WO2020214446A1

WO2020214446A1 - Current-following autopilot system and method

Info

Publication number: WO2020214446A1
Application number: PCT/US2020/026835
Authority: WO
Inventors: Darrin Kabel
Original assignee: Airmar Technology Corporation
Priority date: 2019-04-17
Filing date: 2020-04-06
Publication date: 2020-10-22

Abstract

Embodiments of methods (and systems) measure the transition current by a sensor of the marine vessel. The sensor may comprise an acoustic doppler current profiler. The transition current may be between a slower current and a faster current. The transition current may have a value or location that is between one or more corresponding values or locations of a slower current and a faster current. The transition current may indicate a demarcation of current between a slower current and a faster current. Embodiments may automatically navigate the marine vessel based on a comparison between at least one of the measured transition current and a target transition speed provided by a user. The navigation may comprise one or more of holding course of the marine vessel and steering of the marine vessel. The steering of the marine vessel may be in a port or starboard direction of the marine vessel.

Description

CURRENT-FOLLOWING AUTOPILOT SYSTEM AND METHOD

RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Application No.

62/835,142, filed on April 17, 2019. The entire teachings of the above application are incorporated herein by reference.

TECHNICAL FIELD

[0002] The following disclosure relates generally to subsea measurement and navigation and has particular utility in performing subsea measurement and navigation functions using a common apparatus.

BACKGROUND

[0003] Subsea acoustics technology, e.g. sonar, has been used for many years in facilitating underwater navigation, exploration, sensing and communications. In boat racing and sailing, it is useful to be able to measure water currents.

SUMMARY

[0004] It has been found that by measuring transition speed of water current, and performing navigation based upon the measured transition speed, a vessel may navigate toward fish for fishing applications.

[0005] Embodiments of the present disclosure are directed to methods (including but not limited to a computer-implemented methods or computer methods), systems, devices, apparatuses, and computer program products that measure water current and perform navigation based upon the measured water current.

[0006] The following example embodiments are described in reference to a method embodiment, but pertain similarly to the systems, devices, apparatuses, and computer program products.

[0007] In some embodiments, the methods may measure a transition current. The measurement may be in a direction beneath the marine vessel or in a side-looking direction. The transition current may comprise a transition (or border, line, plane, two or three- dimensional surface, or edge) of a given water current. The methods may navigate the marine vessel based on the measured transition current. The measurement may comprise continuous sensing of the transition current.

[0008] In some embodiments, the methods may measure the transition current by a sensor at the marine vessel. The sensor may comprise an acoustic doppler current profiler. The transition current may be between a slower current and a faster current. The transition current may have a value or location that is between one or more corresponding values or locations of a slower current and a faster current. The transition current may indicate a demarcation of current between a slower current and a faster current. The methods may navigate the marine vessel based on (or further based on) a comparison between at least one of the measured transition current and a target current transition speed. The target transition speed may be provided by the user. The navigation may be performed automatically, e.g., by an autopilot device. The navigation may comprise one or more of holding course of the marine vessel and steering of the marine vessel. The steering of the marine vessel may be in a port or starboard direction of the marine vessel or a combination thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The foregoing will be apparent from the following more particular description of example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating embodiments.

[0010] FIG. l is a high-level system block diagram, according to some embodiments of the present disclosure.

[0011] FIG. 2 is a high-level flow diagram illustrating an example method, according to some embodiments of the present disclosure.

[0012] FIG. 3 illustrates use of the system, according to some embodiments of the present disclosure.

[0013] FIG. 4 is a more detailed flow diagram illustrating an example method, according to some embodiments of the present disclosure.

[0014] FIG. 5 illustrates a computer network (or apparatus, or system) or similar digital processing environment, according to some embodiments of the present disclosure.

[0015] FIG. 6 illustrates a diagram of an example internal structure of a computer (e.g., client processor/device or server computers) in the computer system (and apparatus) of FIG.

5, according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0016] A description of example embodiments follows.

[0017] Some embodiments may include but are not limited to a Current-Following Autopilot. According to some embodiments, a measurement unit or sensor including but not limited to an Acoustic Doppler Current Profiler (ADCP) may be combined with navigation including but not limited to navigation by an autopilot or automated method, device, apparatus, system, or computer program product.

[0018] Typical marine vessels deploy both ADCP and autopilot devices. Embodiments of the present disclosure provide an advantage of integrating ADCP and autopilot on marine vessels.

[0019] According to some embodiments, marine autopilots may use a plethora of inputs to assist in guidance. Examples include real-time position information (GPS), cartographic data (like depth contour lines), real-time acoustic depth readings, and temperature changes.

In some embodiments, the autopilot can be made to move the vessel in a prescribed pattern based on the inputs. In others, the inputs may be used to steer toward and follow a desired value such as a specific depth or temperature, based on one or more of such inputs.

