WO2009053744A2

WO2009053744A2 - Remote controlled vessel with sonar system

Info

Publication number: WO2009053744A2
Application number: PCT/GB2008/050982
Authority: WO
Inventors: Jim Gray; Andrew Kitchen
Original assignee: Heyday Industrial Limited; Blue Sky Angling Limited
Priority date: 2007-10-24
Filing date: 2008-10-23
Publication date: 2009-04-30
Also published as: GB0720854D0; GB2454039A; WO2009053744A3; GB0806960D0; GB2454039B

Abstract

A fish feeding watercraft apparatus comprising a watercraft and a remote control handset. The watercraft comprises sonar means configured to generate a sonar pulse and transmit a sonar signal to the remote control handset. The watercraft also includes a propulsionmeans being electronically coupled with the sonar means such that operation of the sonar and propulsion means is integrated. This integrated operation reduces interference between the two systems and improves the accuracy of the sonar systemand range over which the watercraft can transmit and receive data with the remote control handset.

Description

REMOTE CONTROLLED VESSEL

WITH SONAR SYSTEM

The present invention relates to a remote controlled watercraft having a sonar system configured to detect solid objects passing under the hull of the craft. Within the sport of fishing it is established practice to prebait a particular region of the river or lake bed with bait to encourage fish to populate this region where fishing will take place so as to increase the likelihood of catching a fish. This prebaiting routine is typically referred to as 'ground baiting' and initially involved the fisherman propelling 'ground bait' into the water above the fishing location by hand or catapult to allow the feed to settle on the rive or lake bottom.

More recently, remote controlled feeding boats alternatively termed 'bait boats' are used by fishermen to dispense bait precisely at the desired region. These bait boats typically comprise motor, propeller, direction control means and a bait hopper that may be actuated remotely to dispense the bait into the water. Examples of conventional bait boats are disclosed in EP 0 923 863 and US 6,041,537.

Further, it is known to use sonar systems coupled to remote controlled floatation platforms or vessels in an attempt to determine both the profile of the river or lake bottom and regions populated by fish. An example of a remote controlled fish finding vessel is disclosed in US 5,154,016. Whilst it would be advantageous to couple a remote controlled bait boat with a sonar system, a number of practical problems exist. In particular, independently controlled sonar and boat propulsion systems significantly restrict the distance range over which the sonar signal can be transmitted and received at a remote control device due to interference between the two systems. Additionally a user is required to hold and/or operate two remote devices.

What is required is a remote controlled water vessel that solves the above problems.

The present invention provides an integrated system for the control of a sonar system and the various operational functions of the watercraft including propulsion, navigation, feed dispensing by way of example. By providing a centralised control and management system for the craft's operational functions and sonar system the problems of interference associated with the independent operation of these separate systems is avoided.

In particular, by integrating sonar and propulsion systems it is possible to coordinate the respective operations to maximise sensitivity of the sonar by reducing the interference which also significantly increases the distance range over which the watercraft may operate to receive and transmit information to a remote control handset.

The present invention also provides a two way communication system between watercraft and the remote control handset via the centralised and integrated control management system. According to a first aspect of the present invention there is provided fish feeding watercraft apparatus comprising: a watercraft comprising: sonar means configured to generate a sonar pulse and transmit a sonar signal to a remote control handset; propulsion means to enable said watercraft to be propelled through water; a feed hopper configured to enable food within said hopper to be dispensed into the water; transceiver means to enable two way wireless transmission of information between said watercraft and said remote control handset; a remote control handset comprising: transceiver means to enable two way wireless transmission of information between said watercraft and said handset; propulsion input means to enable a user to control remotely the propulsion of said watercraft; a visual display device coupled to said transceiver means to display said sonar signal. Preferably the visual display device comprises a liquid crystal display of a size suitable for mounting within a hand held remote control handset. As will be appreciated by those skilled in the art, any form of electronic visual display device may be utilized with the present invention configured to display information relating to the electronic and mechanical components of the water craft and/or remote control handset in addition to the status of communication between the watercraft and remote control handset. The display device is also configured to display graphically the sonar signal generated by the sonar means.

Preferably, the watercraft comprises direction means and the handset comprises direction input means to enable a user to control the direction means and therefore the direction of the watercraft as it is propelled through the water.

The watercraft comprises a power supply, in the form of a battery or plurality of batteries configured to power all electronic and electromechanical components on the watercraft including for example the sonar means, propulsion means and feed hopper. The apparatus further comprises a diagnostic control means configured to detect malfunction of the sonar means, propulsion means, feed hopper, direction means and power supply. The diagnostic control means is coupled to the visual display device to display any malfunction information generated by the diagnostic control means.

