• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Guidance and positioning system for boats using a three-dimensional image sonar system that reads coded objects so that the reader interrogates different volumes along its trajectory, obtaining an image of the surface of the seabed and the objects that anchor. The digital treatment of the image of the coded objects allows estimating the relative position of the sensor and in this way estimating its absolute position. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2680068A1
    申请号:ES201730206
    申请日:2017-02-20
    公开日:2018-09-03
    发明作者:Alejandro Badolato Martin
    申请人:Auto Drive Solutions Sl；
    IPC主号:
    专利说明:

    image 1
    GUIDANCE AND POSITIONING SYSTEM FOR BOATS THROUGH THREE-DIMENSIONAL SONAR IMAGE DEVICES. DESCRIPTION
    5 OBJECT OF THE INVENTION
    The recommended invention relates to a guidance and positioning system for boats by means of a three-dimensional image sonar system that reads encoded objects so that the reader interrogates different volumes along their trajectory.
    10 obtaining a surface image of the seabed and the objects that anchor.
    The digital treatment of the image of the encoded objects allows to estimate the real position of the boat, the speed and in this way estimate its absolute position and displacement. FIELD OF THE INVENTION
    The field of the invention is that of the electronics industry, the auxiliary industry of positioning means and that of auxiliary means related to maritime transport. BACKGROUND OF THE INVENTION
    All merchant ships carry redundant positioning systems on board and there is indeed some background on devices that perform a function of
    20 reading of positioning media information and reading them by different types of readers.
    But almost all refer to positions based on GPS technologies and positional lasers, so if the owners of triangulation satellites for strategic reasons modify the parameters this modified information can cause
    25 irreparable damages.
    Think of an oil tanker 250 meters in length that for a wrong information is hit with a spring. The results can be catastrophic.
    There are some other antecedents of other means, such as the following: Among them the inventor is also the inventor of the international patent PCT / ES2015 / 070378 where a guide rail installed along the road sign is described as coding means although optionally it can be hidden under a layer of asphalt treated with a layer of hydrophobic material of preferred dimensions of 1.5 cm wide by 5 cm deep and where cavities are machined inside, the dihedral form being the preferred shape of the hollows since the dihedral planes increase the reflected signal thus facilitating its detection.
    image2
    Likewise, the same inventor has registered the international patent PCT / IB2016 / 051159 which details other means of information with a similar purpose. These information reading and coding systems have more applications where it is not necessary for the sensor to be installed on a mobile and the information that is encoded is not intended solely to determine the relative position of the sensor with respect to the encoded medium.
    But the case in which the reader not only interrogates in a pointing direction but is able to explore the seabed obtaining a three-dimensional image where there are certain projections of varying thickness or indentations of different depth has not been resolved so far, and is what the recommended invention achieves.
    On the part of the inventor there is no known priority that incorporates the provisions presented by the present invention, nor the advantages that such provision entails. DESCRIPTION OF THE INVENTION
    The recommended invention relates to a guidance and positioning system for boats by means of a three-dimensional sonar system that reads coded objects.
    The reader interrogates different volumes throughout his career obtaining an image of the background of the surface and the objects that anchor.
    In essence the set is constituted by means that present a coded message, arranged along a path.
    The message is coded by means of its form with information on their position.
    Through two three-dimensional sonars as sensors, the media is interrogated to obtain an image.
    image3
    The digital treatment of the image allows estimating the relative position of the sensors with respect to the encoded blocks and thus estimating their instantaneous speed and absolute position in real time, which allows real-time movement decisions to be made.
    5 If this system is combined with an automatic vessel control device, it can be automatically directed and docked conveniently. PREFERRED EMBODIMENT OF THE INVENTION
    The recommended invention relates to a guidance and positioning system for boats by means of a three-dimensional image sonar system that reads encoded objects.
    If this system is combined with an automatic vessel control device, it can be automatically directed and docked conveniently.
    Therefore, the guidance and positioning system consists of two main elements:
    15.- Duly coded information means.
    .- Means of reading the encoded information.
    And a third element consisting of an automatic vessel movement control device directly connected to the information provided by the guidance and positioning system.
    In a preferred embodiment, the duly encoded information means are constituted by concrete blocks.
    These concrete blocks consist of modified regular parallelepipeds whose volume is approximately one cubic meter.
    The modifications consist in the removal of part of the material that forms it in such a way that its upper surface has a series of steps of different depth.
    Each step height corresponds to a different logical level existing: .- logical levels for the coding of a start bit,
    image4
    .-logical bit 1,
    .-logical bit 0,
    .-of repeated bit that associates the logical level with the logical level of the previous bit and serves to detect 5 bit by bit sequences of consecutive equal logical bits,
    .- and finally stop bit.
