Autonomous devices and methods of use

Patent metadata

Field	Value
Publication number	US-12585284-B2
Application number	US-202318531020-A
Country	US
Kind code	B2
Filing date	Dec 6, 2023
Priority date	Dec 6, 2023
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

An unmanned device for a marine environment comprises a location sensor configured to gather location data corresponding to the unmanned device; at least one propulsion system; a transmitter and memory including computer program code. The computer program code is configured to, when executed, cause the processor to cause the propulsion system to propel the unmanned device in a pattern along the body of water, cause the sonar transducer to emit the one or more sonar beams into the body of water, receive sonar return data corresponding to sonar returns, and generate a sonar image corresponding to the sonar return data. Further, the computer program code is configured to cause the processor to detect an object within the sonar image, assign a score to the object indicating the likelihood that the object is a desired object type, and send an alert to the remote electronics device upon assignment of the score.

First claim

What is claimed:

1 . An unmanned device for a marine environment, wherein the unmanned device is configured to travel upon a surface of a body of water, the unmanned device comprising:
a location sensor configured to gather location data corresponding to the unmanned device; at least one propulsion system configured to propel the unmanned device; at least one sonar transducer, wherein the at least one sonar transducer is configured to emit one or more sonar beams into an underwater environment of the body of water from the unmanned device; a transmitter configured to transmit data to a remote electronics device; a processor; and a memory including computer program code, the computer program code configured to, when executed, cause the processor to:
cause the at least one propulsion system to propel the unmanned device in a pattern along the body of water;
cause the at least one sonar transducer to emit the one or more sonar beams into the body of water;
receive sonar return data corresponding to sonar returns received by the at least one sonar transducer;
generate a sonar image corresponding to the sonar return data;
detect one or more objects within the sonar image;
compare, utilizing a model developed through artificial intelligence, the detected one or more objects to one or more stored object types of a plurality of object types in an object database to determine an object type for the detected one or more objects, wherein the model is formed based on historical comparisons of a historical object-type with historical sonar data and historical additional data;
assign, based at least on the comparison, a score to the one or more objects, wherein the score provides an indication of the likelihood that the one or more objects is a desired object type; and send an alert to the remote electronics device upon assignment of the score.

2 . The unmanned device of claim 1 , wherein the at least one sonar transducer is towed by the unmanned device.

3 . The unmanned device of claim 1 , wherein the at least one sonar transducer is positioned below a surface of the body of water.

4 . The unmanned device of claim 1 , wherein the score is determined from the sonar data and one or more object characteristics, wherein the one or more object characteristics comprises at least one of a shape of an object, a depth of the object, an environment of the object, a velocity of the object, a temperature of the body of water, a behavior of the object, a geographical area, a time of day or a time of year.

5 . The unmanned device of claim 1 , wherein the object database further comprises sonar images of the underwater environment.

6 . The unmanned device of claim 5 , wherein the sonar images of the underwater environment include one or more previously detected objects, and location data associated with the previously detected objects.

7 . The unmanned device of claim 1 , further comprising a receiver, wherein the receiver is configured to receive instructions from the remote electronics device.

8 . The unmanned device of claim 1 , wherein the at least one propulsion system is configured to correct for environmental factors.

9 . The unmanned device of claim 1 , wherein the alert includes the location data associated with the detected object.

10 . A method of identifying objects in an underwater environment, the method comprising:
deploying an unmanned device to a body of water, the unmanned device comprising:
a location sensor configured to gather location data corresponding to the unmanned device;
at least one propulsion system configured to propel the unmanned device along the body of water;
a transmitter configured to transmit data to a remote electronics device; and
at least one sonar transducer, wherein the at least one sonar transducer is configured to emit one or more sonar beams into the underwater environment of the body of water from the unmanned device;
causing the at least one propulsion system to propel the unmanned device in a pattern along the body of water; causing the at least one sonar transducer to emit the one or more sonar beams into the underwater environment; receiving sonar return data corresponding to sonar returns received by the at least one sonar transducer; generating a sonar image corresponding to the sonar return data; determining a desired object type; detecting at least one object within the sonar image; comparing, utilizing a model developed through artificial intelligence, the detected one or more objects to one or more stored object types of a plurality of object types in an object database to determine an object type for the detected one or more objects, wherein the model is formed based on historical comparisons of a historical object-type with historical sonar data and historical additional data; assigning, based on the comparison, a score to the one or more objects detected within the sonar image, wherein the score is an indication of the likelihood that the at least one object is the desired object type; and sending an alert to the remote electronic device, when the score is above a threshold value.

11 . The method of claim 10 , wherein the score is determined from the sonar data and one or more object characteristics, wherein the one or more object characteristics comprise at least one of a shape of the object, a depth of the object, an environment of the object, a velocity of the object, a temperature of the body of water, a behavior of the object, a geographical area, a time of day or a time of year.

12 . The method of claim 10 , wherein the object database further comprises sonar images of the underwater environment.

13 . The method of claim 12 , wherein the sonar images of the underwater environment include one or more previously detected objects, and location data associated with the previously detected objects.

14 . The method of claim 10 , wherein the alert includes the location data associated with the detected object.

15 . The method of claim 10 , wherein the unmanned device further comprises a receiver, and wherein the method further comprises receiving at least one instruction from the remote electronics device.

16 . A system for determining an identity of an object in an underwater environment, the system comprising:
a remote electronics device; an unmanned device, wherein the unmanned device is in data communication with the remote electronics device, the unmanned device comprising:
a location sensor configured to gather location data corresponding to the unmanned device;
at least one propulsion system configured to propel the unmanned device;
at least one sonar transducer, wherein the at least one sonar transducer is configured to emit one or more sonar beams into an underwater environment of the body of water from the unmanned device;
a transmitter configured to transmit data to the remote electronics device;
a processor; and
a memory including computer program code, the computer program code configured to, when executed, cause the processor to:
cause the at least one propulsion system to propel the unmanned device in a pattern along the body of water;
cause the at least one sonar transducer to emit the one or more sonar beams into the body of water;
receive sonar return data corresponding to sonar returns received by the at least one sonar transducer;
generate a sonar image corresponding to the sonar return data;
detect one or more objects within the sonar image;
compare, utilizing a model developed through artificial intelligence, the detected one or more objects to one or more sto

Assignees

• Navico Inc

Inventors

• Williams David D

Classifications

• G05D2101/20

  using external object recognition · CPC title

• G05D2109/34

  operating on the water surface · CPC title

• G05D2105/80

  for information gathering, e.g. for academic research · CPC title

• G05D2105/55

  for emergency activities, e.g. search and rescue, traffic accidents or fire fighting · CPC title

• G05D2111/20

  Acoustic signals, e.g. ultrasonic signals · CPC title