Patent Description:
Marine vessels, and particularly large marine vessels such as container ships, can have blind spots. As a result, the captain of the vessel is unable to see fully around the vessel from the bridge of the vessel. This can prove challenging during navigation of the vessel, particularly during precision operations such as berthing.

Moreover, when a large marine vessel is moving in a particular environment, such as a harbour, a port, a bay, a dockyard, a navigable channel, a lake, a canal or a river, a pilot with a good knowledge of the environment may be required to aid navigation. The pilot brings to the vessel expertise in handling large vessels in confined waterways, and expert knowledge of the environment. For example, the pilot will have knowledge of local visual reference points, knowledge of tides, swells, currents and depths that might not be easily identifiable on navigation charts.

Typically, the pilot must board the vessel before the vessel enters the relevant waterway. This can be particularly dangerous in bad weather, as the pilot can face considerable risk of falling overboard. Furthermore, in some cases there is a limited number of pilots, and so the vessel may have to wait for an extended period before entering the relevant waterway while a pilot becomes available and travels to the vessel. In some cases, the pilot may have to travel several kilometres out to sea, e.g. by boat or helicopter, to meet and board the vessel.

In some cases, the state of the environment is dynamic. For example, some waterways may be prone to regular shifts in the navigation channels, e.g. due to shifting sand bars. As such, the pilot must regularly update his or her knowledge of the environment, so as to be able to safely aid navigation of vessels through the environment.

Embodiments of the present invention aim to address the aforementioned problems.

<CIT> discloses a programmable buoy system. <CIT> discloses a method and device for maritime surveillance. <CIT> discloses satellite fishing surveillance constellation and method. "<NPL> discloses sonar charts. <CIT> discloses a safety system for a vehicle. <CIT> discloses a networked radar station-based river boat navigation system.

<CIT> discloses a system for remote monitoring radar. <CIT> discloses a boat or ship with a collision prevention system. <CIT> discloses an electronic buoy radar chart display system and method of same. <CIT> discloses a cruise missile deployed sonar buoy. <CIT> discloses an offshore maritime access control system. <CIT> discloses a wireless underwater video system.

A first aspect of the present invention provides a system for determining a dynamic virtual representation of at least part of an environment that is navigable by a ship, the system having: at least one beacon remote from the ship, the or each beacon comprising: at least one sensor for sensing surroundings information representative of a topography of at least part of the environment, a transmitter, and a controller connected to the at least one sensor and configured to cause the surroundings information to be transmitted via the transmitter; and a control centre remote from the ship, the control centre comprising: a receiver configured to receive the surroundings information, and a control unit connected to the receiver and configured to determine a dynamic virtual representation of at least part of the environment based on the surroundings information, wherein the dynamic virtual representation comprises a topographical map, and a transmitter connected to the control unit, wherein the control unit is configured to determine navigation information for use in assisting navigation of the ship based on the virtual representation, and the control unit is configured to cause the navigation information to be transmitted by the transmitter of the control centre to the ship; wherein the navigation information comprises course heading information, wherein the control unit is configured to generate an instruction to sense the surroundings information representative of at least part of the environment, wherein the control unit is configured to cause the transmitter of the control centre to transmit the instruction, and wherein the beacon comprises a receiver configured to receive the instruction, wherein the beacon comprises one or more manoeuvring units for controlling movement of the beacon in water, and the controller of the beacon is connected to the receiver of the beacon and is configured to control the one or more manoeuvring units based on the instruction.

Such a virtual representation may be usable by a pilot to provide navigation instructions, or at least information relating to the environment, to the captain so that the captain is able to navigate the environment without issue. Alternatively, the virtual representation may be providable to, and usable by, the captain or crew themselves to aid navigation of their ship in the environment. In either scenario, the virtual representation may provide sufficient situational awareness of the environment that the pilot need not board the ship to assist. For example, on the basis of the virtual representation, the pilot may be able to conduct piloting of the ship from a location remote from the ship, such as by issuing navigation instructions to the ship via a communications link between the pilot (e.g. in the control centre) and the ship.

It will further be noted that, since beacon(s) remote from the ship are used, the system is usable to aid navigation of ships that do not themselves comprise such sensor(s) for sensing surroundings information representative of at least part of the environment. Accordingly, the system is very versatile and can be implemented without any modifications being required to shipping fleets. Furthermore, the system can be used to determine a virtual representation of at least part of the environment before the ship has arrived in the environment.

Optionally, the control unit is configured to update at least a portion of the dynamic virtual representation based on further surroundings information sensed by the at least one sensor and received via the receiver.

Optionally, the control unit is configured to cause the virtual representation to be transmitted by the transmitter of the control centre.

Optionally, the system has a terminal, comprising: a receiver configured to receive the virtual representation, an output device, and a control unit connected to the receiver of the terminal and configured to cause information to be output on the output device based on the virtual representation received. Optionally, the terminal is portable.

Optionally, the transmitter is configured to transmit the navigation information to a terminal of the system.

Optionally, the at least one sensor comprises one or more of: a camera, a LIDAR sensor, a SONAR sensor, and a RADAR sensor.

Optionally, the surroundings information comprises one or more of: one or more images, one or more videos, LIDAR information from one or more LIDAR sensors, SONAR information from one or more SONAR sensors, RADAR information from one or more RADAR sensors, sound information from one or more microphones, position information from one or more position sensors, and movement information from one or more movement sensors.

Optionally, the topographical map comprises a LIDAR map.

Optionally, the at least one beacon comprises a tugboat or a buoy. Optionally, the at least one beacon comprises a plurality of tugboats and/or buoys.

Optionally, the at least one beacon comprises plural such beacons, the receiver of the control centre is configured to receive surroundings information from respective transmitters of the beacons, and the control unit is configured to determine the virtual representation of the at least part of the environment based on the surroundings information received from the respective transmitters of the beacons.

A second aspect of the present invention provides a method of determining a dynamic virtual representation of at least part of an environment that is navigable by a ship, the method comprising: receiving, from a beacon remote from the ship and at a control centre remote from the ship, surroundings information representative of a topography of at least part of the environment, determining a dynamic virtual representation, comprising a topographical map, of at least part of the environment based on the surroundings information, determining navigation information for use in assisting navigation of the ship, based on the virtual representation, and causing a transmitter of the control centre to transmit the navigation information to the ship, wherein the navigation information comprises course heading information, and wherein the method comprises: generating an instruction to sense the surroundings information representative of at least part of the environment, causing the transmitter of the control centre to transmit the instruction, and receiving the instructions at a receiver of the beacon, wherein the beacon comprises one or more manoeuvring units for controlling movement of the beacon in water, and wherein the controller of the beacon is connected to the receiver of the beacon and is configured to control the one or more manoeuvring units based on the instruction.

