WO2022191794A1 - An autopilot system for marine vessels and a method thereof - Google Patents

An autopilot system for marine vessels and a method thereof Download PDF

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Publication number
WO2022191794A1
WO2022191794A1 PCT/TR2021/051355 TR2021051355W WO2022191794A1 WO 2022191794 A1 WO2022191794 A1 WO 2022191794A1 TR 2021051355 W TR2021051355 W TR 2021051355W WO 2022191794 A1 WO2022191794 A1 WO 2022191794A1
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WO
WIPO (PCT)
Prior art keywords
unit
steering
communication unit
command signal
mobile device
Prior art date
Application number
PCT/TR2021/051355
Other languages
French (fr)
Inventor
Ergun ALTINTAS
Original Assignee
Global 1 Bilisim Ve Elektronik Sistemleri Sanayi Ve Ticaret Limited Sirketi
Priority date (The priority date 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 date listed.)
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Publication of WO2022191794A1 publication Critical patent/WO2022191794A1/en

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Classifications

    • 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
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • 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
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]

Definitions

  • the present invention relates to an autopilot system for automatic steering of a steering element that allows steering of marine vessels when it moves.
  • Marine autopilot systems are navigation control systems that are widely accepted in the use of both commercial and private vessels. Control systems, in parallel with the general design thereof, calculates a movement based on input GPS data, measures the effects of the calculated movement, and calculates a new movement by utilizing the resulting error. Thus, the vessel can be navigated without the need for human interference.
  • some systems may require a position sensor for the rudder blade. All of said equipment pieces necessitate assembly and configuration. Moreover, a wiring installation has to be performed in order to connect these equipment pieces to one another.
  • Existing mechanical system is interrupted in order to integrate said equipment into mechanical systems (either hydraulic or wired) that provide the rudder movement of the vessel and additional hydraulic pump/mechanical parts are installed therebetween. These insertions enable moving the rudder without human interference. Assembly of the systems available in the state of the art is both challenging and costly. In addition, cables connecting components to another may sustain damage as these cables are exposed due to being added afterwards and therefore, may lead to failures.
  • Display units and controls which are required for operating current systems, are fixedly installed to the control panel located in the cockpit area of the vessel. Therefore, it is necessary for one to return to the cockpit or one to stay in the cockpit at all times when an intervention is necessary. This may lead to problems during the piloting of the vessel.
  • a substantial amount of wiring must be installed inside the boat in order to connect the equipment used in the systems available in the state of the art. This results in a complex structure in the current autopilot systems. Therefore, developing an automatic pilot system that enables steering marine vessels over a mobile device in order to provide ease of assembly and use as well as to reduce costs is quite crucial.
  • the patent application numbered “US2019039708” available in the state of the art was examined.
  • the invention disclosed in said application relates to a control system for marine vessels.
  • the control system disclosed in said patent application enables automated steering of the marine vessel.
  • the control system is associated with the steering system of the marine vessel.
  • the steering system is driven by an actuator based on the data received from the control system.
  • the patent application numbered ⁇ R0816962” available in the state of the art was examined.
  • the invention disclosed in said patent application relates to a control unit capable of controlling the navigation route of a vessel.
  • the control unit disclosed in said patent application is connected to the steering motor of the vessel.
  • Position detection of the vessel is performed by means of a GPS module.
  • the present invention with the object of eliminating all the disadvantages disclosed above and to introduce further advantages to the relevant technical field, relates to an autopilot system.
  • An object of the present invention is to provide an autopilot system, assembly of which is facilitated.
  • Yet another object of the present invention is to provide an autopilot system that does not require wiring.
  • the present invention comprises; a steering unit comprising a drive element to be associated with a motion element in order to enable said steering element to be moved, a control unit for controlling said drive element based on a command signal received, and a first communication unit that is associated with said control unit and that enables transmitting command signals to the control unit; a mobile device comprising an internal GPS equipment receiving location data, a processor unit that generates a command signal based on the location data received from a GPS equipment for said, a second communication unit that is arranged so as to exchange data wirelessly with the first communication unit in order to transmit the command signal generated by said processor unit to the first communication unit.
