Watercraft docking systems and methods of their operation

• US 10,053,193 B2
• Filed: 06/26/2014
• Issued: 08/21/2018
• Est. Priority Date: 06/27/2013
• Status: Active Grant

• Current Assignee: Ira Nachem
• Original Assignee: Ira Nachem
• Inventors: Nachem, Ira
• Primary Examiner(s): Hutchinson, Alan D
• Application Number:
  US14/654,716
• Publication Number:
  US 20160107727A1
• Time in Patent Office: 1,517 Days
• Field of Search: 701 21, 114 44, 11423017, 1142302, 11423025, 11423026, 11423028
• CPC Class Codes: B63B 2021/003 Mooring or anchoring equipment, not otherwise provided for
• CPC Class Codes: B63B 2021/203 Mooring cables or ropes, hawsers, or the like; Adaptations thereof
• CPC Class Codes: B63B 21/04 Fastening or guiding equipment for chains, ropes, hawsers, or the like means for fastening cables or ropes in general F16G11/00
• CPC Class Codes: B63B 43/18 preventing collision or grounding; reducing collision damage reducing pollution by collision B63B25/082
• CPC Class Codes: G05D 3/10 without using feedback

Abstract

A system for securing a watercraft to a dock includes a first sensor for automatically detecting a securing point to which to dock the watercraft, an extendable arm with a cable inside, the cable having a proximal end for mounting to the watercraft, and a grasping element mounted to a distal end of the cable and configured to reversibly engage the securing point. A method for securing a watercraft to a dock includes automatically detecting a securing point on the dock, extending an arm from the watercraft toward the securing point, wherein the arm houses a cable having a proximal end mounted to the watercraft, and reversibly engaging the securing point using a grasping element mounted to a distal end of the arm.

Claims

1. A system for securing a watercraft to a dock, the system comprising:

a first hardware sensor for automatically detecting a securing point to which to dock the watercraft;

a hollow extendable arm for mounting to the watercraft;

a cable housed inside the hollow extendable arm and having a proximal end secured to a reel, such that the cable is unwound from the reel by extension of the hollow extendable arm; and

a grasping element mounted to a distal end of the cable and configured to engage the securing point, wherein the grasping element comprises;

a first end connected to the distal end of the cable;

a second end positioned opposite the first end;

a bay defined between the first end and the second end;

a rigid gate that is moveable between the first end and the second end to create a secure loop that reversibly locks the securing point within the bay;

a first bore formed in the first end for housing the rigid gate;

a second bore formed in the second end for reversibly engaging the rigid gate, wherein the rigid gate fully retracts into the first bore when the secure loop is not in use;

a beam projection means installed in the grasping element for projecting a beam; and

a second hardware sensor installed in the grasping element, wherein the second hardware sensor indicates, in response to detecting when the beam is broken, that an action should be initiated to move the rigid gate into the second bore.

2. The system of claim 1, wherein the system is configured for installation on the watercraft.

3. The system of claim 1, wherein the extendable arm comprises a plurality of concentric telescoping elements.

4. The system of claim 3, wherein the plurality of concentric telescoping elements are operated hydraulically, pneumatically, or electrically.

5. The system of claim 1, further comprising:

a tower for indirectly coupling the proximal end of the cable to the watercraft, wherein the tower comprises an interior space for housing components that control movement of the extendable arm.

6. The system of claim 5, wherein the tower is configured to be rotatably mounted to the watercraft.

7. The system of claim 1, further comprising a light source.

8. A method for securing a watercraft to a dock, the method comprising:

automatically detecting, by a first hardware sensor and a processor executing a set of cleat recognition instructions, a securing point on the dock;

extending a hollow extendable arm from the watercraft toward the securing point, wherein the hollow extendable arm houses a cable inside, wherein the cable has a proximal end secured to a reel, and wherein the extending includes unwinding the cable from the reel; and

engaging the securing point using a grasping element mounted to a distal end of the cable, wherein the grasping element comprises;

a first end connected to the distal end of the cable;

a second end positioned opposite the first end;

a bay defined between the first end and the second end;

a rigid gate that is moveable between the first end and the second end to create a secure loop that reversibly locks the securing point within the bay;

a first bore formed in the first end for housing the rigid gate;

a second bore formed in the second end for reversibly engaging the rigid gate, wherein the rigid gate fully retracts into the first bore when the secure loop is not in use;

a beam projection means installed in the grasping element for projecting a beam; and

a second hardware sensor installed in the grasping element, wherein the second hardware sensor monitors a state of the beam, and

wherein the engaging comprises;

detecting that the beam has been broken; and

initiating an action that causes the rigid gate to move into the second bore.

