Patent Grant
10196110
A portion of the disclosure of this patent document contains material which is subject to (copyright or mask work) protection. The (copyright or mask work) owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all (copyright or mask work) rights whatsoever.
The present invention relates to docking and mooring of watercraft, particularly along docks, peers, slips, etc.
Docking or Mooring of vehicles, and particularly watercraft, has historically required attaching of the watercraft to anchor points provided along a dock using a rope or chain. Some more recent systems have utilized various attachment methods, including suction cups or other attachment means.
Some of the common problems encountered in watercraft mooring or docking include rising and lowering of the tide with respect to the dock, waves, wakes of other craft, wind, or other environmental factors which may cause relative motion between the dock and the particular watercraft attached thereto. This relative motion can often damage the watercraft or the dock itself. Additionally, ease of use, and attachment reliability are the focus of constant improvement.
I would like to mention that there is also potential to use this automated docking system for unmanned watercraft, commonly called USV (unmanned surface vehicles), UUVs (unmanned underwater vehicles), ROVs (remotely operated vehicles), etc. Many of the same features outlined in this application will be useful as a docking system underneath the water surface, as well as on the surface.
Mooring or docking watercraft to docks in a reliable and easy manner which allows for relative shifting between the dock and the watercraft without damaging either is a continuing endeavor. As such, the present invention seeks to provide improvements which allow easy connections and reliable retention to the dock in a manner which allows relative movement and absorbs environmental motion while protecting the watercraft as well as the dock station. In order to achieve these goals, the present invention includes an adjustable positive restraint docking system, the system having a latching assembly, the latching assembly being configured to be affixed to a docking point on a dock so as to act as a mooring point for a watercraft to said docking point.
The latching assembly can also include a latching head assembly, the latching head assembly wherein in the embodiments shown the latching head assembly can also be provided with a receiving channel having an open portion being configured to receive a secondary locking component provided about the watercraft. A linkage assembly can be provided within or about the channel, which is configured to selectively block or open the open portion of the receiving channel. In some embodiments, the linkage assembly can be configured to pass through a toggle point between an open state and a locked state.
In some embodiments, one or more rollers can be provided within the receiving channel, wherein the one or more rollers can be configured to allow an axial rotation of the secondary locking component within the channel in the blocked/locked configuration.
As illustrated in the embodiments shown herein, one or more dampers can also be provided about one or more anterior sides of the latching head assembly, wherein at least one of the one or more dampers can be configured to allow pivoting of the latching head in a horizontal plane, or alternatively the dampers can allow for a dampened pitching motion in a vertical direction.
The latching assembly can also be provided with one or more guide portions which can be arranged so as to guide an approaching secondary locking component into alignment with the receiving channel from a plurality of approach angles or heights.
In some embodiments, the adjustable positive restraint docking system can be provided with an extension assembly provided between the latch assembly and the dock, in such embodiments the extension assembly can be configured to provide the latch assembly in an extended state or a stowed state from an edge of the dock. In some such embodiments the extension assembly can be provided having a 4-bar linkage.
In some embodiments, the adjustable positive restraint docking system can be provided with a plurality of rollers about a rear portion of the receiving channel.
In some embodiments, the adjustable positive restraint docking system can be provided with an additional roller provided on the linkage assembly wherein the roller is displaced by the linkage so as to block the open portion of the receiving channel in the locked state.
In some embodiments, the secondary locking component can be provided as a bar extending from the watercraft so as to extend into the receiving channel of the latch head assembly.
In some embodiments, the adjustable positive restraint docking system can be provided with a presence sensor located within the receiving channel of the latch head assembly, the presence sensor being configured to detect the presence of a secondary locking component within the receiving channel.
In some embodiments, the adjustable positive restraint docking system can be provided with a first linkage sensor located about the linkage assembly, the first linkage sensor being configured to detect when the linkage assembly is in the locked state.
In some embodiments, the adjustable positive restraint docking system can be provided with a second linkage sensor located about the linkage assembly, the second linkage sensor being configured to detect when the linkage assembly is in the open state.
In some embodiments, and as shown, the receiving channel of the latching head can be configured to receive a horizontally oriented secondary locking component.
It will be appreciated that in some alternative embodiments, the latching head can also be rotated 90 degrees in such a manner that the receiving channel is configured to receive a vertically oriented secondary locking component.
In some embodiments, the one or more dampers can be provided as a plurality of dampers being provided about opposing anterior sides of the latching head assembly.
