Event sensor

• US 9,207,675 B1
• Filed: 07/29/2011
• Issued: 12/08/2015
• 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): Nguyen, Cuong H
• Application Number:
  US13/193,833
• Time in Patent Office: 1,593 Days
• Field of Search: 701468-469, 701/461, 701532-533, 701409-412, 701/408, 701/400, 340/990, 340/992, 340/995.28, 340/988, 340/995.1, 342/357.34, 367/88, 348/116, 348/139, 348/142
• US Class Current: 1/1
• 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 21/188 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 21/3807 characterised by the type of data
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: Y02T 70/00 Maritime or waterways transport

Abstract

An automatic timing measurement system that provides a measure of time of passage of a watercraft through a water course. Algorithms based on inertial or other estimates augmented by GPS speed/position measurements and/or image processing techniques on images provided by one or more cameras are used to track position of a watercraft. The position estimates and image processing techniques are used to allow the locations of water courses to be mapped and memorized. Algorithms are then used to allow the system to automatically detect passage of a watercraft through mapped courses for the purpose of measuring and reporting time of passage of said watercraft past key points in said course, and for modifying the behavior of the speed control portion of the apparatus 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 if “steer-by-wire” mechanism is available. 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. Furthermore, GPS is used as the key input to produce boat speed-based pull-up profiles.

Claims

1. A system for detecting a position of a watercraft, the system comprising:

a position observer subsystem including a position determination device and a camera;

a computing device in communication with the position observer subsystem; and

non-volatile storage coupled to the computing device and configured to be programmed with locational information describing at least one water course;

wherein the computing device is configured to receive a position from the position determination device and an image from the camera as the position determination device and the camera moves through the at least one watercourse, determine that the position received from the position determination device is adjacent a first water course feature on the at least one water course described by the locational information, detect the first water course feature in the image, and use the first water course feature detected in the image to confirm the position of the watercraft adjacent to the first water course feature.

2. The system of claim 1, further comprising:

a user interface allowing driver inputs to permanently store and identify a plurality of water course features on the at least one water course.

3. The system of claim 1, wherein said user interface further comprises:

a progress indicator configured to substantially represent the position of the watercraft relative to the at least one water course.

4. The system of claim 2, wherein the computing device is configured to detect a pair of water course features in the image and the user interface is further configured to provide an audible signal when the watercraft crosses a line between the two water course features.

5. The system of claim 2, wherein the user interface is further configured to provide an audible signal when a watercraft is adjacent to and within a predetermined distance of the first water course feature.

7. The system of claim 1, wherein the computing device is configured to receive a plurality of images from the camera, detect the first water course feature in a first image and a second water course feature in a second image, and determine a time between the first water course feature and the second water course feature.

8. The system of claim 1, wherein the computing device is configured to determine that the first water course feature is an entry point for the at least one water course.

9. The system of claim 1, further comprising:

a display configured to display the time.

10. The system of claim 7, wherein the computing device is configured to determine an error time that is a difference between an ideal time and the time determined between the first water course feature and the second water course feature.

6. A watercraft position determination system, comprising:

a position determination device;

a camera;

a storage including locational information about a watercourse;

a clock; and

a computing device coupled to the position determination device, the camera, the storage, and the clock, wherein the computing device is configured to use a plurality of different positions received from the position determination device and a plurality of images received from the camera as the position determination device and the camera moves through the watercourse, determine that each of the plurality of different positions received from the position determination device are adjacent a respective water course feature included in the locational information about the watercourse at a plurality of different times received from the clock, and analyze the plurality of images to detect the respective water course feature in each of the plurality of images to confirm each different position of the watercraft adjacent each respective water course feature, and wherein the computing device is configured to compare the confirmed different positions of the watercraft adjacent each respective water course feature at the plurality of different times to determine a displacement of the watercraft on the water course.

15. The system of claim 6, wherein the position determination device is a GPS unit coupled to the computing device, and wherein the computing device is configured to compare GPS information from the GPS unit with the locational information to determine that each of the plurality of different positions are adjacent the respective water course feature.

18. The system of claim 15, further comprising:

an auditory device coupled to the computing device, wherein the auditory device is configured to create an audible noise when each of the plurality of different positions of the watercraft is confirmed adjacent each respective water course feature.

11. A system for measuring a position of a watercraft relative to a water course, comprising:

a position determination device coupled to a watercraft and configured to provide a plurality of different positions as the watercraft moves through the watercourse;

a camera coupled to the watercraft and configured to provide a plurality of images as the watercraft moves through a water course;

a permanent storage medium configured to include locational information for the water course;

a computing device coupled to the position determination device, the camera, and the permanent storage medium and configured to receive the plurality of different positions and the plurality of images as the watercraft moves through the water course, determine that the plurality of different positions are each adjacent a respective water course feature included in the locational information for the water course as the watercraft moves through the water course, analyze the images to detect the respective water course feature in each of the plurality of images for each of the plurality of different positions that are determined as the watercraft moves through the water course, and use the respective water course feature detected in each of the plurality of images to confirm each position of the watercraft adjacent each respective water course feature as the watercraft moves through the water course.

12. The system of claim 11, wherein the position determination device is a GPS device configured to provide GPS information to the computing device.

13. The system of claim 12, wherein the computing device is configured to compare the GPS information with the locational information to determine each of the plurality of different positions are adjacent the respective water course feature.

14. The system of claim 12, wherein the GPS information includes a GPS latitude value and a GPS longitude value.

16. The system of claim 11, wherein the computing device is configured to detect a first water course feature in a first image and a second water course feature in a second image, and determine a time between the first water course feature and the second water course feature.

17. The system of claim 11, wherein the computing device is configured to determine that a first water course feature is an entry point for the at least one water course.