thrust is determined.
    Type: Grant
    Filed: August 24, 2015
    Date of Patent: May 8, 2018
    Assignee: YANMAR CO., LTD.
    Inventors: Jun Watanabe, Gakuji Tamura, Hiroaki Wakahara, Naohiro Hara
  • Patent number: 9963215
    Abstract: A system of modular components can be used with existing sensor suites to fuse data and determine the operating environment (surface contacts/tracks) for an autonomous marine vehicle and feed an autonomy decision engine to improve the vessel arbitration process in deciding which way to turn, how fast to go, obstacle avoidance, and mission monitoring. The system includes the ability to obey the set of navigation rules published by the International Maritime Organization, generally referred to as COLREGS (collision regulations).
    Type: Grant
    Filed: December 14, 2015
    Date of Patent: May 8, 2018
    Assignee: Leidos, Inc.
    Inventors: Nahid Sidki, Weicheng Shen, Suk Lee, Andrew Genduso
  • Patent number: 9956967
    Abstract: A method is provided for selecting a plurality of program functions for providing repeatedly implemented functions, e.g., in a vehicle, ship or in an aircraft. The method includes determining a first total performance value based on recorded first single performance values and recorded first dependencies, determining a first total performance value based on determined second single performance values and recorded second dependencies, determining a cluster performance from the first total performance value and from the second total performance value, and the cluster performance value or at least one value determined from the cluster performance value is used for selecting the program functions or of other program functions for providing the repeatedly implemented functions.
    Type: Grant
    Filed: December 16, 2014
    Date of Patent: May 1, 2018
    Assignee: SIEMENS AKTIENGESELLSCHAFT
    Inventors: Michael Armbruster, Andreas Zirkler
  • Patent number: 9952595
    Abstract: A method for maneuvering a marine vessel powered by a propulsion system includes accepting inputs to an electronic navigation device and generating a desired track based on the inputs. The desired track includes a series of waypoints, each waypoint in the series of waypoints being associated with a respective heading. The method also includes sending position and orientation information corresponding to each waypoint and its associated heading to a control module. Based on the position and orientation information, the control module generates steering and thrust commands that are required to maneuver the marine vessel from a current waypoint and heading in the series to a following waypoint and heading in the series. According to the steering and thrust commands, the propulsion system thereafter propels the marine vessel along the desired track to each waypoint and its associated heading in succession. A corresponding system is also disclosed.
    Type: Grant
    Filed: January 26, 2017
    Date of Patent: April 24, 2018
    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: 9926062
    Abstract: A jet propelled watercraft includes a reverse gate that moves to a first position and to a second position. When the reverse gate is in the first position, the reverse gate causes a vessel body to move forward. When the reverse gate is in the second position, the reverse gate causes the vessel body to decelerate or move backward. A velocity mode selector is used to select a normal mode or a velocity mode. The velocity mode has a maximum velocity different from that of the normal mode. When the reverse gate is in the second position and the velocity mode is selected, a controller is configured or programmed to set an upper limit of an engine rotation speed in the velocity mode to be different from that of the engine rotation speed in the normal mode.
    Type: Grant
    Filed: March 17, 2017
    Date of Patent: March 27, 2018
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventor: Hirofumi Anma
  • Patent number: 9908506
    Abstract: A network of collection, charging and distribution machines collect, charge and distribute portable electrical energy storage devices (e.g., batteries, supercapacitors or ultracapacitors). To avoid theft and tampering of the portable electrical energy storage devices, by default, each portable electrical energy storage device is locked in and operably connected to the vehicle to which it provides power unless the vehicle comes within the vicinity of a collection, charging and distribution machine or other authorized external device such as that in a service center. Once within the vicinity of a collection, charging and distribution machine or other authorized external device a locking mechanism in the vehicle or within the portable electrical energy storage device unlocks and allows the portable electrical energy storage device to be exchanged or serviced.
    Type: Grant
    Filed: January 29, 2016
    Date of Patent: March 6, 2018
    Assignee: Gogoro Inc.
    Inventors: Matthew Whiting Taylor, Yi-Tsung Wu, Hok-Sum Horace Luke, Huang-Cheng Hung
  • Patent number: 9868501
    Abstract: A method for controlling propulsion of two or more marine drives in a marine vessel includes detecting a fault condition relating to a first marine drive, and determining, at a first control module associated with the first marine drive, a power limit restriction for the first marine drive based on the fault condition. The method further includes communicating the power limit restriction with the first control module on a CAN bus of the marine vessel, and receiving the power limit restriction at a second control module associated with a second marine drive. The power output of the second marine drive is then reduced based on the power limit restriction for the first marine drive.
