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WO2018189037A1 - Aide à la navigation pour la commande d'un aviron - Google Patents

Aide à la navigation pour la commande d'un aviron Download PDF

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Publication number
WO2018189037A1
WO2018189037A1 PCT/EP2018/058794 EP2018058794W WO2018189037A1 WO 2018189037 A1 WO2018189037 A1 WO 2018189037A1 EP 2018058794 W EP2018058794 W EP 2018058794W WO 2018189037 A1 WO2018189037 A1 WO 2018189037A1
Authority
WO
WIPO (PCT)
Prior art keywords
boat
navigation aid
aid according
tactile
display unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/058794
Other languages
German (de)
English (en)
Inventor
Kai VON PETERSDORFF-CAMPEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2018189037A1 publication Critical patent/WO2018189037A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Instruments for performing navigational calculations specially adapted for water-borne vessels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3652—Guidance using non-audiovisual output, e.g. tactile, haptic or electric stimuli
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

Definitions

  • Patentanmeldung Navigationshüfe for controlling a rowing boat
  • the invention relates in the first place to a navigation port for rowing boats, which are not controlled by a helmsman but by a rower.
  • the navigation aid according to the invention is also to support the control of a
  • the rower sits with his back in the direction of travel. Therefore, he can not see whether there is an object in the waterway lying in front of the boat, as seen in the direction of travel, and the boat is in danger of colliding with this object. With rowing boats without helmsman the danger of collisions - and thus the danger of boat damages and bodily injuries - is therefore particularly high.
  • a helmsman sitting in the boat on the stern, the rowers in front of him adjust the view of objects in the narrower lane of the boat.
  • Such objects can be a permanent obstacle in the lane of the boat (buoy, boat dock, bridge pier, etc.) or move into it (especially watercraft). In a winding course of the water body and the shore can be such an object or obstacle.
  • a rearview mirror has been used, which is fastened to the head of the navigating rower, for example on the bracket of a pair of spectacles.
  • This type of navigation aid has not prevailed.
  • the rearview mirror obstructs the field of vision, in particular even when the oarsman turns around to more accurately identify an obstacle previously seen in the rearview mirror from a navigation decision.
  • the rearview mirror permanently binds the visual attention of the navigating rower and thus permanently affects its focus on the processes in the boat. Even unfavorable conditions such as backlighting, On the water, mist or spray or rain water on the mirror can severely affect the visibility of the rearview mirror.
  • US Pat. No. 7,207,853 B2 discloses a navigation aid for rowing boats, in which a camera attached to the hull transmits images of the water that is passing in front of the boat to a screen.
  • the screen is located in the work area and there in the field of view of the navigating rower.
  • this technology has the disadvantage of permanently binding the visual attention of the navigating rower.
  • Another disadvantage is that the permanent view of the oarsman on the screen with a rowing technically unwanted lowering of the head is accompanied.
  • the arrangement of a screen in the work area of the rower also has the disadvantage that the screen is in the execution of the rudder movement in the way.
  • Another disadvantage is that unfavorable lighting conditions, such as Reflections on the screen in the sun or spray and rain water on the display impair the reliability of such navigation aids.
  • WO 2013/181631 A2 configured as a method and device system for improving the safety of water and land vehicles by detecting collision hazards is known.
  • a video camera Doppler radar or binocular camera is proposed.
  • the collected data is analyzed in a camera unit. It determines if the boat is on a collision path with a detected object.
  • This information is transmitted wirelessly to a display unit, which is located in the work area and field of view of the rower.
  • the display unit is able to indicate the distance at which obstacles are in the roadway of the boat.
  • the screen of the display unit may additionally be configured to display a visually perceptible warning when there is a risk of a collision.
  • the warning message may also consist of an audible warning or an audible instruction. It provides technical details for the detection, transmission and visualization of collision hazards.
  • the above-mentioned disadvantages which are associated with the arrangement of a screen in the work area of the rower and with the permanent visual, possibly supplemented by an acoustic warning screen monitoring, but also exist in this system.
  • the invention has for its object to provide a novel navigation aid for controlling rowing boats available, with the disadvantages identified in the prior art are largely avoided.
  • the attention of the navigating rower is no longer bound by a permanent visual observation of the lane of the boat.
  • the novel navigation aid is to objects, which could run out of the risk of collision with the boat permanently, reliably and predictively even in adverse visibility conditions and then report to the navigating boat occupants, if it to avoid a collision with the boat a decision on Evasion maneuver required.
  • Decisions about an evasive maneuver should be made on time, with as little mental effort as possible, and essentially without revolving movements of the navigating oarsman or without the helmsman leaning out.
