GB2611212A - Dynamic proximity alert systems and methods - Google Patents
Dynamic proximity alert systems and methods Download PDFInfo
- Publication number
- GB2611212A GB2611212A GB2218302.4A GB202218302A GB2611212A GB 2611212 A GB2611212 A GB 2611212A GB 202218302 A GB202218302 A GB 202218302A GB 2611212 A GB2611212 A GB 2611212A
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- GB
- United Kingdom
- Prior art keywords
- perimeter
- mobile structure
- hazard
- indicator
- magnitude
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract 15
- 238000012544 monitoring process Methods 0.000 claims abstract 40
- 238000003032 molecular docking Methods 0.000 claims abstract 11
- 230000007613 environmental effect Effects 0.000 claims 6
- 230000003116 impacting effect Effects 0.000 claims 2
- 238000009877 rendering Methods 0.000 claims 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 2
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
Techniques are disclosed for systems and methods to provide graphical user interfaces for assisted and/or autonomous navigation for mobile structures. A navigation assist system includes a user interface with a display for a mobile structure and a logic device configured to render a docking user interface on the display. The logic device determines a direction and magnitude of a navigational bias associated with navigation of the mobile structure and determines a spatially biased safety perimeter and hazard monitoring area within a monitoring perimeter of a perimeter ranging system mounted to the mobile structure, based on the direction and magnitude of the navigational bias. The docking user interface includes a maneuvering guide with a virtual bumper perimeter intrusion indicator configured to indicate a relative position and/or proximity of a navigation hazard within the spatially biased hazard monitoring area.
Claims (23)
1. A system comprising: a user interface for a mobile structure comprising a display; and a logic device configured to communicate with the user interface and render a docking user interface on the display, wherein the logic device is configured to: monitor perimeter sensor data provided by a perimeter ranging system mounted to the mobile structure, wherein the perimeter sensor data corresponds to at least a hazard monitoring area within a monitoring perimeter of the perimeter ranging system; and render the docking user interface based, at least in part, on the monitored perimeter sensor data, wherein the docking user interface comprises a maneuvering guide comprising a mobile structure perimeter indicator, a virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator and corresponding to a safety perimeter for the mobile structure, and/or a virtual bumper perimeter intrusion indicator disposed substantially within the virtual bumper perimeter indicator, wherein the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard disposed within the monitoring perimeter of the perimeter ranging system.
2. The system of claim 1, wherein: the virtual bumper perimeter indicator is concentric to and symmetrically spaced about the mobile structure perimeter indicator by a selected indicator thickness corresponding to a selected thickness of the safety perimeter for the mobile structure; a perimeter of the hazard monitoring area is concentric to and symmetrically spaced about the safety perimeter by a hazard monitoring perimeter thickness that is equal to or greater than the thickness of the safety perimeter for the mobile structure; and/or the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of the navigation hazard detected at or within the hazard monitoring area, one or more hazard escalation zones distributed concentrically within the hazard monitoring area, and/or the safety perimeter for the mobile structure.
3. The system of claim 1, wherein the logic device is configured to: determine a direction and magnitude of a navigational bias associated with navigation of the mobile structure; and determine a spatially biased safety perimeter for the mobile structure and a spatially biased hazard monitoring area within the monitoring perimeter of the perimeter ranging system based, at least in part, on the determined direction and magnitude of the navigational bias, wherein: the spatially biased hazard monitoring area encloses the spatially biased safety perimeter and/or the spatially biased safety perimeter encloses the mobile structure perimeter; the spatially biased safety perimeter and the spatially biased hazard monitoring area are asymmetrically and/or elastically deformed and/or displaced relative to a center of the mobile structure along the determined direction of the navigational bias based, at least in part, on the determined magnitude of the navigational bias; and the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of the navigation hazard detected at or within the spatially biased hazard monitoring area, one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure.
4. The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises: determining an absolute velocity of the mobile structure; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined absolute velocity of the mobile structure.