Optionally, the method comprises receiving, from plural beacons remote from the ship and at a control centre remote from the ship, surroundings information representative of at least part of the environment, and determining the virtual representation of the at least part of the environment based on the surroundings information received from the plurality of beacons.

A third aspect of the present invention provides a non-transitory computer-readable storage medium storing instructions that, if executed by a processor of a control centre, cause the processor to carry out the method of the second aspect of the present invention.

Referring to <FIG>, there is shown a schematic view of an example of a system according to an embodiment of the present invention. The system <NUM> is for determining a virtual representation of at least part of an environment <NUM> that is navigable by a ship <NUM>. The environment <NUM> may, for example, comprise one or more of: a harbour, a port, a bay, a dockyard, a navigable channel, a lake, a canal, and a river. The environment <NUM> may comprise a marine environment. The virtual representation is a dynamic virtual representation.

Broadly speaking, the system <NUM> comprises a plurality of beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> remote from the ship <NUM>. Each of the beacons comprises at least one sensor 101a, 102a, 201a, 202a, 301a, 302a, <NUM>-<NUM> for sensing surroundings information representative of at least part of the environment <NUM>. Moreover, each of the beacons comprises a transmitter 101b, 102b, 201b, 202b, 301b, 302b, <NUM>, and a controller 101c, 102c, 201c, 202c, 301c, 302c, <NUM> that is connected to the at least one sensor and to the transmitter and is configured to cause the surroundings information to be transmitted via the transmitter 101b, 102b, 201b, 202b, 301b, 302b, <NUM>. The system <NUM> also comprises a control centre <NUM> that is remote from the ship <NUM>. The control centre <NUM> comprises a receiver <NUM> configured to receive the surroundings information from the respective transmitters of the beacons, and a control unit <NUM> connected to the receiver <NUM> and configured to determine a virtual representation of at least part of the environment <NUM>, based on the surroundings information received from the respective transmitters of the beacons. The illustrated system <NUM> of this embodiment also comprises a portable terminal <NUM>, which will be described in more detail below. In other embodiments, the portable terminal <NUM> may be omitted.

As used herein, "environment" means a particular location. The environment <NUM> in this embodiment comprises a waterway (such as a harbour, a port, a bay, a dockyard, a navigable channel, a lake, a canal or a river), and obstacles in the waterway, such as other vessels, navigational aids, piers and the beacon(s). However, in other embodiments, the environment <NUM> may comprise a waterway and not any obstacles therein. The environment may comprise a marine environment.

As used herein, "surroundings information representative of at least part of the environment" means information about the conditions or characteristics of at least part of the environment. The conditions may comprise water conditions, such as information relating to any one or more of: tides, swells, currents, depths, temperature, and ice coverage. The conditions may alternatively, or additionally, comprise weather conditions, such as information relating to any one or more of: wind speed, wind direction, temperature, precipitation, visibility, humidity and pressure. The virtual representation determined using the surroundings information could thus include non-physical characteristics or parameters of the environment. The characteristics comprise topography of the environment. As used herein, "topography" means the physical shape or contours of a physical environment, such as a bed or floor of the waterway, the body of water in the waterway, a shoreline or other delimiter of the body of water, and obstacles in or on the waterway, such as the ship or other vessels. The term "topography" does not, for example, encompass weather conditions or the state of the atmosphere in the environment. The virtual representation determined using the surroundings information could thus include physical characteristics or parameters of the environment. A topographical map is comprised in the virtual representation.

In the invention, the surroundings information is representative of topography of the at least part of the environment <NUM>, and the control unit <NUM> of the control centre <NUM> is configured to determine a topographical map of the environment <NUM> based on the surroundings information representative of topography of the at least part of the environment <NUM>, as will be discussed in more detail below.

In this embodiment, two of the beacons are static land-based beacons <NUM>, <NUM>, which may for example take the form of a mast or a building. Static land-based beacons are in respective fixed locations on land relative to the environment <NUM>. Each of the locations may, for example, be on land at a side of a waterway of the environment <NUM>, or may be on a pier, or island or other fixed body within the waterway. However, in other embodiments, the system <NUM> may comprise more or fewer static land-based beacons, such as just one static land-based beacon. In some embodiments, there may no static land-based beacons in the system <NUM>.

In this embodiment, two of the beacons are mobile land-based beacons <NUM>, <NUM>, which may, for example, take the form of a vehicle. Mobile land-based beacons are able to move or be moved on land relative to the environment <NUM>. Again, the land may be at a side of a waterway of the environment <NUM>, or may be on a pier or island or other fixed body within the waterway. However, in other embodiments, the system <NUM> may comprise more or fewer mobile land-based beacons, such as just one mobile land-based beacon. In some embodiments, there may no mobile land-based beacons in the system <NUM>.

In this embodiment, a further two of the beacons are static water-based beacons <NUM>, <NUM>. Static water-based beacons are buoyant apparatuses within water in respective fixed locations relative to the environment <NUM>. Each of the locations may, for example, be anchored within the waterway of the environment <NUM>. In this embodiment, each of the static water-based beacons is a buoy, but in other embodiments they could take the form of a different type of navigational aid. The, or each of the, water-based beacon(s) may, for example, be battery powered or have a rechargeable battery that is recharged by a renewable energy source, such as solar, wind or wave. In some embodiments, the system <NUM> may comprise more or fewer static water-based beacons, such as just one static water-based beacon. In some embodiments, there may no static water-based beacons in the system <NUM>.