  • the warning of an obstacle should be able to perceive only the navigating boat occupants.
  • a trained according to the invention navigation aid consists of a sensor unit with at least one sensor.
  • the sensor is designed as an optical distance and speedometer.
  • the sensor unit sensor uses LiDAR technology (Light Detection and Ranging) to determine the distance to an object and the speed of the object.
  • the sensor or the sensor unit communicates wirelessly with a warning display unit.
  • the advantage of LiDAR sensors is that they can be used even under limited viewing conditions, such as in backlight or fog, can be more reliably identified than the sensors previously used in navigational aids for rowing boats, e.g. 2D cameras.
  • a significant disadvantage of Doppler radar sensors is that they - unlike LiDAR sensors - u.U. Also detect water as an obstacle, which is problematic especially in waves. Unlike Doppler radar sensors, LiDAR sensors can also detect objects regardless of their material, e.g. even if they - such as dinghies, boardwalks or flotsam - not or only to small proportions of metallic material.
  • the sensor unit according to the invention is fixedly or detachably arranged on the boat, preferably in a receiving device in the region of the boat top.
  • the sensor acquires spatial information about objects in the vicinity of the boat and determines their velocity vectors relative to the boat.
  • the sensor unit comprises a computer unit with which this information can be analyzed with regard to the risk of a collision of objects and the boat. It will be Based on the position and velocity vectors of the objects in relation to the boat, motion paths were predicted and these predictions were used to decide whether or not the objects would collide with the boat while maintaining the direction of travel and speed of the boat.
  • the warning display unit comprises at least one tactile pulse generator, which is in contact with at least one body region of the navigating boat occupant.
  • the tactile pulse generator is worn in direct skin contact on the body.
  • the signals transmitted by the sensor unit are transmitted perceptibly via the tactile pulse transmitter to the body of the navigating boat occupant, for example by vibration signals.
  • the advantage of such a warning display is that, unlike a visual warning display, it does not require him to actively observe, but only to demand reactive attention. The navigating oarsman can thus fully concentrate on his rowing and boat operations by the time he is notified of a collision course tactile impulse signal, ie the need for an evasive maneuver.
  • Another advantage of the invention lies in the directly physical information transfer, which reduces the effort for the mental evaluation of a warning signal and thereby shortened in particular the reaction time of the navigating oarsman, within which the decision must be made about an evasive maneuver and implemented by controlling or coating.
  • the oarsman can immediately move with the tactile pulse signal in a lateral area of the body. be instructed to move the foot control to this page or overlay it on this page.
  • the navigating rower is, as it were, made possible to intuitively control the boat from the rudder movement.
  • the advantage of the invention over an acoustically perceptible warning display, possibly handling instructions, is that the information transmitted via a tactile signal transmitter remains hidden to the other rowers in a crew boat, so that they are not distracted or irritated by their attention to the processes in the boat be unnecessarily impaired.
  • a sensor operating preferably according to the LiDAR technology is able to report also such obstacles which in unfavorable visibility conditions, such as e.g. Backlight or fog, are not sufficiently well visible to the naked eye, can be significantly reduced with a navigation aid according to the invention, the risk of collision even under such conditions.
  • FIG. 1 partial view of a rowboat with rower, equipped with the navigation aid according to the invention
  • FIG. 2 Schematic representation of the navigation aid according to the invention (sensor unit and warning display unit),
  • FIG. 3 representation of a warning unit (torso belt),
  • FIG. 4 representation of the work area of the rower with a warning unit on the stretcher board
  • FIG. 5 Schematic representation of different recognition and warning scenarios with objects in and outside the coverage area
  • Figure 6 Schematic representation of a detection scenario with an object on a collision course
  • Figure 7 Schematic representation of a warning scenario with an object on a collision course.
  • Fig. 1 shows the partial view of a boat 1 with a navigating rower 18 in the rowing motion.
  • the boat 1 and the rower 18 are provided with a navigation aid comprising a sensor unit 2 and at least one warning display unit (not numbered).
  • the sensor unit 2 is fastened in a holding device in the region of the boat tip, preferably in a start number Hait réelle mounted there.
  • the sensor unit 2 preferably communicates wirelessly (not shown in Fig. 1), e.g. over radio, with at least one warning display unit.
  • the warning indicator is in at least indirect contact with at least one body region of the navigating rower 18 or the helmsman.
  • 1 shows exemplary embodiments of an installation of the warning display unit on the body of the rower 18.
  • the warning display unit is housed in a torso belt 19, which is preferably worn in the chest area and spans the entire upper body of the rower 18.
  • the warning indicator unit is housed in a cuff 20,21, which the rower 18 carries on one of the extremities, for example in one Arm cuff 20 and / or in a leg cuff 21.