5. The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises: determining an environmental disturbance velocity impacting navigation of the mobile structure, wherein the environmental disturbance velocity comprises a wind velocity and/or a water current velocity; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined environmental disturbance velocity
6. The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises: determining a minimum thrust availability direction associated with a thrust maneuver system for the mobile structure; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined minimum thrust availability direction
7. The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises: determining a relative hazard approach velocity from the mobile structure towards the navigation hazard based, at least in part, on the perimeter sensor data; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined relative hazard approach velocity .
8. The system of claim 1, wherein the maneuvering guide comprises: a virtual bumper perimeter thickness indicator, a virtual bumper perimeter thickness selector, and/or a virtual bumper perimeter segment selector configured to enable, disable, indicate, and/or provide for user selection of a thickness of one or more perimeter indicator segments of the virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator.
9. The system of claim 1, wherein the maneuvering guide comprises: an obstruction map generated based, at least in part, on the perimeter sensor data, wherein the obstruction map comprises at least the navigation hazard disposed within the monitoring perimeter of the perimeter ranging system; a translational thrust indicator configured to indicate a translational maneuvering thrust magnitude and direction relative to an orientation of the mobile structure perimeter indicator; and/or a rotational thrust indicator configured to indicate a rotational maneuvering thrust magnitude and direction relative to the orientation of the mobile structure perimeter indicator.
10. The system of claim 1, wherein the docking user interface comprises: one or more video feeds provided by a perimeter ranging system mounted to the mobile structure, wherein each video feed of the one or more video feeds is rendered left of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a port side of the mobile structure and is rendered right of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a starboard side of the mobile structure.
11. The system of claim 1 , further comprising a navigation control system for the mobile structure, wherein: the mobile structure comprises a watercraft; the navigation control system comprises one or more of a steering actuator, a propulsion system, and a thrust maneuver system; and the logic device is configured to generate control signals for the navigation control system to pilot the watercraft to remove the navigation hazard from a spatially biased hazard monitoring area within the monitoring perimeter and/or one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or to avoid collision with the navigation hazard.
12. A method comprising: monitoring perimeter sensor data provided by a perimeter ranging system mounted to a mobile structure, wherein the perimeter sensor data corresponds to at least a hazard monitoring area within a monitoring perimeter of the perimeter ranging system; and rendering a docking user interface based, at least in part, on the monitored perimeter sensor data, wherein the docking user interface comprises a maneuvering guide comprising a mobile structure perimeter indicator, a virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator and corresponding to a safety perimeter for the mobile structure, and/or a virtual bumper perimeter intrusion indicator disposed substantially within the virtual bumper perimeter indicator, wherein the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard disposed within the monitoring perimeter of the perimeter ranging system
13. The method of claim 12, wherein: the virtual bumper perimeter indicator is concentric to and symmetrically spaced about the mobile structure perimeter indicator by a selected indicator thickness corresponding to a selected thickness of the safety perimeter for the mobile structure; a perimeter of the hazard monitoring area is concentric to and symmetrically spaced about the safety perimeter by a hazard monitoring perimeter thickness that is equal to or greater than the thickness of the safety perimeter for the mobile structure; and/or the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of the navigation hazard detected at or within the hazard monitoring area, one or more hazard escalation zones distributed concentrically within the hazard monitoring area, and/or the safety perimeter for the mobile structure
14. The method of claim 12, wherein the maneuvering guide comprises: a virtual bumper perimeter thickness indicator, a virtual bumper perimeter thickness selector, and/or a virtual bumper perimeter segment selector configured to enable, disable, indicate, and/or provide for user selection of a thickness of one or more perimeter indicator segments of the virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator .
15. The method of claim 12, wherein the maneuvering guide comprises: an obstruction map generated based, at least in part, on the perimeter sensor data, wherein the obstruction map comprises at least the navigation hazard disposed within the monitoring perimeter of the perimeter ranging system; a translational thrust indicator configured to indicate a translational maneuvering thrust magnitude and direction relative to an orientation of the mobile structure perimeter indicator; and/or a rotational thrust indicator configured to indicate a rotational maneuvering thrust magnitude and direction relative to the orientation of the mobile structure perimeter indicator.
16. The method of claim 12, wherein the docking user interface comprises: one or more video feeds provided by a perimeter ranging system mounted to the mobile structure, wherein each video feed of the one or more video feeds is rendered left of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a port side of the mobile structure and is rendered right of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a starboard side of the mobile structure.