In this embodiment, a further three of the beacons are mobile water-based beacons <NUM>, <NUM>, <NUM>. Mobile water-based beacons are buoyant apparatuses located within water that are able to move in the water relative to the environment <NUM>. In some embodiments, one, some or each of the mobile water-based beacons is a boat or other watercraft. In this embodiment, each of the mobile water-based beacons is a tugboat. A first <NUM> of these tugboats will be described in more detail below, by way of example only. The other two tugboats <NUM>, <NUM> have the same elements as the first tugboat <NUM> in this embodiment, and so will not be described separately. However, in other embodiments, the tugboats <NUM>-<NUM> may differ from each other, for example in the type(s) of sensor(s) they comprise. It will be noted that, in this embodiment, the other two tugboats <NUM>, <NUM> are assisting the ship <NUM> through the environment <NUM>. Such assistance would, per se, be understood by the skilled person, and so no further discussion is provided herein in the interests of brevity. However, in other embodiments, the tugboats <NUM>-<NUM> of the system <NUM> need not be involved with assisting the ship <NUM> through the environment <NUM>. Indeed, in some embodiments, the system <NUM> is for determining a virtual representation of at least part of the environment <NUM> before the ship <NUM> has entered the environment <NUM> in question. In some embodiments, the system <NUM> may comprise more or fewer mobile water-based beacons, such as just one mobile water-based beacon. In some embodiments, not according to the claims, there may no mobile water-based beacons in the system <NUM>.

The distribution of static land-based beacon(s), mobile land-based beacon(s), static water-based beacon(s) (such as buoys), and/or mobile water-based beacons (such as tugboats) will depend on the environment <NUM> and the amount of water traffic in the environment <NUM>.

In some embodiments, the environment <NUM> comprises a port. In some embodiments, the entire port is covered or sensed all the time by one or more static or fixed beacon(s). In other embodiments, only some of the port is covered or sensed by one or more fixed beacon(s). In some embodiments, one or more mobile beacon(s) must move to be used to sense surroundings information of one or more parts of the port that are not covered or sensed by a fixed beacon.

Referring to <FIG>, there is shown a schematic view of the tugboat <NUM> of the system <NUM> of <FIG>. The purpose of a tugboat is to transfer mechanical energy from the tugboat to a ship to be towed or otherwise assisted. Tugboats are adapted to this task by the provision of powerful diesel electric or diesel drives and have extremely high power to tonnage ratios in order to be able to provide large pulling or pushing forces. In this particular embodiment, the tugboat <NUM> in question is not mechanically assisting the ship <NUM> within the environment <NUM>. However, in other embodiments, the tugboat <NUM> may be mechanically assisting the ship <NUM> within the environment <NUM>, for example along with one or more other tugboats <NUM>, <NUM>.

Broadly speaking, the tugboat <NUM> comprises at least one sensor <NUM>-<NUM> for sensing surroundings information representative of at least part of an environment; a transmitter <NUM>, and a controller <NUM> connected to the at least one sensor <NUM>-<NUM> and to the transmitter <NUM> and configured to cause the transmitter <NUM> to transmit the surroundings information towards a receiver <NUM> of a control centre remote <NUM> from the tugboat <NUM>.

In this embodiment, the tugboat <NUM> comprises one or more modules for controlling systems within the tugboat <NUM>. In some embodiments, the modules are parts of the controller <NUM>. Alternatively, the functionality of the modules may be located in one or more ancillary control units positioned on the tugboat <NUM>, separate from the controller <NUM>. The functionality of the controller <NUM> and the modules can be implemented with software, hardware or a combination of both.

In this embodiment, the transmitter <NUM> is a transmitter-receiver, which is configured to receive information and to transmit information. In other embodiments, the tugboat <NUM> may comprise a transmitter <NUM> for transmitting information and a separate receiver for receiving information.

In this embodiment, the controller <NUM> is connected to a situational awareness module <NUM>. The situational awareness module <NUM> is connected to the at least one sensor <NUM>-<NUM>. The sensor(s) can be any suitable sensor(s) for sensing conditions or characteristics of at least part of the environment <NUM> in the vicinity of the tugboat <NUM>. In this embodiment, the sensors are a Light Detection and Ranging (LIDAR) sensor <NUM>, a Sound Navigation and Ranging (SONAR) sensor <NUM>, a Radio Detection and Ranging (RADAR) sensor <NUM>, one or more cameras <NUM>, and one or more microphones <NUM>. In other embodiments, the LIDAR sensor <NUM> may be omitted, and/or the SONAR sensor <NUM> may be omitted, and/or the RADAR sensor <NUM> may be omitted, and/or the camera(s) <NUM> may be omitted, and/or the microphone(s) <NUM> may be omitted. In some embodiments, the situational awareness module <NUM> may be connected to one or more other sensors for sensing surroundings information representative of at least part of the environment <NUM>, such as sensors for sensing water conditions, weather conditions, or wave heights, or an ultrasound for sensing surroundings information above water.

It will be understood that some of the sensors of the tugboat <NUM> are suitable for sensing surroundings information that is representative of topography of the at least part of the environment <NUM>, such as the ship <NUM> (or a part thereof). For example, the LIDAR sensor <NUM>, the SONAR sensor <NUM>, the RADAR sensor <NUM>, and the one or more cameras <NUM> may be suitable for sensing such surroundings information representative of topography. In some embodiments, the tugboat <NUM> comprises one or more of these types of sensor for sensing surroundings information that is representative of topography of the at least part of the environment <NUM>.

The cameras <NUM> may comprise a plurality of cameras <NUM> situated around the periphery of the tugboat <NUM>. The plurality of cameras <NUM> can comprise a digital camera arrangement with a <NUM>-degree field of vision in the horizontal plane, to offer a full view of the area around the tugboat <NUM>. In some embodiments, the output of a plurality of cameras may be stitched together to make a <NUM>-degree view. One or more of the cameras <NUM> may operate in the visual part of the spectrum and/or outside the visual part of the spectrum. For example, one or more of the cameras <NUM> may be infrared cameras and/or night vision cameras for operation in low light conditions. An infrared camera may, for example, be usable to penetrate mist or fog.

The microphones <NUM> may comprise a plurality of microphones located around the periphery of the tugboat <NUM> to detect audio in the vicinity of the tugboat <NUM>. In some embodiments, the microphones <NUM> are directional microphones for detecting audio originating from a particular direction.

The situational awareness module <NUM> is configured to send the surroundings information received from the sensors <NUM>-<NUM> to the controller <NUM>. This means that the controller <NUM> receives a current situation status based on the output of the one or more sensors <NUM>-<NUM>. The surroundings information received from the sensors <NUM>-<NUM> at the controller <NUM> may include surroundings information representative of, or related to, a location of the ship <NUM> in the environment <NUM>.