    Type: Grant
    Filed: June 15, 2016
    Date of Patent: January 16, 2018
    Assignee: Brunswick Corporation
    Inventors: Kenneth G. Gable, Jason F. Pugh, Thomas S. Kirchhoff, Andrew J. Przybyl
  • Patent number: 9840957
    Abstract: A method is provided for operating a vehicle, in particular a watercraft, with at least one combustion engine that emits pollutants contained in an exhaust gas or wastewater. The current position of the vehicle is determined by a location determination. A closed-loop and/or open-loop control device is provided which sets or adjusts the quantity of at least one pollutant emitted by the combustion engine in a self-acting manner or automatically, in accordance with the determined position of the vehicle and with information on local pollutant regulations, in particular exhaust and/or water regulations.
    Type: Grant
    Filed: December 3, 2015
    Date of Patent: December 12, 2017
    Assignee: MAN TRUCK & BUS AG
    Inventor: Andreas Döring
  • Patent number: 9835458
    Abstract: A ship assignment device acquires voyage schedule information including an operation time schedule and a sailing route of a voyage. The ship assignment device acquires, from a database, weather information related to the operation time schedule and the sailing route included in the schedule information. The ship assignment device acquires information regarding variations in fuel consumption rate from a database that stores the information for each of plural ships. On the basis of the acquired weather information and acquired information regarding each ship, the ship assignment device calculates the fuel consumption for when each ship sails on the sailing route included in the acquired voyage schedule information in accordance with the operation time schedule included in the voyage schedule information. On the basis of the calculation result, the ship assignment device outputs information identifying plural ships.
    Type: Grant
    Filed: May 28, 2013
    Date of Patent: December 5, 2017
    Assignee: NIPPON YUSEN KABUSHIKI KAISHA
    Inventors: Yuji Otsuka, Atsushi Yamaguchi, Masaharu Urabe, Ryo Kakuta
  • Patent number: 9827465
    Abstract: An apparatus includes a communication interface for receiving reference activity data items, current activity data, and current environmental data; at least one processor; and at least one memory including computer program code; wherein the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to maintain a reference activity data item relating to a previous activity, which reference activity data item includes reference activity data associated with reference environmental data; receive current activity data and current environmental data relating to a current activity; determine the reference activity data associated with the reference environmental data corresponding to the current environmental data; compare the current activity data with the reference activity data; and provide feedback for a user of the apparatus in response to the comparison.
    Type: Grant
    Filed: November 29, 2016
    Date of Patent: November 28, 2017
    Inventor: Timo Saukkonen
  • Patent number: 9807554
    Abstract: A method of sending the value of a status variable from a sending device to a receiving device as part of a standardized binary coded radio message. The message includes fields for predetermined information to be sent with the message as well as a buffer field. The method includes causing the sending device to assemble, calculate a checksum for, digitally store and periodically transmit a predetermined type of message in the form of a radio signal readable by a receiving device. The status variable is not related to the predetermined information. Before the checksum is calculated, the sending device inserts the value of the status variable in binary coded format into the message in a buffer field. According to a governing messaging standard, the buffer field is not intended to transmit information. The receiving device interprets the binary value as the value of the status variable.
    Type: Grant
    Filed: November 8, 2013
    Date of Patent: October 31, 2017
    Assignee: TRUE HEADING AB
    Inventors: Nils Willart, Anders Bergström
  • Patent number: 9767699
    Abstract: An apparatus and method can provide a warning of a drone or unmanned aerial vehicle in the vicinity of an airport. The apparatus can include at least one antenna directionally disposed at an along the approach or departure path and a detector configured to provide a warning of a presence of sense an unmanned aerial or drone. The warning can be provided in response to a radio frequency signal received by the at least one of the antenna being in a frequency band associated with a transmission frequency for the unmanned aerial vehicle or drone or in a frequency band associated with interaction from receive circuitry of the unmanned aerial vehicle or drone.
    Type: Grant
    Filed: May 14, 2015
    Date of Patent: September 19, 2017
    Assignee: Rockwell Collins, Inc.
    Inventors: John W. Borghese, Arlen E. Breiholz