# US 12,117,832 B2 · Dynamic proximity alert systems and methods

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- Number: US 12,117,832 B2
- Document ID: US12117832B2
- Status: Granted
- Kind: B2
- Application number: 18/077,062
- Filed: 2022-12-07
- Published: 2023-04-06
- Granted: 2024-10-15
- Earliest claimed: 2018-10-31
- Assignees: FLIR Belgium BVBA
- Applicants: FLIR Belgium BVBA
- Inventors: Mark C. Rivers; Stuart Newcombe
- Web page: https://patentgrep.com/patent/US12117832B2

## CPC

- B63B 49/00: Arrangements of nautical instruments or navigational aids (nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S)
- G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)}
- B63B 79/10: using sensors, e.g. pressure sensors, strain gauges or accelerometers
- B63B 79/40: for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
- B63H 25/04: automatic, e.g. reacting to compass
- G01C 21/203: {specially adapted for water-borne vessels}
- G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)}
- G05D 1/0206: {specially adapted to water vehicles}
- G05D 1/2246: {displaying a map of the environment}
- G05D 1/2247: {providing the operator with simple or augmented images from one or more cameras}
- G05D 1/225: operated by off-board computers
- G05D 1/43: Control of position or course in two dimensions [2D]
- H04N 7/181: {for receiving images from a plurality of remote sources}
- B63H 2025/026: {using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring}
- 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)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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)
- 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)
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

Techniques are disclosed for systems and methods to provide graphical user interfaces for assisted and/or autonomous navigation for mobile structures. A navigation assist system includes a user interface with a display for a mobile structure and a logic device configured to render a docking user interface on the display. The logic device determines a direction and magnitude of a navigational bias associated with navigation of the mobile structure and determines a spatially biased safety perimeter and hazard monitoring area within a monitoring perimeter of a perimeter ranging system mounted to the mobile structure, based on the direction and magnitude of the navigational bias. The docking user interface includes a maneuvering guide with a virtual bumper perimeter intrusion indicator configured to indicate a relative position and/or proximity of a navigation hazard within the spatially biased hazard monitoring area.

## Claims

### Claim 1

A system comprising:
a user interface for a mobile structure comprising a display; and
a logic device configured to communicate with the user interface and render a docking user interface on the display, wherein the logic device is configured to:
monitor perimeter sensor data provided by a perimeter ranging system mounted to the mobile structure, wherein the perimeter sensor data corresponds to at least a hazard monitoring area within a monitoring perimeter of the perimeter ranging system; and
render the docking user interface based, at least in part, on the monitored perimeter sensor data, wherein the docking user interface comprises a maneuvering guide comprising a mobile structure perimeter indicator, a virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator and corresponding to a safety perimeter for the mobile structure, and/or a virtual bumper perimeter intrusion indicator disposed substantially within the virtual bumper perimeter indicator, wherein the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard disposed within the monitoring perimeter of the perimeter ranging system.

### Claim 2 (depends on 1)

The system of claim 1, wherein:
the virtual bumper perimeter indicator is concentric to and symmetrically spaced about the mobile structure perimeter indicator by a selected indicator thickness corresponding to a selected thickness of the safety perimeter for the mobile structure;
a perimeter of the hazard monitoring area is concentric to and symmetrically spaced about the safety perimeter by a hazard monitoring perimeter thickness that is equal to or greater than the thickness of the safety perimeter for the mobile structure; and/or
the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of the navigation hazard detected at or within the hazard monitoring area, one or more hazard escalation zones distributed concentrically within the hazard monitoring area, and/or the safety perimeter for the mobile structure.

### Claim 3 (depends on 1)

The system of claim 1, wherein the logic device is configured to:
determine a direction and magnitude of a navigational bias associated with navigation of the mobile structure; and
determine a spatially biased safety perimeter for the mobile structure and a spatially biased hazard monitoring area within the monitoring perimeter of the perimeter ranging system based, at least in part, on the determined direction and magnitude of the navigational bias, wherein:
the spatially biased hazard monitoring area encloses the spatially biased safety perimeter and/or the spatially biased safety perimeter encloses the mobile structure perimeter;
the spatially biased safety perimeter and the spatially biased hazard monitoring area are asymmetrically and/or elastically deformed and/or displaced relative to a center of the mobile structure along the determined direction of the navigational bias based, at least in part, on the determined magnitude of the navigational bias; and
the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of the navigation hazard detected at or within the spatially biased hazard monitoring area, one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure.