  • the first communication unit and the second communication unit are configured to communicate via a Bluetooth protocol.
  • the marine vessel can be controlled from remote points inside the vessel.
  • said mobile device is a mobile phone.
  • said mobile device comprises a user interface to allow a user to input commands.
  • the marine vessel can be steered remotely on demand.
  • the present invention comprises an electrical and/or mechanical on/off switch for turning the steering unit on or off.
  • the autopilot system may be disabled or enabled when necessary.
  • said steering unit is configured in a manner in which it is detachably connected to the steering element and to a body on which the steering element is fixed. Thus, it is ensured that it may readily be assembled and disassembled.
  • Figure 1 illustrates a representational view of the autopilot system according to the invention.
  • Figure 2 illustrates a schematic view of the autopilot system according to the invention.
  • the present invention is an autopilot system (10) that enables automatic steering of a steering element (20) of a marine vessel when the marine vessel moves.
  • the present invention is characterized by comprising; at least one mobile device (200) comprising at least one internal or external GPS equipment (230) that enables obtaining location data of the marine vessel, at least one user interface (240) that allows the user to input the direction data on the direction that the user wants the marine vessel to follow, at least one processor unit (210) that enables continually calculating the direction and quantity of motion by using the current location data obtained from the GPS equipment (230) in order to move towards a location or an orientation selected via the user interface (240) and at least a second communication unit (220) that enables the transmission of the command signal, which contains the direction and quantity of motion calculated by the processor unit (210), over a wireless communication protocol, and a steering unit (100) that is configured to be detachably associated with a steering element (20), and that comprises at least one drive unit (130), which allows the steering element (20) to be moved by
  • the present invention is an autopilot system (10) for automatically controlling the steering element (20) of marine vessels.
  • the steering element (20) mentioned herein refers to assemblies and mechanisms that enable altering the course of the marine vessel depending on the quantity of the motion when it moves.
  • the motion element may be a steering wheel shaft, a steering wheel, a lever, or the like, which is capable of performing a rotary motion around an axis.
  • the autopilot system (10) fundamentally comprises a steering unit (100) comprising a drive unit (130) to be associated with the steering element (20) so as to move the steering element (20), a control unit (110) for controlling said drive unit (130) in line with the received command signal, a first communication unit (120) that enables transmitting a control signal to said control unit (110) and a mobile device comprising an internal GPS equipment (230) that produces location data by determining its own location (i.e. has GPS /positioning function), a processor unit (210) that generates a command signal based on the location data received from said GPS equipment (230) and a communication unit (220) for wirelessly transmitting the command signal generated by said processor unit (210) to the first communication unit (120).
  • the steering unit (100) is associated with the steering element (20) in a detachable manner.
  • the steering unit (100) may comprise a body (not shown in Figures) which functions as a base, and this body may be detachably connected to an immobile area (not shown in Figures) on which the steering element (20) is fixed.
  • the drive unit (130) of the steering unit (100) may also be detachably connected to the steering element (20).
  • the steering element (20) is a steering wheel shaft or a steering wheel
  • the body is fixed to the bracket to which the steering wheel is connected
  • the drive element (130) may be fixed to the steering wheel shaft to which the steering wheel is connected or to the steering wheel itself.
  • the body is connected to an immobile area, while the steering unit (100) is connected to the steering element (20).
  • the steering unit (100) moves in a manner relative to the body, thereby allowing the steering element (20) to be moved.
  • the drive unit (130), as mentioned herein, may comprise a motor. Specifically, the drive unit (130) may comprise connection elements for connecting the steering element (20).
  • the body of the steering unit (100) may be attached to the immobile area by means of a clamp and the drive unit (130) may be attached to the steering element (20) (steering wheel shaft) by means of a gear and belt combination.