In some embodiments, the controller <NUM> may be configured to cause all or part of the surroundings information it receives to be sent to an onboard display module <NUM> and/or to an onboard acoustic module <NUM>. The display module <NUM> is configured to output visual information to one or more displays <NUM>. The display(s) <NUM> may be mounted in a wheelhouse of the tugboat <NUM>, or elsewhere. Similarly, the audio information received by the microphone(s) <NUM> may be output by the acoustic module <NUM> to one or more speakers <NUM> mounted in the same area as the display(s) <NUM>, or elsewhere.

The controller <NUM> is connected to a manoeuvring module <NUM>. The manoeuvring module <NUM> is configured to control one or more manoeuvring units <NUM>-<NUM> of the tugboat <NUM>. Each of the manoeuvring units <NUM>-<NUM> is for controlling movement of the tugboat <NUM> in water. In this way, on the basis of instruction(s) received from the controller <NUM>, the manoeuvring module <NUM> sends signal(s) to the one or more manoeuvring units <NUM>-<NUM> to change the course and/or speed of the tugboat <NUM>. In this embodiment, the manoeuvring units <NUM>-<NUM> of the tugboat <NUM> are a propeller <NUM>, a thruster <NUM>, a rudder <NUM>, an azipod <NUM>, and an engine <NUM>. In other embodiments, the propeller <NUM> may be omitted, and/or the thruster <NUM> may be omitted, and/or the rudder <NUM> may be omitted, and/or the azipod <NUM> may be omitted. In some embodiments, the tugboat <NUM> may have one or more bow side thrusters or one or more after side thrusters as manoeuvring unit(s). The manoeuvring module <NUM> may send information relating to the current status of the or each of the manoeuvring units <NUM>-<NUM> to the controller <NUM>, so that the controller <NUM> receives a complete status picture of the manoeuvring units <NUM>-<NUM>.

The controller <NUM> also is connected to a position module <NUM>. The position module <NUM> is connected to one or more position sensors <NUM>, such as a global positioning sensor, and to one or more motion sensors <NUM>, such as an accelerometer. The position sensor <NUM> is configured to detect the position of the tugboat <NUM> on Earth. The motion sensor <NUM> is configured to detect movement of the tugboat <NUM>, such as pitch, yaw, and roll of the tugboat <NUM>. The position information and the movement information are sent to the controller <NUM>, so that the controller <NUM> receives information concerning the position and movement of the tugboat <NUM>. The controller <NUM> may map the position information and/or the movement information (or data points thereof) to surroundings information sensed by the sensor(s) <NUM>-<NUM>, to facilitate future creation of a virtual representation using the surroundings information.

The controller <NUM> is connected to a tugboat control interface module <NUM>. The tugboat control interface module <NUM> receives signals and input instructions from the crew in the wheelhouse of the tugboat <NUM> via a tugboat control interface <NUM> that is connected to the tugboat control interface module <NUM>. The tugboat control interface <NUM> comprises one or more input devices for the crew to dictate operation of systems of the tugboat <NUM>. In some embodiments, the tugboat control interface <NUM> comprises one or more touch screens, keyboards, wheels or joysticks, for example.

The controller <NUM> is connected to the transmitter <NUM> for transmitting information from the tugboat <NUM> to the control centre <NUM>. The transmitted information can comprise any information relating to the tugboat <NUM>. The controller <NUM> is configured to cause the surroundings information sensed by the at least one sensor <NUM>-<NUM> to be transmitted via the transmitter <NUM> to the receiver <NUM> of the control centre <NUM>. In some embodiments, the surroundings information comprises any information relating to the current status of the tugboat <NUM> - i.e. real-time information. However, the surroundings information can also include historical information. In some embodiments, the surroundings information comprises images and/or videos from the camera(s) <NUM> showing one or more fields of view of around the container ship, LIDAR information from the LIDAR sensor <NUM>, SONAR information from the SONAR sensor <NUM>, RADAR information from the RADAR sensor <NUM>, sound information from the microphone(s) <NUM>, position information from the position sensor(s) <NUM>, movement information from the movement sensor(s) <NUM>, and information from the manoeuvring units <NUM>-<NUM>.

While a detailed description of a tugboat <NUM> according to an embodiment, and some variations thereto, has been given above, it will be appreciated that not all of the described modules, sensors and other elements may be present in other embodiments.

As noted above, each of the other beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the system <NUM> comprises at least one sensor 101a, 102a, 201a, 202a, 301a, 302a for sensing surroundings information representative of at least part of the environment <NUM>. Similarly to the tugboat <NUM> described above, the at least one sensor of each of these other beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may comprise one or more of: a camera, a LIDAR sensor, a SONAR sensor, a RADAR sensor and a microphone. Moreover, at least one of the sensors of each of these other beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be suitable for sensing surroundings information that is representative of topography of at least part of the environment <NUM>, such as the ship <NUM> when in the environment <NUM>. In other embodiments, the sensor(s) of these other beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may not be suitable for sensing surroundings information representative specifically of topography.

In some embodiments, transmission of information from the transmitter(s) 101b, 102b, 201b, 202b, 301b, 302b, <NUM> of the beacon(s) <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> to the receiver <NUM> of the control centre <NUM> may be wireless transmission, such as over a licensed or an unlicensed mobile communications network. In some embodiments, transmission from transmitters of static beacon(s) could be over a wired network, such as a broadband network.

Referring to <FIG>, there is shown a schematic view of the control centre <NUM> of the system <NUM> of <FIG>.

In this embodiment, the control centre <NUM> is remote from each of the beacons, but in other embodiments the control centre <NUM> could be comprised in one of the beacons, such as in one of the static land-based beacons <NUM>, <NUM>. Moreover, in this embodiment, the control centre <NUM> is land-based, but in other embodiments it may be water-based. Still further, in this embodiment, the control centre <NUM> is within or closely adjacent to the environment <NUM> in question, but in other embodiments it could remote (such as tens or hundreds of miles away) from the environment <NUM>.

The control centre <NUM> comprises one or more modules for controlling systems within the control centre <NUM>. In some embodiments, the modules are part of the controller <NUM>. Alternatively, the functionality of the modules may be located in one or more ancillary control units positioned in the control centre <NUM>, separate from the controller <NUM>. The functionality of the controller <NUM> and the modules can be implemented with software, hardware or a combination of both.