Preferably, the sonar means and the propulsion means are coupled electronically such that operation of the sonar means and propulsion means is integrated. Optionally, the direction means is coupled electronically to the sonar means and propulsion means. The present invention is configured to automatically synchronise operation of at least the sonar means and propulsion means and optionally the direction means to avoid interference of the transmission and/or receipt of sonar signal information. Preferably the diagnostic control means is coupled to the propulsion means to control the propulsion means in the event of loss or malfunction of the wireless communication between the watercraft and the remote control handset. Optionally, the watercraft comprises visual indication means to provide visual indication to a user, at for example a riverside, that a malfunction in the wireless transmission of information between the watercraft and remote control handset has occurred. Optionally, the diagnostic control means may terminate the propulsion means and optionally lock the direction control means in a particular configuration such that the watercraft direction follows that of a circle. The diagnostic control system may run continually to monitor the watercraft components, such as battery level or the system may be passive and triggered in the event of sonar, propulsion (or direction) system malfunction. Additional malfunction output means, for example sound generation means, maybe provided at the watercraft to indicate to a user on the shore that a malfunction has occurred and that the watercraft control system has detected a malfunction.

Preferably, the control system further comprises a feed hopper control system configured to enable feed within the hopper to be dispensed into the water via input by a user at the remote control and output device.

Preferably, the control system is managed by a user via the remote control and output device where commands are transmitted from the remote control device to the watercraft via transceiver means. Within this specification, reference to transceiver means includes independent or coupled transmitters and receivers (being singular or an array) and/or transceivers.

According to a second aspect of the present invention there is provided a remote control handset comprising: transceiver means to enable two-way communication between said handset and a remote controllable watercraft; propulsion input means coupled to said transceiver means to enable a user to control remotely the direction and propulsion of said water craft and; a visual display device coupled to said transceiver means to display information received from said watercraft.

According to a third aspect of the present invention there is provided a fish feeding watercraft configured for feeding fish comprising a remote activated feed hopper: a sonar system having means to generate a sonar pulse and means to transmit and receive a sonar signal; a watercraft propulsion system to enable said craft to be propelled through water; transceiver means to enable two way wireless transmission of information between the watercraft and a remote control and output device and; means to integrate control of said feed hopper, sensor system and propulsion system.

According to a fourth aspect of the present invention there is provided a method of controlling a fish feeding watercraft, said method comprising: generating sonar signal information from a sonar pulse generated at said watercraft; transmitting sonar signal information from said watercraft to a remote control and output device configured to receive said signal information; processing propulsion control information received at said watercraft from said remote control and output device to affect propulsion systems at said watercraft; generating watercraft and/or watercraft component status information and; transmitting said status information to said remote control and output device.

According to a third aspect of the present invention there is provided a control system for a fish feeding watercraft comprising: a sonar system having means to generate a sonar pulse and means to transmit and receive a sonar signal; a watercraft propulsion control system to enable said craft to be propelled through the water; transceiver means to enable two way wireless transmission of information between the watercraft and a remote control and output device. Preferably the system comprises means to integrate the sonar and propulsion control systems wherein the operation of said sonar and propulsion (and optionally direction) control systems maybe synchronised automatically and/or controlled by a user via the remote control and output device.

The control system enables coordinated control of the sonar system and additional watercraft systems. This centralised control provides the coupled management of the various operational systems of the watercraft so as to maximise the effectiveness of each system and eliminate operational conflicts and interference. For example, it is advantageous to temporarily switch off the propulsion motors (electric motors) whilst a sonar pulse is being received. This eliminates interference between the watercraft' s electric motors and the sonar signal which would otherwise diminish the sensitivity of the sonar system and also reduce the available distance range over which the sonar signal information can be transmitted and received by the remote control and output device.

The various control and operating systems, including specifically the diagnostic control means may be considered to comprise conventional computer hardware including a primary circuit board (motherboard), processor, input/output devices and memory coupled electronically with the various electromechanical components of the boat and handset so as to proved mechanical control of such components including for example the sonar, propulsion, direction and feed hopper systems. The control system may be implemented in software running on the computer hardware. Computer operating systems may also be present. Preferably, the control handset comprises computer hardware including processor, inputs and outputs, memory and a primary circuit board. Software running on the handset hardware provides control of the various features of the present invention including, for example, calibration of the input devices, frequency range (channel) over which information is transmitted between the handset and the watercraft and the display format of information at the visual display.