  • the drive unit (130) may comprise a battery for powering the motor or a power input for connecting a power supply.
  • the body may comprise connection elements such as clamps, magnets, or adhesive surfaces for fixing.
  • the steering unit (100) is provided so as to be readily attached to or detached from the steering element (20).
  • the control unit (110) may comprise sensors for measuring the number of revolutions or the quantity of motion of the motor included in the drive unit (130). These sensors, for example, may be an encoder that converts linear/circular motion to a signal.
  • the control unit (110) may comprise electronic circuits that are arranged so as to drive the motor included in the drive unit (130).
  • the control unit (110) may comprise a processor and a memory unit that control the drive circuit.
  • the steering unit (100) may comprise an electrical and/or mechanical on/off switch (140).
  • the on/off switch (140) is capable of controlling whether the steering unit (100) is on or off in a manner in which the steering unit controls the steering element (20).
  • the on/off switch (140) may be provided such that it is in a switch, a button, or a similar form to be triggered by the user.
  • the mobile device (200) mentioned herein may be a mobile electronic device, e.g., a smartphone, a smart bracelet, a smart watch, a VR headset, a tablet PC, or a laptop, which possesses a GPS function or that allow for obtaining GPS data by externally installing a GPS module thereto.
  • the first communication unit (120) and the second communication unit (220) communicate by using one of the wireless communication protocols. In the preferred embodiment of the present invention, the first communication unit (120) and the second communication unit (220) communicate over Bluetooth protocol.
  • transferring information between the mobile device (200) and the steering unit (100) over wireless communication protocols enables solving all problems with regard to cabling required for the communication within the marine vessel, thereby allowing for establishing a wireless communication.
  • the processor unit (210) can generate a command signal by using the current location data in order to move towards a preselected location or direction.
  • the command signal may be a signal that relates to the degrees of moving the steering element (20), or to the extent of moving the steering element.
  • the mobile device (200) may further comprise a user interface (240).
  • the user interface (240) permits the user to input control commands and the processor unit (210) converts the control command to a control signal and transmits the signal to the steering unit (100).
  • the control command for example, may correspond to commands such as rotate 5 degrees clockwise for 10 seconds, or the like.
  • the user interface (240) may comprise a virtual image similar to the image of a steering wheel and allow the user to move this steering wheel virtually, and accordingly, the processor unit (210) generates a control signal based on the quantity of motion.
  • the mobile device (200) may further comprise software/application that contains the corresponding commands allowing to perform all of these operations.
  • users may attach the detachable steering unit (100) to the steering element (20), and install the mobile application to their mobile phones, thereby readily rendering the system usable.
  • the system may be removed and easily applied to other marine vessels if required. In any part of the marine vessel, it is ensured that the user may control the steering wheel via the user interface (240) of the mobile device (200).
  • the marine vessel can be controlled remotely without the need for going to the cockpit.
  • the processor unit (210) is configured to read the data on position, direction and speed at certain intervals by using the GPS equipment (230) of the mobile device (200) and to generate the command signal comprising the direction and time in said direction by using said data and PID (Proportional, Integral, Derivative) and/or the combinations of other intelligent algorithms. These operations continue at certain intervals in a cycle.
  • PID Proportional, Integral, Derivative
  • these operations continue at certain intervals in a cycle.
  • a deflection in the direction of the marine vessel stemming from various environmental factors such as the wind and currents is detected by the processor unit (210), and the direction as well as the quantity of motion are calculated continuously in order to ensure that the marine vessel moves in the desired direction.
  • the invention is a method implemented by the autopilot system (10) according to any one of the preceding claims in order to enable automatic steering of a steering element (20) of a marine vessel when the marine vessel moves and it comprises the steps of: receiving the direction or location data as input, in which the marine vessel is desired to move, by means of a processor unit (210) of a mobile device (200) over a user interface (240),
  • a command signal comprising the calculated direction of movement and the quantity of motion to a first communication unit (120) located in a steering unit (100) by means of a second communication unit (220) located in the mobile device (200),