### Claim 4 (depends on 3)

The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises:
determining an absolute velocity of the mobile structure; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined absolute velocity of the mobile structure.

### Claim 5 (depends on 3)

The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises:
determining an environmental disturbance velocity impacting navigation of the mobile structure, wherein the environmental disturbance velocity comprises a wind velocity and/or a water current velocity; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined environmental disturbance velocity.

### Claim 6 (depends on 3)

The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises:
determining a minimum thrust availability direction associated with a thrust maneuver system for the mobile structure; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined minimum thrust availability direction.

### Claim 7 (depends on 3)

The system of claim 3, wherein the determining the direction and magnitude of the navigational bias comprises:
determining a relative hazard approach velocity from the mobile structure towards the navigation hazard based, at least in part, on the perimeter sensor data; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined relative hazard approach velocity.

### Claim 8 (depends on 1)

The system of claim 1, wherein the maneuvering guide comprises:
a virtual bumper perimeter thickness indicator, a virtual bumper perimeter thickness selector, and/or a virtual bumper perimeter segment selector configured to enable, disable, indicate, and/or provide for user selection of a thickness of one or more perimeter indicator segments of the virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator.

### Claim 9 (depends on 1)

The system of claim 1, wherein the maneuvering guide comprises:
an obstruction map generated based, at least in part, on the perimeter sensor data, wherein the obstruction map comprises at least the navigation hazard disposed within the monitoring perimeter of the perimeter ranging system;
a translational thrust indicator configured to indicate a translational maneuvering thrust magnitude and direction relative to an orientation of the mobile structure perimeter indicator;
and/or a rotational thrust indicator configured to indicate a rotational maneuvering thrust magnitude and direction relative to the orientation of the mobile structure perimeter indicator.

### Claim 10 (depends on 1)

The system of claim 1, wherein the docking user interface comprises: one or more video feeds provided by a perimeter ranging system mounted to the mobile structure, wherein each video feed of the one or more video feeds is rendered left of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a port side of the mobile structure and is rendered right of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a starboard side of the mobile structure; wherein the system further comprises a navigation control system for the mobile structure, wherein:
the mobile structure comprises a watercraft;
the navigation control system comprises one or more of a steering actuator, a propulsion system, and a thrust maneuver system; and
the logic device is configured to generate control signals for the navigation control system to pilot the watercraft to remove the navigation hazard from a spatially biased hazard monitoring area within the monitoring perimeter and/or one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or to avoid collision with the navigation hazard.

### Claim 11

A method comprising:
monitoring perimeter sensor data provided by a perimeter ranging system mounted to a mobile structure, wherein the perimeter sensor data corresponds to at least a hazard monitoring area within a monitoring perimeter of the perimeter ranging system; and
rendering a docking user interface based, at least in part, on the monitored perimeter sensor data, wherein the docking user interface comprises a maneuvering guide comprising a mobile structure perimeter indicator, a virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator and corresponding to a safety perimeter for the mobile structure, and/or a virtual bumper perimeter intrusion indicator disposed substantially within the virtual bumper perimeter indicator, wherein the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard disposed within the monitoring perimeter of the perimeter ranging system.

### Claim 12 (depends on 11)

The method of claim 11, wherein:
the virtual bumper perimeter indicator is concentric to and symmetrically spaced about the mobile structure perimeter indicator by a selected indicator thickness corresponding to a selected thickness of the safety perimeter for the mobile structure;
a perimeter of the hazard monitoring area is concentric to and symmetrically spaced about the safety perimeter by a hazard monitoring perimeter thickness that is equal to or greater than the thickness of the safety perimeter for the mobile structure; and/or
the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of the navigation hazard detected at or within the hazard monitoring area, one or more hazard escalation zones distributed concentrically within the hazard monitoring area, and/or the safety perimeter for the mobile structure.