In some embodiments, the adjustable positive restraint docking system can be provided with a vertical damper, the vertical damper being connected to the latching head along a vertical axis, the vertical damper being configured to allow the latching head assembly to translate vertically.
In some embodiments, the guide portions can be provided as angled plates having opposing ramps configured to guide the secondary locking component toward a central portion containing the receiving channel, the opposing ramps extending outwardly from the open portion of the guide channel, the opposing ramps also being angled away from a plane defined by the center and width of the guide channel.
It will also be appreciated by those having skill in the art that the embodiments shown illustrate the latching assembly as being provided about a dock, while the secondary latching component can be provided about the watercraft, however, these relative positions can also be reversed wherein the latching components are instead provided about the watercraft and the secondary latching components can instead be provided about the dock.
Various methods of use, as will be appreciated by those having skill in the art are also contemplated herein. In particular, there is also potential to use this automated docking system for unmanned watercraft, commonly called USV (unmanned surface vehicles), UUVs (unmanned underwater vehicles), ROVs (remotely operated vehicles), etc. Many of the same features outlined in this application can also be utilized as a docking system underneath the water surface, as well as on the surface as illustrated herein.
Features and advantages of the invention will be apparent from the detailed description which follows, taken in conjunction with the accompanying drawings, which together illustrate, by way of example, features of the invention; and, wherein:
Reference will now be made to the exemplary embodiments illustrated, and specific language will be used herein to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended.
As discussed briefly above, the present invention seeks to provide improvements with regard to mooring or docking watercraft to docks in a reliable and easy manner which allows for relative shifting between the dock and the watercraft without damaging either is a continuing endeavor. As such, the present invention seeks to provide improvements which allow easy connections and reliable retention to the dock in a manner which allows relative movement and absorbs environmental motion while protecting the watercraft as well as the dock station.
As discussed above, and as shown in
Additionally, the extension system 200 can be provided with a mounting plate 230 which can attach to the edge of the dock 2. The mounting plate 230 can include a lip portion 234 which extends over the edge of the dock so as to provide increased strength, stability, and ease of installation about the edge of the dock. Further the mounting plate 230 can be provided with a roller channel 238 on its upper surface so as to receive a roller provided on the latching assembly when moving into the stowed state.
It will also be understood that the extension system is illustrated as a 4-bar linkage, but can also be provided as a rocker, a singular hydraulic cylinder, provided on a horizontal swinging bar, none of which are shown, but could readily be adapted for use by one having skill in the art. A linearly actuated, or horizontal swing actuated system is also contemplated herein. In some such embodiments, a multi-degree of freedom actuating arm, like a robot arms commonly utilized in industrial applications, can also be used as the method to properly position the latching assembly in the active or extended state.
It will be further understood, that while the dampers illustrated here and discussed herein are merely utilized for exemplary purposes, as such, these dampers can be provided as simple spring elements, or alternatively replaced with more sophisticated systems such as servo controlled actuators with force feedback. Additionally, the dampening means illustrated herein is not mandatory for every application or embodiment, and in some instances the latch can be rigidly connected to the dock having no dampening.
It will also be understood that any intermediate structures between the dock, extension assembly, and the latching assembly, as discussed herein, can be provided or attached directly to the dock. As such, the latching assembly 100 can be mounted directly to the dock 2 using any number of non-extending means utilizing rigid mounting plates, hinges, etc., wherein the latching assembly is positioned in a manner that would always allow for watercraft connection thereto.
In the embodiments shown, the ramped portions 182 and 186 can also be provided with a low-friction sliding material, such as nylon, polypropylene, or some other thermoplastic material which can aide in reducing friction as a watercraft and associated secondary locking component approach, slide along the ramped portions, and ultimately engage with the receiving channel 112. In some embodiments, this low-friction sliding material can be replaceable or renewable and can protrude past the edges of the guide plates such that the sliding material can be configured to be a wearing component through contact and friction rather than the guide plates themselves.
Additionally, rollers 190 and 192 can be provided about end portions of the guide plates, a roller surface of the rollers can then be configured to extend partially into the angled portion beyond or at least within the same plane as the sliding material. In this manner, as the watercraft pitches or rocks while affixed to the adjustable positive restraint docking system 10 the rollers 190 or 192 and the sliding material 184 and 188 can take the impact and friction and thus act as wearable and replaceable components which can be intermittently serviced and ultimately replaced at necessary intervals.
As illustrated, the blocking arm of the linkage can include a roller 122, which will then be located opposite the channel from receiving rollers 116 and 118. These rollers all act together to provide three contact points which will then allow the secondary locking component to rotate axially within the channel and allow pitching of the watercraft without wearing on the various components.
