Event sensor

• US 9,068,838 B1
• Filed: 01/28/2011
• Issued: 06/30/2015
• Est. Priority Date: 02/11/2005
• Status: Active Grant

• Current Assignee: Enovation Controls, LLC (Helios Technologies, Inc.)
• Original Assignee: Enovation Controls, LLC (Helios Technologies, Inc.)
• Inventors: Walser, Michael W., Guglielmo, Kennon H., Shouse, Kenneth R., Grogan, Joseph
• Primary Examiner(s): Keith, Jack W
• Assistant Examiner(s): Nguyen, Chuong P
• Application Number:
  US13/016,098
• Time in Patent Office: 1,614 Days
• Field of Search: 701/1, 701/21, 701/25, 701/300, 701/400, 701408-413, 701/466, 701/468, 701/467, 340/984, 340/988, 340/995.1, 340/995.14, 34099517-99525, 340/995.27, 340/995.28
• US Class Current: 1/1
• CPC Class Codes: B63B 34/60 Arrangements for towing, e.g. for use with water-skis or wakeboards
• 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: B63B 79/10 using sensors, e.g. pressure sensors, strain gauges or accelerometers
• CPC Class Codes: B63B 79/40 for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
• CPC Class Codes: B63J 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: G01C 21/10 by using measurements of speed or acceleration G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3811 Point data, e.g. Point of Interest [POI]
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: Y02T 70/00 Maritime or waterways transport

Abstract

An automatic timing measurement system provides a measure of time of passage of a watercraft through a prescribed course. Inertial or other estimates augmented by GPS speed/position measurements are used to track position of a watercraft. Position estimates are used to allow the locations of prescribed courses to be mapped and memorized. Passage of a watercraft is automatically detected through mapped courses for the purpose of measuring and reporting time of passage past key points in the course, and the speed of the apparatus may be modified if necessary at certain points in the mapped course. A measure of accuracy of driver steering can be provided along with the ability to automatically steer the watercraft through the course. GPS speed control is augmented with a secondary velocity measurement device that measures speed over water resulting in an optional user selectable real-time compensation for water current.

Claims

1. A method of detecting an event, comprising:

providing a plurality of map data stored in a non-transitory storage medium, wherein the plurality of map data describes a physical course having a plurality of points of interest;

receiving, by a computing device, a velocity signal associated with movement of a vehicle and a location signal associated with a position of the vehicle;

determining, by the computing device, an observed position signal of the vehicle using the velocity signal associated with movement of the vehicle and the location signal associated with the position of the vehicle;

comparing, by the computing device, the observed position signal of the vehicle to the plurality of map data describing the physical course;

detecting, by the computing device, that a first event has occurred based on the observed position signal associated with the vehicle corresponding to a first point of interest of the plurality of points of interest on the physical course that is included in the plurality of map data describing the physical course and, in response, determining a first time;

detecting, by the computing device, that a second event has occurred based on the observed position signal associated with the vehicle corresponding to a second point of interest of the plurality of points of interest on the physical course that is included in the plurality of map data describing the physical course and, in response, determining a second time;

determining, by the computing device, an observed time period between the detecting of the first event and the detecting of the second event using the first time and the second time;

displaying, by the computing device on a display device, the observed time period;

retrieving, by the computing device, an ideal time period;

determining, by the computing device, an error time period that is the difference between the ideal time period and the observed time period; and

displaying, by the computing device on a display device, the error time period.

2. The method of claim 1, wherein the providing the plurality of map data includes designating at least one of the plurality of points of interest on the physical course.

3. The method of claim 1, wherein the providing the plurality of map data includes automatically calculating at least one of the plurality of points of interest on the physical course.

4. The method of claim 1, wherein the receiving the velocity signal includes calculating the velocity signal from an acceleration signal.

5. The method of claim 1, further comprising:

outputting, by the computing device, an alert in response to detecting at least one of the first event and the second event.

