Automated watercraft transfer

Patent metadata

Field	Value
Publication number	US-10450002-B2
Application number	US-201715589429-A
Country	US
Kind code	B2
Filing date	May 8, 2017
Priority date	May 8, 2017
Publication date	Oct 22, 2019
Grant date	Oct 22, 2019

Abstract

Various examples of transferring a watercraft between land and water are disclosed. When a vehicle receives a transfer signal, the vehicle locates a launch ramp, and the vehicle moves to the launch ramp. A trailer attached to the vehicle moved into the water using the launch ramp, such that a watercraft can be transferred between land and water via the trailer.

First claim

What is claimed is:

1. A watercraft transfer system for controlling an autonomous vehicle with a trailer attached thereto, the trailer being configured to support a watercraft, the system comprising:
a processor;
one or more contact sensors positioned on the trailer and operatively connected to the processor; and
memory operatively connected to the processor and storing:
a launch ramp detection module including instructions that, when executed by the processor, cause the processor to detect, in response to receiving a transfer signal, a launch location of a launch ramp for transferring the watercraft between land and water relative to a current location of the autonomous vehicle;
an automated control module including instructions that, when executed by the processor, cause the processor to generate one or more control signals that control the autonomous vehicle to i) move to the launch location, and ii) move the trailer into the water using the launch ramp; and
a floating determination module including instructions that, when executed by the processor, cause the processor to determine whether the watercraft on the trailer is floating in the water and to detect whether the watercraft is in contact with the trailer via the contact sensor.

2. The system of claim 1 , wherein the launch ramp detection module further includes instructions to confirm the launch location by comparing the launch location with a map having data corresponding to a location of one or more launch ramps including the launch ramp that was detected.

3. The system of claim 2 , wherein the automated control module further includes instructions to generate the one or more control signals in response to the launch location of the launch ramp being confirmed when the launch location matches the location of the one or more launch ramps from the map.

4. A watercraft transfer system for controlling an autonomous vehicle with a trailer attached thereto, the trailer being configured to support a watercraft, the system comprising:
a processor;
one or more pitch sensors positioned on the watercraft and any one of the trailer and the autonomous vehicle; and
memory operatively connected to the processor and storing:
a launch ramp detection module including instructions that, when executed by the processor, cause the processor to detect, in response to receiving a transfer signal, a launch location of a launch ramp for transferring the watercraft between land and water relative to a current location of the autonomous vehicle;
an automated control module including instructions that, when executed by the processor, cause the processor to generate one or more control signals that control the autonomous vehicle to i) move to the launch location, and ii) move the trailer into the water using the launch ramp; and
a floating determination module including instructions that, when executed by the processor, cause the processor to determine whether the watercraft on the trailer is floating in the water and to detect a pitch of the watercraft relative to a pitch of the trailer or a pitch of the autonomous vehicle.

5. The system of claim 4 , wherein the launch ramp detection module further includes instructions to confirm the launch location by comparing the launch location with a map having data corresponding to a location of one or more launch ramps including the launch ramp that was detected.

6. The system of claim 5 , wherein the automated control module further includes instructions to generate the one or more control signals in response to the launch location of the launch ramp being confirmed when the launch location matches the location of the one or more launch ramps from the map.

7. A method of transferring a watercraft between water and land with a trailer attached to an autonomous vehicle, the method comprising:
in response to receiving a transfer signal requesting a transfer of the watercraft between the trailer and water, detecting a launch location of a launch ramp relative to a current location of the autonomous vehicle;
generating one or more control signals to control the autonomous vehicle to i) move to the launch location and ii) to move the trailer into the water using the launch ramp; and
determining whether the watercraft is floating in the water based, at least in part, on a comparison of a pitch of the watercraft with a pitch of the trailer as detected by one or more pitch sensors positioned on the watercraft and the trailer.

8. The method of claim 7 , further comprising:
determining whether the autonomous vehicle is in the water; and
responsive to the autonomous vehicle not being in the water, continuing to generate the one or more control signals to control the autonomous vehicle to move the trailer into the water using the launch ramp.

9. The method of claim 8 , further comprising:
responsive to the autonomous vehicle being in the water, generating a control signal to stop the autonomous vehicle from further moving the trailer into the water along the launch ramp.

10. The method of claim 7 , further comprising:
responsive to detecting that the watercraft floating in the water, transmitting a successful launch signal to a remote device indicating the watercraft has been launched.

11. The method of claim 7 , further comprising:
confirming the launch location by comparing the launch location with a map that identifies coordinates of one or more launch ramps including the launch ramp, wherein generating the one or more control signals includes generating the one or more control signals responsive to confirming the launch location.

12. The method of claim 7 , further comprising:
storing the launch location for repositioning the trailer at the launch location in response to receiving a haul out signal.

13. A method of transferring a watercraft between water and land with a trailer attached to an autonomous vehicle, the method comprising:
in response to receiving a transfer signal requesting a transfer of the watercraft between the trailer and water, detecting a launch location of a launch ramp relative to a current location of the autonomous vehicle;
generating one or more control signals to control the autonomous vehicle to i) move to the launch location and ii) to move the trailer into the water using the launch ramp; and
determining whether the watercraft is floating in the water based, at least in part, by determining whether the watercraft is in contact with the trailer as detected by one or more contact sensors positioned on a support surface of the trailer.

14. The method of claim 13 , further comprising:
determining whether the autonomous vehicle is in the water; and
responsive to the autonomous vehicle not being in the water, continuing to generate the one or more control signals to control the autonomous vehicle to move the trailer into the water using the launch ramp.

15. The method of claim 14 , further comprising:
responsive to the autonomous vehicle being in the water, generating a control signal to stop the autonomous vehicle from further moving the trailer into the water along the launch ramp.

16. The method of claim 13 , further comprising:
responsive to detecting that the watercraft floating in the water, transmitting a successful launch signal to a remote device indicating the watercraft has been launched.

17. The method of claim 13 , further comprising:
confirming the launch location by comparing the launch location with a map that identifies coordinates of one or more launch ramps including the launch ramp, wherein generating the one or more control sig

Assignees

• Toyota Eng & Mfg North America

Inventors

• Williams Paxton S
• Prokhorov Danil V
• Sullivan Richard M

Classifications

• B62D13/06 Primary

  for backing a normally drawn trailer · CPC title

• B60P3/10

  for carrying boats {(for carrying sailboards B60R9/08, B63B32/80; equipment forming part of or attachable to vessels facilitating transport over land, e.g. wheel units, towing units, B63C13/00)} · CPC title

• B60P3/1033

  on a loading frame, e.g. the vehicle being a trailer (B60P3/1008 takes precedence) · CPC title

• B60W30/06

  Automatic manoeuvring for parking · CPC title

• B63C13/00 Primary

  Equipment forming part of or attachable to vessels facilitating transport over land (amphibious craft, land vehicles convertible for use on water B60F; land vehicles for carrying boats B60P; {hand carts for transporting boats B62B; } harnesses attachable to vessels for personal carrying A45F) · CPC title