  • the rower 18 carries two cuffs 20,21, each with a warning indicator unit on a right and a left limb, eg arm cuffs 20 on both arms or Leg cuffs 21 on both legs.
  • FIG. 2 shows the components of the sensor unit 2 and warning display unit in a functional diagram of the navigation aid according to the invention.
  • the sensor unit 2 comprises a fastening device for its simple assembly and disassembly on the boat 1, an energy depot 17, such as a battery, for the operation of the electrical components 15 (arithmetic unit, radio module) and operating elements, eg. B. in the sensor unit 2 are also at least one optical distance and speed sensor, such as a LiDAR sensor, for determining spatial information about objects 8.9.10.11 in the environment of Boats 1 and their speed vectors relative to the boat 1, as well as a radio module for wireless communication with the warning display unit housed.
  • an energy depot 17 such as a battery
  • a computing unit in the sensor unit 2 controls all electronic processes in the navigation aid according to the invention, in particular the processing of the sensor information and - via the radio module - the activation of the at least one warning display unit.
  • an acoustic and / or optical signal generator can be provided with which, for example, the rower 18 can be warned if a restriction of the functions or the failure of Navigationshiife threatens or has already occurred, in particular with complete discharge of the batteries or the interruption of the radio link between the sensor unit and the warning display unit or at least one of the warning units when they are applied, for example, in two arm cuffs 20 on the body of the rower 18.
  • the sensor unit 2 is preferably - as shown schematically by a frame - housed in a housing which protects the sensor and the other components 15,17 against moisture, in particular against the ingress of spray and wave water.
  • a GPS module is additionally used.
  • the navigation aid according to the invention can be supplemented by the determination of the global boot position. It can be rtion warned with a stored on the computer unit database more reliable before a collision with obstacles by comparing the global Bootspos' whose positions are stored in the database.
  • the GPS module it is also possible to warn of virtual obstacles instead of real obstacles, which result from the limitations of a preprogrammed roadway of the boat.
  • the warning display unit shown schematically in Fig. 2 comprises a support 13 for the listed electronic components 15,17 on which they are stored safely and preferably protected from moisture, e.g. by the formation of the carrier 13 as a - schematically represented by a frame - wrapping the warning indicator unit made of waterproof material.
  • an energy depot 7 e.g. a battery, for operating the electrical components 15 and controls, in particular for switching on and off the warning display unit and for radio-coupling with the sensor unit 2 housed.
  • a radio module for wireless communication with the sensor unit 2 a tactile pulse generator 16 and a computing unit for processing the received radio signals and for driving the tactile pulse generator 16 are provided.
  • the tactile pulse generator 16 may be divided into segments, for example, segments 12a. Over a e.g. in time sequence differentiating control and of two or more segments 12a of the tactile pulse generator 16 can be transmitted directional information about the obstacle.
  • the tactile pulse generator 16 or its segments 12a can be configured as electric vibration motors.
  • an embodiment of the warning display unit is shown in a torso belt 19.
  • This embodiment comprises a carrier 13 on which the tactile pulse generator 16 stores the energy depot 17, for example a battery, components 15 (arithmetic unit, radio microphone). dul) and controls for switching on and off the warning display unit are stored (not shown in detail).
  • the carrier 13 may be an elastic band, which is applied by means of a closure 14 adjustable in size on the torso.
  • an operating element is integrated in the closure 14, wherein the warning display unit with the closing of the shutter 14 on and off with the opening.
  • the tactile pulse generator 16 and / or at least one of the electronic components 15, 17 may be housed in a water-resistant and / or flexible housing.
  • the tactile pulse generator 16 and the electronic components 15,17 are mounted on the body side facing away from the carrier 13.
  • the tactile pulse generator 16 may also be located on the body-facing side of the carrier 13.
  • This embodiment of the warning indicator unit is preferably applied to the torso of the rower 18 so that the tactile pulser 16 is centered horizontally on the rudder 18 back.
  • Waman Straman Straman unit in torso strap 19 can be applied to the helmsman who is facing in the direction of travel in the boat without changing this setting so to the torso that the tactile pulser 16 centered horizontally on the ventral Side of the torso.
  • the tactile pulse generator 16 is divided into eight segments 12a, which can be controlled separately by the arithmetic unit for generating a tactile signal.
  • Activated segments 12a are shown as segments 5a, 5b.
  • the segments 12a are either dimensioned so large or distributed with such a large distance on the carrier 13, that the information that is conveyed with a tactile signal, for example via the segment 5a, haptically distinguishable from the information provided with a tactile signal of adjacent segment 5b is mediated. In this way, the distinctness is ensured both in the activation of one of the adjacent segments 5a, 5b and in an activation of both adjacent segments 5a, 5b.
  • FIG. 4 shows a further embodiment of the warning display unit according to the invention as a warning display unit 23 in the working area of the navigating rower 18 with the rolling seat 25 and the stiffening board 22 for supporting the feet of the rower 18.