### Claim 13 (depends on 11)

The method of claim 11, wherein the maneuvering guide comprises:
a virtual bumper perimeter thickness indicator, a virtual bumper perimeter thickness selector, and/or a virtual bumper perimeter segment selector configured to enable, disable, indicate, and/or provide for user selection of a thickness of one or more perimeter indicator segments of the virtual bumper perimeter indicator disposed about the mobile structure perimeter indicator.

### Claim 14 (depends on 11)

The method of claim 11, wherein the maneuvering guide comprises:
an obstruction map generated based, at least in part, on the perimeter sensor data, wherein the obstruction map comprises at least the navigation hazard disposed within the monitoring perimeter of the perimeter ranging system;
a translational thrust indicator configured to indicate a translational maneuvering thrust magnitude and direction relative to an orientation of the mobile structure perimeter indicator; and/or
a rotational thrust indicator configured to indicate a rotational maneuvering thrust magnitude and direction relative to the orientation of the mobile structure perimeter indicator;
wherein the docking user interface comprises:
one or more video feeds provided by a perimeter ranging system mounted to the mobile structure, wherein each video feed of the one or more video feeds is rendered left of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a port side of the mobile structure and is rendered right of the maneuvering guide if the video feed is provided by a camera of the perimeter ranging system that is disposed substantially on a starboard side of the mobile structure.

### Claim 15

A method comprising:
determining a direction and magnitude of a navigational bias associated with navigation of a mobile structure;
determining a spatially biased safety perimeter for the mobile structure and a spatially biased hazard monitoring area within a monitoring perimeter of a perimeter ranging system mounted to the mobile structure based, at least in part, on the determined direction and magnitude of the navigational bias; and
rendering a docking user interface based, at least in part, on the spatially biased safety perimeter and/or the spatially biased hazard monitoring area, wherein the docking user interface comprises a maneuvering guide comprising a mobile structure perimeter indicator and a virtual bumper perimeter intrusion indicator disposed at least partially about and/or adjacent to the mobile structure perimeter indicator;
wherein the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard detected at or within the spatially biased hazard monitoring area, one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure.

### Claim 16 (depends on 15)

The method of claim 15, wherein:
the spatially biased hazard monitoring area encloses the spatially biased safety perimeter and the spatially biased safety perimeter encloses a perimeter of the mobile structure;
the spatially biased safety perimeter and the spatially biased hazard monitoring area are asymmetrically and/or elastically deformed and/or displaced relative to a center of the mobile structure along the determined direction of the navigational bias based, at least in part, on the determined magnitude of the navigational bias; and
the virtual bumper perimeter intrusion indicator is configured to indicate a relative position and/or proximity of a navigation hazard detected at or within the spatially biased hazard monitoring area, one or more spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure.

### Claim 17 (depends on 15)

The method of claim 15, wherein the determining the direction and magnitude of the navigational bias comprises:
determining an absolute velocity of the mobile structure; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined absolute velocity of the mobile structure.

### Claim 18 (depends on 15)

The method of claim 15, wherein the determining the direction and magnitude of the navigational bias comprises:
determining an environmental disturbance velocity impacting navigation of the mobile structure, wherein the environmental disturbance velocity comprises a wind velocity and/or a water current velocity; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined environmental disturbance velocity.

### Claim 19 (depends on 15)

The method of claim 15, wherein the determining the direction and magnitude of the navigational bias comprises:
determining a minimum thrust availability direction associated with a thrust maneuver system for the mobile structure; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined minimum thrust availability direction.

### Claim 20 (depends on 15)

The method of claim 15, wherein the determining the direction and magnitude of the navigational bias comprises:
determining a relative hazard approach velocity from the mobile structure towards the navigation hazard based, at least in part, on the perimeter sensor data; and
determining the direction and magnitude of the navigational bias based, at least in part, on the determined relative hazard approach velocity, and wherein the method further comprises:
generating control signals for a navigation control system of the mobile structure to pilot the watercraft to remove the navigation hazard from the spatially biased hazard monitoring area, one or more of the spatially biased hazard escalation zones distributed within the spatially biased hazard monitoring area, and/or the spatially biased safety perimeter for the mobile structure, and/or to avoid collision with the navigation hazard.