6. The method of claim 1, wherein the receiving the velocity signal and the location signal comprises continuously receiving a plurality of velocity signals and a plurality of location signals.

7. The method of claim 1, further comprising:

starting, by the computing device, a timer in response to detecting the first event.

8. A method of detecting a water course event, comprising:

providing water course data that describes a physical water course and includes a plurality of points of interest associated with the physical water course in a non-transitory storage medium;

receiving, by a computing device, a watercraft acceleration signal that is associated with a watercraft and a Global Positioning System (GPS) signal that is associated with the watercraft;

determining, by the computing device, a position signal associated with a position of the watercraft in the physical water course using the watercraft acceleration signal that is associated with the watercraft and the GPS signal that is associated with the watercraft;

comparing, by the computing device, the position signal associated with the position of the watercraft in the physical water course to the water course data that describes the physical water course;

detecting, by the computing device, a first predefined event in response to the position signal associated with the position of the watercraft in the physical water course corresponding to the first point of interest of the plurality of points of interest associated with the physical water course and, in response, determining a first time;

detecting, by the computing device, a second predefined event in response to the position signal associated with the position of the watercraft in the physical water course corresponding to a second point of interest of the plurality of points of interest associated with the physical water course and, in response, determining a second time;

determining, by the computing device, an observed time period between the detecting of the first predefined event and the detecting of the second predefined event using the first time and the second time;

providing, by the computing device, the observed time period for display on a display device;

retrieving, by the computing device, an ideal time period; and

determining, by the computing device, an error time period that is the difference between the ideal time period and the observed time period.

9. The method of claim 8, wherein the providing the water course data that includes the plurality of points of interest includes providing an entry point of interest and an exit point of interest for a water course.

10. The method of claim 9, wherein the providing the water course data that includes the plurality of points of interest includes automatically calculating at least one intermediate point between the entry point of interest and the exit point of interest.

11. The method of claim 8, further comprising:

calculating a velocity signal from the watercraft acceleration signal.

12. The method of claim 8, further comprising:

outputting an alert in response to detecting the at least one of the first predefined event and the second predefined event.

13. The method of claim 12, wherein the alert includes at least one of a displayed alert and a sound alert.

14. The method of claim 8, further comprising:

providing, by the computing device, the error time period for display on the display device.

15. The method of claim 8, wherein the receiving the watercraft acceleration signal and the GPS signal comprises continuously receiving a plurality of watercraft acceleration signals and a plurality of GPS signals.

16. The method of claim 8, further comprising:

starting a timer in response to detecting the first predefined event.

17. A method of detecting a water craft event occurring on a water course, comprising:

providing a watercraft including a computing device and a non-transitory storage medium;

navigating the watercraft through a physical water course including a plurality of points of interest;

determining, by the computing device, an observed position signal for the watercraft using a location signal associated with a position of the watercraft and an acceleration signal associated with the movement of the watercraft, wherein the location signal and the acceleration signal are generated by a position observer subsystem;

comparing, by the computing device, the observed position signal for the watercraft to a plurality of water course data that describes the physical water course and that is stored in the non-transitory storage medium; and

detecting, by the computing device, a first event in response to the observed position signal of the watercraft corresponding to a first of the plurality of points of interest on the physical water course that is included in the plurality of water course data that describes the physical water course;

starting a timer at a first time in response to detecting the first event;

detecting, by the computing device, a second event in response to the observed position signal of the watercraft corresponding to a second of the plurality of points of interest on the physical water course that is included in the plurality of water course data that describes the physical water course;

determining, by the computing device in response to detecting the second event, an observed time period that has elapsed since starting the timer at the first time and detecting the second event at a second time;

providing, by the computing device, the observed time period for display on a display device;

retrieving, by the computing device, an ideal time period;

determining, by the computing device, an error time period that is the difference between the ideal time period and the observed time period; and

providing, by the computing device, the error time period for display on the display device.

18. The method of claim 17, further comprising:

outputting an alert in response to detecting at least one of the first event and the second event.