Passage planning and navigation systems and methods

Patent metadata

Field	Value
Publication number	US-12013243-B2
Application number	US-202017601041-A
Country	US
Kind code	B2
Filing date	Apr 3, 2020
Priority date	Apr 5, 2019
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

Techniques are disclosed for systems and methods to provide passage planning for a mobile structure. A passage planning system includes a logic device configured to communicate with a user interface associated with the mobile structure and at least one operational state sensor mounted to or within the mobile structure. The logic device determines an operational range map based, at least in part, on an operational state of the mobile structure, potential navigational hazards, and/or environmental conditions associated with the mobile structure. Such operational range map and other control signals may be displayed to a user and/or used to generate a planned route and/or adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

First claim

What is claimed is:

1. A method comprising:
receiving propulsion mode data as user input provided to a user interface, the propulsion mode data specifying user selection for at least one of:
(i) power to be used for at least one propulsion power source relative to a full power of the at least one propulsion power source;
(ii) whether to use at least one generator of power provided to at least one motor for propulsion;
(iii) whether to use one or more specific propulsion power sources;
(iv) amount of draw of accessory power from a power source supplying both accessory power and propulsion power;

determining an operational state of a mobile structure based, at least in part, on operational state data provided by at least one operational state sensor mounted to or within the mobile structure;
determining environmental conditions associated with the mobile structure; and
determining an operational range map associated with the mobile structure based, at least in part, on the propulsion mode data, the operational state of the mobile structure and the environmental conditions associated with the mobile structure, wherein determining the operational range map comprises determining a set of straight line range estimations from an initiation position of the mobile structure provided by the position sensor;
wherein each straight line range estimation is based, at least in part, on a series of predicted speeds of the mobile structure along each straight line range estimation; and
wherein each predicted speed is based, at least in part, on the operational state of the mobile structure and a true or apparent wind polar associated with the mobile structure.

2. The method of claim 1 , wherein the propulsion mode data specifies user selection (i), and the method further comprises:
determining passage criteria associated with a planned route for the mobile structure, wherein the determining the operational range map is based, at least in part, on the passage criteria; and wherein the determining the passage criteria comprises:
receiving a first portion of the passage criteria as user input provided to the user interface, wherein the first portion of the passage criteria comprises a destination and a desired arrival time; and
determining a second portion of the passage criteria based, at least in part, on the first portion of the passage criteria and the operational state of the mobile structure, wherein the second portion of the passage criteria comprises a series of waypoints defining the planned route and a corresponding series of mechanical propulsion power levels to be provided by a main battery of the mobile structure to a propulsion system of the mobile structure.

3. The method of claim 1 , wherein:
the propulsion mode data specifies user selection (ii);
the operational state comprises an electric propulsion state, a heading, and/or a position of the mobile structure;
the environmental conditions comprise a wind velocity and/or a current velocity associated with the mobile structure and/or a planned route for the mobile structure; and
wherein the determining the environmental conditions comprises:
receiving environmental sensor data, position data, and/or orientation data from corresponding sensors mounted to the mobile structure; and/or
determining a wind velocity and/or a current velocity associated with the mobile structure based on the environmental sensor data, the position data, and/or the orientation data.

4. The method of claim 1 , wherein the propulsion mode data specifies user selection (iii), and the method further comprises:
rendering the operational range map over a navigational chart rendered on the display of the user interface; and
adjusting, using an operational state controller coupled to or within the mobile structure, the operational state of the mobile structure based, at least in part, on the operational range map and/or passage criteria associated with a planned route for the mobile structure;
wherein the operational state of the mobile structure comprises a main battery charge level for a main battery of a propulsion system for the mobile structure; and
the adjusting the operational state of the mobile structure comprises adjusting a mechanical propulsion power provided by the main battery to the propulsion system.

5. The method of claim 1 , wherein the propulsion mode data specifies user selection (iv).

6. The method of claim 1 , further comprising:
aggregating ranging sensor data provided by a ranging sensor system mounted to the mobile structure into a passage database;
determining a set of potential navigation hazard contacts based, at least in part, on the passage database; and
determining a set of hazard priorities corresponding to the set of potential navigation hazard contacts based, at least in part, on the passage database;
wherein:
the propulsion mode data specifies user selection of whether to use a sail;
the passage database comprises the ranging sensor data and a regulatory navigation ruleset, user navigation preferences, passage criteria associated with a planned route for the mobile structure, and/or navigation control signals provided to a navigation control system of the mobile structure; and
wherein the determining the set of potential navigation hazard contacts comprises:
detecting and classifying one or more navigation hazards within a preselected range of the mobile structure based, at least in part, on the passage database; and
identifying at least one of the one or more navigation hazards as the set of potential navigation hazard contacts based, at least in part, on a projected course of the mobile structure and a position and/or a projected motion of the at least one navigation hazard.

7. The method of claim 1 , further comprising:
aggregating ranging sensor data provided by a ranging sensor system mounted to the mobile structure into a passage database;
determining a set of potential navigation hazard contacts based, at least in part, on the passage database; and
determining a set of hazard priorities corresponding to the set of potential navigation hazard contacts based, at least in part, on the passage database;
wherein the ranging sensor system comprises an imaging system implemented as a perimeter ranging system for the mobile structure, and wherein the determining the set of potential navigation hazard contacts comprises:
processing imagery provided by the imaging system according to a region-differentiated image processing strategy using a fixed frame convolutional neural network (CNN) characterized by a fixed frame pixel size that is smaller than a frame pixel size of the imagery provided by the imaging system.

8. The method of claim 1 , further comprising:
aggregating ranging sensor data provided by a ranging sensor system mounted to the mobile structure into a passage database;
determining a set of potential navigation hazard contacts based, at least in part, on the passage database; and
determining a set of hazard priorities corresponding to the set of potential navigation hazard contacts based, at least in part, on the passage database;
wherein the determining the set of hazard priorities comprises:
determining an immediacy for each potential navigation hazard contact based, at least in part, on an estimated time for the mobile structure to reach the corresponding navigation hazard;
determining a severity for each potential navigation hazard contact based, at least in part, on a size, shape, velocity, and/or type of the corresponding navigation hazard;
determining the set of hazard priorities based on a combination of the immediacy and severity for each potential navigation hazard contact in the corresponding set of potential navigation hazard conta

Assignees

• FLIR Belgium BVBA

Inventors

• Johnson Mark
• Sayer William M
• Rivers Mark
• Jensen Brian L
• Tremblay Marcel
• Gatland Christopher D

Classifications

• B63B49/00

  Arrangements of nautical instruments or navigational aids (nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S) · CPC title

• B60L2260/54

  Energy consumption estimation · CPC title

• B60L2260/52

  drive range estimation, e.g. of estimation of available travel distance · CPC title

• B60L2250/16

  by display · CPC title

• B60L2250/10

  by alarm · CPC title