  • the warning display unit 23 is mounted in the region of the Stemmbretts 22. On the Stemmbrett 22, the areas are marked in which the feet of the rower 18 are resting on the stretcher board 22. Of the warning display unit 23, only the segments 23a, 23b of the tactile pulse generator 16 are shown.
  • the warning display unit 23 is designed so that in each case at least one segment 23a, 23b of the tactile pulse generator 16 is in the region of the position of one foot and the tactual signal is felt upon activation of one of the segments 23a, 23b only on the foot, the it is associated. In Fig. 4, this is segment 23b associated with the left foot.
  • the advantage of this embodiment is that the warning display unit 23 does not have to be worn on the body while maintaining the advantages according to the invention, which can be perceived by a navigating rower subjectively as disturbing, for example. If the sensor unit 2, for example, in a fixed installation on the hull, for use in a particular boat 1 is set individually, the warning indicator 23 also allows a permanently preset vote of the warning display unit 23 with the sensor unit 2. In one Another embodiment of the warning display unit 23, the Stemmbrett 22 shown in FIG. 4 can be used as a footrest for the helmsman.
  • At least one warning display unit is arranged as a warning display unit 26 in the region of the rudder handle, preferably integrated into the rudder handle (not shown in the figures).
  • a warning display unit 26 for straps (one rudder per oarsman) an arrangement of the warning indicator unit 26 may be provided such that one segment 12a of the tactile pulser 16 is located in a region of the rudder grip in which one hand of the rower 18 is engaged.
  • a warning indicator unit 26a and 26b are respectively disposed in the grip of each skull.
  • a segment 12a of the tactile pulse generator 16 of the warning display unit 26 is in at least least indirect contact with the inner surface of the rudder handle comprehensive hand.
  • An additional advantage of a rudder grip-side arrangement of the warning indicator 28 is that the warning indicator unit does not have to be carried on the body of the rower 18.
  • belts / skulls are usually set individually for use in a particular boat 1.
  • another advantage of the rudder grip-side arrangement of the warning display unit 26 is that the navigation aid according to the invention can be included in such an individual assignment of belt or scull in boats, in which the sensor unit 2 preset individually on the boat, especially permanently installed on the hull.
  • FIG. 5 summarizes various detection and warning scenarios with objects 8, 9, 10, 11 in and outside the detection area 6 of the sensor of the sensor unit 2 in front of the boat 1.
  • a defined protection area 3 for the boat 1 is stored with a segment 4 segmented into digitally defined segments 12.
  • An object 7 outside the detection area 6 of the sensor can not be detected.
  • the sensor detects the position of the objects 8, 9 lying in the detection area 6 and their velocity vectors v 8 , vg relative to the boat 1. Assuming constant speeds and directions of movement of the objects 8, 9 relative to the boat 1, the position and the velocity vectors v 8 are used > v 9 motion paths of the objects 8,9 relative to the boat 1 predicted, which are shown with dashed lines.
  • a segment 5 of the segmented front 4 is determined as the intersection of the predicted path of object 9 with the segmented front 4 of the protection zone 3. Without an evasive maneuver, the object 9 would penetrate through the segment 5 in the protective area of the boat 1, as far as it retains its direction of movement relative to the boat 1. Based on the position of the segment 5 in the segmented front 4 a meaningful maneuvering decision can be made.
  • the number of digitally defined segments 12 of the segmented front 4 is Therefore, it is designed to correspond to the number of segments 12a of the tactile pulser 16 of the warning display unit.
  • the segment 5 a of the tactile pulse generator 16 corresponding to the segment 5 is activated. If the movement path of an object - as with object 8 - does not intersect with the protection zone 3, no risk of collision is detected. An unnecessary warning of, for example, sufficiently fast crossing or moving ahead with at least the same speed objects is avoided. The navigating boat occupant 18 is not warned and relieved of the decision to carry out an evasive maneuver.
  • Fig. 6 shows, in the manner of the scheme of Fig. 5, an object 10 on a collision course.
  • the sensor unit 2 determines the distance and the approaching speed of the object 0 to the boat 1 and calculates therefrom the time collision until the possible collision.
  • a time t krifech is set, which indicates the time until a possible collision, at the beginning of the Waman Attache- unit is to be activated.
  • the time collision of object 10 exceeds the time t critical .
  • the segment 12a of the tactile pulse generator 16 which corresponds to the segment 12 of the segmented front 4 cut by the path of movement of the object 10, is therefore not yet activated. A premature collision warning and a corresponding premature decision on a possibly unnecessary evasive maneuvers are avoided.
  • the time feiston of object 11 falls short of time.
  • the segment 5a of the tactile pulse generator 16, which corresponds to the segment 5 cut by the path of movement of object 11, is activated.
  • collision hazard information may be conveyed based on modulations of the intensity and duration of the tactile pulse signals generated in at least one of the activated segments 5a, 5b.
  • warning display unit leg cuff
  • warning display unit rudder handle