[0020] An ADCP device may provide an indication of water current beneath the vessel it is mounted to. Current can be sensed at various depths, providing a vertical profile of how water is moving under the boat. These devices are useful for fishing applications where demarcations in current are indicative of certain fish behaviors. In some embodiments, the user or captain of the vessel may maneuver the boat to follow the current demarcation, steer in a predetermined pattern around it, or hold station over it.

[0021] Some embodiments may employ real-time current readings to identify the demarcation. The current readings may be performed with direct user input (e.g., the demarcation occurs where the current changes to a user-specified speed) or detected by the device itself (e.g., the demarcation occurs where the current speed changes by an historically significant amount) or combinations of the two. Once the demarcation criteria are identified, the autopilot may use continuous sensing to determine (e.g., know) if (or whether) the vessel is drifting too far to either side of the demarcation and adjust the vessel direction accordingly. As such, some embodiments may be similar to or employ“ledge following” which may be performed with real-time depth or cartographic data as the input.

[0022] FIG. l is a high-level system block diagram, according to some embodiments of the present disclosure. As illustrated in FIG. 1, in some embodiments, the system 100 may measure, beneath a marine vessel 130, a transition current 102 at one or more depths 140.

The transition current 102 may comprise a transition (or border, line, plane, two or three- dimensional surface, or edge) of a given current of water 120. The system 100 may navigate the marine vessel 130 based on the measured transition current 102.

[0023] The measurement may comprise continuous sensing of the transition current 102. In some embodiments, the system 100 may measure the transition current 102 by a measurement engine or sensor 132 of the marine vessel 130. The sensor 132 may comprise an acoustic doppler current profiler. The system 100 may perform the navigation based upon an autopilot engine or controller 170 that receives the measured transition current 102 from the sensor 132.

[0024] The transition current or demarcation 102 may be between a slower current 106 and a faster current 110. The slower current 106 may be associated with larger target fish 162 and the faster current 110 may be associated with smaller fish 160. The transition current 102 may have a value or location that is between one or more corresponding values or locations of the slower current 106 and the faster current 110. The transition current 102 may indicate a demarcation 102 of current between the slower current 106 and the faster current 110. The system 100 may navigate the marine vessel 130 based on (or further based on) a comparison between at least one of the measured transition current 102 and a target transition speed (shown in FIG. 4 to follow). The target transition speed may be provided to the autopilot engine or controller 170 by a user (not shown in FIG. 1). The navigation may be performed automatically by the autopilot engine or controller 170. The navigation may comprise one or more of holding course of the marine vessel 130 and steering of the marine vessel 130. The steering of the marine vessel 130 may be in a port 150 or starboard 152 direction of the marine vessel 130.

[0025] FIG. 2 is a high-level flow diagram illustrating an example method 200, according to some embodiments of the present disclosure. As illustrated in FIG. 2, in some

embodiments, the method 200 may measure, in relation to a marine vessel, a transition current (202). The transition current may comprise a transition (or border, line, plane, two or three-dimensional surface, or edge) of a given current of water. The method 200 may navigate the marine vessel based on the measured transition current (204).

[0026] As illustrated in FIG. 2, in some embodiments, the method 200 may measure (or sense) the transition current (202). In some embodiments, the method 200 may measure the transition current by a sensor of the marine vessel. The sensor may comprise an acoustic doppler current profiler. The transition current may be between a slower current and a faster current. The transition current may have a value or location that is between one or more corresponding values or locations of the slower current and the faster current. The transition current may indicate a demarcation of current between a slower current and a faster current. The systems may navigate the marine vessel based on (or further based on) a comparison between at least one of the measured transition current and a target transition speed (shown in FIG. 4 to follow). The target transition speed may be provided by a user. The navigation may be performed automatically. The navigation may comprise one or more of holding course of the marine vessel and steering of the marine vessel. The steering of the marine vessel may be in a port or starboard direction of the marine vessel.

[0027] FIG. 3 illustrates use 300 of the system, according to some embodiments of the present disclosure. In addition, FIG. 4 is a more detailed flow diagram 400 illustrating an example method (or system), according to some embodiments of the present disclosure.

[0028] As illustrated collectively in FIGs. 3-4, some embodiments employ an autopilot (AP) feedback loop that measures a water transition current (or demarcation) and navigates a vessel by holding course or steering the vessel in a port or starboard direction. Although some embodiments include a method (and system) of the setting the control target from an ADCP, embodiments are not so limited and other methods (and systems) may be employed to set the control target.

[0029] As illustrated collectively in FIGs. 3-4, the water current goes through a transition of speeds along the boundary between two areas of the water that are moving at different speeds. By selecting a transition target speed between the slow current water and the fast current water, the system can know if the marine vessel is moving toward the fast or slow water at any instant in time and cause the autopilot to steer back toward the target current speed in a manner proportional to how much the measured current has deviated from the target. This may keep the vessel close to the edge of the current change, freeing the captain to focus on fishing rather than steering the edge.

