System And Method For Optimizing A Path For A Marine Vessel Through A Waterway

• US 20100168942A1
• Filed: 12/29/2008
• Published: 07/01/2010
• Est. Priority Date: 12/29/2008
• Status: Active Grant

• Current Assignee: General Electric Company
• Original Assignee: General Electric Company
• Inventors: Houpt, Paul Kenneth, Noffsinger, Joseph Forrest
• Granted Patent: US 8,155,811 B2
• Time in Patent Office: Days
• US Class Current: 701/21
• CPC Class Codes: B61L 15/0058 On-board optimisation of vehicle or vehicle train operation
• CPC Class Codes: B61L 3/006 On-board optimisation of vehicle or vehicle train operation track-side optimisation of operation B61L27/16
• CPC Class Codes: B63B 49/00 Arrangements of nautical instruments or navigational aids nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G08G 3/00 Traffic control systems for marine craft marking of navigational route B63B22/16, B63B51/00

Abstract

A system is provided for optimizing a path for a marine vessel through a waterway from an initial location to a final location. The system includes a propulsion system and a directional system on the marine vessel, which impart a selective propulsion force on the marine vessel at a selective direction based on a received propulsion command and direction command from a processor. The processor determines an optimal path for the marine vessel, an optimal propulsion command and optimal directional command at a respective incremental location along the optimal path, so to optimize a performance characteristic of the marine vessel. The determination of the optimal path, the optimal propulsion command and the optimal directional command is based on the initial location, the final location, at least one operating parameter, the performance characteristic, and navigational data of the waterway.

Claims

1. A system for controlling a marine vessel through a waterway, comprising:

a processor including a memory, said memory configured to store at least one operating parameter of the marine vessel, and navigational data of the waterway; and

a propulsion system and a directional system on the marine vessel, said propulsion system and directional system being coupled to the processor and configured to respectively impart a selective propulsion force on the marine vessel at a selective direction based on a respectively received propulsion command and direction command from the processor;

wherein said processor is configured to determine an optimal path for said marine vessel through said waterway from a first location to a second location, the propulsion command, and the direction command to be transmitted to said propulsion and directional system at a respective incremental location along said optimal path, so to optimize a performance characteristic of said marine vessel along said optimal path; and

wherein said determination of said optimal path, said propulsion command, and said direction command is based on said first location, said second location, said at least one operating parameter, said performance characteristic, and said navigational data.

2. The system of claim 1, wherein said operating parameter is at least one of a mass of the marine vessel, a drag coefficient of the marine vessel, and a power characteristic of said propulsion system;

said navigational data includes at least one of a geographical map of the waterway, a location of at least one obstacle within the waterway, at least one dimension of the waterway, at least one dock location along the waterway, forecast data of the waterway, water current data of the waterway, and vessel traffic data within the waterway;

and wherein the system further comprises a transceiver operably connected to the processor and configured to form a communication link with a remote station, said remote station is configured to transmit said at least one operating parameter and said navigational data to said processor through said communication link subsequent to receiving a request signal from said processor over said communication link.

3. The system of claim 1, wherein the system further comprises a transceiver operably connected to the processor and configured to form a communication link with a remote control unit, said remote control unit being positioned adjacent to said second location;

wherein subsequent to said marine vessel having traveled along said optimal path to within a threshold distance of said second location, said processor is configured to transmit a request command signal to said remote control unit over said communication link, and said remote control unit is configured to transmit an acknowledge command signal to said processor;

and wherein subsequent to said transmission of the acknowledge command signal, said processor is configured to cease transmission of propulsion commands and direction commands to said propulsion system and directional system, and said remote control unit is configured to transmit a respective propulsion command and direction command to said propulsion and directional system at an incremental location along said threshold distance to said second location, for controlling movement of the marine vessel in regards to the second location.

4. The system of claim 1, wherein said optimization of the performance characteristic of said marine vessel along said optimal path comprises one of an optimization of a fuel efficiency of said marine vessel along said optimal path, an optimization of an energy efficiency of said marine vessel along said optimal path, an optimization of a transit time of said marine vessel along said optimal path, and/or a waypoint arrival time at an incremental location of said marine vessel along said optimal path.

5. The system of claim 1, further comprising:

a position determination device positioned on the marine vessel to measure a position of the marine vessel, said position determination device being coupled to the processor to transmit said measured position to the processor;

wherein said optimal path includes an expected position of said marine vessel through said waterway from said first location to said second location;

and wherein at said respective incremental location, said processor is switchable into an automatic mode to compare said measured position with said expected position of the marine vessel at the respective incremental location.