9. The method of claim 8, further comprising:

automatically detecting, by a third hardware sensor, that lighting conditions on the dock are dark; and

automatically activating a light source mounted to the watercraft prior to the automatically detecting the securing point.

10. The method of claim 8, wherein the automatically detecting comprises:

scanning a plurality of objects on the dock for the securing point;

executing the set of cleat recognition instructions to identify those of the plurality of objects that are cleats and those of the plurality of objects that are not cleats; and

ignoring those of the plurality of objects that are not cleats.

11. The method of claim 8, wherein the engaging further comprises:

verifying that the securing point is locked within the bay;

retracting the hollow extendable arm, independently of the cable, to expose the cable; and

retracting the cable using an electric motor, thereby pulling the watercraft toward the dock.

12. The method of claim 11, further comprising:

monitoring a distance between the watercraft and the dock during the retracting, using a fourth hardware sensor and a processor executing a set of distance recognition instructions; and

automatically reducing a speed of the electric motor when the monitoring indicates an imminent collision.

13. The method of claim 8, wherein the extending comprises:

tracking a position of the securing point, using fifth hardware sensor and a processor executing a set of distance recognition instructions; and

guiding the arm toward the position indicated by the tracking.

14. A non-transitory computer readable storage medium containing an executable program for securing a watercraft to a dock, where the program performs steps of:

automatically detecting, by executing a set of cleat recognition instructions, a securing point on the dock;

extending a hollow extendable arm from the watercraft toward the securing point, wherein the hollow extendable arm houses a cable inside, wherein the cable has a proximal end secured to a reel, and wherein the extending includes unwinding the cable from the reel; and

engaging the securing point using a grasping element mounted to a distal end of the cable, wherein the grasping element comprises;

a first end connected to the distal end of the cable;

a second end positioned opposite the first end;

a bay defined between the first end and the second end;

a rigid gate that is moveable between the first end and the second end to create a secure loop that reversibly locks the securing point within the bay;

a first bore formed in the first end for housing the rigid gate;

a second bore formed in the second end for reversibly engaging the rigid gate, wherein the rigid gate fully retracts into the first bore when the secure loop is not in use;

a beam projection means installed in the grasping element for projecting a beam; and

a second hardware sensor installed in the grasping element, wherein the second hardware sensor monitors a state of the beam, and

wherein the engaging comprises;

detecting that the beam has been broken; and

initiating an action that causes the rigid gate to move into the second bore.

15. The non-transitory computer readable storage medium of claim 14, wherein the engaging further comprises:

verifying that the securing point is locked within the bay;

retracting the hollow extendable arm, independently of the cable, to expose the cable; and

retracting the cable using an electric motor, thereby pulling the watercraft toward the dock.

16. The non-transitory computer readable storage medium of claim 15, wherein the steps further comprise:

monitoring a distance between the watercraft and the dock during the retracting, by executing a set of distance recognition instructions; and

automatically reducing a speed of the electric motor when the monitoring indicates an imminent collision.

17. The non-transitory computer readable storage medium of claim 14, wherein the extending comprises:

tracking a position of the securing point, by executing a set of distance recognition instructions; and

guiding the arm toward the position indicated by the tracking.

18. The non-transitory computer readable storage medium of claim 14, wherein the automatically detecting comprises:

scanning a plurality of objects on the dock for the securing point;

executing the set of cleat recognition instructions to identify those of the plurality of objects that are cleats and those of the plurality of objects that are not cleats; and

ignoring those of the plurality of objects that are not cleats.