US 9,904,293 B1Granted

Systems and methods for automatically trailering a marine vessel on a boat trailer

AssigneeBrunswick Corporation

InventorsDavid M. Heap, Troy J. Kollmann

Life of this patent

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Abstract

A system for automatically trailering a marine vessel includes a set of coded tags coupled to a boat trailer, each storing data regarding its location on the trailer. A tag reader is located aboard the vessel, and estimates a first distance to a first coded tag in the set and a second distance to a second coded tag in the set. A position determination module uses the first and second estimated distances to determine position and heading of the vessel and the trailer in a given coordinate system. A feedback control module calculates a difference between the positions of the vessel and the trailer and a difference between the headings of the vessel and the trailer and determines vessel movements required to minimize the position and heading differences. A marine propulsion system automatically actuates a propulsion device to produce the required vessel movements to propel the vessel onto the trailer.

Claims20

Dependent claims

A system for automatically trailering a marine vessel, the system comprising:

a set of coded tags coupled to a boat trailer, each coded tag in the set of coded tags including data regarding its location on the trailer;
a tag reader located aboard the marine vessel, the tag reader estimating a first distance between the tag reader and a first coded tag in the set of coded tags and estimating a second distance between the tag reader and a second coded tag in the set of coded tags;
a position determination module that uses the first and second estimated distances to determine a position and a heading of the marine vessel and a position and a heading of the trailer in a given coordinate system;
a feedback control module that calculates a difference between the position of the marine vessel and the position of the trailer and a difference between the heading of the marine vessel and the heading of the trailer and determines marine vessel movements required to minimize the position difference and the heading difference;
and
a marine propulsion system that automatically actuates a marine propulsion device to produce the required marine vessel movements and thereby propels the marine vessel onto the trailer.

3 more elements

A method for automatically trailering a marine vessel, the method comprising:

receiving an operator selection of a trailering mode that automatically trailers the marine vessel on a boat trailer;
reading signals from a set of radio-frequency identification (RFID) tags coupled to the trailer with an RFID receiver, each RFID tag in the set of RFID tags storing data regarding its location on the trailer;
using the signals to estimate a first distance between the RFID receiver and a first RFID tag in the set of RFID tags and to estimate a second distance between the RFID receiver and a second RFID tag in the set of RFID tags;
using the first and second estimated distances to determine a position and a heading of the marine vessel and a position and a heading of the trailer in a given coordinate system;
calculating a difference between the position of the marine vessel and the position of the trailer and a difference between the heading of the marine vessel and the heading of the trailer;
determining marine vessel movements required to minimize the position difference and the heading difference;
and
outputting the required marine vessel movements to a marine propulsion system that thereafter actuates a marine propulsion device to propel the marine vessel onto the trailer without further intervention from an operator of the marine vessel.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/377,612Filed 13 Dec 2016
Granted: 27 Feb 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

G05D 1/12
Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots: target-seeking control
B60P 3/1075
On a loading frame, e.g. the vehicle being a trailer: guiding means for loading the boat
B63H 25/04
Initiating means for steering , for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring: automatic, e.g. reacting…
G05D 1/0022
Associated with a remote control arrangement: characterised by the communication link