The linkage assembly 120 can be actuated by an actuation mechanism 140, herein illustrated as a hydraulic cylinder. Upon actuation of the actuation mechanism, the linkage can be pushed through a toggle point as the blocking arm 124 extends partially across the open portion of the receiving channel. The toggle point of the linkage can then act as a positive lock having high mechanical advantage over any pulling forces applied to the secondary locking component being transferred to the linkage. While one having ordinary skill in the art of linkage design will appreciate the various mechanics involved with creating toggle points,
The latch head assembly can also include one or more status sensors 160, 164, and 168. The sensor 160 can be referred to a presence sensor, and can be provided as a pressure sensor, mechanical trip switch, or proximity sensor, or some other switch, that when compressed, can indicate the presence of a secondary locking component within the receiving channel. Meanwhile, sensor 164 can instead be positioned so as to provide an indication of when the linkage assembly is positioned in the fully blocked state. This sensor can also be a pressure sensor or switch which compresses as the linkage moves into the desired blocked state. Further, sensor 168, which is best illustrated in
As such, sensor 168 is active or depressed in
Also, as illustrated herein, the secondary locking component 30 is provided as a horizontally oriented bar. This horizontally oriented bar provides a wide range of relative points at which it can be secured within the receiving channel of the adjustable positive restraint docking system 10. The relative length of this bar allows for a certain degree of translation axially along the bar within the receiving channel and can thus account for a range of positioning of the watercraft along the width or edge of the dock or within a slip. However, in some instances too much axial translation in this manner could also result in the watercraft coming into contact and potentially damaging itself with surrounding watercraft or structures. As such the secondary locking component 30 can be provided with supports or stops 34 which limit this lateral or axial translation.
It will also be understood that the latch head assembly shown in the in the previously discussed embodiments was shown being configured to receive a horizontally-oriented secondary locking component. However, in some alternative embodiments of the present invention, and as illustrated in
Also illustrated herein the rollers 192 and 190 are provided in a rigid configuration at opposing sides of the guide plates 180. In yet additional embodiments the rollers could be provided in a spring-loaded configuration where the rollers themselves are provided on resilient springs. In yet additional embodiments the upper and lower guide arms of the guide plates could be provided as hinged extensions which are also allowed to pivot, wherein the upper and lower guide arms can be spring-loaded themselves.
In yet additional embodiments a plurality of horizontally oriented latch assemblies can be provided in a stacked configuration, or in perpendicular orientations wherein the latch assemblies can be simultaneously attached to a plurality of correspondingly oriented secondary locking components. In this manner, a more accurate and secure docking position can be ensured through a plurality of engagement points and orientations.
It will then be understood that the latching assembly can be oriented at any angle relative to gravity with a corresponding angled secondary locking component, so as to suit any particular vessel's needs or environmental factors.
Additionally, the watercraft can include additional sensors about the secondary locking component which can include proximity sensors, which can be either passive or active, such as near field communication or RFID, which can indicate proximity to the latching components.
In some additional embodiments the various sensors can provide signals regarding the locked state, presence of the secondary locking component, etc. These signals can then be transmitted to a controller so as to indicate which portions of the watercraft are properly docked. In some such instances the controller can then provide feedback to the captain, or in the case of unmanned or automatic docking functions, so as to indicate which direction the watercraft must be pivoted in order to properly engage to additional latching assemblies.
As used herein, a plurality of items, structural elements, compositional elements, and/or materials may be presented in a common list for convenience. However, these lists should be construed as though each member of the list is individually identified as a separate and unique member. Thus, no individual member of such list should be construed as a de facto equivalent of any other member of the same list solely based on their presentation in a common group without indications to the contrary. In addition, various embodiments and example of the present invention may be referred to herein along with alternatives for the various components thereof. It is understood that such embodiments, examples, and alternatives are not to be construed as de facto equivalents of one another, but are to be considered as separate and autonomous representations of the present invention.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the description, numerous specific details are provided, such as examples of lengths, widths, shapes, etc., to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
While the foregoing examples are illustrative of the principles of the present invention in one or more particular applications, it will be apparent to those of ordinary skill in the art that numerous modifications in form, usage and details of implementation can be made without the exercise of inventive faculty, and without departing from the principles and concepts of the invention.
| Number | Name | Date | Kind |
|---|---|---|---|
| 20020148055 | Alexander | Oct 2002 | A1 |
| 20180079090 | Koenig | Mar 2018 | A1 |
