Automatic docking system

Abstract

A programmed control uses distance sensor information to activate thrusters to move a vessel sideways up to a set distance away from a dock and maintain that distance automatically with no human intervention. At close distances a single propeller is used guided by a high bandwidth radar sensor.

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         7 . An automatic docking system for a marine vessel comprising:
 a plurality of port distance sensing transducers, wherein each port distance sensing transducer is disposed to determine the distance between a port hull of a marine vessel and an external structure;   a plurality of starboard distance sensing transducers wherein each starboard distance sensing transducer is disposed to determine the distance between a starboard hull of a marine vessel and an external structure;   a programmed control unit, wherein the processor control unit further comprises an automatic processor in electronic communication with the port and starboard distance sensing transducers;   a plurality of antennas, wherein at least one antenna is connected to each distance sensing transducer and each antenna is in electronic communication with the processor control unit;   a plurality of propulsion elements, wherein the propulsion elements are in electronic communication with the processor control until; and   a control panel, wherein the control panel in electronic communication with the processor control unit wherein the control panel is utilized by the user during an initiate phase of the programmed functions of the system and wherein the processor control unit functions independent of user input subsequent to the initiation phase.   
     
     
         8 . The automatic docking system of  claim 7 , wherein the plurality of port distance sensing transducers comprise:
 a bow transducer, wherein the bow transducer is disposed to sense the distance between a bow position of a hull and the external structure;   a stern transducer, wherein the stern transducer is disposed to sense the distance between a stern position of a hull and the external structure; and   a midship transducer, wherein the midship transducer is disposed to sense the distance between a midship position of a hull and the external structure.   
     
     
         9 . The automatic docking system of  claim 7 , wherein the plurality of starboard distance sensing transducers comprise:
 a bow transducer, wherein the bow transducer is disposed to sense the distance between a bow position of a hull and the external structure;   a stern transducer, wherein the stern transducer is disposed to sense the distance between a stern position of a hull and the external structure; and   a midship transducer, wherein the midship transducer is disposed to sense the distance between a midship position of a hull and the external structure.   
     
     
         10 . The automatic docking system of  claim 7  wherein the processor control unit comprises an automatic processor operating in real time to receive feedback from the plurality of port and starboard distance sensing transducers to allow for the activation of the plurality of propulsion elements in order to position and maintain the marine vessel at a predetermined distance from the external structure. 
     
     
         11 . The automatic docking system of  claim 7 , wherein the processor control unit possesses a plurality of programmed defaults selected from the group consisting of: a minimum distance between the marine vessel and the external structure, a variable speed rates of operation, and detecting the presence of the external structure. 
     
     
         12 . The automatic docking system of  claim 11 , wherein the processor control unit is coupled to a plurality of thruster controls providing the ability for the processor control unit to automatically operate the thrusters to achieve the programmed functions selected on the control panel. 
     
     
         13 . The automatic docking system of  claim 12 , wherein the plurality of thrusters is coupled to a main drive of the marine vessel in combination with a plurality of actuators and is controlled by the processor control to execute the programmed functions selected on the control panel. 
     
     
         14 . The automatic docking system of  claim 7  wherein the plurality of propulsion elements comprise:
 a bow thruster disposed to move the bow of the marine vessel relative to the external structure upon receiving a plurality of control information from the processor control unit based on the bow distance transducer information; 
 a stern thruster moving the stern of the marine vessel relative to the external structure upon receiving control information from the processor control unit based on the stern distance transducer information; and 
 wherein the bow and stern thrusters are disposed to maintain the side of the hull of the marine vessel at the control panels selected distance from the external structure. 
 
     
     
         15 . The automatic docking system of  claim 7  wherein the plurality of propulsion elements further comprises:
 a main drive propeller, wherein the main drive propeller is disposed to move the marine vessel in a lateral direction in relation to the external structure via the processor control unit with a plurality of actuators controlling a forward/reverse drive for the main drive propeller based on the port and starboard distance sensing transducers. 
 
