# US 11,029,686 B2 · Automatic location placement system

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,029,686 B2
- Document ID: US11029686B2
- Status: Granted
- Kind: B2
- Application number: 16/398,721
- Filed: 2019-04-30
- Published: 2019-08-22
- Granted: 2021-06-08
- Earliest claimed: 2010-11-19
- Assignees: MAID IP Holdings P/L
- Applicants: MAID IP Holdings P/L
- Inventors: Bradley Tyers
- Web page: https://patentgrep.com/patent/US11029686B2

## CPC

- B63H 21/21: Control means for engine or transmission, specially adapted for use on marine vessels
- G05D 1/0206: {specially adapted to water vehicles}
- B63H 25/04: automatic, e.g. reacting to compass
- G01C 21/203: {specially adapted for water-borne vessels}
- G01S 19/13: Receivers
- G05D 1/43: Control of position or course in two dimensions [2D]
- B63B 21/00: Tying-up; Shifting, towing, or pushing equipment; Anchoring ({of buoys B63B22/04;} dynamic anchoring B63H25/00 {; equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. for landing purposes, E02B})
- B63B 2021/003: {Mooring or anchoring equipment, not otherwise provided for}
- B63H 2025/045: {making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]}
- B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06)

## Abstract

A method of automatically moving, by an automatic location placement system, a marine vessel includes receiving, by a central processing unit, from a vision ranging photography system, at least one optical feed including data providing a mapping of an environment surrounding a marine vessel. The method includes displaying, by the central processing unit, on a touch screen monitor, the mapping of the environment. The method includes receiving, by the central processing unit, from the touch screen monitor, target location data. The method includes directing, by the central processing unit, at least one element of a propulsion system of the marine vessel, to move the marine vessel to the targeted location, using the mapping.

## Claims

### Claim 1

A method for automatically navigating a marine vessel in relation to a memorized lateral reference point on an external object, the method comprising:
sensing, using at least one transducer, a sensed lateral reference point on the external object;
transmitting information representing the sensed lateral reference point on the external object to a processor control unit;
receiving, by the processor control unit, the information representing the sensed lateral reference point on the external object;
at the processor control unit, memorizing the information representing the sensed lateral reference point on the external object as the memorized lateral reference point information, whereby the memorized lateral reference point is the same point as the sensed lateral reference point;
automatically navigating the marine vessel to a lateral position in relation to the memorized lateral reference point on the external object;
stopping the marine vessel at a default distance relative to the external object; and
maintaining the default distance between the marine vessel and the external object.

### Claim 2 (depends on 1)

The method of claim 1, wherein automatically navigating the marine vessel comprises automatically moving the marine vessel at a controlled velocity toward the external object, comprising:
sensing the marine vessel's position relative to the external object;
receiving, by the processor control unit, a set of distance, position and velocity information relating to distance, position and velocity between the marine vessel and the external object in real-time; and
automatically controlling, by the processor control unit, at least one element of a propulsion system of the marine vessel, to navigate the marine vessel at the controlled velocity toward the external object.

### Claim 3 (depends on 2)

The method of claim 2, wherein automatically controlling the at least one element of the propulsion system comprises automatically controlling, by the processor control unit, the propulsion system of the marine vessel to navigate the marine vessel at the controlled velocity towards the external object in real-time.

### Claim 4 (depends on 2)

The method of claim 2, wherein stopping the marine vessel at the default distance relative to the external object comprises, at the processor control unit, automatically engaging the propulsion system to reduce the controlled velocity and to stop the marine vessel at the default distance relative to the external object.

### Claim 5 (depends on 4)

The method of claim 4, further comprising, at the processor control unit, automatically engaging the propulsion system to maintain the marine vessel at the default distance relative to the external object.

### Claim 6 (depends on 2)

The method of claim 2, wherein automatically controlling, by the processor control unit, the at least one element of the propulsion system of the marine vessel to navigate the marine vessel at the controlled velocity toward the external object comprises:
calculating, at the processor control unit, a path of movement of the marine vessel, incorporating information about at least one obstacle detected by a hazard detection and avoidance system;
determining, by the processor control unit, a required directional force to allocate to the at least one element of the propulsion system on the marine vessel, based upon a current location of the marine vessel relative to the external object; and
engaging, at the processor control unit, the propulsion system to perform collision-free path planning and automated guided manipulation of the marine vessel to the external object.

### Claim 7

A system for automatically navigating a marine vessel in relation to a memorized lateral reference point on an external object, the system comprising:
a propulsion system;
at least one transducer adapted to:
sense a sensed lateral reference point on the external object; and
transmit information representing the sensed lateral reference point to a processor control unit; and
the processor control unit, operatively connected to the propulsion system to:
receive the information representing the sensed lateral reference point on the external object;
memorize the information representing the sensed lateral reference point on the external object as the memorized lateral reference point information, whereby the memorized lateral reference point is the same point as the lateral reference point;
automatically control at least one element of the propulsion system to navigate the marine vessel in relation to the memorized lateral reference point on the external object;
automatically engage the propulsion system to stop the marine vessel at a default distance relative to the external object; and
automatically engage the propulsion system to maintain the default distance between the marine vessel and the external object.

### Claim 8 (depends on 7)

The system of claim 7, wherein the processor control unit is further operatively connected to the propulsion system to automatically move the marine vessel at a controlled velocity, towards the external object, wherein automatically moving comprises:
sensing the marine vessel's position relative to the external object;
receiving, by the processor control unit, a set of distance, position and velocity information relating to distance, position and velocity between the marine vessel and the external object in real-time; and
automatically controlling, by the processor control unit, at least one element of a propulsion system of the marine vessel, to navigate the marine vessel at the controlled velocity toward the external object.

### Claim 9 (depends on 8)

The system of claim 8, automatically controlling the at least one element of the propulsion system of the marine vessel comprises automatically controlling the propulsion system of the marine vessel to navigate the marine vessel at the controlled velocity, per foot of travel per second, towards the external object in real-time.

### Claim 10 (depends on 8)

The system of claim 8, wherein the processor control unit is further operatively connected to the propulsion system to automatically control the at least one element of the propulsion system to engage the propulsion system to reduce the controlled velocity and to stop the marine vessel at the default distance relative to the external object.

### Claim 11 (depends on 7)

The system of claim 7, wherein the processor control unit is further operatively connected to the propulsion system to:
calculate a path of movement of the marine vessel, incorporating information about at least one obstacle detected by a hazard detection and avoidance system;
determine a required directional force to allocate to the at least one element of the propulsion system on the marine vessel, based upon a current location of the marine vessel relative to the external object; and
engage the propulsion system to perform collision-free path planning and automated guided manipulation of the marine vessel to the external object.