    Each block encodes 12 bits of information and by properly combining the blocks, words with a greater number of bits that associate the position of the last bit with the information encoded throughout the word are managed.
    10 The means for reading the encoded information are constituted by two three-dimensional sonars that fixed in a direction parallel to the keel of the ship, one forward and one aft, interrogate the seabed where the concrete blocks containing the concrete are anchored. coded information
    Using a three-dimensional sonar as a sensor, the means of reading the encoded information are interrogated to obtain an image.
    The digital treatment of the image obtained allows estimating the relative position of the sensors with respect to the encoded blocks and in this way estimating their real speed on the background as well as their absolute position in real time and also verifying the drift of the bow with respect to the stern, allowing real-time movement decisions.
    20 If this system is combined with an automatic vessel movement control device, it can be automatically directed and docked conveniently.
    Describing sufficiently the nature of the invention, as well as the manner of carrying it out, it should be noted that the provisions indicated above are
    25 subject to modifications in detail as long as they do not alter its fundamental principles, established in the preceding paragraphs and summarized in the following claims.
    权利要求:
    Claims (2)
    [1]
    image 1
    1st.- Guidance and positioning system for boats using a three-dimensional sonar system that reads coded information media and is characterized by being constituted by two main elements:
    [5 ]
    5 .- Duly coded information media consisting of modified concrete blocks.
    .-Means of reading the encoded information constituted by two three-dimensional sonars.
    .- And a third element consisting of an automatic movement control device
    10 of the boat directly connected with the information provided by the guidance and positioning system.
    2nd.- Guidance and positioning system for vessels using a three-dimensional sonar system that reads encoded objects according to the 1st claim and characterized in that the duly encoded information means are found
    15 consisting of concrete blocks.
    These concrete blocks consist of modified regular parallelepipeds whose volume is approximately one cubic meter.
    The modifications consist in the removal of part of the material that forms the same so that its upper surface has a series of steps of different depth.
    20 Each step height corresponds to a different logical level existing:
    .- logical levels for the coding of a start bit,
    .-logical bit 1,
    .-logical bit 0,
    .-of repeated bit that associates the logical level with the logical level of the previous bit and serves to detect 25 bit by bit sequences of consecutive equal logical bits,
    .- and finally stop bit.
    6
    image2
    Each block encodes 12 bits of information and by properly combining the blocks, words with a greater number of bits that associate the position of the last bit with the information encoded throughout the word are managed.
    3rd.- Guidance and positioning system for boats using a sonar system
    5 of a three-dimensional image that reads coded objects according to the 1st claim and characterized in that the means for reading the coded information are constituted by two three-dimensional sonars fixed in a direction parallel to the keel of the ship, one in the bow and one in the stern.
    4th.- Guidance and positioning system for boats using a sonar system
    Three-dimensional image 10 that reads coded objects according to the 1st claim and characterized in that the system is combined with an automatic vessel movement control device.
    fifteen
    twenty
    25
    7
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    同族专利:
    公开号 | 公开日
    ES2680068B1|2019-09-09|
    WO2018150070A1|2018-08-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4799825A|1983-12-08|1989-01-24|Meyerhoff Shirley B|Oil transfer system|
    US5414675A|1985-07-15|1995-05-09|Westinghouse Electric Corporation|Sonar system for detection of near bottom targets|
    GB2194637A|1986-07-30|1988-03-09|Tokyo Keiki Kk|Measuring fender deformation using a docking sonar system|
    AU2011323801A1|2010-10-25|2013-05-02|Lockheed Martin Corporation|Building a three dimensional model of an underwater structure|
    法律状态:
    2018-09-03| BA2A| Patent application published|Ref document number: 2680068 Country of ref document: ES Kind code of ref document: A1 Effective date: 20180903 |
    2019-09-09| FG2A| Definitive protection|Ref document number: 2680068 Country of ref document: ES Kind code of ref document: B1 Effective date: 20190909 |
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201730206A|ES2680068B1|2017-02-20|2017-02-20|GUIDANCE AND POSITIONING SYSTEM FOR BOATS THROUGH THREE-DIMENSIONAL SONAR IMAGE DEVICES.|ES201730206A| ES2680068B1|2017-02-20|2017-02-20|GUIDANCE AND POSITIONING SYSTEM FOR BOATS THROUGH THREE-DIMENSIONAL SONAR IMAGE DEVICES.|
    PCT/ES2018/070110| WO2018150070A1|2017-02-20|2018-02-19|Watercraft steering and positioning system using tridimensional sonar imaging devices|
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