Unmanned vehicle control and operation in a marine environment

Patent metadata

Field	Value
Publication number	US-11275371-B2
Application number	US-201916527402-A
Country	US
Kind code	B2
Filing date	Jul 31, 2019
Priority date	Oct 13, 2016
Publication date	Mar 15, 2022
Grant date	Mar 15, 2022

Abstract

Many different types of systems are utilized or tasks are performed in a marine environment. The present invention provides various configurations of unmanned vehicles, or drones, that can be operated and/or controlled for such systems or tasks. One or more unmanned vehicles can be integrated with a dedicated marine electronic device of a marine vessel for autonomous control and operation. Additionally or alternatively, the unmanned vehicle can be manually remote operated during use in the marine environment. Such unmanned vehicles can be utilized in many different marine environment systems or tasks, including, for example, navigation, sonar, radar, search and rescue, video streaming, alert functionality, among many others. However, as contemplated by the present invention, the marine environment provides many unique challenges that may be accounted for with operation and control of an unmanned vehicle.

First claim

The invention claimed is:

1. An unmanned vehicle for a marine environment, wherein the unmanned vehicle is controllable by a marine electronic device of a marine vessel, the unmanned vehicle comprising:
a location sensor configured to gather location data corresponding to the unmanned vehicle;
a propulsion system configured to propel the unmanned vehicle;
at least one operational component configured to gather operational data, wherein the operational component comprises at least one of a sensor configured to obtain sensor data or a camera configured to obtained camera data;
a transmitter configured to transmit data to the marine electronic device;
a receiver configured to receive instructions from the marine electronic device;
a processor; and
a memory including computer program product stored thereon, wherein the computer program product is configured, when executed by the processor, to:
determine location data indicative of a current location of the unmanned vehicle;
transmit the location data to the marine electronic device;
receive a control signal from the marine electronic device, wherein the control signal includes instructions to travel to a desired location based on a planned route or waypoint stored in memory of the marine electronic device and maintain a desired altitude or depth at the desired location;
cause the propulsion system to propel the unmanned vehicle to the desired location and the desired altitude or depth;
receive operational data from the at least one operational component, wherein the operational data comprises at least one of sensor data or camera data; and
transmit the operational data to the marine electronic device.

2. The unmanned vehicle of claim 1 , wherein the computer program product is further configured, when executed by the processor, to:
determine a current altitude or depth that is different than the desired altitude or depth; and
cause the propulsion system to propel the unmanned vehicle to return to the desired altitude or depth.

3. The unmanned vehicle of claim 1 , wherein the computer program product is further configured, when executed by the processor, to receive a series of control signals from the marine electronic device, wherein each control signal includes instructions to travel to a new desired location so as to cause the unmanned vehicle to autonomously follow the planned route stored in the memory of the marine electronic device.

4. The unmanned vehicle of claim 1 , wherein the at least one sensor is a sonar system configured to collect sonar data from an underwater environment, wherein the computer program product is further configured, when executed by the processor, to:
receive a control signal from the marine electronic device with instructions to gather sonar data;
cause the sonar system to gather sonar data;
determine location data associated with the gathered sonar data; and
transmit the gathered sonar data and the location data associated with the gathered sonar data to the marine electronic device for display of the sonar data on a screen of the marine electronic device and association of the location of the unmanned vehicle with the gathered sonar data.

5. The unmanned vehicle of claim 4 , wherein the computer program product is further configured, when executed by the processor, to cause the propulsion system to land the unmanned vehicle on a surface of a body of water such that at least a portion of the sonar system is submerged so as to gather sonar data from the underwater environment.

6. The unmanned vehicle of claim 4 , wherein the sonar system is deployable, and wherein the computer program product is further configured, when executed by the processor, to:
cause the propulsion system to cause the unmanned vehicle to hover at a hover position above a surface of a body of water; and
cause the sonar system to deploy from the hover position to beneath the surface of the body of water such that at least a portion of the sonar system is submerged so as to gather sonar data from the underwater environment.

7. The unmanned vehicle of claim 1 , wherein the unmanned vehicle is an unmanned aerial vehicle such that the propulsion system is configured to cause the unmanned aerial vehicle to fly around the marine environment.

8. The unmanned vehicle of claim 1 , wherein the unmanned vehicle is an unmanned underwater vehicle such that the propulsion system is configured to cause the unmanned underwater vehicle to travel beneath a surface of a body of water of the marine environment.

9. The unmanned vehicle of claim 1 , wherein the at least one sensor is at least one of a sonar system, a radar system, a microphone, a temperature sensor, a wind sensor, a heave/roll sensor, or an IR sensor.

10. A marine electronic device of a marine vessel configured for control of an unmanned vehicle, the marine electronic device comprising:
a transmitter configured to transmit instructions to the unmanned vehicle;
a receiver configured to receive data from the unmanned vehicle;
a processor; and
a memory including computer program product stored thereon, wherein the computer program product is configured, when executed by the processor, to:
receive location data from the unmanned vehicle;
determine, based on the received location data, the current location of the unmanned vehicle;
determine, based on a planned route or waypoint stored in the memory of the marine electronic device, a desired location for the unmanned vehicle;
determine a desired altitude or depth for the unmanned vehicle to maintain at the determined location;
transmit a control signal to the unmanned vehicle to instruct the unmanned vehicle to travel to the desired location and maintain the desired altitude or depth at the desired location, wherein the control signal causes the unmanned vehicle to travel to the desired location and maintain the desired altitude or depth at the desired location; and
receive operational data from the unmanned vehicle, wherein the operational data comprises at least one of sensor data obtained by the unmanned vehicle or camera data obtained by the unmanned vehicle.

11. The marine electronic device of claim 10 , wherein the computer program product is further configured, when executed by the processor, to:
Determine, based on received operational data, a current altitude or depth of the unmanned vehicle; and
transmit a second control signal to the unmanned vehicle to instruct the unmanned vehicle to return to the desired altitude or depth in an instance in which the current altitude or depth is different than the desired altitude or depth.

12. The marine electronic device of claim 10 , wherein the computer program product is further configured, when executed by the processor, to:
transmit a series of control signals to the unmanned vehicle, wherein each control signal includes instructions to cause the unmanned vehicle to travel to a new desired location so as to cause the unmanned vehicle to autonomously follow the planned route stored in the memory of the marine electronic device.

13. The marine electronic device of claim 10 , wherein the computer program product is further configured, when executed by the processor, to:
cause display of the current location of the unmanned vehicle on a screen of the marine electronic device.

14. The marine electronic device of claim 10 , wherein the at least one sensor of the unmanned vehicle is a sonar system configured to collect sonar data from an underwater environment, wherein the computer program product of the marine electronic device is further configured, when executed by the processor, to:
transmit a control

Assignees

• Navico Holding As

Inventors

• Harnett Mark N
• Butterworth Paul
• Isaacson Thomas E H
• Hawkins Jake

Classifications

• B64U2201/20

  Remote controls · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U80/84

  Waterborne vehicles · CPC title

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/689

  Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) · CPC title