Abstract

The invention is an autopilot system (10) for automatic steering of a steering element (20) that allows steering of marine vessels when it moves. Accordingly, it is characterized in that it comprises a steering unit (100) comprising a drive element (130) to be associated with a motion element in order to enable the said steering element (20) to be moved, a control unit (110) for controlling said drive element based on a command signal received, a first communication unit (120) that is associated with said control unit (110) and enables the command signals to be transmitted to the control unit (110); that it comprises a mobile device (200) comprising an internal GPS equipment (230) receiving location data, a processor unit (210) that generates a command signal based on the location data received from the GPS equipment (230); a second communication unit (220) that is arranged so as to exchange data wirelessly with the first communication unit (120) in order to transmit the command signal generated by said processor unit (210) to the first communication unit (120).

Description

AN AUTOPILOT SYSTEM FOR MARINE VESSELS AND A METHOD
THEREOF
TECHNICAL FIELD
The present invention relates to an autopilot system for automatic steering of a steering element that allows steering of marine vessels when it moves.
PRIOR ART
Marine autopilot systems are navigation control systems that are widely accepted in the use of both commercial and private vessels. Control systems, in parallel with the general design thereof, calculates a movement based on input GPS data, measures the effects of the calculated movement, and calculates a new movement by utilizing the resulting error. Thus, the vessel can be navigated without the need for human interference.
Additionally, some systems may require a position sensor for the rudder blade. All of said equipment pieces necessitate assembly and configuration. Moreover, a wiring installation has to be performed in order to connect these equipment pieces to one another. Existing mechanical system is interrupted in order to integrate said equipment into mechanical systems (either hydraulic or wired) that provide the rudder movement of the vessel and additional hydraulic pump/mechanical parts are installed therebetween. These insertions enable moving the rudder without human interference. Assembly of the systems available in the state of the art is both challenging and costly. In addition, cables connecting components to another may sustain damage as these cables are exposed due to being added afterwards and therefore, may lead to failures.
Display units and controls, which are required for operating current systems, are fixedly installed to the control panel located in the cockpit area of the vessel. Therefore, it is necessary for one to return to the cockpit or one to stay in the cockpit at all times when an intervention is necessary. This may lead to problems during the piloting of the vessel. A substantial amount of wiring must be installed inside the boat in order to connect the equipment used in the systems available in the state of the art. This results in a complex structure in the current autopilot systems. Therefore, developing an automatic pilot system that enables steering marine vessels over a mobile device in order to provide ease of assembly and use as well as to reduce costs is quite crucial.
The patent application numbered “US2019039708” available in the state of the art was examined. The invention disclosed in said application relates to a control system for marine vessels. The control system disclosed in said patent application enables automated steering of the marine vessel. The control system is associated with the steering system of the marine vessel. The steering system is driven by an actuator based on the data received from the control system.
The patent application numbered ΈR0816962” available in the state of the art was examined. The invention disclosed in said patent application relates to a control unit capable of controlling the navigation route of a vessel. The control unit disclosed in said patent application is connected to the steering motor of the vessel. Position detection of the vessel is performed by means of a GPS module.
Consequently, all the problems mentioned above necessitated to make an improvement in the relevant technical field.
BRIEF DESCRIPTION OF THE INVENTION
The present invention, with the object of eliminating all the disadvantages disclosed above and to introduce further advantages to the relevant technical field, relates to an autopilot system.
An object of the present invention is to provide an autopilot system, assembly of which is facilitated.
Another object of the present invention is to provide an autopilot system with reduced manufacturing costs. Another object of the present invention is to provide an autopilot system that permits performing control from various locations inside a vessel.