[0030] FIG. 5 illustrates a computer network (or apparatus, or system) 500 or similar digital processing environment, according to some embodiments of the present disclosure. Client computer(s)/devices 50 and server computer(s) 60 provide processing, storage, and input/output devices executing application programs and the like. The client

computer(s)/devices 50 can also be linked through communications network 70 to other computing devices, including other client devices/processes 50 and server computer(s) 60. The communications network 70 can be part of a remote access network, a global network (e.g., the Internet), a worldwide collection of computers, local area or wide area networks, and gateways that currently use respective protocols (TCP/IP, Bluetooth®, etc.) to

communicate with one another. Other electronic device/computer network architectures are suitable.

[0031] In some embodiments, the computer network (or apparatus, or system) 500 may reside on (or within or be included in) the marine vessel. In other embodiments, at least a portion of the computer network (or apparatus, or system) 500 may be reside outside of (or be physically located separately from) the marine vessel.

[0032] According to some embodiments, the computer network (or apparatus, or system) 500 may be a closed shipboard network (or apparatus, or system). Some embodiments may include a navigation system (that may include a multi -function display, or MFD) that provides the display and human interface, an autopilot, and the ADCP, all of which can be nodes on the computer network (or apparatus, or system). In some embodiments, the nodes may be shipboard or reside on (or within or be included in) the marine vessel. In other embodiments, at least some of the nodes may reside outside of (or be located separately from) the marine vessel.

[0033] Client computers/devices 50 may be configured with a measurement engine (or sensor) for measuring water current or water current transitions (located at one or more of elements 50, 60, and/or 70). In some embodiments, a user may access the measurement engine (or sensor) executing on the server computers 60 from a user device, such a mobile device, a personal computer, or any computing device known to one skilled in the art without limitation. According to some embodiments, the client devices 50 and server computers 60 may be distributed across one or more of a measurement engine (or sensor) and an autopilot engine or controller.

[0034] Server computers 60 may be configured as the autopilot engine or controller which communicate with client devices 50 for receiving access to (and/or accessing) information, signals, or data from the measurement engine (or sensor) including data associated with water current or water current transitions. The server computers 60 may not be separate server computers but part of cloud network 70. In some embodiments, the measurement engine (or sensor) may measure, beneath a marine vessel, a transition current. The transition current may comprise a transition (or border, line, plane, two or three- dimensional surface, or edge) of a given current of water. The client, server, or both, may navigate, the marine vessel based on the measured transition current.

[0035] The measurement engine (or sensor) may continuously sense the transition current. The measurement engine (or sensor) may comprise an acoustic doppler current profiler. The autopilot engine or controller may perform the navigation based upon receiving the measured transition current from the measurement engine (or sensor).

[0036] The transition current may be between a slower current and a faster current. The transition current may have a value or location that is between one or more corresponding values or locations of the slower current and the faster current. The transition current may indicate a demarcation of current between a slower current and a faster current. The autopilot engine or controller may navigate the marine vessel based on (or further based on) a comparison between at least one of the measured transition current and a target transition speed (shown in FIG. 4 herein). The target transition speed may be provided by a user. The navigation may be performed automatically. The navigation may comprise one or more of holding course of the marine vessel and steering of the marine vessel. The steering of the marine vessel may be in a port or starboard direction of the marine vessel.

[0037] The client (measurement engine or sensor 50) may communicate data representing the measured current or measured current transition back to and/or from the server (autopilot engine or controller) 60. In some embodiments, the client 50 may include client applications or components executing on the client 50 for determining speed, direction, or both water current or water current transition, and the client 50 may communicate corresponding data to the server (e.g., autopilot engine or controller) 60.

[0038] As illustrated in FIG. 6, some embodiments of the system 600 may include a computer system for measuring water current or water current transitions and navigating based upon the measured water current or water current transitions. The system 600 may include a plurality of processors 84. The system 600 may also include a memory 90. The memory 90 may include: (i) computer code instructions stored thereon; and/or (ii) data representing location, size, or number of physical objects. The data may include segments including portions of the location, size, or number of physical objects. The memory 90 may be operatively coupled to the plurality of processors 84 such that, when executed by the plurality of processors 84, the computer code instructions may cause the computer system 600 to implement an autopilot engine or controller (the autopilot engine or controller being located on, in, or implemented by any of elements 50, 60, 70 of FIG. 5 or elements 82, 84,

86, 90, 92, 94, 95 of FIG. 6) configured to perform one or more functions.