In this embodiment, the receiver <NUM> is a transmitter-receiver, which is configured to receive information and to transmit information. In other embodiments, the control centre <NUM> may comprise one or more transmitters for transmitting information and one or more separate receivers for receiving information, or a plurality of transmitter-receivers for communicating with respective different entities (e.g. the beacon(s), the terminal <NUM>, and the ship <NUM>).

As noted above, the receiver <NUM> is configured to receive the surroundings information from the transmitter(s) 101b, 102b, 201b, 202b, 301b, 302b, <NUM> of the beacon(s) <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> and send it to the control unit <NUM>. For brevity, the following discussion will focus primarily on the handling of surroundings information received at the control centre <NUM> from the tugboat <NUM>. However, it will be appreciated that the control centre <NUM> is configured to correspondingly handle surroundings information received at the control centre <NUM> from others of the beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

The control unit <NUM> sends, to a display module <NUM>, visual components of the surroundings information received. These visual components may comprise one or more images and/or videos from the cameras <NUM>, LIDAR information from the LIDAR sensor <NUM>, SONAR information from the SONAR sensor <NUM>, and/or RADAR information from the RADAR sensor <NUM>. The display module <NUM> causes these respective visual components to be output on one or more displays, including a camera output display <NUM>, a LIDAR display <NUM>, a SONAR display <NUM>, and a RADAR display <NUM>, for example in a dynamic, or even more specifically a real-time, manner. In some embodiments, the camera output display <NUM> is a <NUM>-degree display. The visual components may include a representation of a location of the ship <NUM> in the environment <NUM>. Additional surroundings information, such as information relating to one or more of the manoeuvring units <NUM>-<NUM> and/or position information from the position sensor(s) <NUM> and/or movement information from the movement sensor(s) <NUM> can further be displayed on one or more additional displays <NUM>. In some embodiments, surroundings information from more than one of the beacons is used to derive the visual components displayed on one or more of the displays <NUM>-<NUM>.

In some embodiments, use is made of augmented reality. In some embodiments, the surroundings information sensed by the LIDAR, SONOR and/or RADAR sensors <NUM>-<NUM> may be overlaid on the surroundings information sensed by the camera(s) <NUM>, on the same one of the displays <NUM>-<NUM>. In some embodiments, other information, such as the heading of the ship <NUM> or of a tugboat or of a mobile beacon, may be overlaid on the surroundings information sensed by the camera(s) <NUM>, on the same one of the displays <NUM>-<NUM>. In some embodiments, the display module <NUM> is configured to output the visual components to a virtual reality headset or other portable display screen.

In some embodiments, the control centre <NUM> may not be in visual contact with one or more of the beacon(s), and so the surroundings information received from the beacon(s) allows the pilot in the control centre <NUM> to obtain a complete understanding of the immediate real-time status of the environment <NUM>.

The control unit <NUM> sends, to an acoustic module <NUM>, audible components of the surroundings information received. These audible components may comprise surroundings information sensed by the one or more microphones <NUM>. The acoustic module <NUM> causes these audible components to be output by one or more speakers <NUM>, such as in real-time. In some embodiments, surroundings information from more than one of the beacons is used to derive the audible components output by the speaker(s) <NUM>.

As noted previously, the control unit <NUM> is configured to determine (e.g. generate) a virtual representation of at least part of the environment <NUM> based on the surroundings information received. The virtual representation may be generated from surroundings information received from one of the beacons, or from a plurality or all of the beacons. In some embodiments, the virtual representation is a visual or visible virtual representation. In some embodiments, the virtual representation is a dynamic virtual representation. For example, the virtual representation may depict one or more vessels moving through the virtual representation of the environment. The surroundings information is representative of topography of the environment <NUM>, and the control unit <NUM> is configured to determine a topographical map of at least part of the environment <NUM> based on the surroundings information received. For example, in some embodiments in which the surroundings information comprises, at least in part, information sensed by one or more LIDAR sensor(s) <NUM> of the beacon(s), the control unit <NUM> may be configured to determine a LIDAR map of at least part of the environment <NUM>. In any event, the virtual representation may include a representation of a location of the ship <NUM> in the environment <NUM>.

In some embodiments, the virtual representation is determined using information sensed by one or more LIDAR sensor(s) <NUM> of the beacon(s), instead of using information sensed by one or more RADAR(s) <NUM> of the beacon(s), because RADAR may have insufficient resolution to enable the creation of a sufficiently fine or precise virtual representation for use in precision operations such as berthing.

It will be appreciated that, since beacon(s) <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> remote from the ship <NUM> are employed, the system <NUM> is usable to aid navigation of ships that do not themselves comprise sensor(s) for sensing surroundings information representative of at least part of the environment <NUM>. Accordingly, the system <NUM> is versatile and can be implemented without any modifications being required to shipping fleets, and furthermore can be used to determine a virtual representation of at least part of the environment <NUM> before the ship <NUM> has arrived in the environment <NUM>.

In some embodiments, the control unit <NUM> is configured to determine (e.g. generate) the virtual representation based not only on the surroundings information received, but also based on information about the environment <NUM> from one or more other sources. An example such other source of information is one or more database(s) <NUM>, at the control centre <NUM> or remote from the control centre <NUM>, that is/are accessible by the control unit <NUM> via an information module <NUM>. Such database(s) may comprise information on currents, depths or navigation charts, for example.

The control unit <NUM> may be configured to display the virtual representation on one or more of the displays <NUM>-<NUM>. Accordingly, if the pilot is located at the control centre <NUM>, they are able to observe the virtual representation.

In some embodiments, the pilot may not be located at the control centre <NUM>, yet the pilot still may be able to observe the virtual representation. For example, in some embodiments, such as that illustrated in <FIG>, the control centre <NUM> comprises a transmitter <NUM> connected to the control unit <NUM>, and the control unit <NUM> is configured to cause the virtual representation to be transmitted by the transmitter <NUM> of the control centre <NUM>. Moreover, the system <NUM> may comprise a terminal <NUM> with a receiver <NUM> configured to receive the virtual representation from the transmitter <NUM> of the control centre <NUM>. The terminal may also comprise an output device <NUM> and a control unit <NUM> connected to the receiver <NUM> and the output device <NUM> and configured to cause information (such as a representation of the virtual representation, or other representation of the environment <NUM>) to be output on the output device <NUM> based on the virtual representation received. In some embodiments, the terminal <NUM> is portable. For example, the terminal may be a smartphone, a tablet computer, a so-called phablet computer, or another mobile electronic device. This allows the pilot to be mobile on land or on water and still to receive the virtual representation and/or observe information based on the virtual representation. This means that the captain of the ship <NUM> can still require the pilot to board the ship <NUM>, for example if class, flag, or insurers require, and the pilot can still receive the virtual representation and/or observe information based on the virtual representation.