Yet another object of the present invention is to provide an autopilot system that does not require wiring.
The present invention, with the aim of achieving all the objects that are mentioned above and will be revealed according to the detailed description provided below, is an autopilot system for automatic steering of a steering element that allows steering of marine vessels when the vessel moves. Accordingly, the novelty of the present invention is that, the present invention comprises; a steering unit comprising a drive element to be associated with a motion element in order to enable said steering element to be moved, a control unit for controlling said drive element based on a command signal received, and a first communication unit that is associated with said control unit and that enables transmitting command signals to the control unit; a mobile device comprising an internal GPS equipment receiving location data, a processor unit that generates a command signal based on the location data received from a GPS equipment for said, a second communication unit that is arranged so as to exchange data wirelessly with the first communication unit in order to transmit the command signal generated by said processor unit to the first communication unit. Thus, the need for laying cables is eliminated, assembly is facilitated, manufacturing costs are reduced, and control can be performed from various locations inside the vessel.
According to an aspect of a possible embodiment of the present invention, the first communication unit and the second communication unit are configured to communicate via a Bluetooth protocol. Thus, the marine vessel can be controlled from remote points inside the vessel.
According to an aspect of another possible embodiment of the present invention, said mobile device is a mobile phone.
According to an aspect of another possible embodiment of the present invention, said mobile device comprises a user interface to allow a user to input commands. Thus, the marine vessel can be steered remotely on demand. According to an aspect of another possible embodiment of the present invention, the present invention comprises an electrical and/or mechanical on/off switch for turning the steering unit on or off. Thus, the autopilot system may be disabled or enabled when necessary.
According to an aspect of another possible embodiment of the present invention, said steering unit is configured in a manner in which it is detachably connected to the steering element and to a body on which the steering element is fixed. Thus, it is ensured that it may readily be assembled and disassembled.
BRIEF DESCRIPTION OF THE FIGURES
Figure 1 illustrates a representational view of the autopilot system according to the invention.
Figure 2 illustrates a schematic view of the autopilot system according to the invention.
DETAILED DESCRIPTION OF THE INVENTION
In this detailed description, the subject matter of the present invention is disclosed by means of examples that are intended only to provide a better understanding of the subject and that do not constitute any limiting effect.
Fundamentally, the present invention is an autopilot system (10) that enables automatic steering of a steering element (20) of a marine vessel when the marine vessel moves. Accordingly, the present invention is characterized by comprising; at least one mobile device (200) comprising at least one internal or external GPS equipment (230) that enables obtaining location data of the marine vessel, at least one user interface (240) that allows the user to input the direction data on the direction that the user wants the marine vessel to follow, at least one processor unit (210) that enables continually calculating the direction and quantity of motion by using the current location data obtained from the GPS equipment (230) in order to move towards a location or an orientation selected via the user interface (240) and at least a second communication unit (220) that enables the transmission of the command signal, which contains the direction and quantity of motion calculated by the processor unit (210), over a wireless communication protocol, and a steering unit (100) that is configured to be detachably associated with a steering element (20), and that comprises at least one drive unit (130), which allows the steering element (20) to be moved by containing connection elements for establishing a connection to the steering element (20), at least a first communication unit (120) that allows the command signal to be received from the second communication unit (220) on the mobile device (200) by communicating via a wireless communication protocol, and at least one control unit (110) that enables controlling the drive unit (130) based on the command signal received from the first communication unit (120). Thus, the need for laying cables is eliminated, assembly is facilitated, manufacturing costs are reduced, and control can be performed from various locations inside the vessel.