[0039] According to some embodiments, FIG. 6 is a diagram of an example internal structure of a computer (e.g., client processor/device 50 or server computers 60) in the computer system 500 of FIG. 5. Each computer 50, 60 contains a system bus 79, where a bus is a set of hardware lines used for data transfer among the components of a computer or processing system. The system bus 79 is essentially a shared conduit that connects different elements of a computer system (e.g., processor, disk storage, memory, input/output ports, network ports, etc.) that enables the transfer of information between the elements. Attached to the system bus 79 is an I/O device interface 82 for connecting various input and output devices (e.g., keyboard, mouse, displays, printers, speakers, etc.) to the computer 50, 60. A network interface 86 allows the computer to connect to various other devices attached to a network (e.g., network 70 of FIG. 5). Memory 90 provides volatile storage for computer software instructions 92 and data 94 used to implement some embodiments (e.g., autopilot engine or controller and measurement engine or sensor elements described herein). Disk storage 95 provides non-volatile storage for computer software instructions 92 and data 94 used to implement an embodiment of the present disclosure. A central processor unit 84 is also attached to the system bus 79 and provides for the execution of computer instructions.

[0040] In one embodiment, the processor routines 92 and data 94 are a computer program product (generally referenced 92), including a computer readable medium (e.g., a removable storage medium such as one or more DVD-ROM’s, CD-ROM’s, diskettes, tapes, etc.) that provides at least a portion of the software instructions for the present disclosure. The computer program product 92 can be installed by any suitable software installation procedure, as is well known in the art. In another embodiment, at least a portion of the software instructions may also be downloaded over a cable, communication and/or wireless connection. Other embodiments may include a computer program propagated signal product 107 (of FIG. 5) embodied on a propagated signal on a propagation medium (e.g., a radio wave, an infrared wave, a laser wave, a sound wave, or an electrical wave propagated over a global network such as the Internet, or other network(s)). Such carrier medium or signals provide at least a portion of the software instructions for the routines/program 92 of the present disclosure.

[0041] In alternate embodiments, the propagated signal is an analog carrier wave or digital signal carried on the propagated medium. For example, the propagated signal may be a digitized signal propagated over a global network (e.g., the Internet), a telecommunications network, or other network. In one embodiment, the propagated signal is a signal that is transmitted over the propagation medium over a period of time, such as the instructions for a software application sent in packets over a network over a period of milliseconds, seconds, minutes, or longer. In another embodiment, the computer readable medium of computer program product 92 is a propagation medium that the computer system 50 may receive and read, such as by receiving the propagation medium and identifying a propagated signal embodied in the propagation medium, as described above for computer program propagated signal product.

[0042] Generally speaking, the term“carrier medium” or transient carrier encompasses the foregoing transient signals, propagated signals, propagated medium, storage medium and the like.

[0043] The teachings of all patents, published applications and references cited herein are incorporated by reference in their entirety.

[0044] While example embodiments have been particularly shown and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the embodiments encompassed by the appended claims.

Claims

CLAIMS What is claimed is:

1. A method comprising:

measuring, in relation to a marine vessel, a transition current; and navigating the marine vessel based on the measured transition current.

2. The method of Claim 1, wherein measuring comprises continuous sensing of the transition current.

3. The method of Claim 1, wherein measuring is performed by a sensor at the marine vessel.

4. The method of Claim 3, wherein the sensor comprises an acoustic doppler current profiler.

5. The method of Claim 1, wherein the transition current is between a slower current and a faster current.

6. The method of Claim 1, wherein the transition current has a value or location that is between one or more corresponding values or locations of a slower current and a faster current.

7. The method of Claim 1, wherein the transition current indicates a demarcation of current between a slower current and a faster current.

8. The method of Claim 1, wherein navigating the marine vessel is further based on a comparison between the measured transition current and a target transition speed.

9. The method of Claim 8, wherein the target transition speed is provided by the user.

10. The method of Claim 1, wherein navigating is performed automatically.

11. The method of Claim 1, wherein navigating comprises one or more of holding course of the marine vessel and steering of the marine vessel.

12. The method of Claim 11, wherein steering of the marine vessel is in a port or starboard direction of the marine vessel.

13. The method of Claim 1, wherein measuring is performed in a direction beneath the marine vessel.

14. The method of Claim 1, wherein measuring is performed in a side-looking direction of the marine vessel.

15. A system comprising:

an acoustic doppler current profiler configured to measure, in relation to a marine vessel, a transition current; and

an autopilot device configured to navigate the marine vessel based on the measured transition current.

16. The system of Claim 15, wherein measuring the transition current comprises

continuous sensing of the transition current.

17. The system of Claim 15, wherein the acoustic doppler current profiler is located at the marine vessel.

18. The system of Claim 15, wherein the transition current is between a slower current and a faster current.

19. The system of Claim 15, wherein the transition current indicates a demarcation of current between a slower current and a faster current.

20. The system of Claim 15, wherein navigating the marine vessel is further based on a comparison between the measured transition current and a target transition speed.