17. A method comprising: determining a direction and magnitude of a navigational bias associated with navigation of a mobile structure; determining a spatially biased safety perimeter for the mobile structure and a spatially biased hazard monitoring area within a monitoring perimeter of a perimeter ranging system mounted to the mobile structure based, at least in part, on the determined direction and magnitude of the navigational bias; and rendering a docking user interface based, at least in part, on the spatially biased safety perimeter and/or the spatially biased hazard monitoring area, wherein the docking user interface comprises a maneuvering guide comprising a mobile structure perimeter indicator and a virtual bumper perimeter intrusion indicator disposed at least partially about and/or adjacent to the mobile structure perimeter indicator; wherein the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard detected at or within the spatially biased hazard monitoring area, one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure.
18. The method of claim 17, wherein: the spatially biased hazard monitoring area encloses the spatially biased safety perimeter and the spatially biased safety perimeter encloses a perimeter of the mobile structure; the spatially biased safety perimeter and the spatially biased hazard monitoring area are asymmetrically and/or elastically deformed and/or displaced relative to a center of the mobile structure along the determined direction of the navigational bias based, at least in part, on the determined magnitude of the navigational bias; and the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard detected at or within the spatially biased hazard monitoring area, one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure
19. The method of claim 17, wherein the determining the direction and magnitude of the navigational bias comprises: determining an absolute velocity of the mobile structure; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined absolute velocity of the mobile structure
20. The method of claim 17, wherein the determining the direction and magnitude of the navigational bias comprises: determining an environmental disturbance velocity impacting navigation of the mobile structure, wherein the environmental disturbance velocity comprises a wind velocity and/or a water current velocity; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined environmental disturbance velocity
21. The method of claim 17, wherein the determining the direction and magnitude of the navigational bias comprises: determining a minimum thrust availability direction associated with a thrust maneuver system for the mobile structure; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined minimum thrust availability direction
22. The method of claim 17, wherein the determining the direction and magnitude of the navigational bias comprises: determining a relative hazard approach velocity from the mobile structure towards the navigation hazard based, at least in part, on the perimeter sensor data; and determining the direction and magnitude of the navigational bias based, at least in part, on the determined relative hazard approach velocity .
23. The method of claim 17, further comprising: generating control signals for a navigation control system of the mobile structure to pilot the watercraft to remove the navigation hazard from the spatially biased hazard monitoring area, one or more of the spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure, and/or to avoid collision with the navigation hazard.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US202063038626P | 2020-06-12 | 2020-06-12 | |
| PCT/US2021/037127 WO2021252982A1 (en) | 2020-06-12 | 2021-06-11 | Dynamic proximity alert systems and methods |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB202218302D0 GB202218302D0 (en) | 2023-01-18 |
| GB2611212A true GB2611212A (en) | 2023-03-29 |
| GB2611212B GB2611212B (en) | 2024-06-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB2218302.4A Active GB2611212B (en) | 2020-06-12 | 2021-06-11 | Dynamic proximity alert systems and methods |
Country Status (2)
| Country | Link |
|---|---|
| GB (1) | GB2611212B (en) |
| WO (1) | WO2021252982A1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190361457A1 (en) * | 2014-12-31 | 2019-11-28 | FLIR Belgium BVBA | Autonomous and assisted docking systems and methods |
| WO2020092643A1 (en) * | 2018-10-31 | 2020-05-07 | FLIR Belgium BVBA | Assisted docking graphical user interface systems and methods |
-
2021
- 2021-06-11 GB GB2218302.4A patent/GB2611212B/en active Active
- 2021-06-11 WO PCT/US2021/037127 patent/WO2021252982A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190361457A1 (en) * | 2014-12-31 | 2019-11-28 | FLIR Belgium BVBA | Autonomous and assisted docking systems and methods |
| WO2020092643A1 (en) * | 2018-10-31 | 2020-05-07 | FLIR Belgium BVBA | Assisted docking graphical user interface systems and methods |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2611212B (en) | 2024-06-05 |
| GB202218302D0 (en) | 2023-01-18 |
| WO2021252982A1 (en) | 2021-12-16 |
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