The present invention, with reference to Figure 1, is an autopilot system (10) for automatically controlling the steering element (20) of marine vessels.
The steering element (20) mentioned herein refers to assemblies and mechanisms that enable altering the course of the marine vessel depending on the quantity of the motion when it moves. The motion element may be a steering wheel shaft, a steering wheel, a lever, or the like, which is capable of performing a rotary motion around an axis.
The autopilot system (10) according to the present invention fundamentally comprises a steering unit (100) comprising a drive unit (130) to be associated with the steering element (20) so as to move the steering element (20), a control unit (110) for controlling said drive unit (130) in line with the received command signal, a first communication unit (120) that enables transmitting a control signal to said control unit (110) and a mobile device comprising an internal GPS equipment (230) that produces location data by determining its own location (i.e.. has GPS /positioning function), a processor unit (210) that generates a command signal based on the location data received from said GPS equipment (230) and a communication unit (220) for wirelessly transmitting the command signal generated by said processor unit (210) to the first communication unit (120).
The steering unit (100) is associated with the steering element (20) in a detachable manner. In more detail, the steering unit (100) may comprise a body (not shown in Figures) which functions as a base, and this body may be detachably connected to an immobile area (not shown in Figures) on which the steering element (20) is fixed. The drive unit (130) of the steering unit (100) may also be detachably connected to the steering element (20).
In a possible embodiment, the steering element (20) is a steering wheel shaft or a steering wheel, and the body is fixed to the bracket to which the steering wheel is connected, and the drive element (130) may be fixed to the steering wheel shaft to which the steering wheel is connected or to the steering wheel itself. In other words, the body is connected to an immobile area, while the steering unit (100) is connected to the steering element (20). The steering unit (100) moves in a manner relative to the body, thereby allowing the steering element (20) to be moved.
The drive unit (130), as mentioned herein, may comprise a motor. Specifically, the drive unit (130) may comprise connection elements for connecting the steering element (20). The body of the steering unit (100) may be attached to the immobile area by means of a clamp and the drive unit (130) may be attached to the steering element (20) (steering wheel shaft) by means of a gear and belt combination. The drive unit (130) may comprise a battery for powering the motor or a power input for connecting a power supply. The body may comprise connection elements such as clamps, magnets, or adhesive surfaces for fixing. One of the aspects of the present invention that bear novelty is that the steering unit (100) is provided so as to be readily attached to or detached from the steering element (20).
The control unit (110) may comprise sensors for measuring the number of revolutions or the quantity of motion of the motor included in the drive unit (130). These sensors, for example, may be an encoder that converts linear/circular motion to a signal.
The control unit (110) may comprise electronic circuits that are arranged so as to drive the motor included in the drive unit (130). The control unit (110) may comprise a processor and a memory unit that control the drive circuit. The steering unit (100) may comprise an electrical and/or mechanical on/off switch (140). The on/off switch (140) is capable of controlling whether the steering unit (100) is on or off in a manner in which the steering unit controls the steering element (20). The on/off switch (140) may be provided such that it is in a switch, a button, or a similar form to be triggered by the user. The mobile device (200) mentioned herein may be a mobile electronic device, e.g., a smartphone, a smart bracelet, a smart watch, a VR headset, a tablet PC, or a laptop, which possesses a GPS function or that allow for obtaining GPS data by externally installing a GPS module thereto. The first communication unit (120) and the second communication unit (220) communicate by using one of the wireless communication protocols. In the preferred embodiment of the present invention, the first communication unit (120) and the second communication unit (220) communicate over Bluetooth protocol.
In the autopilot system (10), transferring information between the mobile device (200) and the steering unit (100) over wireless communication protocols enables solving all problems with regard to cabling required for the communication within the marine vessel, thereby allowing for establishing a wireless communication.
