# US 2020/0401143 A1 · Ultrasonic perimeter ranging sensor systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0401143 A1 - Document ID: US20200401143A1 - Status: Published application - Kind: A1 - Application number: 17/012,035 - Filed: 2020-09-03 - Published: 2020-12-24 - Earliest claimed: 2017-06-16 - Assignees: FLIR Belgium BVBA - Applicants: FLIR Belgium BVBA - Inventors: Mark Johnson; Neil Millerchip; Kajetan Dworski; Paul Stokes - Web page: https://patentgrep.com/patent/US20200401143A1 ## CPC - G05D 1/0206: {specially adapted to water vehicles} - B63B 43/18: preventing collision {or grounding}; reducing collision damage {(reducing pollution by collision B63B25/082)} - B63B 49/00: Arrangements of nautical instruments or navigational aids (nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S) - B63H 25/42: Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers - G01C 21/203: {specially adapted for water-borne vessels} - G01C 21/3804: {Creation or updating of map data} - G01S 7/003: {Transmission of data between radar, sonar or lidar systems and remote stations} - G01S 7/521: Constructional features - G01S 13/862: {Combination of radar systems with sonar systems} - G01S 13/937: of marine craft - G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection - G01S 15/87: Combinations of sonar systems - G01S 15/89: for mapping or imaging - G01S 15/93: for anti-collision purposes - B63B 2201/18: Sonar - B63B 2213/00: Navigational aids and use thereof, not otherwise provided for in this class - 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} - G01S 13/88: Radar or analogous systems specially adapted for specific applications (electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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) - 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) - 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 ## Abstract Techniques are disclosed for systems and methods to provide perimeter ranging for navigation of mobile structures. A navigation control system includes a logic device, a perimeter ranging system, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other elements of a mobile structure. The logic device is configured to receive perimeter sensor data from ultrasonic perimeter ranging sensor assemblies of the perimeter ranging system and generate an obstruction map based on the received perimeter sensor data. The logic device determines a range to and/or a relative velocity of a navigation hazard based on the received perimeter sensor data. The logic device determines navigation control signals based on the range and/or relative velocity of the navigation hazard. Control signals may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure. ## Claims ### Claim 1 A system comprising: a perimeter ranging system comprising one or more ultrasonic perimeter ranging sensor assemblies configured to be coupled to a mobile structure; and a logic device configured to communicate with the perimeter ranging system, wherein the logic device is configured to: receive perimeter sensor data from each of the one or more ultrasonic perimeter ranging sensor assemblies of the perimeter ranging system; and generate an obstruction map based, at least in part, on the perimeter sensor data received from each of the one or more ultrasonic perimeter ranging sensor assemblies. ### Claim 2 (depends on 1) The system of claim 1, wherein the logic device is configured to: determine relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies based, at least in part, on the perimeter sensor data received from each of the one or more ultrasonic perimeter ranging sensor assemblies; and generate the obstruction map based, at least in part, on the received perimeter sensor data and the determined relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies. ### Claim 3 (depends on 2) The system of claim 2, wherein the determining the relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies comprises: identifying common structures represented in the perimeter sensor data provided by adjacent ones of the one or more ultrasonic perimeter ranging sensor assemblies; and determining a relative orientation and/or position of the adjacent ones of the one or more ultrasonic perimeter ranging sensor assemblies based, at least in part, on the identified common structures represented in the perimeter sensor data. ### Claim 4 (depends on 2) The system of claim 2, wherein the determining the relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies comprises: identifying a portion of the mobile structure represented in the perimeter sensor data provided by one ultrasonic perimeter ranging sensor assembly; and determining a relative orientation and/or position of the one ultrasonic perimeter ranging sensor assembly based, at least in part, on the identified portion of the mobile structure represented in the perimeter sensor data. ### Claim 5 (depends on 1) The system of claim 1, wherein the logic device is configured to: determine relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies based, at least in part, on user input selecting an estimated orientation and/or position for at least one of the ultrasonic perimeter ranging sensor assemblies; and generate the obstruction map based, at least in part, on the received perimeter sensor data and the determined relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies. ### Claim 6 (depends on 1) The system of claim 1, wherein at least one of the ultrasonic perimeter ranging sensor assemblies comprises: a plurality of ultrasonic transducers each aimed differently from the others. ### Claim 7 (depends on 1) The system of claim 1, wherein: at least one of the ultrasonic perimeter ranging sensor assemblies is configured to be strapped or secured to a stanchion of the mobile structure; and the at least one of the ultrasonic perimeter ranging sensor assemblies comprises a communications module configured to support