The integration of the control and the propulsion, direction, sonar, handset-to- watercraft wireless communication and feed hopper systems is implemented in software running on the computer hardware physically located at the handset and/or watercraft. Control and manipulation of the software and hence the various control and operating systems of the watercraft and handset is achieved via inputs at the handset. The handset mounted display provides a means by which the user can view and control manipulation of the software and operational parameters via for example, a menu driven system. Additional button or keyboard input means maybe provided at the handset to facilitate user control of the software and various control and operating systems.

The software configured to control the sonar, propulsion, direction, communication and feed hopper components maybe implemented independently with selected parts integrated so as to provide the necessary integration of the electromechanical components. Alternatively, control of the various functional systems including the sonar, propulsion, direction, communication and feed hopper systems maybe via a single software programme running on either the hardware of the handset and/or watercraft. A specific embodiment of the invention will now be described with reference to the following drawings in which:

Figure 1 is a perspective view of the watercraft comprising feed hopper;

Figure 2 is a plan view of the remote control handset and output device having LCD display; Figure 3 illustrates selected electronic and hardware components of the watercraft of Figure 1;

Figure 4 illustrates selected electronic and hardware components of the handset of Figure 2;

Figure 5 is a circuit diagram of the control system for the watercraft of Figure 1; Figure 6 is the scale layout of a primary circuit board of the handset of Figure 2;

Figure 7 is a circuit diagram of the handset of Figure 2;

Figure 8 is the circuit diagram of a dedicated sonar system mounted at the watercraft of Figure 1 ;

Figure 9 is a modified version of the sonar circuit diagram of Figure 8 for the integrated use with the watercraft circuit diagram of Figure 5.

Referring to Figure 1 the watercraft 100 comprises a remote control feed hopper 101 configured to dispense feed from the watercraft into the water. An aerial coupled to a transceiver 102 is mounted at watercraft 100 to enable the craft to establish and maintain a two-way communication pathway with a remote control device. Further components of the watercraft will be illustrated with reference to Figure 3.

Figure 2 illustrates the remote control and output device 200 configured to allow a user to control watercraft 100. Handset 200 comprises input means 202 in the form of two single axis joysticks configured for speed control of two propellers (not shown) mounted at the watercraft. According to the specific embodiment, direction of the craft is controlled by synchronised control of the propeller propulsion systems (electric motors) via joysticks (202). Alternative embodiments may incorporate a rudder or pivotally mounted propeller system which may be controlled by a single or multi axis joysticks.

Handset 200 further comprises push buttons 204, 205 configured to control hopper 101 and lights (not shown) mounted at the watercraft 100.

Referring to Figure 3, the watercraft 100 comprises electronic components including circuit board 300, processor 301, inputs 302, outputs 303, and memory 304. A feed hopper control system 305 is provided for the control of feed hopper 101, 306.

Watercraft 100 further comprises a sonar control system 307 configured for the control of sonar hardware including a transformer 309 configured to generate a primary sonar pulse and at least one transducer 309 configured to transmit and receive the sonar signal. The signal may be amplified by amplifiers 310. According to a specific implementation, watercraft 100 may comprise direction control system 311 configured to control a rudder or pivotally mounted propellers 312. According to the present embodiment, the direction control system comprises the coupled management of the first and second propellers, controlled by single axis joysticks 202 of handset 200. A propulsion control system 313 is provided to enable control of the propellers or paddles 314 (via electric motors) configured to propel the watercraft through the water. A power source 315 typically a battery, is utilized by the various electrical components. The craft 100 may further comprise lights or other output devices 316 configured to indicate the operational status of the craft 100 and/or any one of the control systems or electronic components mounted at the watercraft.

Referring to Figure 4, handset 200 comprises electronic components including a circuit board 400, processor 401, inputs 402, outputs 403 and memory 404. Control of the functional components of the watercraft is provided via pushbuttons 204, 205, 405 and joysticks 202, 406 being manipulated by a user. Handset 200 further comprises an LCD display 201, 407 configured to display sonar signal information received at handset 200. This sonar signal information is generated and transmitted at the watercraft 100 via transceiver 317 mounted at the craft 100 and transceiver 408 mounted at handset 200. A power source 409 provides power for the various electrical components of the handset 200.