The processor unit (210) can generate a command signal by using the current location data in order to move towards a preselected location or direction. The command signal may be a signal that relates to the degrees of moving the steering element (20), or to the extent of moving the steering element. Thus, the need for a processor unit, GPS module, control module and chart plotter on the marine vessel in present systems is eliminated, and all operations to be performed by these units are carried out by means of the mobile device (200).
The mobile device (200) may further comprise a user interface (240). The user interface (240) permits the user to input control commands and the processor unit (210) converts the control command to a control signal and transmits the signal to the steering unit (100). The control command, for example, may correspond to commands such as rotate 5 degrees clockwise for 10 seconds, or the like. The user interface (240) may comprise a virtual image similar to the image of a steering wheel and allow the user to move this steering wheel virtually, and accordingly, the processor unit (210) generates a control signal based on the quantity of motion. The mobile device (200) may further comprise software/application that contains the corresponding commands allowing to perform all of these operations. Thus, users may attach the detachable steering unit (100) to the steering element (20), and install the mobile application to their mobile phones, thereby readily rendering the system usable. The system may be removed and easily applied to other marine vessels if required. In any part of the marine vessel, it is ensured that the user may control the steering wheel via the user interface (240) of the mobile device (200). Thus, the marine vessel can be controlled remotely without the need for going to the cockpit.
More specifically, the processor unit (210) is configured to read the data on position, direction and speed at certain intervals by using the GPS equipment (230) of the mobile device (200) and to generate the command signal comprising the direction and time in said direction by using said data and PID (Proportional, Integral, Derivative) and/or the combinations of other intelligent algorithms. These operations continue at certain intervals in a cycle. Thus, a deflection in the direction of the marine vessel stemming from various environmental factors such as the wind and currents is detected by the processor unit (210), and the direction as well as the quantity of motion are calculated continuously in order to ensure that the marine vessel moves in the desired direction.
The invention is a method implemented by the autopilot system (10) according to any one of the preceding claims in order to enable automatic steering of a steering element (20) of a marine vessel when the marine vessel moves and it comprises the steps of: receiving the direction or location data as input, in which the marine vessel is desired to move, by means of a processor unit (210) of a mobile device (200) over a user interface (240),
- obtaining the location data of the marine vessel by means of a GPS equipment (230) that is either internally available in the mobile device (200) or installed externally,
- receiving and verifying the obtained location data by means of the processor unit
(210),
- calculating the direction of movement and the quantity of motion by means of the processor unit (210) by considering the verified location data and the data on direction or location input via the user interface (240),
- transmitting a command signal comprising the calculated direction of movement and the quantity of motion to a first communication unit (120) located in a steering unit (100) by means of a second communication unit (220) located in the mobile device (200),
- transmitting said command signal to a control unit (110) by means of said first communication unit (120),
- ensuring that a steering element (20) of the marine vessel is moved according to the command signal by means of a drive unit (130) controlled by said control unit (110). The scope of protection of the present invention is defined in the pending claims and by no means can be limited to details provided with illustrative purposes in the detailed description disclosed herein. For it is obvious that a person skilled in the art will be able to provide similar embodiments in the light of the detailed description provided above and without departing from the scope of the invention.
REFERENCE NUMERALS INDICATED IN THE FIGURES
10 Autopilot system
100 Steering unit
110 Control unit
120 First communication unit
130 Drive unit
140 On/Off switch
200 Mobile device
210 Processor unit
220 Second communication unit
230 GPS equipment
240 User interface
20 Steering element

