System for determining automatic docking is complete by collision

Patent metadata

Field	Value
Publication number	US-12091141-B2
Application number	US-202217964008-A
Country	US
Kind code	B2
Filing date	Oct 11, 2022
Priority date	Oct 11, 2022
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

A system, adapted to determine that automatic docking of a boat is completed. The system including a control unit including a processor configured to switch a control mode of the control unit to an automatic docking mode; output a control signal for controlling an automatic steering of the boat when the control mode is switched to the automatic docking mode; obtain a vibration that is exerted on the boat, wherein, when the control unit is in the automatic docking mode, the control unit is configured to end the automatic docking mode when the control unit detects the vibration.

First claim

What is claimed is:

1. A system, adapted to determine that automatic docking of a boat is completed, the system comprising:
a control unit, comprising a processor, configured to:
switch a control mode of the control unit to an automatic docking mode;
output a control signal for controlling an automatic steering of the boat when the control mode is switched to the automatic docking mode;
obtain a vibration that is exerted on the boat;

wherein, when the control unit is in the automatic docking mode, the control unit is configured to end the automatic docking mode when the control unit detects the vibration.

2. The system according to claim 1 , wherein the control unit is configured to end the automatic docking mode by stopping the output of the control signal for controlling the automatic steering of the boat.

3. The system according to claim 1 , wherein
if a position of the boat is not at a predetermined target position specified for automatic docking, the control unit is configured to not end the automatic docking mode even when the control unit detects the vibration.

4. The system according to claim 1 , wherein
if a pointing direction of the boat is not at a predetermined pointing direction specified for automatic docking, the control unit is configured to not end the automatic docking mode even when the control unit detects the vibration.

5. The system according to claim 1 , wherein the control unit determines that the vibration originated from a collision between the boat and a dock based on a frequency of the vibration.

6. The system according to claim 5 , wherein the control unit determines that the vibration originated from the collision between the boat and the dock if the frequency of the vibration is greater than a predetermined frequency.

7. The system according to claim 1 , wherein the control unit determines a docking direction of the boat based on a docking route set by the automatic docking mode, the docking direction is a direction from the boat towards a dock,
the control unit determines an input direction of the vibration based on a sensor,
the control unit is configured to end the automatic docking mode when the input direction of the vibration is a same direction as the docking direction of the boat.

8. The system according to claim 1 , further comprising:
a vibration sensor detecting the vibration that is exerted on the boat.

9. The system according to claim 1 , further comprising:
a plurality of vibration sensors detecting the vibration that is exerted on the boat,
wherein the control unit determines a collision direction of the boat based on a plurality of vibration sensing results.

10. The system according to claim 9 , wherein the collision direction of the boat is determined based on a magnitude of the vibration detected by each of the plurality of vibration sensors.

11. The system according to claim 10 , wherein the plurality of vibration sensors includes a first vibration sensor, a second vibration sensor and a third vibration sensor,
the first vibration sensor is disposed at a bow side of the boat,
the second vibration sensor is disposed at a port side of the boat,
the third vibration sensor is disposed at a starboard side of the boat.

Assignees

• Honda Motor Co Ltd

Inventors

• Nojiri Daisuke
• HISADA Ryota

Classifications

• G05D1/611

  Station keeping, e.g. for hovering or dynamic anchoring · CPC title

• B63B79/10

  using sensors, e.g. pressure sensors, strain gauges or accelerometers · CPC title

• B63H25/04

  automatic, e.g. reacting to compass · CPC title

• G05D1/0206

  specially adapted to water vehicles · CPC title

• G05D1/241

  Means for detecting physical contact, e.g. touch sensors or bump sensors · CPC title