SHIP COURSE OBSTRUCTION WARNING TRANSPORT

• US 20150277442A1
• Filed: 02/08/2013
• Published: 10/01/2015
• Est. Priority Date: 02/08/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Ballou, Philip J.
• Granted Patent: US 9,223,310 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B63B 2035/007 autonomously operating
• CPC Class Codes: B63B 2035/008 remotely controlled
• CPC Class Codes: B63B 35/00 Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
• CPC Class Codes: B63B 43/18 preventing collision or grounding; reducing collision damage reducing pollution by collision B63B25/082
• CPC Class Codes: B63H 2025/045 making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G01S 15/89 for mapping or imaging
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G08G 3/02 Anti-collision systems

Abstract

An unmanned aquatic surface vehicle for detecting and locating hazards is disclosed. The vehicle includes a propulsion system configured to impart a propulsive force to the vehicle and a steering system configured to impart a change in the direction of travel of the vehicle. A navigation system may be included to detect the location, direction, and motion of the vehicle. A hazard detection system is configured to detect and locate at least one of a subsurface, surface or above-water hazard. A communications device configured to transmit hazard data associated with a detected hazard to a remote receiver. A control station is able to control the vehicle, and receive and display information about hazards detected by the unmanned aquatic surface vehicle.

Claims

1. An unmanned aquatic surface vehicle, comprising:

a propulsion system configured to impart a propulsive force to the vehicle;

a steering system configured to impart a change in the direction of travel of the vehicle; and

a hazard detection system configured to;

detect and locate at least one of a subsurface, surface or above-water hazard;

determine whether the detected at least one subsurface, surface or above-water hazard affects a performance constraint of a command vessel; and

transmit a warning signal to the command vessel in response to a determination that the detected at least one subsurface, surface or above-water hazard affects a performance constraint of the command vessel.

2. The unmanned aquatic surface vehicle according to claim 1 further comprising a navigation system in communication with the propulsion system and the steering system, the navigation system configured to use navigation data to control the amount of propulsive force imparted to the vehicle by the propulsion system and the change in direction of travel of the vehicle imparted by the steering system.

3. The unmanned aquatic surface vehicle according to claim 2 further comprising a receiver configured to receive a control signal from a remote transmitter, wherein the receiver is in communication with the navigation system and provides the navigation data to the navigation system.

4. The unmanned aquatic surface vehicle according to claim 2 wherein the navigation system is programmed with the navigation data.

5. The unmanned aquatic surface vehicle according to claim 1 wherein the hazard detection system includes at least one sensor capable of detecting at least one of location, water depth, bathymetric contours, submerged hazards, floating debris, icebergs, buoys, pilings, other vessels, local water currents or eddies, and wind.

6. The unmanned aquatic surface vehicle according to claim 2, wherein the navigation system is programmed to maintain the vehicle a predetermined distance ahead of the command vessel.

7. The unmanned aquatic surface vehicle according to claim 2 wherein the hazard detection system is further configured to transmit recommended evasive maneuvers to the command vessel.

8. The unmanned aquatic surface vehicle according to claim 1 wherein the performance constraint is one of a waterway width, waterway depth, and waterway height.

9. The unmanned aquatic surface vehicle according to claim 1 wherein the hazard detection system is further configured to transmit location data of the detected hazard.

10. The unmanned aquatic surface vehicle according to claim 1 wherein the hazard detection system includes at least one of a navigation sensor, an echo sounder, a sonar transceiver, a current sensor, a salinity sensor, a water temperature sensor, a range sensor, a proximity sensor, a radar, an anemometer, and a video camera.

11. A method of navigating a command vessel in a waterway using an unmanned aquatic surface vehicle, comprising:

commanding the aquatic surface vehicle to follow an intended route of the command vessel;

receiving a communication from the unmanned aquatic surface vehicle indicating that at least one subsurface, surface or above-water hazard detected by the unmanned aquatic surface vehicle affects a performance constraint of the command vessel; and

modifying the intended route of travel of the command vessel in response to the indication that the at least one subsurface, surface or above-water hazard affects the performance constraint.

12. The method according to claim 11 wherein the performance constraint is one of a waterway width, waterway depth, and waterway height.

13. The method according to claim 11 further comprising commanding the unmanned aquatic surface vehicle to change speed or direction.

14. The method according to claim 11 wherein the communication includes data related to at least one of location, water depth, bathymetric contours, submerged hazards, floating debris, icebergs, buoys, pilings, other vessels, and local water currents, eddies, and wind.

15. (canceled)

16. A system for detecting and locating hazards, comprising:

an aquatic surface vehicle including a controllable propulsion system and a steering system;

a hazard detection system coupled to the aquatic surface vehicle configured to;

detect at least one of a subsurface, surface or above-water hazard; and

determine whether the detected at least one subsurface, surface or above-water hazard affects a performance constraint of a command vessel;

a communications system coupled to the aquatic surface vehicle configured to transmit a warning signal to the command vessel in response to a determination that the detected at least one subsurface, surface or above-water hazard affects a performance constraint of a command vessel; and

a power system for providing power to the propulsion system, the steering system the hazard detection system and the communications system.

17. The system according to claim 16, wherein the power source comprises an electrical energy storage device.

18. The system according to claim 17, further comprising a power regenerating device that regenerates the electrical energy.

19. The system according to claim 16 wherein the hazard detection system includes at least one of a navigation sensor, an echo sounder, a sonar transceiver, a current sensor, a salinity sensor, a water temperature sensor, a range sensor, a proximity sensor, a radar, an anemometer, and a video camera.

20. The system according to claim 16 wherein the performance constraint is one of a waterway width, waterway depth, and waterway height.

21. A method of navigating a command vessel in a waterway using an unmanned aquatic surface vehicle, comprising:

commanding the aquatic surface vehicle to follow an intended route of the command vessel;

receiving a communication from the unmanned aquatic surface vehicle indicating that at least one subsurface, surface or above-water hazard detected by the unmanned aquatic surface vehicle affects a performance constraint of the command vessel; and

commanding the unmanned aquatic surface vehicle to change speed or direction.