In some embodiments, such as those without a separate terminal <NUM>, the control centre <NUM> itself may be portable. For example, the control centre <NUM> may be comprised in a smartphone, a tablet computer, a so-called phablet computer, or another mobile electronic device. Again, this allows the pilot to be mobile on land or on water.

In still further embodiments, the control unit <NUM> of the control centre <NUM> may be configured to cause the virtual representation to be transmitted by the transmitter <NUM> to the ship <NUM> itself, and the ship <NUM> may have a display configured to display the virtual representation received. Accordingly, the captain or crew of the ship <NUM> are able to observe the virtual representation and/or information based on the virtual representation, to help their navigation of the ship <NUM> in the environment <NUM>. Alternatively, the pilot may still board the ship <NUM> and observe the virtual representation and/or information on the display of the ship <NUM>, and either control the ship <NUM> or provide navigation instructions (or at least information on the ship's <NUM> surroundings) to the captain so that the captain is able to navigate the ship <NUM> through the environment <NUM> without issue.

In some embodiments, the pilot is able to create, or otherwise determine, navigation information for use in assisting navigation of the ship <NUM>, based on the surroundings information or based on the virtual representation. In some embodiments, the pilot creates, or determines, the navigation information based not only on the surroundings information received, but also based on information about the environment <NUM> from one or more other sources, such as the content of the database(s) <NUM> discussed above.

The navigation information comprises course heading information, such as a bearing and a vessel speed. The pilot may input the navigation information using a user interface <NUM>. The user interface <NUM> may replicate the controls and instruments of the ship <NUM>. Alternatively, or additionally, the user interface <NUM> may comprise another type of input device, such as a touchscreen, a keyboard, or a mouse. A pilot interface module <NUM> receives the input provided by the pilot to the user interface <NUM> and converts the inputs into navigation information. The navigation information is then sent to the control unit <NUM> for transmission by the transmitter <NUM>. In some embodiments, the pilot is able to create audible navigation information for use in assisting navigation of the ship <NUM>. The pilot may input the audible navigation information using a microphone <NUM>, and then the acoustic module <NUM> records the audible input provided by the pilot to the microphone <NUM> sends it to the control unit <NUM> for transmission by the transmitter <NUM>.

The control unit <NUM> of the control centre <NUM> is configured to determine navigation information for use in assisting navigation of the ship <NUM>, based on the surroundings information received at the control centre <NUM> and based on the virtual representation determined at the control centre <NUM> and optionally also based on information about the environment <NUM> from one or more other sources, such as the content of the database(s) <NUM> discussed above. The control unit <NUM> may be configured to do this automatically, or without substantive input by the pilot. To enable this, in some embodiments it is necessary for control unit <NUM> to have knowledge of the position of the ship <NUM>. For example, in some embodiments, the control unit <NUM> may receive information relating to the position of the ship <NUM> from the ship <NUM> or from one or more of the beacon(s), via the receiver <NUM> of the control centre <NUM>. Alternatively, or additionally, the control unit <NUM> may receive information relating to the position of the ship <NUM> from elsewhere, such as from the pilot interface module <NUM> if, for example, the pilot inputs suitable information into the user interface <NUM>. The information input by the pilot may be received by the pilot from the ship <NUM> over a communications interface.

The transmitter <NUM> may, for example, be configured to transmit the navigation information to the terminal <NUM> or to the ship <NUM>, for use by the pilot to advise the ship's captain or crew, or for use directly by the ship's captain or crew. In this way, in some embodiments the captain of the ship <NUM> is able to interpret the navigation information, such as according to the responsiveness and manoeuvrability of the ship <NUM>, and in other embodiments the pilot may take control of the ship <NUM> and navigate it through the environment <NUM> using the navigation information.

As will be understood, in some embodiments the virtual representation of at least part of an environment may be for use in assisting navigation of a ship in the environment. In some embodiments, the virtual representation may be used to track one or more vessels through the environment, such as a port. In some embodiments, the system <NUM> (e.g. the control unit <NUM> of the control centre <NUM>) could use the virtual representation to record vessel collisions in the environment.

It is preferable to have a relatively detailed virtual representation of the environment <NUM> on setup of the system <NUM>. This may require one of the mobile water-based beacons (e.g. a tugboat) <NUM>-<NUM> fitted with one or more e.g. LIDAR sensors <NUM> to move slowly around all (or a majority of) the environment <NUM> to collect sufficient surroundings information to form a baseline or initial virtual representation of at least part of the environment <NUM>.

In some embodiments, after the baseline virtual representation has been determined, the control unit <NUM> is configured to update at least a portion of the virtual representation based on further surroundings information sensed by the at least one sensor of the beacon(s) <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> and received via the receiver <NUM> of the control unit <NUM>. For example, the receiver <NUM> of the control centre <NUM> may receive periodic or constant updates of surroundings information from one or more of the beacons. The updates are important because they show the change between the baseline virtual representation and the current, or a more recent, status of the environment <NUM>. Such periodic need only update the part(s) of the baseline virtual representation that have changed (for example, if a vessel has moved into the environment <NUM>). The updates can therefore be smaller in data size and reduce the communications (e.g. wireless) network burden. Accordingly, battery-powered beacons may be able to operate less frequently than beacons with a fixed power source, such as the tugboats <NUM>-<NUM> or the static land-based beacons <NUM>, <NUM>.

The virtual representation of a marine environment is a dynamic virtual representation of the marine environment. In some such embodiments, periodic updates received from one or more of the beacons are used to update the virtual representation of the environment. Accordingly, the virtual representation can reflect changes to the environment, such as changes to the coastline over long periods of time. Over shorter periods of time, the virtual representation can show rapidly moving objects such as waves, vessels, and wildlife.