6. The system of claim 5, wherein in said automatic mode, subsequent to a determination that said measured position exhibits a variation with said expected position of more than zero and less than a predetermined threshold, said processor is configured to transmit a corrective propulsion command and a corrective direction command such that said marine vessel is propelled toward said optimal path, and/or said processor is configured to correct an error in at least one of said first location, second location, said at least one operating parameter, and said navigational data, which is attributable to said variation;

and wherein in said automatic mode, subsequent to a determination that said measured position exhibits a variation with said expected position by greater than the predetermined threshold, said processor is configured to determine a substitute optimal path for said marine vessel through said waterway from said measured position to said second location, a substitute propulsion command and a substitute direction command at a respective incremental location along said substitute optimal path;

said determination of the substitute optimal path, substitute propulsion command, and substitute direction command being based on said measured position, said second location, said at least one operating parameter, said performance characteristic, and said navigational data.

7. The system of claim 6, wherein said processor is switchable from said automatic mode to a manual mode, such that at the respective incremental location, said measured position, said expected position, said corrective propulsion command, and said corrective direction command are transmitted to and displayed on an operator interface;

and wherein the operator interface comprises a display and one or more input devices for operator-activated transmission of a propulsion command and a direction command, based on the corrective propulsion command and the corrective direction command.

8. The system of claim 6, wherein said navigational data includes at least one designated safety condition relating to a location of at least one obstacle within the waterway, forecast data of the waterway, water current data of the waterway, and vessel traffic data within the waterway;

wherein at said respective incremental location, said processor is configured to store an emergency propulsion command and an emergency direction command in said memory, based on said measured position and a most proximate of at least one dock location within the waterway;

and wherein at said respective incremental location, said processor is configured to compare said measured position with said navigational data;

subsequent to a determination that said measured position is within a predetermined threshold of said at least one designated safety condition of said navigational data, said processor is configured to switch into a safety mode and is configured to retrieve and transmit said emergency propulsion command and emergency direction command to said respective propulsion system and directional system.

9. The system of claim 1, further comprising:

an operator input interface having a display and an input device, said operator input interface coupled to the processor;

wherein said input device is activated to input at least one of said first location, said second location, a desired transit time, and said performance characteristic;

wherein subsequent to said input, said input device is activated to permit said processor to determine the optimal path, said propulsion command, and said direction command.

10. The system of claim 1, further comprising:

a combination of vessels including said marine vessel and at least one secondary marine vessel, said at least one secondary marine vessel being coupled to said marine vessel;

wherein said at least one secondary vessel has a respective secondary propulsion system and a respective secondary directional system;

said respective secondary propulsion system and respective secondary directional system being coupled to the processor and configured to respectively impart a selective propulsion force on the respective secondary marine vessel at a selective direction based on a respectively received propulsion command and direction command from the processor;

wherein said processor is configured to determine said optimal path for said combination of vessels through the waterway from the first location to the second location, a respective secondary propulsion command, and respective secondary directional command to be transmitted to said respective secondary propulsion and secondary directional system of the respective at least one secondary marine vessel at a respective incremental location along said optimal path, so to optimize a respective performance characteristic of said at least one secondary marine vessel;

wherein said memory is further configured to store at least one respective operating parameter of said at least one secondary marine vessel; and

wherein said determination of said optimal path, said respective secondary propulsion command, and said respective secondary directional command is based on said first location, said second location, said respective at least one operating parameter of the at least one secondary vessel, said respective performance characteristic of the at least one secondary vessel, and said navigational data.

11. The system of claim 10, wherein said processor is further configured to determine an optimal spatial arrangement of said at least one secondary marine vessel with respect to said marine vessel;

said optimal spatial arrangement including a respective optimal attachment location of said at least one secondary marine vessel with respect to said marine vessel;

and wherein said determination of the respective optimal spatial arrangement is based on at least one of said operating parameter of the marine vessel, said operating parameter of the at least one secondary marine vessel, said navigational data, said first location, and said second location.

12. The system of claim 10, further comprising a master processor and a slave processor;

wherein said master processor is positioned on a first one of said marine vessel and said at least one secondary marine vessel, and wherein the slave processor is positioned on a second one of said marine vessel and said at least one secondary marine vessel;

wherein said master processor is configured to determine the optimal path of said combination of vessels; and

wherein said slave processor is configured to control the propulsion system and directional system of the second one of said marine vessel and said at least one marine vessel, based on the determined optimal path.