Communication control system 410 implemented in the software, is coupled to transceiver 408 physically positioned at handset 200. The communication control system 410, via transceiver 408 is coupled to transceiver 317 physically located at watercraft 100. Communication control system 410 is configured to monitor the communication status between the handset 200 and watercraft 100 and importantly to detect a malfunction in the communication link. Control system 410 is also configured to allow user selection of the communication channel (frequency communication range) and to provide real time adjustment of the communication frequency range. Control system 410 is further configured to automatically reconnect communication in the event of communication failure between transceiver 408 and transceivers 317.

The diagnostic control system comprises sonar control system 307, propulsion control system 313, direction control system 311, feed hopper control system 305 and communication control system 410. The diagnostic control, is implemented in software and maybe a stand alone system or implemented as subsidiary systems forming a respective part of the electronically integrated control systems 305, 307, 311, 313 and 410.

The specific implementation of Figures 3 and 4 illustrate the communication control system 410 located at the handset and the various control systems 305, 306, 307, 311 and 312 located at the watercraft. As these systems are implemented in software, anyone of the them, including the diagnostic control system may run on the hardware 400 to 404 located at the handset or the hardware 300 to 304 located at the watercraft.

Figures 5 to 9 illustrate the various circuit diagrams associated with the watercraft 100, handset 200 and sonar control system 307. As will be appreciated by those skilled in the art, the circuit diagrams illustrate the integrated architecture of the feed hopper, sonar and propulsion control systems. Accordingly, the feed hopper 306, sonar hardware 308, 309, 310 and propellers 314 may be controlled in a coordinated manner via the centralized control system. For example, and advantageously, the propellers may be temporarily switched off whilst a sonar pulse is being transmitted and/or received so as to eliminate interference which would otherwise lead to noise in the sonar signal information. Coupling of these systems also increases the practical range distance over which the watercraft 100 can transmit sonar signal information to the handset 200 to be displayed at LCD 201.

Referring to Figure 6, it has been found to be advantageous to arrange the LCD, lights, hopper switches and charging sockets of the handset circuit board according to the spacial relationship as illustrated in Figure 6.

According to the specific implementation, inputs 402 of handset 200 comprise:

• A watercraft battery indicator (via a microcontroller ADC port: Transmitted to shore via the RF link;

• Sonar echo returns (via a microcontroller ADC port); • A serial link input/output via a licence exempt RF transceiver USART;

• Provision for in circuit re-programming. The outputs 403 of the handset 200 comprise:

• Two PWM outputs to power MOSFETS for port and starboard speed;

• Two digital outputs to relay via control transistors, for port and starboard direction;

• Three digital outputs to lights and hoppers via control transistors;

• One digital output to MOSFETS for sonar pulse (12 cycles @ 200 KHz). In the event of malfunction of for example the feed hopper, sonar hardware, propulsion system and/or the communication network (provided by the transceivers) the control system is configured to automatically switch off the electric motors and output an indication of a problem via flashing lights 316. The control system is also configured to scan various frequency ranges, in the event of communication interference between handset and watercraft 100 to change both the frequency of signal transmitter and received at both watercraft 100 and handset 200. Handset 200 comprises fourteen lines for data and control to the mono LCD 407 or two lines (I2C bus) to a colour LCD. The LCD 407 is configured to display information relating to the depth of water, as a graph at the bottom of the LCD screen. The depth in feet/inches or meters/centimetres is also displayed together with the state of the power source (battery) of craft 100 and handset 200. Further display information includes a communication status indicator between craft 100 and handset 200.

According to the present invention, the communication link between craft 100 and handset 200 will automatically reconnect in the event of a link failure. The handset control circuitry and management system also incorporates a menu system which offers a range of features which via software implementation, allows a user to control the following by way of example:

• Joystick callibration • A choice of display formats and display units e.g. metric/imperial

• Frequency/channel changing at the craft 100 and handset 200 in case of interference

• Other craft functionality.

The sonar control system and sonar hardware referred to in Figure 3 comprises typical sonar components as will be appreciated by those skilled in the art associated with the generation, transmission and receipt of sonar signals. The sonar circuitry and components may be formed integrally or non-integrally with the control management circuit of the watercraft 100 according to specific implementations.

Claims

Claims:

1. Fish feeding watercraft apparatus comprising: a watercraft comprising: sonar means configured to generate a sonar pulse and transmit a sonar signal to a remote control handset; propulsion means to enable said watercraft to be propelled through water; a feed hopper configured to enable food within said hopper to be dispensed into the water; transceiver means to enable two way wireless transmission of information between said watercraft and said remote control handset; a remote control handset comprising: transceiver means to enable two way wireless transmission of information between said watercraft and said handset; propulsion input means to enable a user to control remotely the propulsion of said watercraft; a visual display device coupled to said transceiver means to display said sonar signal.