Claims

1. An autopilot system (10) that enables automatic steering of a steering element (20) of a marine vessel when it moves, characterized in that it comprises; at least one mobile device (200) comprising at least one internal or external GPS equipment (230) that enables obtaining location data of the marine vessel, at least one user interface (240) that allows the user to enter the desired direction data that the marine vessel to follow, at least one processor unit (210) that enables continually calculating the direction and quantity of motion by using the current location data obtained from the GPS equipment (230) in order to move towards a location or an direction selected from the user interface (240) and at least one second communication unit (220) that enables the transmission of the command signal, which contains the direction and quantity of motion calculated by the processor unit (210), over a wireless communication protocol, a steering unit (100) that is configured to be detachably associated with a steering element (20), comprising at least one drive unit (130), which allows the steering element (20) to be moved by containing connection elements for connecting to the said steering element (20), at least one first communication unit (120) that allows the command signal to be received from the second communication unit (220) on the mobile device (200) by communicating via a wireless communication protocol, at least one control unit (110) that enables controlling the drive unit (130) based on the command signal received from the said first communication unit (120).
2. An autopilot system (10) according to Claim 1, characterized in that the first communication unit (120) and the second communication unit (220) are configured to communicate via Bluetooth or a similar wireless communication protocol.
3. An autopilot system (10) according to Claim 1, characterized in that said mobile device (200) is one of a smartphone, a smart bracelet, a smart watch, virtual reality glasses, a tablet PC, and a laptop.
4. An autopilot system (10) according to Claim 1, characterized in that it comprises an electrical and/or mechanical on/off switch (140) for turning the steering unit (100) on or off.
5. An autopilot system (10) according to Claim 1, characterized in that said steering unit (100) is configured to be detachably connected to the steering element (20) and to an immobile area in which the steering element (20) is fixed.
6. An autopilot system (10) according to Claim 1, characterized in that it comprises a drive unit (130) that includes a power input for connecting a power supply or a battery in order to be energized.
7. A method implemented by the autopilot system (10) according to any one of the preceding claims in order to enable automatic steering of a steering element (20) of a marine vessel when it is moved, characterized in that it comprises the steps of;
- receiving the data of direction or location in which the marine vessel is desired to move by means of a processor unit (210) of a mobile device (200) over a user interface (240) as input,
- obtaining the location data of the marine vessel by means of a GPS equipment (230) that is either internally available in the mobile device (200) or installed externally,
- receiving and verifying the obtained location data by means of the processor unit
(210),
- calculating the direction and quantity of motion by means of the processor unit (210) by considering the verified location data and the data of direction or location entered via the user interface (240),
- transmitting a command signal comprising the calculated direction and the quantity of motion to a first communication unit (120) located in a steering unit (100) by means of a second communication unit (220) located in the mobile device (200),
- transmitting the command signal to a control unit (110) by means of said first communication unit (120),
- ensuring that a steering element (20) of the marine vessel is moved according to the command signal by means of a drive unit (130) controlled by said control unit (110).
PCT/TR2021/051355 2021-03-12 2021-12-06 An autopilot system for marine vessels and a method thereof WO2022191794A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2021/004704A TR202104704A2 (en) 2021-03-12 2021-03-12 AUTOPILOT SYSTEM FOR MARINE VESSELS AND A METHOD FOR IT
TR2021/004704 2021-03-12

Publications (1)

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WO2022191794A1 true WO2022191794A1 (en) 2022-09-15

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Citations (5)

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US20060089794A1 (en) * 2004-10-22 2006-04-27 Depasqua Louis Touch display fishing boat steering system and method
US20090037040A1 (en) * 2007-08-03 2009-02-05 Johnson Outdoors, Inc. Bidirectional wireless controls for marine devices
US20120015566A1 (en) * 2010-07-16 2012-01-19 Johnson Outdoors Inc. System and Method for Controlling a Trolling Motor
US20140277850A1 (en) * 2013-03-15 2014-09-18 Savant Systems, Llc Remote motion control using a wireless mobile device
US20160016651A1 (en) * 2014-07-16 2016-01-21 Neil D. Anderson Networked architecture for a control system for a steerable thrusting device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060089794A1 (en) * 2004-10-22 2006-04-27 Depasqua Louis Touch display fishing boat steering system and method
US20090037040A1 (en) * 2007-08-03 2009-02-05 Johnson Outdoors, Inc. Bidirectional wireless controls for marine devices
US20120015566A1 (en) * 2010-07-16 2012-01-19 Johnson Outdoors Inc. System and Method for Controlling a Trolling Motor
US20140277850A1 (en) * 2013-03-15 2014-09-18 Savant Systems, Llc Remote motion control using a wireless mobile device
US20160016651A1 (en) * 2014-07-16 2016-01-21 Neil D. Anderson Networked architecture for a control system for a steerable thrusting device

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