wireless transmission of the perimeter sensor data to the logic device. ### Claim 8 (depends on 1) The system of claim 1, wherein: at least one of the ultrasonic perimeter ranging sensor assemblies is integrated with a bumper or fender configured to be strapped or secured to a toe rail, stanchion, and/or railing of the mobile structure. ### Claim 9 (depends on 1) The system of claim 1, wherein at least one of the ultrasonic perimeter ranging sensor assemblies comprises: a strip of ultrasonic transducer elements electrically coupled together and distributed along a length of the strip and configured to be attached to a hull of the mobile structure above an expected waterline level. ### Claim 10 (depends on 1) The system of claim 1, wherein the logic device is configured to: determine a range to and/or a relative velocity of a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system based, at least in part, on the received perimeter sensor data. ### Claim 11 (depends on 10) The system of claim 10, wherein: the perimeter ranging system comprises one or more visible spectrum and/or thermal imaging modules mounted to the mobile structure and configured to capture images of corresponding one or more areas proximate to a perimeter of the mobile structure and including at least a portion of the perimeter of the mobile structure, and to provide the captured images as at least a portion of the perimeter sensor data to the logic device. ### Claim 12 (depends on 10) The system of claim 10, wherein: the logic device is configured to: determine one or more navigation control signals based, at least in part, on the determined range to and/or the relative velocity of the navigation hazard; and provide the one or more navigation control signals to a navigation control system for the mobile structure; the navigation control system comprises one or more of a steering actuator, a propulsion system, and a thrust maneuver system; and the providing the one or more navigation control signals to the navigation control system comprises controlling the one or more of the steering actuator, the propulsion system, and the thrust maneuver system to maneuver the mobile structure according to a target linear and/or angular velocity or a target docking position and/or orientation. ### Claim 13 A method comprising: receiving perimeter sensor data from each of one or more ultrasonic perimeter ranging sensor assemblies of a perimeter ranging system coupled to a mobile structure; and generating an obstruction map based, at least in part, on the perimeter sensor data received from each of the one or more ultrasonic perimeter ranging sensor assemblies. ### Claim 14 (depends on 13) The method of claim 13, further comprising: determining relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies based, at least in part, on the perimeter sensor data received from each of the one or more ultrasonic perimeter ranging sensor assemblies; and generating the obstruction map based, at least in part, on the received perimeter sensor data and the determined relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies. ### Claim 15 (depends on 14) The method of claim 14, wherein the determining the relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies comprises: identifying common structures represented in the perimeter sensor data provided by adjacent ones of the one or more ultrasonic perimeter ranging sensor assemblies; and determining a relative orientation and/or position of the adjacent ones of the one or more ultrasonic perimeter ranging sensor assemblies based, at least in part, on the identified common structures represented in the perimeter sensor data. ### Claim 16 (depends on 14) The method of claim 14, wherein the determining the relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies comprises: identifying a portion of the mobile structure represented in the perimeter sensor data provided by one ultrasonic perimeter ranging sensor assembly; and determining a relative orientation and/or position of the one ultrasonic perimeter ranging sensor assembly based, at least in part, on the identified portion of the mobile structure represented in the perimeter sensor data. ### Claim 17 (depends on 13) The method of claim 13, further comprising: determining relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies based, at least in part, on user input selecting an estimated orientation and/or position for at least one of the ultrasonic perimeter ranging sensor assemblies; and generating the obstruction map based, at least in part, on the received perimeter sensor data and the determined relative orientations and/or positions of the one or more ultrasonic perimeter ranging sensor assemblies. ### Claim 18 (depends on 13) The method of claim 13, wherein at least one of the ultrasonic perimeter ranging sensor assemblies comprises: a plurality of ultrasonic transducers each aimed differently from the other; or a strip of ultrasonic transducer elements electrically coupled together and distributed along a length of the strip and configured to be attached to a hull of the mobile structure above an expected waterline level. ### Claim 19 (depends on 13) The method of claim 13, wherein: at least one of the ultrasonic perimeter ranging sensor assemblies is configured to be strapped or secured to a stanchion of the mobile structure and/or integrated with a bumper or fender configured to be strapped or secured to a toe rail, stanchion, and/or railing of the mobile structure; and the at least one of the ultrasonic perimeter ranging sensor assemblies comprises a communications module configured to support wireless transmission of the perimeter sensor data to the logic device. ### Claim 20 (depends on 13) The method of claim 13, further comprising: determining a range to and/or a relative velocity of a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system based, at least in part, on the received perimeter sensor data.