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne une aide à la navigation pour la commande d'avirons. L'aide à la navigation comprend une unité de capteur qui détermine des informations spatiales sur les objets dans l'environnement de l'embarcation et leurs vecteurs de vitesse par rapport à l'embarcation et les analyse en ce qui concerne le risque d'une collision d'objets avec l'embarcation. L'unité de capteur communique avec une unité d'affichage d'alertes comprenant au moins un émetteur d'impulsions tactile qui se trouve au moins en contact indirectement avec une zone du corps d'un passager à bord de l'embarcation si bien que le passager à bord de l'embarcation peut percevoir de manière haptique les signaux tactiles.
PCT/EP2018/058794 2017-04-11 2018-04-05 Aide à la navigation pour la commande d'un aviron Ceased WO2018189037A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017003493.1 2017-04-11
DE102017003493.1A DE102017003493A1 (de) 2017-04-11 2017-04-11 Navigationshilfe für das Steuern eines Ruderbootes

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Publication Number Publication Date
WO2018189037A1 true WO2018189037A1 (fr) 2018-10-18

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Cited By (1)

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CN114995377A (zh) * 2022-04-19 2022-09-02 浙江省交通运输科学研究院 一种船岸协同内河船舶辅助驾驶系统

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CN114973771B (zh) * 2022-04-15 2024-02-09 重庆交通大学 一种桥梁主动防船撞方法
CN114934481B (zh) * 2022-04-21 2024-06-07 重庆交通大学 一种涉水桥墩三位一体防船撞设防方法
CN114624725B (zh) * 2022-05-13 2022-09-06 艾索信息股份有限公司 目标物体监测方法及装置

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DE102014110476A1 (de) * 2013-10-29 2015-04-30 Nordin Kouache Verfahren und System zur Übermittlung von taktilen Anweisungen an einen menschlichen Körper
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