13. The system of claim 10, wherein:

one of said marine vessel and said at least one secondary vessel is designated as a master vessel, and the system further comprises a master processor on the master vessel, wherein said master processor is configured to determine the optimal path of said combination of vessels;

each of said marine vessel and said at least one secondary vessel, other than said master vessel, is designated as a slave vessel, and the system further comprises a slave processor on each slave vessel; and

the system further comprises a respective transceiver positioned on the master vessel and each slave vessel, to establish a communication link; and

a respective position determination device positioned on each slave vessel to measure a position of the slave vessel, said position determination device coupled to the respective transceiver to communicate the measured position of the slave vessel to the master vessel over the communication link;

wherein said optimal path of the combination of vessels includes a respective expected position of each slave vessel through said waterway from said first location to said second location; and

wherein at said respective incremental location, said master processor receives the respective measured position of each slave vessel from the respective transceiver, and said master processor is configured to compare said measured position of the slave vessel with said expected position of the slave vessel at the respective incremental location.

14. The system of claim 13, wherein subsequent to a determination that said measured position of the slave vessel has varied with said expected position of the slave vessel by less than a predetermined threshold, said master processor is configured to transmit a corrective propulsion command and a corrective directional command to the slave vessel over the communication link such that said slave vessel is propelled toward said optimal path;

and

wherein subsequent to a determination that said measured position of the slave vessel has varied with said expected position of the slave vessel by greater than the predetermined threshold, said master processor is configured to determine a substitute optimal path for said combination of vessels through said waterway from said measured position to said second location, a substitute propulsion command and a substitute direction command of the slave vessel at a respective incremental location along said substitute optimal path;

said determination of the substitute optimal path, substitute propulsion command, and substitute direction command being based on said measured position, said second location, said at least one operating parameter of the master vessel, said at least one operating parameter of the slave vessel, said performance characteristic of the slave vessel, and said navigational data.

15. A system for controlling a combination of vessels through a waterway, comprising:

a processor; and

a respective propulsion system and a respective directional system on each of the vessels, said respective propulsion system and respective directional system being coupled to the processor and configured to respectively impart a selective propulsion force on the respective vessel at a selective direction based on a respectively received propulsion command and direction command from the processor;

wherein said processor is configured to determine an optimal path for said vessels through said waterway from a first location to a second location, a respective propulsion command, and respective direction command to be transmitted to said respective propulsion and respective directional system of said vessels at a respective incremental location along said optimal path, so to optimize a performance characteristic of said vessels along said optimal path; and

wherein said determination of said optimal path, said respective propulsion command, and said respective direction command is based on said first location, said second location, at least one respective operating parameter of the vessels, said performance characteristic, and a navigational data of the waterway.

16. A method for controlling a marine vessel through a waterway from a first location to a second location, said method comprising:

determining an optimal path for said marine vessel through said waterway from said first location to said second location; and

determining a propulsion command and a direction command to be transmitted to a respective propulsion and directional system of the marine vessel at a respective incremental location along the optimal path;

wherein the optimal path, the propulsion command, and the direction command are determined to optimize a designated performance characteristic of the marine vessel as it travels along the waterway, based on the first location, the second location, the performance characteristic, at least one operating parameter of the marine vessel, and navigational data of the waterway.

17. The method of claim 16, further comprising:

generating docking propulsion commands and docking direction commands, for transmission to the propulsion and directional systems of the marine vessel, respectively, for controlling movement of the marine vessel when adjacent to the second location, said second location being a docking station along the waterway;

wherein the docking propulsion commands and docking direction commands are generated based on control signals received from a remote control unit located off board the marine vessel at the docking station.

18. A system for controlling a marine vessel through a waterway, comprising:

a processor; and

a propulsion system and a directional system on the marine vessel, said propulsion system and directional system being coupled to the processor and configured to impart a velocity to the marine vessel based on commands received from the processor;

wherein the processor is configured to determine an optimal path for said marine vessel through said waterway from a first location to a second location, and to determine said commands to be transmitted to the propulsion and directional systems at respective incremental locations along the optimal path so as to optimize a performance characteristic of said marine vessel along the optimal path; and

wherein the determination of the optimal path and the commands is based on the first location, the second location, at least one operating parameter of the marine vessel, the performance characteristic, and navigational data of the waterway.