     
     
         16 . The automatic docking system of  claim 7 , wherein the processor control unit is disposed to receive a plurality of operations from the control panel selected from the group consisting of: supplying power to the processor control unit by selecting an on switch, disconnecting power to the processor control unit by selecting an off switch, selecting a distance between the marine vessel and the external structure to reduce the plurality of propulsion elements, and selecting a direction in relation to the external structure for the marine vessel to engage in docking. 
     
     
         17 . The automatic docking system of  claim 7 , wherein the processor control unit possesses a minimum default distance setting of three feet between the marine vessel and the external structure. 
     
     
         18 . The automatic docking system of  claim 7 , wherein the processor control unit is disposed to maintain a permanent controlled approach to the external structure regardless of wind and current conditions. 
     
     
         19 . An entirely automated aquatic vehicle docking and control system comprising:
 an entirely automated primary propulsion system;   an entirely automated secondary propulsion system;   an entirely automated Marine Vessel Automated Docking System (“MVAD”) processor control unit comprising:
 a control system disposed to control the primary propulsion and secondary propulsion units; 
 a radar system which provides distance measurement between the vessel and the dock and transfers to MVAD processor control unit to automatically operate the vessel as required, wherein the MVAD processor control unit automatically reduces the rate of closure between the vessel and dock measuring closure, in real time, and where the MVAD processor unit is further disposed to automatically locates the vessel at predetermined distance from dock and automatically parks the vessel at selected location entered by the user in the non-automated phase. 
   
     
     
         20 . The entirely automated aquatic vehicle docking and control system of  claim 19  wherein the MVAD processor control unit controls a set of three distance sensing devices which comprises a bow distance sensing device for sensing a distance between a bow position on the side of the hull and an external object, a stern distance sensing device for sensing a distance between a stern position on the side of the hull and the external object, and a midship lateral distance sensing device for sensing a lateral distance between a midship position on the side of the hull and the external object wherein the set of three distance sensing devices is disposed to automatically maintain the hull at a fixed lateral position upon landing at the dock. 
     
     
         21 . The entirely automated aquatic vehicle docking and control system of  claim 19  wherein the secondary propulsion systems may be selected from the group consisting of an electric system and a hydraulic system. 
     
     
         22 . The entirely automated aquatic vehicle docking and control system of  claim 19  wherein the MVAD processor control unit controls the secondary propulsion system at variable speeds. 
     
     
         23 . The entirely automated aquatic vehicle docking and control system of  claim 19  wherein the entirely automated secondary propulsion system is removably attached to the MVAD processor control unit. 
     
     
         24 . The entirely automated aquatic vehicle docking and control system of  claim 19  wherein said system does not include visual indication readout devices for navigational, positioning or velocity information info displayed from one or more navigational systems. 
     
     
         25 . An automated marine vessel system for docking to an external structure comprising:
 a series of initialization equipment comprising:
 a control panel comprising an input mechanism disposed for inputting distance settings between the hull and the dock; 
 a set of switching devices; and, 
   a series of automation control equipment comprising:
 a programmed automatic electronic control system comprising:
 a real time automatic processor; 
 at least one sensing system comprising at least two sensing devices for calculating a distance between at least two spaced locations on a side of the aquatic vessel hull and the external structure that the marine vessel is approaching for the purpose of docking the marine vessel adjacent to the external structure. 
 a bow mounted propulsion unit; 
 a stern mounted propulsion unit; 
 wherein the set of switching devices is disposed for activating and deactivating the programmable automatic electronic control for starting the automatic operation of the programmable automatic control to carry out automatic docking operations and for stopping the operation of the programmable automatic control for alternate manual control; and 
 
   wherein the automatic processor is in communicate with the at least two sensing devices independently and the bow mounted propulsion unit the stern mounted propulsion unit independently.   
     
     
         26 . The automated marine vessel system for docking to an external structure of  claim 25 , wherein the at least one sensing system comprises three distance sensing devices, and wherein the three distance sensing devices comprise a fore distance sensing device for sensing a distance between a fore position on the marine vessel and the external object, an aft distance sensing device for sensing a distance between an aft position on the marine vessel and the external object, and a midship distance sensing device for sensing a lateral position on the marine vessel and the external object.