In some embodiments, the updates are received by the control centre <NUM> in real-time, so that each beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> in the system <NUM> is constantly providing updated surroundings information to the control centre <NUM>. Alternatively, the updates can occur periodically, such as once every minute, once every <NUM> seconds, once every <NUM> seconds, once every <NUM> seconds, once every second, or at a different frequency. The periodicity of updates can be varied, such as depending on the amount of water traffic and the speed of the vessels in the environment <NUM>.

Tugboats <NUM>-<NUM> are responsible for moving large vessels in, out, and around the environment <NUM>. Accordingly, during their normal duties, the tugboats <NUM>-<NUM> are relatively highly mobile and will be proximal to most of the water traffic and much of the environment <NUM>. Therefore, tugboats <NUM>-<NUM> are highly suited to comprising beacons, because they may be able to sense surroundings information relating to a relatively large proportion of the environment <NUM> without straying from their otherwise intended courses. However, they are also relatively easily moveable from their otherwise intended courses, should the need arise to sense parts of the environment <NUM> away from those courses.

Over time, the control unit <NUM> may determine that there are one or more portions of the virtual representation of the environment <NUM> that have not been updated for greater than a predetermined period, or that there are one or more portions of the environment <NUM> that have never been included in a virtual representation. The control unit <NUM> is configured to instruct one of the beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> to sense surroundings information representative of at least part of the environment <NUM>, for use in updating the baseline virtual representation. The instruction may include address information or some other identifier of the beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> to be instructed, so that only the intended beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> reacts to the instruction. Alternatively, the instruction may be sent only to the intended beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> via a communications channel that connects only the control centre <NUM> and the relevant beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM>.

The control unit <NUM> is configured to generate an instruction to one of the mobile beacons <NUM>, <NUM>, <NUM>-<NUM>, such as one of the tugboats <NUM>-<NUM>, to sense surroundings information representative of at least part of the environment <NUM>, and to cause the transmitter <NUM> of the control centre <NUM> to transmit the instruction. The receiver <NUM> of the relevant mobile beacon <NUM>, <NUM>, <NUM>-<NUM> receives the instruction, and the controller <NUM> may cause contents of the instruction to be presented visually or audibly to a captain or other operative of the mobile beacon <NUM>, <NUM>, <NUM>-<NUM>, such as using the display <NUM> or the speaker <NUM>. The controller <NUM> of the relevant beacon is itself configured to control the one or more manoeuvring units <NUM>-<NUM> based on the instruction, such as via the manoeuvring module <NUM>. That is, the mobile beacon may be an autonomous beacon. The surroundings information subsequently sensed by the sensor(s) <NUM>-<NUM> of the relevant mobile beacon is then transmitted to the control centre <NUM> as discussed elsewhere herein.

In some embodiments, one or more previous versions of the virtual representation may be stored, e.g. in the database(s) <NUM>, so that the control centre <NUM> maintains access to a historic record of vessel traffic and other changes in the environment <NUM> over time.

Example methods of determining a virtual representation of at least part of an environment that is navigable by a ship will now be described. The environment may be a marine environment.

<FIG> shows a flow chart illustrating an example of such a method, according to an embodiment of the present invention. The method <NUM> comprises receiving <NUM>, from a beacon remote from the ship and at a control centre remote from the ship, surroundings information representative of at least part of the environment. The beacon may, for example, be any beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> or any variant thereof discussed herein. The control centre may, for example, be the control centre <NUM> or any variant thereof discussed herein. The environment may, for example, be the environment <NUM> or any variant thereof discussed herein, such as a harbour or port. The method <NUM> also comprises determining <NUM> a virtual representation of at least part of the environment based on the surroundings information. The virtual representation comprises a topographical map, such as a LIDAR map, or any of the other virtual representations or variants thereof discussed herein. For example, the virtual representation may comprise a composite map or representation created using one or more of: one or more images, one or more videos, LIDAR information from one or more LIDAR sensors, SONAR information from one or more SONAR sensors, RADAR information from one or more RADAR sensors, sound information from one or more microphones, position information from one or more position sensors, and movement information from one or more movement sensors. In some embodiments, the composite map or representation may be a composite of above water and below water, e.g. created using LIDAR information from one or more LIDAR sensors, and SONAR information from one or more SONAR sensors.

Further methods of determining a virtual representation of at least part of an environment that is navigable by a ship will now be described with reference to <FIG> and <FIG>. These methods will be described with reference to the system <NUM> and environment <NUM> of <FIG>, the tugboat <NUM> of <FIG>, and the control centre <NUM> of <FIG>, but it will be appreciated that in other embodiments the system and/or environment and/or beacon and/or control centre used in any of the methods may, for example, be any of the variations to the system <NUM>, environment <NUM>, tugboat <NUM>, and control centre <NUM> described herein.

The method <NUM> comprises receiving <NUM> surroundings information representative of at least part of the environment <NUM> from the transmitter 101b, 102b, 201b, 202b, 301b, 302b, <NUM> of one or more of the beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> in the system <NUM>. The environment <NUM> may, for example, comprise one or more of: a harbour, a port, a bay, a dockyard, a navigable channel, a lake, a canal, and a river. The beacon(s) may be one or more static land-based beacons <NUM>, <NUM>, one or more mobile land-based beacons <NUM>, <NUM>, one or more static water-based beacons (such as buoys) <NUM>, <NUM>, and/or one or more mobile water-based beacons (such as tugboats) <NUM>-<NUM>. The surroundings information is information that has been sensed by at least one sensor of the, or each, beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM>. In some embodiments, the surroundings information comprises surroundings information sensed by one or more of a camera, a LIDAR sensor, a SONAR, and a RADAR. The surroundings information is representative of topography of the at least part of the environment <NUM>. The surroundings information may be received at the control unit <NUM> of the control centre <NUM>, via the receiver <NUM> of the control centre <NUM>.

The method also comprises determining <NUM> a virtual representation of at least part of the environment <NUM>, based on the surroundings information received from the one or more beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM>. The determining <NUM> comprises determining a topographical map of the at least part of the environment <NUM> based on the surroundings information received. In some embodiments, and particularly if the surroundings information received comprises surroundings information sensed by one or more LIDAR sensors of the beacon(s), the topographical map comprises a LIDAR map. The determining <NUM> the virtual representation may comprise generating the virtual representation, or in some circumstances it may comprise selecting the virtual representation from a plurality of existing virtual representations, which may be stored in a database to which the control unit <NUM> of the control centre <NUM> has access.