2. The apparatus as claimed in claim 1 wherein said visual display device comprises a liquid crystal display device.

3. The apparatus as claimed in any preceding claim wherein said remote control handset further comprises a printed circuit board, a processor and data storage means.

4. The apparatus as claimed in any preceding claim wherein said watercraft comprises a printed circuit board, a processor and data storage means.

5. The apparatus as claimed in any preceding claim wherein said watercraft further comprises direction means to affect the direction of said watercraft as it is propelled through the water.

6. The apparatus as claimed in claim 5 wherein said remote control handset further comprises direction input means coupled to said transceiver means to enable a user to control remotely the direction of said watercraft as it is propelled through the water.

7. The apparatus as claimed in any preceding claim wherein said watercraft further comprises a power supply configured to provide power for said sonar means, propulsion means and said feed hopper.

8. The apparatus as claimed in claims 5 and 7 further comprising diagnostic control means configured to detect a malfunction of said sonar means, propulsion means, feed hopper, direction means or said power supply, said diagnostic means coupled to said visual display device to display said malfunction.

9. The apparatus as claimed in any preceding claim wherein said sonar means and said propulsion means are coupled electronically such that the operation of said sonar means and propulsion means is integrated.

10. The apparatus as claimed in claim 5 wherein said direction means, said sonar means and said propulsion means are coupled electronically such that the operation of said direction means, said sonar means and said propulsion means is integrated.

11. The apparatus as claimed in claim 9 comprising means to automatically synchronise operation of said sonar means and said propulsion means.

12. The apparatus as claimed in claim 8 wherein said diagnostic control means is configured to monitor and detect a malfunction in the transmission of information between said watercraft and said remote control handset.

13. The apparatus as claimed in claim 12 wherein said diagnostic control means is coupled to said propulsion means and is configured to control said propulsion means in the event of a loss of wireless communication between said watercraft and said remote control handset.

14. The apparatus as claimed in claim 13 wherein said watercraft comprises visual indication means to provide a visual indication to a user of a malfunction in the wireless transmission of information between the watercraft and through a remote control handset.

15. A remote control handset comprising: transceiver means to enable two-way communication between said handset and a remote controllable watercraft; propulsion input means coupled to said transceiver means to enable a user to control remotely the direction and propulsion of said watercraft and; a visual display device coupled to said transceiver means to display information received from said watercraft.

16. The handset as claimed in claim 15 comprising computer hardware including a processor, inputs and outputs, memory and a printed circuit board; and software running on said computer hardware.

17. A fish feeding watercraft configured for feeding fish comprising: a remote activated feed hopper; a sonar system having means to generate a sonar pulse and means to transmit and receive a sonar signal; a watercraft propulsion system to enable said craft to be propelled through water; transceiver means to enable two way wireless transmission of information between the watercraft and a remote control and output device and; means to integrate control of said feed hopper, sensor system and propulsion system.

18. A method controlling a fish feeding watercraft, said method comprising: generating sonar signal information from a sonar pulse generated at said watercraft; transmitting sonar signal information from said watercraft to a remote control and output device configured to receive said signal information; processing propulsion control information received at said watercraft from said remote control and output device to affect propulsion systems at said watercraft; generating watercraft and/or watercraft component status information; and transmitting said status information to said remote control and output device.

19. A control system for a fish feeding watercraft comprising: a sonar system having means to generate a sonar pulse and means to transmit and receive a sonar signal; a watercraft propulsion control system to enable said craft to be propelled through water; transceiver means to enable two way wireless transmission of information between the watercraft and a remote control and output device.

20. The control system as claimed in claim 19 further comprising means to integrate the sonar and propulsion control systems wherein the operation of said sonar and propulsion control systems is synchronised automatically.

21. The control system as claimed in claim 20 wherein said means to integrate the sonar and propulsion control systems is configured to temporarily switch off the propulsion system whilst the sonar system is transmitting and/or receiving a sonar signal.

22. The control system as claimed in claim 21 wherein said sonar pulse is transmitted at said fish feeding watercraft and received at said remote control and output device.

23. The control system as claimed in any one of claims 19 to 22 wherein said sonar system, watercraft propulsion control system and said transceiver means are integrated electronically such that the control and operation of said sonar system, propulsion control system and said transceiver means is automatically synchronised.