In some embodiments, the method comprises a determination <NUM> as to whether further surroundings information sensed by the at least one sensor of the, or each, beacon <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM> has been received. Such reception of further surroundings information may be periodic or constant (e.g. real-time). In some embodiments, when such further surroundings information has been received, the method comprises updating <NUM> at least a portion of the virtual representation based on the further surroundings information, such that an updated version of the virtual representation is determined <NUM>. In other embodiments, the result of the determination <NUM> may be that no such further surroundings information has been received.

In some embodiments, if no such further surroundings information has been received (or no still further surroundings information has been received following an update <NUM> of the virtual representation), the method may comprise a determination <NUM> as to whether an instruction to sense surroundings information representative of at least part of the environment <NUM> should be sent to one or more of the beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM>. Such a determination <NUM> may be based on an analysis of the determined virtual representation to identify whether there is/are any portion(s) of the virtual representation that have not been updated for greater than a predetermined period, or that have never been sensed by the sensor(s) of the beacon(s). In some embodiments, when the result of such a determination <NUM> is positive, the method comprises causing <NUM> the transmitter <NUM> of the control centre <NUM> to transmit such an instruction to one or more of the beacons <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM>, such as one of the tugboats <NUM>-<NUM>. The method then returns to block <NUM>. In other embodiments, the result of the determination <NUM> may be that no such instruction need be sent.

The method comprises a determination <NUM> as to whether the virtual representation is to be transmitted from the control centre <NUM> to another entity, such as a terminal <NUM> of the system <NUM> or a ship <NUM> (such as a ship to be assisted). Such transmission may be beneficial when the virtual representation is to be used by a pilot away from the control centre <NUM> or by a captain or crew of the ship <NUM>. When the result of such a determination <NUM> is positive, the method comprises causing <NUM> the transmitter <NUM> of the control centre <NUM> to transmit the virtual representation to the other entity. The method then returns to block <NUM>. In other embodiments, the result of the determination <NUM> may be that the virtual representation need not be so transmitted. For example, the pilot may use the virtual representation at the control centre <NUM> and communicate navigation or other instructions to the ship <NUM> over a communications channel, such as a Radio Frequency (RF) radio, based on the virtual representation.

The method comprises a determination <NUM> as to whether navigation information, based on the virtual representation or the surroundings information received, for use in assisting navigation of the ship is to be determined. In some embodiments, the result of such a determination <NUM> may be that such navigation information is not needed, at least at present, and the method then returns to block <NUM>. In other embodiments, when the result of the determination <NUM> is positive, the method comprises determining <NUM> such navigation information based on the virtual representation or the surroundings information received. The method then comprises a determination <NUM> as to whether the determined navigation information is to be transmitted from the control centre <NUM> to another entity, such as a terminal <NUM> of the system <NUM> or a ship <NUM> (such as a ship to be assisted). Such transmission may be beneficial when the navigation information is to be used by a pilot away from the control centre <NUM> or by a captain or crew of the ship <NUM>. When the result of such a determination <NUM> is positive, the method comprises causing <NUM> the transmitter <NUM> of the control centre <NUM> to transmit the navigation information to the other entity, and then the method returns to block <NUM>. The result of the determination <NUM> may be that the navigation information need not be so transmitted. For example, the pilot may use the navigation information at the control centre <NUM> and communicate instructions to the ship <NUM> over a communications channel, such as an RF radio, based on the navigation information. The method then returns to block <NUM>.

In some embodiments, the method may be performed by the controller <NUM> of the control centre <NUM>. There is thus also provided a non-transitory computer-readable storage medium storing instructions that, if executed by a processor of a control centre <NUM>, cause the processor to carry out the method. The processor may be the controller <NUM> of the control centre <NUM>.

It will therefore be appreciated that, in some embodiments, the various beacons are usable to build up an accurate picture of at least part of an environment, such as a harbour or port, that a pilot is able to use to issue instructions to the captain of a ship that is to move within the environment, or that the captain themselves is able to use, so that the captain is able to navigate the environment without issue. The pilot thus need not board the ship in some embodiments. Moreover, since the sensor(s) used to sense the surroundings information that is used to determine the virtual representation need not be on the ship itself, the invention can be implemented without any modifications being required to shipping fleets. Furthermore, some embodiments of the invention can be used to determine a virtual representation of at least part of the environment before the ship has arrived in the environment.

In other embodiments, two or more of the above described embodiments may be combined. In other embodiments, features of one embodiment may be combined with features of one or more other embodiments.

Claim 1:
A system (<NUM>) for determining a dynamic virtual representation of at least part of an environment (<NUM>) that is navigable by a ship (<NUM>), the system having:
at least one beacon (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>-<NUM>) remote from the ship, each of the at least one beacon comprising:
at least one sensor (101a, 102a, 201a, 202a, 301a, 302a, <NUM>-<NUM>) for sensing surroundings information representative of a topography of at least part of the environment,
a transmitter (101b, 102b, 201b, 202b, 301b, 302b, <NUM>), and
a controller (101c, 102c, 201c, 202c, 301c, 302c, <NUM>) connected to the at least one sensor and configured to cause the surroundings information to be transmitted via the transmitter; and
a control centre (<NUM>) remote from the ship, the control centre comprising:
a receiver (<NUM>) configured to receive (<NUM>) the surroundings information,
a control unit (<NUM>) connected to the receiver and configured to determine (<NUM>) a dynamic virtual representation of at least part of the environment based on the surroundings information, wherein the dynamic virtual representation comprises a topographical map; and
a transmitter (<NUM>) connected to the control unit (<NUM>),
wherein the control unit (<NUM>) is configured to determine (<NUM>) navigation information for use in assisting navigation of the ship (<NUM>) based on the virtual representation, and the control unit (<NUM>) is configured to cause the navigation information to be transmitted (<NUM>) by the transmitter (<NUM>) of the control centre (<NUM>) to the ship;
wherein the navigation information comprises course heading information,
wherein the control unit is configured to generate an instruction to sense the surroundings information representative of at least part of the environment,
wherein the control unit is configured to cause the transmitter of the control centre to transmit the instruction, and
wherein the beacon comprises a receiver (<NUM>) configured to receive the instruction,
wherein the beacon comprises one or more manoeuvring units for controlling movement of the beacon in water, and
wherein the controller of the beacon is connected to the receiver of the beacon and is configured to control the one or more manoeuvring units based on the instruction.